ControlBoardWrapperRemoteCalibrator Class Reference

#include <ControlBoardWrapper/ControlBoardWrapperRemoteCalibrator.h>

Inheritance diagram for ControlBoardWrapperRemoteCalibrator:

Public Member Functions
bool	isCalibratorDevicePresent (bool *isCalib) override
	isCalibratorDevicePresent: check if a calibrator device has been set More...
yarp::dev::IRemoteCalibrator *	getCalibratorDevice () override
	getCalibratorDevice: return the pointer stored with the setCalibratorDevice More...
bool	calibrateSingleJoint (int j) override
	calibrateSingleJoint: call the calibration procedure for the single joint More...
bool	calibrateWholePart () override
	calibrateWholePart: call the procedure for calibrating the whole device More...
bool	homingSingleJoint (int j) override
	homingSingleJoint: call the homing procedure for a single joint More...
bool	homingWholePart () override
	homingWholePart: call the homing procedure for a the whole part/device More...
bool	parkSingleJoint (int j, bool _wait=true) override
	parkSingleJoint(): start the parking procedure for the single joint More...
bool	parkWholePart () override
	parkWholePart: start the parking procedure for the whole part More...
bool	quitCalibrate () override
	quitCalibrate: interrupt the calibration procedure More...
bool	quitPark () override
	quitPark: interrupt the park procedure More...
Public Member Functions inherited from ControlBoardWrapperCommon
bool	getAxes (int *ax)
bool	setRefAcceleration (int j, double acc)
bool	setRefAccelerations (const double *accs)
bool	setRefAccelerations (const int n_joints, const int *joints, const double *accs)
bool	getRefAcceleration (int j, double *acc)
bool	getRefAccelerations (double *accs)
bool	getRefAccelerations (const int n_joints, const int *joints, double *accs)
bool	stop (int j)
bool	stop ()
bool	stop (const int n_joint, const int *joints)
bool	getNumberOfMotors (int *num)
bool	getCurrent (int m, double *curr)
bool	getCurrents (double *currs)
void	printError (const std::string &func_name, const std::string &info, bool result)
Public Member Functions inherited from yarp::dev::IRemoteCalibrator
	IRemoteCalibrator ()
	This interface is meant to remotize the access of the calibration device in order to allow users to remotely call the calibration procedure for a single joint or the whole device and let the calibrator do the job. More...
virtual	~IRemoteCalibrator ()=default
virtual bool	setCalibratorDevice (yarp::dev::IRemoteCalibrator *dev)
	setCalibratorDevice: store the pointer to the calibrator device. More...
virtual void	releaseCalibratorDevice ()
	releaseCalibratorDevice: reset the internal pointer to NULL when stop using the calibrator More...

Additional Inherited Members
Public Attributes inherited from ControlBoardWrapperCommon
WrappedDevice	device
size_t	controlledJoints {0}
std::string	partName
std::mutex	rpcDataMutex
MultiJointData	rpcData
std::mutex	timeMutex
yarp::os::Stamp	time

Detailed Description

Definition at line 17 of file ControlBoardWrapperRemoteCalibrator.h.

Member Function Documentation

calibrateSingleJoint()

bool ControlBoardWrapperRemoteCalibrator::calibrateSingleJoint ( int  j )

overridevirtual

calibrateSingleJoint: call the calibration procedure for the single joint

Parameters

j	joint to be calibrated

Returns

true if calibration was successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 29 of file ControlBoardWrapperRemoteCalibrator.cpp.

calibrateWholePart()

bool ControlBoardWrapperRemoteCalibrator::calibrateWholePart ( )

overridevirtual

calibrateWholePart: call the procedure for calibrating the whole device

Returns

true if calibration was successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 39 of file ControlBoardWrapperRemoteCalibrator.cpp.

getCalibratorDevice()

IRemoteCalibrator * ControlBoardWrapperRemoteCalibrator::getCalibratorDevice ( )

overridevirtual

getCalibratorDevice: return the pointer stored with the setCalibratorDevice

Returns

yarp::dev::IRemotizableCalibrator pointer or NULL if not valid.

Reimplemented from yarp::dev::IRemoteCalibrator.

Definition at line 17 of file ControlBoardWrapperRemoteCalibrator.cpp.

homingSingleJoint()

bool ControlBoardWrapperRemoteCalibrator::homingSingleJoint ( int  j )

overridevirtual

homingSingleJoint: call the homing procedure for a single joint

Parameters

j	joint to be calibrated

Returns

true if homing was successful, false otherwise

Implements yarp::dev::IRemoteCalibrator.

Definition at line 49 of file ControlBoardWrapperRemoteCalibrator.cpp.

homingWholePart()

bool ControlBoardWrapperRemoteCalibrator::homingWholePart ( )

overridevirtual

homingWholePart: call the homing procedure for a the whole part/device

Returns

true if homing was successful, false otherwise

Implements yarp::dev::IRemoteCalibrator.

Definition at line 59 of file ControlBoardWrapperRemoteCalibrator.cpp.

isCalibratorDevicePresent()

bool ControlBoardWrapperRemoteCalibrator::isCalibratorDevicePresent ( bool *  isCalib )

overridevirtual

isCalibratorDevicePresent: check if a calibrator device has been set

Returns

true if a valid calibrator device has been found

Reimplemented from yarp::dev::IRemoteCalibrator.

Definition at line 23 of file ControlBoardWrapperRemoteCalibrator.cpp.

parkSingleJoint()

bool ControlBoardWrapperRemoteCalibrator::parkSingleJoint ( int  j, bool  _wait = true  )

overridevirtual

parkSingleJoint(): start the parking procedure for the single joint

Returns

true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 69 of file ControlBoardWrapperRemoteCalibrator.cpp.

parkWholePart()

bool ControlBoardWrapperRemoteCalibrator::parkWholePart ( )

overridevirtual

parkWholePart: start the parking procedure for the whole part

Returns

true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 79 of file ControlBoardWrapperRemoteCalibrator.cpp.

quitCalibrate()

bool ControlBoardWrapperRemoteCalibrator::quitCalibrate ( )

overridevirtual

quitCalibrate: interrupt the calibration procedure

Returns

true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 89 of file ControlBoardWrapperRemoteCalibrator.cpp.

quitPark()

bool ControlBoardWrapperRemoteCalibrator::quitPark ( )

overridevirtual

quitPark: interrupt the park procedure

Returns

true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 99 of file ControlBoardWrapperRemoteCalibrator.cpp.

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The documentation for this class was generated from the following files:

• src/devices/ControlBoardWrapper/ControlBoardWrapperRemoteCalibrator.h
• src/devices/ControlBoardWrapper/ControlBoardWrapperRemoteCalibrator.cpp