Interface for a generic control board device implementing position control. More...

#include <yarp/dev/IPositionControl.h>

Inheritance diagram for yarp::dev::IPositionControl:

Public Member Functions
virtual	~IPositionControl ()
	Destructor. More...

virtual bool	getAxes (int *ax)=0
	Get the number of controlled axes. More...

virtual bool	positionMove (int j, double ref)=0
	Set new reference point for a single axis. More...

virtual bool	positionMove (const double *refs)=0
	Set new reference point for all axes. More...

virtual bool	relativeMove (int j, double delta)=0
	Set relative position. More...

virtual bool	relativeMove (const double *deltas)=0
	Set relative position, all joints. More...

virtual bool	checkMotionDone (int j, bool *flag)=0
	Check if the current trajectory is terminated. More...

virtual bool	checkMotionDone (bool *flag)=0
	Check if the current trajectory is terminated. More...

virtual bool	setRefSpeed (int j, double sp)=0
	Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. More...

virtual bool	setRefSpeeds (const double *spds)=0
	Set reference speed on all joints. More...

virtual bool	setRefAcceleration (int j, double acc)=0
	Set reference acceleration for a joint. More...

virtual bool	setRefAccelerations (const double *accs)=0
	Set reference acceleration on all joints. More...

virtual bool	getRefSpeed (int j, double *ref)=0
	Get reference speed for a joint. More...

virtual bool	getRefSpeeds (double *spds)=0
	Get reference speed of all joints. More...

virtual bool	getRefAcceleration (int j, double *acc)=0
	Get reference acceleration for a joint. More...

virtual bool	getRefAccelerations (double *accs)=0
	Get reference acceleration of all joints. More...

virtual bool	stop (int j)=0
	Stop motion, single joint. More...

virtual bool	stop ()=0
	Stop motion, multiple joints. More...

virtual bool	positionMove (const int n_joint, const int joints, const double refs)=0
	Set new reference point for a subset of joints. More...

virtual bool	relativeMove (const int n_joint, const int joints, const double deltas)=0
	Set relative position for a subset of joints. More...

virtual bool	checkMotionDone (const int n_joint, const int joints, bool flag)=0
	Check if the current trajectory is terminated. More...

virtual bool	setRefSpeeds (const int n_joint, const int joints, const double spds)=0
	Set reference speed on all joints. More...

virtual bool	setRefAccelerations (const int n_joint, const int joints, const double accs)=0
	Set reference acceleration on all joints. More...

virtual bool	getRefSpeeds (const int n_joint, const int joints, double spds)=0
	Get reference speed of all joints. More...

virtual bool	getRefAccelerations (const int n_joint, const int joints, double accs)=0
	Get reference acceleration for a joint. More...

virtual bool	stop (const int n_joint, const int *joints)=0
	Stop motion for subset of joints. 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...

Detailed Description

Interface for a generic control board device implementing position control.

Examples: dev/fake_motor/fake_motor.cpp, and dev/motortest/motortest.cpp.

Definition at line 256 of file IPositionControl.h.

Constructor & Destructor Documentation

◆ ~IPositionControl()

virtual yarp::dev::IPositionControl::~IPositionControl ( )

inlinevirtual

Destructor.

Definition at line 262 of file IPositionControl.h.

Member Function Documentation

◆ checkMotionDone() [1/3]

virtual bool yarp::dev::IPositionControl::checkMotionDone ( bool * flag )

pure virtual

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)

Implemented in yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

◆ checkMotionDone() [2/3]

virtual bool yarp::dev::IPositionControl::checkMotionDone	(	const int	n_joint,
		const int *	joints,
		bool *	flag
	)

pure virtual

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.

Implemented in ControlBoardWrapperPositionControl, ControlBoardRemapper, yarp::dev::ImplementPositionControl, SerialServoBoard, FakeMotor, FakeBot, RemoteControlBoard, and DynamixelAX12FtdiDriver.

