fakebot: Documentation to be added More...

#include <fakebot/FakeBot.h>

Inheritance diagram for FakeBot:

Public Member Functions
	FakeBot ()

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver. More...

bool	getImage (yarp::sig::ImageOf< yarp::sig::PixelRgb > &image) override
	Get an rgb image from the frame grabber, if required demosaicking/color reconstruction is applied. More...

int	height () const override
	Return the height of each frame. More...

int	width () const override
	Return the width of each frame. More...

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

bool	positionMove (int j, double ref) override
	Set new reference point for a single axis. More...

bool	positionMove (const double *refs) override
	Set new reference point for all axes. More...

bool	relativeMove (int j, double delta) override
	Set relative position. More...

bool	relativeMove (const double *deltas) override
	Set relative position, all joints. More...

bool	checkMotionDone (int j, bool *flag) override
	Check if the current trajectory is terminated. More...

bool	checkMotionDone (bool *flag) override
	Check if the current trajectory is terminated. More...

bool	setRefSpeed (int j, double sp) override
	Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. More...

bool	setRefSpeeds (const double *spds) override
	Set reference speed on all 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	getRefSpeed (int j, double *ref) override
	Get reference speed for a joint. More...

bool	getRefSpeeds (double *spds) override
	Get reference speed of all 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	stop (int j) override
	Stop motion, single joint. More...

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

bool	close () override
	Close the DeviceDriver. More...

bool	resetEncoder (int j) override
	Reset encoder, single joint. More...

bool	resetEncoders () override
	Reset encoders. More...

bool	setEncoder (int j, double val) override
	Set the value of the encoder for a given joint. More...

bool	setEncoders (const double *vals) override
	Set the value of all encoders. More...

bool	getEncoder (int j, double *v) override
	Read the value of an encoder. More...

bool	getEncoders (double *encs) override
	Read the position of all axes. More...

bool	getEncoderSpeed (int j, double *sp) override
	Read the istantaneous speed of an axis. More...

bool	getEncoderSpeeds (double *spds) override
	Read the instantaneous speed of all axes. More...

bool	getEncoderAcceleration (int j, double *spds) override
	Read the instantaneous acceleration of an axis. More...

bool	getEncoderAccelerations (double *accs) override
	Read the instantaneous acceleration of all axes. More...

bool	positionMove (const int n_joint, const int joints, const double refs) override
	Set new reference point for a subset of joints. More...

bool	relativeMove (const int n_joint, const int joints, const double deltas) override
	Set relative position for a subset of joints. More...

bool	checkMotionDone (const int n_joint, const int joints, bool flags) override
	Check if the current trajectory is terminated. More...

bool	setRefSpeeds (const int n_joint, const int joints, const double spds) override
	Set reference speed on all joints. More...

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

bool	getRefSpeeds (const int n_joint, const int joints, double spds) override
	Get reference speed of all joints. More...

bool	getRefAccelerations (const int n_joint, const int joints, double accs) override
	Get reference acceleration for a joint. More...

bool	stop (const int n_joint, const int *joints) override
	Stop motion for subset of joints. More...

bool	getEncodersTimed (double encs, double time) override
	Read the instantaneous acceleration of all axes. More...

bool	getEncoderTimed (int j, double enc, double time) override
	Read the instantaneous acceleration of all axes. More...

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

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

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

bool	enableAmp (int j) override
	Enable the amplifier on a specific joint. More...

bool	disableAmp (int j) override
	Disable the amplifier on a specific joint. More...

bool	getCurrent (int j, double *val) override

bool	getCurrents (double *vals) override

bool	getMaxCurrent (int j, double *v) override
	Returns the maximum electric current allowed for a given motor. More...

bool	setMaxCurrent (int j, double v) override

bool	getAmpStatus (int *st) override

bool	getAmpStatus (int k, int *v) override

bool	calibrateAxisWithParams (int j, unsigned int iv, double v1, double v2, double v3) override
	Start calibration, this method is very often platform specific. More...

bool	calibrationDone (int j) override
	Check if the calibration is terminated, on a particular joint. More...

bool	getLimits (int axis, double min, double max) override
	Get the software limits for a particular axis. More...

bool	setLimits (int axis, double min, double max) override
	Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More...

bool	setVelLimits (int axis, double min, double max) override
	Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More...

bool	getVelLimits (int axis, double min, double max) override
	Get the software speed limits for a particular axis. More...

void	run () override
	Main body of the new thread. More...

