YARP
Yet Another Robot Platform
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yarp::dev::IImpedanceControl Class Referenceabstract
yarp::dev Yarp Devices » Device Interfaces » Motor Interfaces

Interface for control boards implementing impedance control. More...

#include <yarp/dev/IImpedanceControl.h>

+ Inheritance diagram for yarp::dev::IImpedanceControl:

Public Member Functions

virtual ~IImpedanceControl ()
 Destructor. More...
 
virtual bool getAxes (int *ax)=0
 Get the number of controlled axes. More...
 
virtual bool getImpedance (int j, double *stiffness, double *damping)=0
 Get current impedance gains (stiffness,damping,offset) for a specific joint. More...
 
virtual bool setImpedance (int j, double stiffness, double damping)=0
 Set current impedance gains (stiffness,damping) for a specific joint. More...
 
virtual bool setImpedanceOffset (int j, double offset)=0
 Set current force Offset for a specific joint. More...
 
virtual bool getImpedanceOffset (int j, double *offset)=0
 Get current force Offset for a specific joint. More...
 
virtual bool getCurrentImpedanceLimit (int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp)=0
 Get the current impedandance limits for a specific joint. More...
 

Detailed Description

Interface for control boards implementing impedance control.

Definition at line 74 of file IImpedanceControl.h.

Constructor & Destructor Documentation

◆ ~IImpedanceControl()

virtual yarp::dev::IImpedanceControl::~IImpedanceControl ( )
inlinevirtual

Destructor.

Definition at line 80 of file IImpedanceControl.h.

Member Function Documentation

◆ getAxes()

virtual bool yarp::dev::IImpedanceControl::getAxes ( int *  ax)
pure virtual

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.

Implemented in yarp::dev::ImplementImpedanceControl, RemoteControlBoard, FakeMotionControl, ControlBoardWrapperImpedanceControl, and ControlBoardRemapper.

◆ getCurrentImpedanceLimit()

virtual bool yarp::dev::IImpedanceControl::getCurrentImpedanceLimit ( int  j,
double *  min_stiff,
double *  max_stiff,
double *  min_damp,
double *  max_damp 
)
pure virtual

Get the current impedandance limits for a specific joint.

Returns
success/failure

Implemented in yarp::dev::ImplementImpedanceControl, RemoteControlBoard, ControlBoardWrapperImpedanceControl, and ControlBoardRemapper.

◆ getImpedance()

virtual bool yarp::dev::IImpedanceControl::getImpedance ( int  j,
double *  stiffness,
double *  damping 
)
pure virtual

Get current impedance gains (stiffness,damping,offset) for a specific joint.

Returns
success/failure

Implemented in yarp::dev::ImplementImpedanceControl, RemoteControlBoard, ControlBoardWrapperImpedanceControl, and ControlBoardRemapper.

◆ getImpedanceOffset()

virtual bool yarp::dev::IImpedanceControl::getImpedanceOffset ( int  j,
double *  offset 
)
pure virtual

Get current force Offset for a specific joint.

Returns
success/failure

Implemented in yarp::dev::ImplementImpedanceControl, RemoteControlBoard, ControlBoardWrapperImpedanceControl, and ControlBoardRemapper.

◆ setImpedance()

virtual bool yarp::dev::IImpedanceControl::setImpedance ( int  j,
double  stiffness,
double  damping 
)
pure virtual

Set current impedance gains (stiffness,damping) for a specific joint.

Returns
success/failure

Implemented in yarp::dev::ImplementImpedanceControl, RemoteControlBoard, ControlBoardWrapperImpedanceControl, and ControlBoardRemapper.

◆ setImpedanceOffset()

virtual bool yarp::dev::IImpedanceControl::setImpedanceOffset ( int  j,
double  offset 
)
pure virtual

Set current force Offset for a specific joint.

Returns
success/failure

Implemented in yarp::dev::ImplementImpedanceControl, RemoteControlBoard, ControlBoardWrapperImpedanceControl, and ControlBoardRemapper.

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