YARP
Yet Another Robot Platform
Public Member Functions | Public Attributes | List of all members
SubDevice Class Reference

#include <ControlBoardWrapper/SubDevice.h>

Public Member Functions

 SubDevice ()=default
 
bool attach (yarp::dev::PolyDriver *d, const std::string &id)
 
void detach ()
 
bool configure (size_t wbase, size_t wtop, size_t base, size_t top, size_t axes, const std::string &id, ControlBoardWrapper *_parent)
 
bool isAttached ()
 

Public Attributes

std::string id
 
size_t base {static_cast<size_t>(-1)}
 
size_t top {static_cast<size_t>(-1)}
 
size_t wbase
 
size_t wtop
 
size_t axes {0}
 
size_t totalAxis
 
bool configuredF {false}
 
ControlBoardWrapper * parent {nullptr}
 
yarp::dev::PolyDriver * subdevice {nullptr}
 
yarp::dev::IPidControl * pid {nullptr}
 
yarp::dev::IPositionControl * pos {nullptr}
 
yarp::dev::IVelocityControl * vel {nullptr}
 
yarp::dev::IEncodersTimed * iJntEnc {nullptr}
 
yarp::dev::IMotorEncoders * iMotEnc {nullptr}
 
yarp::dev::IAmplifierControl * amp {nullptr}
 
yarp::dev::IControlLimits * lim {nullptr}
 
yarp::dev::IControlCalibration * calib {nullptr}
 
yarp::dev::IPreciselyTimed * iTimed {nullptr}
 
yarp::dev::ITorqueControl * iTorque {nullptr}
 
yarp::dev::IImpedanceControl * iImpedance {nullptr}
 
yarp::dev::IControlMode * iMode {nullptr}
 
yarp::dev::IAxisInfo * info {nullptr}
 
yarp::dev::IPositionDirect * posDir {nullptr}
 
yarp::dev::IInteractionMode * iInteract {nullptr}
 
yarp::dev::IMotor * imotor {nullptr}
 
yarp::dev::IRemoteVariables * iVar {nullptr}
 
yarp::dev::IPWMControl * iPWM {nullptr}
 
yarp::dev::ICurrentControl * iCurr {nullptr}
 
yarp::sig::Vector subDev_joint_encoders
 
yarp::sig::Vector jointEncodersTimes
 
yarp::sig::Vector subDev_motor_encoders
 
yarp::sig::Vector motorEncodersTimes
 

Detailed Description

Definition at line 54 of file SubDevice.h.

Constructor & Destructor Documentation

◆ SubDevice()

SubDevice::SubDevice ( )
default

Member Function Documentation

◆ attach()

bool SubDevice::attach ( yarp::dev::PolyDriver *  d,
const std::string &  id 
)

Definition at line 87 of file SubDevice.cpp.

◆ configure()

bool SubDevice::configure ( size_t  wbase,
size_t  wtop,
size_t  base,
size_t  top,
size_t  axes,
const std::string &  id,
ControlBoardWrapper *  _parent 
)

Definition at line 27 of file SubDevice.cpp.

◆ detach()

void SubDevice::detach ( )

Definition at line 63 of file SubDevice.cpp.

◆ isAttached()

bool SubDevice::isAttached ( )
inline

Definition at line 103 of file SubDevice.h.

Member Data Documentation

◆ amp

yarp::dev::IAmplifierControl* SubDevice::amp {nullptr}

Definition at line 75 of file SubDevice.h.

◆ axes

size_t SubDevice::axes {0}

Definition at line 62 of file SubDevice.h.

◆ base

size_t SubDevice::base {static_cast<size_t>(-1)}

Definition at line 58 of file SubDevice.h.

◆ calib

yarp::dev::IControlCalibration* SubDevice::calib {nullptr}

Definition at line 77 of file SubDevice.h.

◆ configuredF

bool SubDevice::configuredF {false}

Definition at line 65 of file SubDevice.h.

