Interface for control boards implementing torque control. More...

#include <yarp/dev/ITorqueControl.h>

Inheritance diagram for yarp::dev::ITorqueControl:

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

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

virtual bool	getRefTorques (double *t)=0
	Get the reference value of the torque for all joints. More...

virtual bool	getRefTorque (int j, double *t)=0
	Get the reference value of the torque for a given joint. More...

virtual bool	setRefTorques (const double *t)=0
	Set the reference value of the torque for all joints. More...

virtual bool	setRefTorque (int j, double t)=0
	Set the reference value of the torque for a given joint. More...

virtual bool	setRefTorques (const int n_joint, const int joints, const double t)
	Set new torque reference for a subset of joints. More...

virtual bool	getMotorTorqueParams (int j, yarp::dev::MotorTorqueParameters *params)
	Get a subset of motor parameters (bemf, ktau etc) useful for torque control. More...

virtual bool	setMotorTorqueParams (int j, const yarp::dev::MotorTorqueParameters params)
	Set a subset of motor parameters (bemf, ktau etc) useful for torque control. More...

virtual bool	getTorque (int j, double *t)=0
	Get the value of the torque on a given joint (this is the feedback if you have a torque sensor). More...

virtual bool	getTorques (double *t)=0
	Get the value of the torque for all joints (this is the feedback if you have torque sensors). More...

virtual bool	getTorqueRange (int j, double min, double max)=0
	Get the full scale of the torque sensor of a given joint. More...

virtual bool	getTorqueRanges (double min, double max)=0
	Get the full scale of the torque sensors of all joints. More...

Detailed Description

Interface for control boards implementing torque control.

Definition at line 38 of file ITorqueControl.h.

Constructor & Destructor Documentation

◆ ~ITorqueControl()

virtual yarp::dev::ITorqueControl::~ITorqueControl ( )

inlinevirtual

Destructor.

Definition at line 44 of file ITorqueControl.h.

Member Function Documentation

◆ getAxes()

virtual bool yarp::dev::ITorqueControl::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::ImplementTorqueControl, RemoteControlBoard, FakeMotionControl, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

◆ getMotorTorqueParams()

virtual bool yarp::dev::ITorqueControl::getMotorTorqueParams	(	int	j,
		yarp::dev::MotorTorqueParameters *	params
	)

inlinevirtual

Get a subset of motor parameters (bemf, ktau etc) useful for torque control.

Parameters

j	joint number
params	a struct containing the motor parameters to be retrieved

Returns: true/false on success/failure

Reimplemented in yarp::dev::ImplementTorqueControl, ControlBoardWrapperTorqueControl, ControlBoardRemapper, and RemoteControlBoard.

Definition at line 93 of file ITorqueControl.h.

◆ getRefTorque()

virtual bool yarp::dev::ITorqueControl::getRefTorque	(	int	j,
		double *	t
	)

pure virtual

Get the reference value of the torque for a given joint.

This is NOT the feedback (see getTorque instead).

Parameters

j	joint number
t	the returned reference torque of joint j

Returns: true/false on success/failure

Implemented in RemoteControlBoard, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, ControlBoardRemapper, and yarp::dev::ImplementTorqueControl.

◆ getRefTorques()

virtual bool yarp::dev::ITorqueControl::getRefTorques ( double * t )

pure virtual

Get the reference value of the torque for all joints.

This is NOT the feedback (see getTorques instead).

Parameters

t	pointer to the array of torque values

Returns: true/false on success/failure

Implemented in yarp::dev::ImplementTorqueControl, RemoteControlBoard, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

◆ getTorque()

virtual bool yarp::dev::ITorqueControl::getTorque	(	int	j,
		double *	t
	)

pure virtual

Get the value of the torque on a given joint (this is the feedback if you have a torque sensor).

Parameters

j	joint number
t	pointer to the result value

Returns: true/false on success/failure

Implemented in yarp::dev::ImplementTorqueControl, RemoteControlBoard, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

◆ getTorqueRange()

virtual bool yarp::dev::ITorqueControl::getTorqueRange	(	int	j,
		double *	min,
		double *	max
	)

pure virtual

Get the full scale of the torque sensor of a given joint.

Parameters

j	joint number
min	minimum torque of the joint j
max	maximum torque of the joint j

Returns: true/false on success/failure

Implemented in yarp::dev::ImplementTorqueControl, RemoteControlBoard, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

◆ getTorqueRanges()

virtual bool yarp::dev::ITorqueControl::getTorqueRanges	(	double *	min,
		double *	max
	)

pure virtual

Get the full scale of the torque sensors of all joints.

Parameters

min	pointer to the array that will store minimum torques of the joints
max	pointer to the array that will store maximum torques of the joints

Returns: true/false on success/failure

Implemented in yarp::dev::ImplementTorqueControl, RemoteControlBoard, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

◆ getTorques()

virtual bool yarp::dev::ITorqueControl::getTorques ( double * t )

pure virtual

Get the value of the torque for all joints (this is the feedback if you have torque sensors).

Parameters

t	pointer to the array that will store the output

Returns: true/false on success/failure

Implemented in yarp::dev::ImplementTorqueControl, RemoteControlBoard, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

◆ setMotorTorqueParams()

virtual bool yarp::dev::ITorqueControl::setMotorTorqueParams	(	int	j,
		const yarp::dev::MotorTorqueParameters	params
	)

inlinevirtual

Set a subset of motor parameters (bemf, ktau etc) useful for torque control.

Parameters

j	joint number
params	a struct containing the motor parameters to be set

Returns: true/false on success/failure

Reimplemented in yarp::dev::ImplementTorqueControl, ControlBoardWrapperTorqueControl, ControlBoardRemapper, and RemoteControlBoard.

Definition at line 100 of file ITorqueControl.h.

◆ setRefTorque()

virtual bool yarp::dev::ITorqueControl::setRefTorque	(	int	j,
		double	t
	)

pure virtual

Set the reference value of the torque for a given joint.

Parameters

j	joint number
t	new value

Returns: true/false on success/failure

Implemented in RemoteControlBoard, yarp::dev::ImplementTorqueControl, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

◆ setRefTorques() [1/2]

virtual bool yarp::dev::ITorqueControl::setRefTorques ( const double * t )

pure virtual

Set the reference value of the torque for all joints.

Parameters

t	pointer to the array of torque values

Returns: true/false on success/failure

Implemented in yarp::dev::ImplementTorqueControl, RemoteControlBoard, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

◆ setRefTorques() [2/2]

virtual bool yarp::dev::ITorqueControl::setRefTorques	(	const int	n_joint,
		const int *	joints,
		const double *	t
	)

inlinevirtual

Set new torque reference for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
refs	pointer to the array specifying the new torque reference

Returns: true/false on success/failure

Reimplemented in yarp::dev::ImplementTorqueControl, RemoteControlBoard, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

Definition at line 86 of file ITorqueControl.h.

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

src/libYARP_dev/src/yarp/dev/ITorqueControl.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~ITorqueControl()

Member Function Documentation

◆ getAxes()

◆ getMotorTorqueParams()

◆ getRefTorque()

◆ getRefTorques()

◆ getTorque()

◆ getTorqueRange()

◆ getTorqueRanges()

◆ getTorques()

◆ setMotorTorqueParams()

◆ setRefTorque()

◆ setRefTorques() [1/2]

◆ setRefTorques() [2/2]