#include <ControlBoardWrapper/ControlBoardWrapperVelocityControl.h>

Inheritance diagram for ControlBoardWrapperVelocityControl:

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

bool	velocityMove (int j, double v) override
	Start motion at a given speed, single joint. More...

bool	velocityMove (const double *v) override
	Start motion at a given speed, multiple joints. More...

bool	velocityMove (const int n_joints, const int joints, const double spds) override
	Start motion at a given speed for a subset of joints. More...

bool	getRefVelocity (const int joint, double *vel) override
	Get the last reference speed set by velocityMove for single joint. More...

bool	getRefVelocities (double *vels) override
	Get the last reference speed set by velocityMove for all joints. More...

bool	getRefVelocities (const int n_joint, const int joints, double vels) override
	Get the last reference speed set by velocityMove for a group of joints. More...

bool	setRefAcceleration (int j, double acc) override
	Set reference acceleration for a joint. More...

bool	setRefAccelerations (const double *accs) override
	Set reference acceleration on all joints. More...

bool	setRefAccelerations (const int n_joints, const int joints, const double accs) override
	Set reference acceleration for a subset of joints. More...

bool	getRefAcceleration (int j, double *acc) override
	Get reference acceleration for a joint. More...

bool	getRefAccelerations (double *accs) override
	Get reference acceleration of all joints. More...

bool	getRefAccelerations (const int n_joints, const int joints, double accs) override
	Get reference acceleration for a subset of joints. More...

bool	stop (int j) override
	Stop motion, single joint. More...

bool	stop () override
	Stop motion, multiple joints. More...

bool	stop (const int n_joint, const int *joints) override
	Stop motion for a subset of 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::IVelocityControl
virtual	~IVelocityControl ()
	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 17 of file ControlBoardWrapperVelocityControl.h.

Member Function Documentation

◆ getAxes()

bool ControlBoardWrapperVelocityControl::getAxes ( int * axes )

inlineoverridevirtual

Get the number of controlled axes.

This command asks the number of controlled axes for the current physical interface. parame axes pointer to storage

Returns: true/false.

Implements yarp::dev::IVelocityControl.

Definition at line 22 of file ControlBoardWrapperVelocityControl.h.

◆ getRefAcceleration()

bool ControlBoardWrapperVelocityControl::getRefAcceleration	(	int	j,
		double *	acc
	)

inlineoverridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters

j	joint number
acc	pointer to storage for the return value

Returns: true/false on success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 32 of file ControlBoardWrapperVelocityControl.h.

◆ getRefAccelerations() [1/2]

bool ControlBoardWrapperVelocityControl::getRefAccelerations	(	const int	n_joint,
		const int *	joints,
		double *	accs
	)

inlineoverridevirtual

Get reference acceleration for a subset of joints.

These are the values used during the interpolation of the trajectory.

Parameters

n_joint	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
accs	pointer to the array containing acceleration values, one value for each joint, the size of the array is n_joints. The first value will be the new reference for the joint joints[0]. for example: n_joint 3 joints 0 2 4 accs 10 30 40

Returns: true/false on success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 34 of file ControlBoardWrapperVelocityControl.h.

◆ getRefAccelerations() [2/2]

bool ControlBoardWrapperVelocityControl::getRefAccelerations ( double * accs )

inlineoverridevirtual

Get reference acceleration of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

accs	pointer to the array that will store the acceleration values.

Returns: true/false on success or failure

Implements yarp::dev::IVelocityControl.

Definition at line 33 of file ControlBoardWrapperVelocityControl.h.

◆ getRefVelocities() [1/2]

bool ControlBoardWrapperVelocityControl::getRefVelocities	(	const int	n_joint,
		const int *	joints,
		double *	vels
	)

overridevirtual

Get the last reference speed set by velocityMove for a group of joints.

Parameters

n_joint	how many joints this command is referring to
joints	of joints controlled. The size of this array is n_joints
vels	pointer to the array containing the requested values, one value for each joint. The size of the array is n_joints.

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControl.

Definition at line 157 of file ControlBoardWrapperVelocityControl.cpp.

◆ getRefVelocities() [2/2]

bool ControlBoardWrapperVelocityControl::getRefVelocities ( double * vels )

overridevirtual

Get the last reference speed set by velocityMove for all joints.

Parameters

vels	pointer to the array containing the new speed values, one value for each joint

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControl.

Definition at line 131 of file ControlBoardWrapperVelocityControl.cpp.

◆ getRefVelocity()

bool ControlBoardWrapperVelocityControl::getRefVelocity	(	const int	joint,
		double *	vel
	)

overridevirtual

Get the last reference speed set by velocityMove for single joint.