Public Member Functions inherited from yarp::dev::DeviceDriver
	~DeviceDriver () override=default
	Destructor. More...

template<class T >
bool	view (T *&x)
	Get an interface to the device driver. More...

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others. More...

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

Public Member Functions inherited from yarp::dev::IPositionControl
virtual	~IPositionControl ()
	Destructor. More...

virtual bool	getTargetPosition (const int joint, double *ref)
	Get the last position reference for the specified axis. More...

virtual bool	getTargetPositions (double *refs)
	Get the last position reference for all axes. More...

virtual bool	getTargetPositions (const int n_joint, const int joints, double refs)
	Get the last position reference for the specified group of axes. More...

Public Member Functions inherited from yarp::dev::IVelocityControl
virtual	~IVelocityControl ()
	Destructor. More...

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

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

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

Public Member Functions inherited from yarp::dev::IAmplifierControl
virtual	~IAmplifierControl ()
	Destructor. More...

virtual bool	getNominalCurrent (int m, double *val)

virtual bool	setNominalCurrent (int m, const double val)

virtual bool	getPeakCurrent (int m, double *val)

virtual bool	setPeakCurrent (int m, const double val)

virtual bool	getPWM (int j, double *val)

virtual bool	getPWMLimit (int j, double *val)

virtual bool	setPWMLimit (int j, const double val)

virtual bool	getPowerSupplyVoltage (int j, double *val)

Public Member Functions inherited from yarp::dev::IEncodersTimed
virtual	~IEncodersTimed ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IEncoders
virtual	~IEncoders ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IFrameGrabberImage
virtual	~IFrameGrabberImage ()
	Destructor. More...

virtual bool	getImageCrop (cropType_id_t cropType, yarp::sig::VectorOf< std::pair< int, int > > vertices, yarp::sig::ImageOf< yarp::sig::PixelRgb > &image)
	Get a crop of the rgb image from the frame grabber, if required demosaicking/color reconstruction is applied. More...

Public Member Functions inherited from yarp::dev::IControlCalibration
	IControlCalibration ()

virtual	~IControlCalibration ()
	Destructor. More...

virtual bool	setCalibrationParameters (int axis, const CalibrationParameters &params)
	Start calibration, this method is very often platform specific. More...

virtual bool	setCalibrator (ICalibrator *c)
	Set the calibrator object to be used to calibrate the robot. More...

virtual bool	calibrateRobot ()
	Calibrate robot by using an external calibrator. More...

virtual bool	park (bool wait=true)

virtual bool	abortCalibration ()

virtual bool	abortPark ()

Public Member Functions inherited from yarp::dev::IControlLimits
virtual	~IControlLimits ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::DeviceResponder
	DeviceResponder ()
	Constructor. More...

void	addUsage (const char txt, const char explain=nullptr)
	Add information about a message that the respond() method understands. More...

void	addUsage (const yarp::os::Bottle &bot, const char *explain=nullptr)
	Add information about a message that the respond() method understands. More...

virtual bool	respond (const yarp::os::Bottle &command, yarp::os::Bottle &reply)
	Respond to a message. More...

bool	read (yarp::os::ConnectionReader &connection) override
	Handler for reading messages from the network, and passing them on to the respond() method. More...

void	onRead (yarp::os::Bottle &v) override
	Alternative handler for reading messages from the network, and passing them on to the respond() method. More...

void	makeUsage ()
	Regenerate usage information. More...

void	attach (yarp::os::TypedReader< yarp::os::Bottle > &source)
	Attach this object to a source of messages. More...

