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

#include <yarp/dev/ITorqueControl.h>

Inheritance diagram for yarp::dev::ITorqueControlRaw:

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

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

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

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

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

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

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

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

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

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

virtual bool	getMotorTorqueParamsRaw (int j, yarp::dev::MotorTorqueParameters *params)
	Get the motor parameters. More...

virtual bool	setMotorTorqueParamsRaw (int j, const yarp::dev::MotorTorqueParameters params)
	Set the motor parameters. More...

Detailed Description

Interface for control boards implementing torque control.

Definition at line 138 of file ITorqueControl.h.

Constructor & Destructor Documentation

◆ ~ITorqueControlRaw()

virtual yarp::dev::ITorqueControlRaw::~ITorqueControlRaw ( )

inlinevirtual

Destructor.

Definition at line 144 of file ITorqueControl.h.

Member Function Documentation

◆ getAxes()

virtual bool yarp::dev::ITorqueControlRaw::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.; true/false on success/failure

Implemented in FakeMotionControl.

◆ getMotorTorqueParamsRaw()

virtual bool yarp::dev::ITorqueControlRaw::getMotorTorqueParamsRaw	(	int	j,
		yarp::dev::MotorTorqueParameters *	params
	)

inlinevirtual

Get the motor parameters.

Parameters

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

Returns: true/false on success/failure

Reimplemented in FakeMotionControl.

Definition at line 224 of file ITorqueControl.h.

◆ getRefTorqueRaw()

virtual bool yarp::dev::ITorqueControlRaw::getRefTorqueRaw	(	int	j,
		double *	t
	)

pure virtual

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

This is NOT the feedback (see getTorque instead).

Parameters

j	joint number
t	new value

Returns: true/false on success/failure

Implemented in FakeMotionControl.

◆ getRefTorquesRaw()

virtual bool yarp::dev::ITorqueControlRaw::getRefTorquesRaw ( 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 FakeMotionControl.

◆ getTorqueRangeRaw()

virtual bool yarp::dev::ITorqueControlRaw::getTorqueRangeRaw	(	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 FakeMotionControl.

◆ getTorqueRangesRaw()

virtual bool yarp::dev::ITorqueControlRaw::getTorqueRangesRaw	(	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 FakeMotionControl.

◆ getTorqueRaw()

virtual bool yarp::dev::ITorqueControlRaw::getTorqueRaw	(	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

Returns: torque value; true/false on success/failure

Implemented in FakeMotionControl.

◆ getTorquesRaw()

virtual bool yarp::dev::ITorqueControlRaw::getTorquesRaw ( 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 FakeMotionControl.

◆ setMotorTorqueParamsRaw()

virtual bool yarp::dev::ITorqueControlRaw::setMotorTorqueParamsRaw	(	int	j,
		const yarp::dev::MotorTorqueParameters	params
	)

inlinevirtual

Set the motor parameters.

Parameters

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

Returns: true/false on success/failure

Reimplemented in FakeMotionControl.

Definition at line 231 of file ITorqueControl.h.

◆ setRefTorqueRaw()

virtual bool yarp::dev::ITorqueControlRaw::setRefTorqueRaw	(	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 FakeMotionControl.

◆ setRefTorquesRaw() [1/2]

virtual bool yarp::dev::ITorqueControlRaw::setRefTorquesRaw ( 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 FakeMotionControl.

◆ setRefTorquesRaw() [2/2]

virtual bool yarp::dev::ITorqueControlRaw::setRefTorquesRaw	(	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 FakeMotionControl.

Definition at line 202 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

◆ ~ITorqueControlRaw()

Member Function Documentation

◆ getAxes()

◆ getMotorTorqueParamsRaw()

◆ getRefTorqueRaw()

◆ getRefTorquesRaw()

◆ getTorqueRangeRaw()

◆ getTorqueRangesRaw()

◆ getTorqueRaw()

◆ getTorquesRaw()

◆ setMotorTorqueParamsRaw()

◆ setRefTorqueRaw()

◆ setRefTorquesRaw() [1/2]

◆ setRefTorquesRaw() [2/2]