Parameters

j	joint number
vel	returns the requested reference.

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControl.

Definition at line 103 of file ControlBoardWrapperVelocityControl.cpp.

◆ setRefAcceleration()

bool ControlBoardWrapperVelocityControl::setRefAcceleration	(	int	j,
		double	acc
	)

inlineoverridevirtual

Set reference acceleration for a joint.

This value is used during the trajectory generation.

Parameters

j	joint number
acc	acceleration value

Returns: true/false upon success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 29 of file ControlBoardWrapperVelocityControl.h.

◆ setRefAccelerations() [1/2]

bool ControlBoardWrapperVelocityControl::setRefAccelerations ( const double * accs )

inlineoverridevirtual

Set reference acceleration on all joints.

This is the valure that is used during the generation of the trajectory.

Parameters

accs	pointer to the array of acceleration values

Returns: true/false upon success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 30 of file ControlBoardWrapperVelocityControl.h.

◆ setRefAccelerations() [2/2]

bool ControlBoardWrapperVelocityControl::setRefAccelerations	(	const int	n_joint,
		const int *	joints,
		const double *	accs
	)

inlineoverridevirtual

Set reference acceleration for a subset of joints.

This is the valure that is used during the generation of the trajectory.

Parameters

n_joint	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
accs	pointer to the array containing acceleration values, one value for each joint, the size of the array is n_joints. The first value will be the new reference for the joint joints[0]. for example: n_joint 3 joints 0 2 4 accs 10 30 40

Returns: true/false on success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 31 of file ControlBoardWrapperVelocityControl.h.

◆ stop() [1/3]

bool ControlBoardWrapperVelocityControl::stop ( )

inlineoverridevirtual

Stop motion, multiple joints.

Returns: true/false on success or failure

Implements yarp::dev::IVelocityControl.

Definition at line 36 of file ControlBoardWrapperVelocityControl.h.

◆ stop() [2/3]

bool ControlBoardWrapperVelocityControl::stop	(	const int	n_joint,
		const int *	joints
	)

inlineoverridevirtual

Stop motion for a subset of joints.

Parameters

n_joint	how many joints this command is referring to
joints	joints pointer to the array of joint numbers

Returns: true/false on success or failure

Implements yarp::dev::IVelocityControl.

Definition at line 37 of file ControlBoardWrapperVelocityControl.h.

◆ stop() [3/3]

bool ControlBoardWrapperVelocityControl::stop ( int j )

inlineoverridevirtual

Stop motion, single joint.

Parameters

j	joint number

Returns: true/false on success or failure

Implements yarp::dev::IVelocityControl.

Definition at line 35 of file ControlBoardWrapperVelocityControl.h.

◆ velocityMove() [1/3]

bool ControlBoardWrapperVelocityControl::velocityMove ( const double * sp )

overridevirtual

Start motion at a given speed, multiple joints.

Parameters

sp	pointer to the array containing the new speed values

Returns: true/false upon success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 38 of file ControlBoardWrapperVelocityControl.cpp.

◆ velocityMove() [2/3]

bool ControlBoardWrapperVelocityControl::velocityMove	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

overridevirtual

Start motion at a given speed for a subset of joints.

Parameters

n_joint	how many joints this command is referring to
joints	of joints controlled. The size of this array is n_joints
spds	pointer to the array containing the new speed values, one value for each joint, the size of the array is n_joints. The first value will be the new reference for the joint joints[0]. for example: n_joint 3 joints 0 2 4 spds 10 30 40

Returns: true/false on success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 74 of file ControlBoardWrapperVelocityControl.cpp.

◆ velocityMove() [3/3]

bool ControlBoardWrapperVelocityControl::velocityMove	(	int	j,
		double	sp
	)

overridevirtual

Start motion at a given speed, single joint.

Parameters

j	joint number
sp	speed value

Returns: bool/false upone success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 15 of file ControlBoardWrapperVelocityControl.cpp.

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

src/devices/ControlBoardWrapper/ControlBoardWrapperVelocityControl.h
src/devices/ControlBoardWrapper/ControlBoardWrapperVelocityControl.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getAxes()

◆ getRefAcceleration()

◆ getRefAccelerations() [1/2]

◆ getRefAccelerations() [2/2]

◆ getRefVelocities() [1/2]

◆ getRefVelocities() [2/2]

◆ getRefVelocity()

◆ setRefAcceleration()

◆ setRefAccelerations() [1/2]

◆ setRefAccelerations() [2/2]

◆ stop() [1/3]

◆ stop() [2/3]

◆ stop() [3/3]

◆ velocityMove() [1/3]

◆ velocityMove() [2/3]

◆ velocityMove() [3/3]