#include <ControlBoardWrapper/ControlBoardWrapperTorqueControl.h>

Inheritance diagram for ControlBoardWrapperTorqueControl:

Public Member Functions
bool	getAxes (int *ax) override
	Get the number of controlled axes. More...

bool	getRefTorques (double *refs) override
	Get the reference value of the torque for all joints. More...

bool	getRefTorque (int j, double *t) override
	Get the reference value of the torque for a given joint. More...

bool	setRefTorques (const double *t) override
	Set the reference value of the torque for all joints. More...

bool	setRefTorque (int j, double t) override
	Set the reference value of the torque for a given joint. More...

bool	setRefTorques (const int n_joint, const int joints, const double t) override
	Set new torque reference for a subset of joints. More...

bool	getMotorTorqueParams (int j, yarp::dev::MotorTorqueParameters *params) override
	Get a subset of motor parameters (bemf, ktau etc) useful for torque control. More...

bool	setMotorTorqueParams (int j, const yarp::dev::MotorTorqueParameters params) override
	Set a subset of motor parameters (bemf, ktau etc) useful for torque control. More...

bool	getTorque (int j, double *t) override
	Get the value of the torque on a given joint (this is the feedback if you have a torque sensor). More...

bool	getTorques (double *t) override
	Get the value of the torque for all joints (this is the feedback if you have torque sensors). More...

bool	getTorqueRange (int j, double min, double max) override
	Get the full scale of the torque sensor of a given joint. More...

bool	getTorqueRanges (double min, double max) override
	Get the full scale of the torque sensors of all joints. 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::ITorqueControl
virtual	~ITorqueControl ()
	Destructor. 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 16 of file ControlBoardWrapperTorqueControl.h.

Member Function Documentation

◆ getAxes()

bool ControlBoardWrapperTorqueControl::getAxes ( int * ax )

inlineoverridevirtual

Get the number of controlled axes.

This command asks the number of controlled axes for the current physical interface.

Returns: the number of controlled axes.

Implements yarp::dev::ITorqueControl.

Definition at line 21 of file ControlBoardWrapperTorqueControl.h.

◆ getMotorTorqueParams()

bool ControlBoardWrapperTorqueControl::getMotorTorqueParams	(	int	j,
		yarp::dev::MotorTorqueParameters *	params
	)

overridevirtual

Get a subset of motor parameters (bemf, ktau etc) useful for torque control.

Parameters

j	joint number
params	a struct containing the motor parameters to be retrieved

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControl.

Definition at line 136 of file ControlBoardWrapperTorqueControl.cpp.

◆ getRefTorque()

bool ControlBoardWrapperTorqueControl::getRefTorque	(	int	j,
		double *	t
	)

overridevirtual

Get the reference value of the torque for a given joint.

This is NOT the feedback (see getTorque instead).

Parameters

j	joint number
t	the returned reference torque of joint j

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 40 of file ControlBoardWrapperTorqueControl.cpp.

◆ getRefTorques()

bool ControlBoardWrapperTorqueControl::getRefTorques ( double * t )

overridevirtual

Get the reference value of the torque for all joints.

This is NOT the feedback (see getTorques instead).

Parameters

t	pointer to the array of torque values

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 14 of file ControlBoardWrapperTorqueControl.cpp.

◆ getTorque()

bool ControlBoardWrapperTorqueControl::getTorque	(	int	j,
		double *	t
	)

overridevirtual

Get the value of the torque on a given joint (this is the feedback if you have a torque sensor).

Parameters

j	joint number
t	pointer to the result value

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 180 of file ControlBoardWrapperTorqueControl.cpp.

◆ getTorqueRange()

bool ControlBoardWrapperTorqueControl::getTorqueRange	(	int	j,
		double *	min,
		double *	max
	)

overridevirtual

Get the full scale of the torque sensor of a given joint.

Parameters

j	joint number
min	minimum torque of the joint j
max	maximum torque of the joint j

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 229 of file ControlBoardWrapperTorqueControl.cpp.

◆ getTorqueRanges()

bool ControlBoardWrapperTorqueControl::getTorqueRanges	(	double *	min,
		double *	max
	)

overridevirtual

Get the full scale of the torque sensors of all joints.

Parameters

min	pointer to the array that will store minimum torques of the joints
max	pointer to the array that will store maximum torques of the joints

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 252 of file ControlBoardWrapperTorqueControl.cpp.

◆ getTorques()

bool ControlBoardWrapperTorqueControl::getTorques ( double * t )

overridevirtual

Get the value of the torque for all joints (this is the feedback if you have torque sensors).

Parameters

t	pointer to the array that will store the output

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 203 of file ControlBoardWrapperTorqueControl.cpp.

◆ setMotorTorqueParams()

bool ControlBoardWrapperTorqueControl::setMotorTorqueParams	(	int	j,
		const yarp::dev::MotorTorqueParameters	params
	)

overridevirtual

Set a subset of motor parameters (bemf, ktau etc) useful for torque control.

Parameters

j	joint number
params	a struct containing the motor parameters to be set

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControl.

Definition at line 158 of file ControlBoardWrapperTorqueControl.cpp.

◆ setRefTorque()

bool ControlBoardWrapperTorqueControl::setRefTorque	(	int	j,
		double	t
	)

overridevirtual

Set the reference value of the torque for a given joint.

Parameters

j	joint number
t	new value

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 85 of file ControlBoardWrapperTorqueControl.cpp.

◆ setRefTorques() [1/2]

bool ControlBoardWrapperTorqueControl::setRefTorques ( const double * t )

overridevirtual

Set the reference value of the torque for all joints.

Parameters

t	pointer to the array of torque values

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 63 of file ControlBoardWrapperTorqueControl.cpp.

◆ setRefTorques() [2/2]

bool ControlBoardWrapperTorqueControl::setRefTorques	(	const int	n_joint,
		const int *	joints,
		const double *	t
	)

overridevirtual

Set new torque reference for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
refs	pointer to the array specifying the new torque reference

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControl.

Definition at line 107 of file ControlBoardWrapperTorqueControl.cpp.

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

src/devices/ControlBoardWrapper/ControlBoardWrapperTorqueControl.h
src/devices/ControlBoardWrapper/ControlBoardWrapperTorqueControl.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getAxes()

◆ getMotorTorqueParams()

◆ getRefTorque()

◆ getRefTorques()

◆ getTorque()

◆ getTorqueRange()

◆ getTorqueRanges()

◆ getTorques()

◆ setMotorTorqueParams()

◆ setRefTorque()

◆ setRefTorques() [1/2]

◆ setRefTorques() [2/2]