◆ checkMotionDone() [3/3]

virtual bool yarp::dev::IPositionControl::checkMotionDone	(	int	j,
		bool *	flag
	)

pure virtual

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)

Implemented in yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

◆ getAxes()

virtual bool yarp::dev::IPositionControl::getAxes ( int * ax )

pure virtual

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.

Implemented in yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeMotionControl, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

◆ getRefAcceleration()

virtual bool yarp::dev::IPositionControl::getRefAcceleration	(	int	j,
		double *	acc
	)

pure virtual

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

Implemented in yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

◆ getRefAccelerations() [1/2]

virtual bool yarp::dev::IPositionControl::getRefAccelerations	(	const int	n_joint,
		const int *	joints,
		double *	accs
	)

pure virtual

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

Implemented in ControlBoardWrapperPositionControl, ControlBoardRemapper, yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, and DynamixelAX12FtdiDriver.

◆ getRefAccelerations() [2/2]

virtual bool yarp::dev::IPositionControl::getRefAccelerations ( double * accs )

pure virtual

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

Implemented in yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

◆ getRefSpeed()

virtual bool yarp::dev::IPositionControl::getRefSpeed	(	int	j,
		double *	ref
	)

pure virtual

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

Implemented in yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

◆ getRefSpeeds() [1/2]

virtual bool yarp::dev::IPositionControl::getRefSpeeds	(	const int	n_joint,
		const int *	joints,
		double *	spds
	)

pure virtual

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

Implemented in ControlBoardWrapperPositionControl, ControlBoardRemapper, yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, and DynamixelAX12FtdiDriver.

◆ getRefSpeeds() [2/2]

virtual bool yarp::dev::IPositionControl::getRefSpeeds ( double * spds )

pure virtual

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.

Implemented in yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

◆ getTargetPosition()

virtual bool yarp::dev::IPositionControl::getTargetPosition	(	const int	joint,
		double *	ref
	)

inlinevirtual

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 in yarp::dev::ImplementPositionControl, RemoteControlBoard, FakeMotor, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

Definition at line 452 of file IPositionControl.h.

◆ getTargetPositions() [1/2]

virtual bool yarp::dev::IPositionControl::getTargetPositions	(	const int	n_joint,
		const int *	joints,
		double *	refs
	)

inlinevirtual

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 in yarp::dev::ImplementPositionControl, RemoteControlBoard, FakeMotor, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

Definition at line 474 of file IPositionControl.h.

◆ getTargetPositions() [2/2]

virtual bool yarp::dev::IPositionControl::getTargetPositions ( double * refs )

inlinevirtual

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 in yarp::dev::ImplementPositionControl, RemoteControlBoard, FakeMotor, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

Definition at line 463 of file IPositionControl.h.

◆ positionMove() [1/3]

virtual bool yarp::dev::IPositionControl::positionMove ( const double * refs )

pure virtual

Set new reference point for all axes.

Parameters

refs	array, new reference points.

Returns: true/false on success/failure

Implemented in yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

◆ positionMove() [2/3]

virtual bool yarp::dev::IPositionControl::positionMove	(	const int	n_joint,
		const int *	joints,
		const double *	refs
	)

pure virtual

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

Implemented in ControlBoardWrapperPositionControl, ControlBoardRemapper, yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, and DynamixelAX12FtdiDriver.

◆ positionMove() [3/3]

virtual bool yarp::dev::IPositionControl::positionMove	(	int	j,
		double	ref
	)

pure virtual

Set new reference point for a single axis.

Parameters

j	joint number
ref	specifies the new ref point

Returns: true/false on success/failure

Implemented in yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

◆ relativeMove() [1/3]

virtual bool yarp::dev::IPositionControl::relativeMove ( const double * deltas )

pure virtual

Set relative position, all joints.

