fakeMotor: A fake motor control board for testing. More...

#include <fakeMotor/FakeMotor.h>

Inheritance diagram for FakeMotor:

Public Member Functions
	FakeMotor ()=default

	FakeMotor (const FakeMotor &)=delete

	FakeMotor (FakeMotor &&)=delete

FakeMotor &	operator= (const FakeMotor &)=delete

FakeMotor &	operator= (FakeMotor &&)=delete

	~FakeMotor () override=default

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

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver. 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	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	getTargetPosition (const int joint, double *ref) override
	Get the last position reference for the specified axis. More...

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

bool	getTargetPositions (const int n_joint, const int joints, double refs) override
	Get the last position reference for the specified group of axes. 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	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	getEncoderTimed (int j, double encs, double time) override
	Read the instantaneous acceleration of all axes. More...

bool	getEncodersTimed (double encs, double time) override
	Read the instantaneous acceleration 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	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...

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...

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::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...

Detailed Description

fakeMotor: A fake motor control board for testing.

Implements the IPositionControl, IEncoders and IVelocityControl interfaces.

Examples: dev/fake_motor/fake_motor.cpp.

Definition at line 33 of file FakeMotor.h.

Constructor & Destructor Documentation

◆ FakeMotor() [1/3]

FakeMotor::FakeMotor ( )

default

◆ FakeMotor() [2/3]

FakeMotor::FakeMotor ( const FakeMotor & )

delete

◆ FakeMotor() [3/3]

FakeMotor::FakeMotor ( FakeMotor && )

delete

◆ ~FakeMotor()

FakeMotor::~FakeMotor ( )

overridedefault

Member Function Documentation

◆ checkMotionDone() [1/3]

bool FakeMotor::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 132 of file FakeMotor.h.

◆ checkMotionDone() [2/3]

bool FakeMotor::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 231 of file FakeMotor.h.

◆ checkMotionDone() [3/3]

bool FakeMotor::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.

Examples: dev/fake_motor/fake_motor.cpp.

Definition at line 125 of file FakeMotor.h.

◆ close()

bool FakeMotor::close ( )

inlineoverridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Examples: dev/fake_motor/fake_motor.cpp.

Definition at line 281 of file FakeMotor.h.

◆ getAxes()

bool FakeMotor::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.

Examples: dev/fake_motor/fake_motor.cpp.

Definition at line 59 of file FakeMotor.h.

◆ getEncoder()

bool FakeMotor::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 321 of file FakeMotor.h.

◆ getEncoderAcceleration()

bool FakeMotor::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 372 of file FakeMotor.h.

◆ getEncoderAccelerations()

bool FakeMotor::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 380 of file FakeMotor.h.

◆ getEncoders()

bool FakeMotor::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 330 of file FakeMotor.h.

◆ getEncoderSpeed()

bool FakeMotor::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 356 of file FakeMotor.h.

◆ getEncoderSpeeds()

bool FakeMotor::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 364 of file FakeMotor.h.

◆ getEncodersTimed()

bool FakeMotor::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 347 of file FakeMotor.h.

◆ getEncoderTimed()

bool FakeMotor::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 340 of file FakeMotor.h.

◆ getRefAcceleration()

bool FakeMotor::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.

Examples: dev/fake_motor/fake_motor.cpp.

Definition at line 192 of file FakeMotor.h.

◆ getRefAccelerations() [1/2]

bool FakeMotor::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 251 of file FakeMotor.h.

◆ getRefAccelerations() [2/2]

bool FakeMotor::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.

Examples: dev/fake_motor/fake_motor.cpp.

Definition at line 201 of file FakeMotor.h.

◆ getRefSpeed()

bool FakeMotor::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.

Examples: dev/fake_motor/fake_motor.cpp.

Definition at line 174 of file FakeMotor.h.

◆ getRefSpeeds() [1/2]

bool FakeMotor::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 246 of file FakeMotor.h.

◆ getRefSpeeds() [2/2]

bool FakeMotor::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.

Examples: dev/fake_motor/fake_motor.cpp.

Definition at line 183 of file FakeMotor.h.

◆ getTargetPosition()

bool FakeMotor::getTargetPosition	(	const int	joint,
		double *	ref
	)

inlineoverridevirtual

Get the last position reference for the specified axis.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControl.

Definition at line 261 of file FakeMotor.h.

◆ getTargetPositions() [1/2]

bool FakeMotor::getTargetPositions	(	const int	n_joint,
		const int *	joints,
		double *	refs
	)

inlineoverridevirtual

Get the last position reference for the specified group of axes.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControl.

Definition at line 271 of file FakeMotor.h.

◆ getTargetPositions() [2/2]

bool FakeMotor::getTargetPositions ( double * refs )

inlineoverridevirtual

Get the last position reference for all axes.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControl.

Definition at line 266 of file FakeMotor.h.

◆ open()

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

inlineoverridevirtual

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.

Reimplemented in TestMotor.

Examples: dev/fake_motor/fake_motor.cpp.