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor. More...

virtual Type	getReadType () const

Public Member Functions inherited from yarp::os::TypedReaderCallback< yarp::os::Bottle >
virtual	~TypedReaderCallback ()
	Destructor. More...

virtual void	onRead (yarp::os::Bottle &datum)
	Callback method. More...

virtual void	onRead (yarp::os::Bottle &datum, const yarp::os::TypedReader< yarp::os::Bottle > &reader)
	Callback method. More...

Public Member Functions inherited from yarp::os::Thread
	Thread ()
	Constructor. More...

virtual	~Thread ()
	Destructor. More...

virtual void	onStop ()
	Call-back, called while halting the thread (before join). More...

bool	start ()
	Start the new thread running. More...

bool	stop ()
	Stop the thread. More...

virtual void	beforeStart ()
	Called just before a new thread starts. More...

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...

virtual bool	threadInit ()
	Initialization method. More...

virtual void	threadRelease ()
	Release method. More...

bool	isStopping ()
	Returns true if the thread is stopping (Thread::stop has been called). More...

bool	isRunning ()
	Returns true if the thread is running (Thread::start has been called successfully and the thread has not stopped). More...

long int	getKey ()
	Get a unique identifier for the thread. More...

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that. More...

int	getPriority ()
	Query the current priority of the thread, if the OS supports that. More...

int	getPolicy ()
	Query the current scheduling policy of the thread, if the OS supports that. More...

bool	join (double seconds=-1)
	The function returns when the thread execution has completed. More...

void	setOptions (int stackSize=0)
	Set the stack size for the new thread. More...

Additional Inherited Members
Static Public Member Functions inherited from yarp::os::Thread
static int	getCount ()
	Check how many threads are running. More...

static long int	getKeyOfCaller ()
	Get a unique identifier for the calling thread. More...

static void	yield ()
	Reschedule the execution of current thread, allowing other threads to run. More...

static void	setDefaultStackSize (int stackSize)
	Set the default stack size for all threads created after this point. More...

Detailed Description

fakebot: Documentation to be added

Definition at line 26 of file FakeBot.h.

Constructor & Destructor Documentation

◆ FakeBot()

FakeBot::FakeBot ( )

inline

Definition at line 53 of file FakeBot.h.

Member Function Documentation

◆ calibrateAxisWithParams()

bool FakeBot::calibrateAxisWithParams	(	int	axis,
		unsigned int	type,
		double	p1,
		double	p2,
		double	p3
	)

inlineoverridevirtual

Start calibration, this method is very often platform specific.

Returns: true/false on success failure

Implements yarp::dev::IControlCalibration.

Definition at line 398 of file FakeBot.h.

◆ calibrationDone()

bool FakeBot::calibrationDone ( int j )

inlineoverridevirtual

Check if the calibration is terminated, on a particular joint.

Non blocking.

Returns: true/false

Implements yarp::dev::IControlCalibration.

Definition at line 404 of file FakeBot.h.

◆ checkMotionDone() [1/3]

bool FakeBot::checkMotionDone ( bool * flag )

inlineoverridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

flag	is a pointer to return value ("and" of all joints)

Returns: true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControl.

Definition at line 140 of file FakeBot.h.

◆ checkMotionDone() [2/3]

bool FakeBot::checkMotionDone	(	const int	n_joint,
		const int *	joints,
		bool *	flag
	)

inlineoverridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

joints	pointer to the array of joint numbers
flag	pointer to return value (logical "and" of all set of joints)

Returns: true/false if network communication went well.

Implements yarp::dev::IPositionControl.

Definition at line 299 of file FakeBot.h.

◆ checkMotionDone() [3/3]

bool FakeBot::checkMotionDone	(	int	j,
		bool *	flag
	)

inlineoverridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

j	is the axis number
flag	is a pointer to return value

Returns: true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControl.

Definition at line 135 of file FakeBot.h.

◆ close()

bool FakeBot::close ( )

inlineoverridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 219 of file FakeBot.h.