Parameters

deltas pointer to the relative commands

Returns: true/false on success/failure

Implemented in yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

◆ relativeMove() [2/3]

virtual bool yarp::dev::IPositionControl::relativeMove	(	const int	n_joint,
		const int *	joints,
		const double *	deltas
	)

pure virtual

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

Implemented in ControlBoardWrapperPositionControl, ControlBoardRemapper, RemoteControlBoard, yarp::dev::ImplementPositionControl, SerialServoBoard, FakeMotor, FakeBot, and DynamixelAX12FtdiDriver.

◆ relativeMove() [3/3]

virtual bool yarp::dev::IPositionControl::relativeMove	(	int	j,
		double	delta
	)

pure virtual

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

Implemented in yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

◆ setRefAcceleration()

virtual bool yarp::dev::IPositionControl::setRefAcceleration	(	int	j,
		double	acc
	)

pure virtual

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

Implemented in yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

◆ setRefAccelerations() [1/2]

virtual bool yarp::dev::IPositionControl::setRefAccelerations ( const double * accs )

pure virtual

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

Implemented in yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

◆ setRefAccelerations() [2/2]

virtual bool yarp::dev::IPositionControl::setRefAccelerations	(	const int	n_joint,
		const int *	joints,
		const double *	accs
	)

pure virtual

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

Implemented in ControlBoardWrapperPositionControl, ControlBoardRemapper, yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, and DynamixelAX12FtdiDriver.

◆ setRefSpeed()

virtual bool yarp::dev::IPositionControl::setRefSpeed	(	int	j,
		double	sp
	)

pure virtual

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

Implemented in yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

◆ setRefSpeeds() [1/2]

virtual bool yarp::dev::IPositionControl::setRefSpeeds ( const double * spds )

pure virtual

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

Implemented in yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

◆ setRefSpeeds() [2/2]

virtual bool yarp::dev::IPositionControl::setRefSpeeds	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

pure virtual

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

Implemented in ControlBoardWrapperPositionControl, ControlBoardRemapper, yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, and DynamixelAX12FtdiDriver.

◆ stop() [1/3]

virtual bool yarp::dev::IPositionControl::stop ( )

pure virtual

Stop motion, multiple joints.

Returns: true/false on success/failure

Implemented in yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

◆ stop() [2/3]

virtual bool yarp::dev::IPositionControl::stop	(	const int	n_joint,
		const int *	joints
	)

pure virtual

Stop motion for subset of joints.

Parameters

joints pointer to the array of joint numbers

Returns: true/false on success/failure

Implemented in ControlBoardWrapperPositionControl, ControlBoardRemapper, yarp::dev::ImplementPositionControl, SerialServoBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, and RemoteControlBoard.

◆ stop() [3/3]

virtual bool yarp::dev::IPositionControl::stop ( int j )

pure virtual

Stop motion, single joint.

Parameters

j	joint number

Returns: true/false on success/failure

Implemented in yarp::dev::ImplementPositionControl, SerialServoBoard, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperPositionControl, and ControlBoardRemapper.

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

src/libYARP_dev/src/yarp/dev/IPositionControl.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~IPositionControl()

Member Function Documentation

◆ checkMotionDone() [1/3]

◆ checkMotionDone() [2/3]

◆ checkMotionDone() [3/3]

◆ getAxes()

◆ getRefAcceleration()

◆ getRefAccelerations() [1/2]

◆ getRefAccelerations() [2/2]

◆ getRefSpeed()

◆ getRefSpeeds() [1/2]

◆ getRefSpeeds() [2/2]

◆ getTargetPosition()

◆ getTargetPositions() [1/2]

◆ getTargetPositions() [2/2]

◆ positionMove() [1/3]

◆ positionMove() [2/3]

◆ positionMove() [3/3]

◆ relativeMove() [1/3]

◆ relativeMove() [2/3]

◆ relativeMove() [3/3]

◆ setRefAcceleration()

◆ setRefAccelerations() [1/2]

◆ setRefAccelerations() [2/2]

◆ setRefSpeed()

◆ setRefSpeeds() [1/2]

◆ setRefSpeeds() [2/2]

◆ stop() [1/3]

◆ stop() [2/3]

◆ stop() [3/3]