Definition at line 66 of file FakeMotor.h.

◆ operator=() [1/2]

FakeMotor& FakeMotor::operator= ( const FakeMotor & )

delete

◆ operator=() [2/2]

FakeMotor& FakeMotor::operator= ( FakeMotor && )

delete

◆ positionMove() [1/3]

bool FakeMotor::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 95 of file FakeMotor.h.

◆ positionMove() [2/3]

bool FakeMotor::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 221 of file FakeMotor.h.

◆ positionMove() [3/3]

bool FakeMotor::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.

Examples: dev/fake_motor/fake_motor.cpp.

Definition at line 85 of file FakeMotor.h.

◆ relativeMove() [1/3]

bool FakeMotor::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 115 of file FakeMotor.h.

◆ relativeMove() [2/3]

bool FakeMotor::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 226 of file FakeMotor.h.

◆ relativeMove() [3/3]

bool FakeMotor::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.

Examples: dev/fake_motor/fake_motor.cpp.

Definition at line 105 of file FakeMotor.h.

◆ resetEncoder()

bool FakeMotor::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 286 of file FakeMotor.h.

◆ resetEncoders()

bool FakeMotor::resetEncoders ( )

inlineoverridevirtual

Reset encoders.

Set the encoders value to zero

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 294 of file FakeMotor.h.

◆ setEncoder()

bool FakeMotor::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 303 of file FakeMotor.h.

◆ setEncoders()

bool FakeMotor::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 312 of file FakeMotor.h.

◆ setRefAcceleration()

bool FakeMotor::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.

Examples: dev/fake_motor/fake_motor.cpp.

Definition at line 156 of file FakeMotor.h.

◆ setRefAccelerations() [1/2]

bool FakeMotor::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.

Examples: dev/fake_motor/fake_motor.cpp.

Definition at line 165 of file FakeMotor.h.

◆ setRefAccelerations() [2/2]

bool FakeMotor::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 241 of file FakeMotor.h.

◆ setRefSpeed()

bool FakeMotor::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.

Examples: dev/fake_motor/fake_motor.cpp.

Definition at line 138 of file FakeMotor.h.

◆ setRefSpeeds() [1/2]

bool FakeMotor::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.

Examples: dev/fake_motor/fake_motor.cpp.

Definition at line 147 of file FakeMotor.h.

◆ setRefSpeeds() [2/2]

bool FakeMotor::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 236 of file FakeMotor.h.

◆ stop() [1/3]

bool FakeMotor::stop ( )

inlineoverridevirtual

Stop motion, multiple joints.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Examples: dev/fake_motor/fake_motor.cpp.

Definition at line 216 of file FakeMotor.h.

◆ stop() [2/3]

bool FakeMotor::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 256 of file FakeMotor.h.

◆ stop() [3/3]

bool FakeMotor::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 210 of file FakeMotor.h.

◆ velocityMove() [1/3]

bool FakeMotor::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 397 of file FakeMotor.h.

◆ velocityMove() [2/3]

bool FakeMotor::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 276 of file FakeMotor.h.

◆ velocityMove() [3/3]

bool FakeMotor::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 388 of file FakeMotor.h.

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

src/devices/fakeMotor/FakeMotor.h
src/devices/fakeMotor/FakeMotor.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ FakeMotor() [1/3]

◆ FakeMotor() [2/3]

◆ FakeMotor() [3/3]

◆ ~FakeMotor()

Member Function Documentation

◆ checkMotionDone() [1/3]

◆ checkMotionDone() [2/3]

◆ checkMotionDone() [3/3]

◆ close()

◆ getAxes()

◆ getEncoder()

◆ getEncoderAcceleration()

◆ getEncoderAccelerations()

◆ getEncoders()

◆ getEncoderSpeed()

◆ getEncoderSpeeds()

◆ getEncodersTimed()

◆ getEncoderTimed()

◆ getRefAcceleration()

◆ getRefAccelerations() [1/2]

◆ getRefAccelerations() [2/2]

◆ getRefSpeed()

◆ getRefSpeeds() [1/2]

◆ getRefSpeeds() [2/2]

◆ getTargetPosition()

◆ getTargetPositions() [1/2]

◆ getTargetPositions() [2/2]

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ positionMove() [1/3]

◆ positionMove() [2/3]

◆ positionMove() [3/3]

◆ relativeMove() [1/3]

◆ relativeMove() [2/3]

◆ relativeMove() [3/3]

◆ resetEncoder()

◆ resetEncoders()

◆ setEncoder()

◆ setEncoders()

◆ setRefAcceleration()

◆ setRefAccelerations() [1/2]

◆ setRefAccelerations() [2/2]

◆ setRefSpeed()

◆ setRefSpeeds() [1/2]

◆ setRefSpeeds() [2/2]

◆ stop() [1/3]

◆ stop() [2/3]

◆ stop() [3/3]

◆ velocityMove() [1/3]

◆ velocityMove() [2/3]

◆ velocityMove() [3/3]