◆ disableAmp()

bool FakeBot::disableAmp ( int j )

inlineoverridevirtual

Disable the amplifier on a specific joint.

All computations within the board will be carried out normally, but the output will be disabled.

Returns: true/false on success/failure

Implements yarp::dev::IAmplifierControl.

Definition at line 357 of file FakeBot.h.

◆ enableAmp()

bool FakeBot::enableAmp ( int j )

inlineoverridevirtual

Enable the amplifier on a specific joint.

Be careful, check that the output of the controller is appropriate (usually zero), to avoid generating abrupt movements.

Returns: true/false on success/failure

Implements yarp::dev::IAmplifierControl.

Definition at line 350 of file FakeBot.h.

◆ getAmpStatus() [1/2]

bool FakeBot::getAmpStatus ( int * st )

inlineoverridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 387 of file FakeBot.h.

◆ getAmpStatus() [2/2]

bool FakeBot::getAmpStatus	(	int	k,
		int *	v
	)

inlineoverridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 392 of file FakeBot.h.

◆ getAxes()

bool FakeBot::getAxes ( int * ax )

inlineoverridevirtual

Get the number of controlled axes.

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

Parameters

ax	pointer to storage

Returns: true/false.

Implements yarp::dev::IPositionControl.

Definition at line 98 of file FakeBot.h.

◆ getCurrent()

bool FakeBot::getCurrent	(	int	j,
		double *	val
	)

inlineoverridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 364 of file FakeBot.h.

◆ getCurrents()

bool FakeBot::getCurrents ( double * vals )

inlineoverridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 371 of file FakeBot.h.

◆ getEncoder()

bool FakeBot::getEncoder	(	int	j,
		double *	v
	)

inlineoverridevirtual

Read the value of an encoder.

Parameters

j	encoder number
v	pointer to storage for the return value

Returns: true/false, upon success/failure (you knew it, uh?)

Implements yarp::dev::IEncoders.

Definition at line 252 of file FakeBot.h.

◆ getEncoderAcceleration()

bool FakeBot::getEncoderAcceleration	(	int	j,
		double *	spds
	)

inlineoverridevirtual

Read the instantaneous acceleration of an axis.

Parameters

j	axis number
spds	pointer to the array that will contain the output

Implements yarp::dev::IEncoders.

Definition at line 281 of file FakeBot.h.

◆ getEncoderAccelerations()

bool FakeBot::getEncoderAccelerations ( double * accs )

inlineoverridevirtual

Read the instantaneous acceleration of all axes.

Parameters

accs	pointer to the array that will contain the output

Returns: true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncoders.

Definition at line 288 of file FakeBot.h.

◆ getEncoders()

bool FakeBot::getEncoders ( double * encs )

inlineoverridevirtual

Read the position of all axes.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false on success/failure

Implements yarp::dev::IEncoders.

Definition at line 260 of file FakeBot.h.

◆ getEncoderSpeed()

bool FakeBot::getEncoderSpeed	(	int	j,
		double *	sp
	)

inlineoverridevirtual

Read the istantaneous speed of an axis.

Parameters

j	axis number
sp	pointer to storage for the output

Returns: true if successful, false ... otherwise.

Implements yarp::dev::IEncoders.

Definition at line 267 of file FakeBot.h.

◆ getEncoderSpeeds()

bool FakeBot::getEncoderSpeeds ( double * spds )

inlineoverridevirtual

Read the instantaneous speed of all axes.

Parameters

spds	pointer to storage for the output values

Returns: guess what? (true/false on success or failure).

Implements yarp::dev::IEncoders.

Definition at line 274 of file FakeBot.h.

◆ getEncodersTimed()

bool FakeBot::getEncodersTimed	(	double *	encs,
		double *	time
	)

inlineoverridevirtual

Read the instantaneous acceleration of all axes.

Parameters

encs	pointer to the array that will contain the output
time	pointer to the array that will contain individual timestamps

Returns: true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersTimed.

