Interface for a generic control board device implementing position control in encoder coordinates. More...

#include <yarp/dev/IPositionDirect.h>

Inheritance diagram for yarp::dev::IPositionDirectRaw:

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

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

virtual bool	setPositionRaw (int j, double ref)=0
	Set new position for a single axis. More...

virtual bool	setPositionsRaw (const int n_joint, const int joints, const double refs)=0
	Set new reference point for all axes. More...

virtual bool	setPositionsRaw (const double *refs)=0
	Set new position for a set of axes. More...

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

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

virtual bool	getRefPositionsRaw (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 in encoder coordinates.

This interface is used to send high frequency streaming commands to the boards, the aim is to reach low level control in firmware bypassing the trajetory generator, raw functions.

Definition at line 117 of file IPositionDirect.h.

Constructor & Destructor Documentation

◆ ~IPositionDirectRaw()

virtual yarp::dev::IPositionDirectRaw::~IPositionDirectRaw ( )

inlinevirtual

Destructor.

Definition at line 123 of file IPositionDirect.h.

Member Function Documentation

◆ getAxes()

virtual bool yarp::dev::IPositionDirectRaw::getAxes ( int * axes )

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 FakeMotionControl.

◆ getRefPositionRaw()

virtual bool yarp::dev::IPositionDirectRaw::getRefPositionRaw	(	const int	joint,
		double *	ref
	)

inlinevirtual

Get the last position reference for the specified axis.

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

Parameters

ref	last reference sent using setPosition(s) functions

Returns: true/false on success/failure

Reimplemented in FakeMotionControl.

Definition at line 167 of file IPositionDirect.h.

◆ getRefPositionsRaw() [1/2]

virtual bool yarp::dev::IPositionDirectRaw::getRefPositionsRaw	(	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 setPositionsRaw and shall return only values sent using IPositionDirect interface. If other interfaces like IPositionControl are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionControl::PositionMove.

Parameters

ref	array containing last reference sent using setPosition(s) functions

Returns: true/false on success/failure

Reimplemented in FakeMotionControl.

Definition at line 190 of file IPositionDirect.h.

◆ getRefPositionsRaw() [2/2]

virtual bool yarp::dev::IPositionDirectRaw::getRefPositionsRaw ( double * refs )

inlinevirtual

Get the last position reference for all axes.

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

Parameters

ref	array containing last reference sent using setPosition(s) functions

Returns: true/false on success/failure

Reimplemented in FakeMotionControl.

Definition at line 178 of file IPositionDirect.h.

◆ setPositionRaw()

virtual bool yarp::dev::IPositionDirectRaw::setPositionRaw	(	int	j,
		double	ref
	)

pure virtual

Set new position for a single axis.

Parameters

j	joint number
ref	specifies the new ref point

Returns: true/false on success/failure

Implemented in FakeMotionControl.

◆ setPositionsRaw() [1/2]

virtual bool yarp::dev::IPositionDirectRaw::setPositionsRaw ( const double * refs )

pure virtual

Set new position for a set of axes.

Parameters

refs	specifies the new reference points

Returns: true/false on success/failure

Implemented in FakeMotionControl.

◆ setPositionsRaw() [2/2]

virtual bool yarp::dev::IPositionDirectRaw::setPositionsRaw	(	const int	n_joint,
		const int *	joints,
		const double *	refs
	)

pure virtual

Set new reference point for all axes.

Parameters

n_joint	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
refs	array, new reference points, one value for each joint, the size 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 refs 10 30 40

Returns: true/false on success/failure

Implemented in FakeMotionControl.

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

src/libYARP_dev/src/yarp/dev/IPositionDirect.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~IPositionDirectRaw()

Member Function Documentation

◆ getAxes()

◆ getRefPositionRaw()

◆ getRefPositionsRaw() [1/2]

◆ getRefPositionsRaw() [2/2]

◆ setPositionRaw()

◆ setPositionsRaw() [1/2]

◆ setPositionsRaw() [2/2]