◆ iCurr

yarp::dev::ICurrentControl* SubDevice::iCurr {nullptr}

Definition at line 88 of file SubDevice.h.

◆ id

std::string SubDevice::id

Definition at line 57 of file SubDevice.h.

◆ iImpedance

yarp::dev::IImpedanceControl* SubDevice::iImpedance {nullptr}

Definition at line 80 of file SubDevice.h.

◆ iInteract

yarp::dev::IInteractionMode* SubDevice::iInteract {nullptr}

Definition at line 84 of file SubDevice.h.

◆ iJntEnc

yarp::dev::IEncodersTimed* SubDevice::iJntEnc {nullptr}

Definition at line 73 of file SubDevice.h.

◆ iMode

yarp::dev::IControlMode* SubDevice::iMode {nullptr}

Definition at line 81 of file SubDevice.h.

◆ iMotEnc

yarp::dev::IMotorEncoders* SubDevice::iMotEnc {nullptr}

Definition at line 74 of file SubDevice.h.

◆ imotor

yarp::dev::IMotor* SubDevice::imotor {nullptr}

Definition at line 85 of file SubDevice.h.

◆ info

yarp::dev::IAxisInfo* SubDevice::info {nullptr}

Definition at line 82 of file SubDevice.h.

◆ iPWM

yarp::dev::IPWMControl* SubDevice::iPWM {nullptr}

Definition at line 87 of file SubDevice.h.

◆ iTimed

yarp::dev::IPreciselyTimed* SubDevice::iTimed {nullptr}

Definition at line 78 of file SubDevice.h.

◆ iTorque

yarp::dev::ITorqueControl* SubDevice::iTorque {nullptr}

Definition at line 79 of file SubDevice.h.

◆ iVar

yarp::dev::IRemoteVariables* SubDevice::iVar {nullptr}

Definition at line 86 of file SubDevice.h.

◆ jointEncodersTimes

yarp::sig::Vector SubDevice::jointEncodersTimes

Definition at line 91 of file SubDevice.h.

◆ lim

yarp::dev::IControlLimits* SubDevice::lim {nullptr}

Definition at line 76 of file SubDevice.h.

◆ motorEncodersTimes

yarp::sig::Vector SubDevice::motorEncodersTimes

Definition at line 93 of file SubDevice.h.

◆ parent

ControlBoardWrapper* SubDevice::parent {nullptr}

Definition at line 67 of file SubDevice.h.

◆ pid

yarp::dev::IPidControl* SubDevice::pid {nullptr}

Definition at line 70 of file SubDevice.h.

◆ pos

yarp::dev::IPositionControl* SubDevice::pos {nullptr}

Definition at line 71 of file SubDevice.h.

◆ posDir

yarp::dev::IPositionDirect* SubDevice::posDir {nullptr}

Definition at line 83 of file SubDevice.h.

◆ subDev_joint_encoders

yarp::sig::Vector SubDevice::subDev_joint_encoders

Definition at line 90 of file SubDevice.h.

◆ subDev_motor_encoders

yarp::sig::Vector SubDevice::subDev_motor_encoders

Definition at line 92 of file SubDevice.h.

◆ subdevice

yarp::dev::PolyDriver* SubDevice::subdevice {nullptr}

Definition at line 69 of file SubDevice.h.

◆ top

size_t SubDevice::top {static_cast<size_t>(-1)}

Definition at line 59 of file SubDevice.h.

◆ totalAxis

size_t SubDevice::totalAxis

Definition at line 63 of file SubDevice.h.

◆ vel

yarp::dev::IVelocityControl* SubDevice::vel {nullptr}

Definition at line 72 of file SubDevice.h.

◆ wbase

size_t SubDevice::wbase

Definition at line 60 of file SubDevice.h.

◆ wtop

size_t SubDevice::wtop

Definition at line 61 of file SubDevice.h.

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