Definition at line 313 of file FakeBot.h.

◆ getEncoderTimed()

bool FakeBot::getEncoderTimed	(	int	j,
		double *	encs,
		double *	time
	)

inlineoverridevirtual

Read the instantaneous acceleration of all axes.

Parameters

j	axis index
encs	encoder value (pointer to)
time	corresponding timestamp (pointer to)

Returns: true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersTimed.

Definition at line 325 of file FakeBot.h.

◆ getImage()

bool FakeBot::getImage ( yarp::sig::ImageOf< yarp::sig::PixelRgb > & image )

overridevirtual

Get an rgb image from the frame grabber, if required demosaicking/color reconstruction is applied.

Parameters

image the image to be filled

Returns: true/false upon success/failure

Implements yarp::dev::IFrameGrabberImage.

Definition at line 117 of file FakeBot.cpp.

◆ getLimits()

bool FakeBot::getLimits	(	int	axis,
		double *	min,
		double *	max
	)

inlineoverridevirtual

Get the software limits for a particular axis.

Parameters

axis	joint number
pointer	to store the value of the lower limit
pointer	to store the value of the upper limit

Returns: true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimits.

Definition at line 410 of file FakeBot.h.

◆ getMaxCurrent()

bool FakeBot::getMaxCurrent	(	int	j,
		double *	v
	)

inlineoverridevirtual

Returns the maximum electric current allowed for a given motor.

Exceeding this value will trigger instantaneous hardware fault.

Parameters

j	motor number
v	the return value

Returns: probably true, might return false in bad times

Implements yarp::dev::IAmplifierControl.

Definition at line 378 of file FakeBot.h.

◆ getRefAcceleration()

bool FakeBot::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::IPositionControl.

Definition at line 193 of file FakeBot.h.

◆ getRefAccelerations() [1/2]

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

inlineoverridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters

joints	pointer to the array of joint numbers
accs	pointer to the array that will store the acceleration values

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 307 of file FakeBot.h.

◆ getRefAccelerations() [2/2]

bool FakeBot::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::IPositionControl.

Definition at line 201 of file FakeBot.h.

◆ getRefSpeed()

bool FakeBot::getRefSpeed	(	int	j,
		double *	ref
	)

inlineoverridevirtual

Get reference speed for a joint.

Returns the speed used to generate the trajectory profile.

Parameters

j	joint number
ref	pointer to storage for the return value

Returns: true/false on success or failure

Implements yarp::dev::IPositionControl.

Definition at line 177 of file FakeBot.h.

◆ getRefSpeeds() [1/2]

bool FakeBot::getRefSpeeds	(	const int	n_joint,
		const int *	joints,
		double *	spds
	)

inlineoverridevirtual

Get reference speed of all joints.

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

Parameters

joints	pointer to the array of joint numbers
spds	pointer to the array that will store the speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 305 of file FakeBot.h.

◆ getRefSpeeds() [2/2]

bool FakeBot::getRefSpeeds ( double * spds )

inlineoverridevirtual

Get reference speed of all joints.

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

Parameters

spds	pointer to the array that will store the speed values.

Implements yarp::dev::IPositionControl.

Definition at line 185 of file FakeBot.h.

◆ getVelLimits()

bool FakeBot::getVelLimits	(	int	axis,
		double *	min,
		double *	max
	)

inlineoverridevirtual

Get the software speed limits for a particular axis.

Parameters

axis	joint number
min	pointer to store the value of the lower limit
max	pointer to store the value of the upper limit

Returns: true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimits.

Definition at line 426 of file FakeBot.h.

◆ height()

int FakeBot::height ( ) const

inlineoverridevirtual

Return the height of each frame.

Returns: image height

Implements yarp::dev::IFrameGrabberImage.

Definition at line 86 of file FakeBot.h.

◆ open()

bool FakeBot::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 88 of file FakeBot.cpp.

◆ positionMove() [1/3]

bool FakeBot::positionMove ( const double * refs )

inlineoverridevirtual

Set new reference point for all axes.

Parameters

refs	array, new reference points.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 111 of file FakeBot.h.

◆ positionMove() [2/3]

bool FakeBot::positionMove	(	const int	n_joint,
		const int *	joints,
		const double *	refs
	)

inlineoverridevirtual

Set new reference point for a subset of joints.

Parameters

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

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 295 of file FakeBot.h.

◆ positionMove() [3/3]

bool FakeBot::positionMove	(	int	j,
		double	ref
	)

inlineoverridevirtual

Set new reference point for a single axis.

Parameters

j	joint number
ref	specifies the new ref point

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 103 of file FakeBot.h.

◆ relativeMove() [1/3]

bool FakeBot::relativeMove ( const double * deltas )

inlineoverridevirtual

Set relative position, all joints.

Parameters

deltas pointer to the relative commands

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 127 of file FakeBot.h.

◆ relativeMove() [2/3]

bool FakeBot::relativeMove	(	const int	n_joint,
		const int *	joints,
		const double *	deltas
	)

inlineoverridevirtual

Set relative position for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
deltas	pointer to the array of relative commands

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 297 of file FakeBot.h.

◆ relativeMove() [3/3]

bool FakeBot::relativeMove	(	int	j,
		double	delta
	)

inlineoverridevirtual

Set relative position.

The command is relative to the current position of the axis.

Parameters

j	joint axis number
delta	relative command

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 119 of file FakeBot.h.

◆ resetEncoder()

bool FakeBot::resetEncoder ( int j )

inlineoverridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters

j	encoder number

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 223 of file FakeBot.h.

◆ resetEncoders()

bool FakeBot::resetEncoders ( )

inlineoverridevirtual

Reset encoders.

Set the encoders value to zero

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 231 of file FakeBot.h.

◆ run()

void FakeBot::run ( )

overridevirtual

Main body of the new thread.

Override this method to do what you want. After Thread::start is called, this method will start running in a separate thread. It is important that this method either keeps checking Thread::isStopping to see if it should stop, or you override the Thread::onStop method to interact with it in some way to shut the new thread down. There is no really reliable, portable way to stop a thread cleanly unless that thread cooperates.

Implements yarp::os::Thread.

Definition at line 176 of file FakeBot.cpp.

◆ setEncoder()

bool FakeBot::setEncoder	(	int	j,
		double	val
	)

inlineoverridevirtual

Set the value of the encoder for a given joint.

Parameters

j	encoder number
val	new value

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 238 of file FakeBot.h.

◆ setEncoders()

bool FakeBot::setEncoders ( const double * vals )

inlineoverridevirtual

Set the value of all encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 245 of file FakeBot.h.

◆ setLimits()

bool FakeBot::setLimits	(	int	axis,
		double	min,
		double	max
	)

inlineoverridevirtual

Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.

Parameters

axis	joint number (why am I telling you this)
min	the value of the lower limit
max	the value of the upper limit

Returns: true or false on success or failure

Implements yarp::dev::IControlLimits.

Definition at line 418 of file FakeBot.h.

◆ setMaxCurrent()

bool FakeBot::setMaxCurrent	(	int	j,
		double	v
	)

inlineoverridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 383 of file FakeBot.h.

◆ setRefAcceleration()

bool FakeBot::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::IPositionControl.

Definition at line 161 of file FakeBot.h.

◆ setRefAccelerations() [1/2]

bool FakeBot::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::IPositionControl.

Definition at line 169 of file FakeBot.h.

◆ setRefAccelerations() [2/2]

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

inlineoverridevirtual

Set reference acceleration on all joints.

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

Parameters

joints	pointer to the array of joint numbers
accs	pointer to the array with acceleration values

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 303 of file FakeBot.h.

◆ setRefSpeed()

bool FakeBot::setRefSpeed	(	int	j,
		double	sp
	)

inlineoverridevirtual

Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.

Parameters

j	joint number
sp	speed value

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 145 of file FakeBot.h.

◆ setRefSpeeds() [1/2]

bool FakeBot::setRefSpeeds ( const double * spds )

inlineoverridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters

spds	pointer to the array of speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 153 of file FakeBot.h.

◆ setRefSpeeds() [2/2]

bool FakeBot::setRefSpeeds	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

inlineoverridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
spds	pointer to the array with speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 301 of file FakeBot.h.

◆ setVelLimits()

bool FakeBot::setVelLimits	(	int	axis,
		double	min,
		double	max
	)

inlineoverridevirtual

Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.

Parameters

axis	joint number
min	the value of the lower limit
max	the value of the upper limit

Returns: true or false on success or failure

Implements yarp::dev::IControlLimits.

Definition at line 424 of file FakeBot.h.

◆ stop() [1/3]

bool FakeBot::stop ( )

inlineoverridevirtual

Stop motion, multiple joints.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 214 of file FakeBot.h.

◆ stop() [2/3]

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

inlineoverridevirtual

Stop motion for subset of joints.

Parameters

joints pointer to the array of joint numbers

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 309 of file FakeBot.h.

◆ stop() [3/3]

bool FakeBot::stop ( int j )

inlineoverridevirtual

Stop motion, single joint.

Parameters

j	joint number

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 209 of file FakeBot.h.

◆ velocityMove() [1/3]

bool FakeBot::velocityMove ( const double * sp )

inlineoverridevirtual

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 339 of file FakeBot.h.

◆ velocityMove() [2/3]

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

inlineoverridevirtual

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 346 of file FakeBot.h.

◆ velocityMove() [3/3]

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

inlineoverridevirtual

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 332 of file FakeBot.h.

◆ width()

int FakeBot::width ( ) const

inlineoverridevirtual

Return the width of each frame.

Returns: image width

Implements yarp::dev::IFrameGrabberImage.

Definition at line 90 of file FakeBot.h.

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

src/devices/fakebot/FakeBot.h
src/devices/fakebot/FakeBot.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FakeBot()

Member Function Documentation

◆ calibrateAxisWithParams()

◆ calibrationDone()

◆ checkMotionDone() [1/3]

◆ checkMotionDone() [2/3]

◆ checkMotionDone() [3/3]

◆ close()

◆ disableAmp()

◆ enableAmp()

◆ getAmpStatus() [1/2]

◆ getAmpStatus() [2/2]

◆ getAxes()

◆ getCurrent()

◆ getCurrents()

◆ getEncoder()

◆ getEncoderAcceleration()

◆ getEncoderAccelerations()

◆ getEncoders()

◆ getEncoderSpeed()

◆ getEncoderSpeeds()

◆ getEncodersTimed()

◆ getEncoderTimed()

◆ getImage()

◆ getLimits()

◆ getMaxCurrent()

◆ getRefAcceleration()

◆ getRefAccelerations() [1/2]

◆ getRefAccelerations() [2/2]

◆ getRefSpeed()

◆ getRefSpeeds() [1/2]

◆ getRefSpeeds() [2/2]

◆ getVelLimits()

◆ height()

◆ open()

◆ positionMove() [1/3]

◆ positionMove() [2/3]

◆ positionMove() [3/3]

◆ relativeMove() [1/3]

◆ relativeMove() [2/3]

◆ relativeMove() [3/3]

◆ resetEncoder()

◆ resetEncoders()

◆ run()

◆ setEncoder()

◆ setEncoders()

◆ setLimits()

◆ setMaxCurrent()

◆ setRefAcceleration()

◆ setRefAccelerations() [1/2]

◆ setRefAccelerations() [2/2]

◆ setRefSpeed()

◆ setRefSpeeds() [1/2]

◆ setRefSpeeds() [2/2]

◆ setVelLimits()

◆ stop() [1/3]

◆ stop() [2/3]

◆ stop() [3/3]

◆ velocityMove() [1/3]

◆ velocityMove() [2/3]

◆ velocityMove() [3/3]

◆ width()