yarp::dev::ImplementControlLimits Class Reference

class ImplementControlLimits; class StubImplControlLimitsRaw; More...

#include <yarp/dev/ImplementControlLimits.h>

Inheritance diagram for yarp::dev::ImplementControlLimits:

Public Member Functions
	ImplementControlLimits (yarp::dev::IControlLimitsRaw *y)
	Constructor. More...
virtual	~ImplementControlLimits ()
	Destructor. More...
bool	setLimits (int axis, double min, double max) override
	Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More...
bool	getLimits (int axis, double *min, double *max) override
	Get the software limits for a particular axis. More...
bool	setVelLimits (int axis, double min, double max) override
	Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More...
bool	getVelLimits (int axis, double *min, double *max) override
	Get the software speed limits for a particular axis. More...
Public Member Functions inherited from yarp::dev::IControlLimits
virtual	~IControlLimits ()
	Destructor. More...

Protected Member Functions
bool	initialize (int size, const int *amap, const double *enc, const double *zos)
	Initialize the internal data and alloc memory. More...
bool	uninitialize ()
	Clean up internal data and memory. More...

Protected Attributes
IControlLimitsRaw *	iLimits2
void *	helper

Detailed Description

class ImplementControlLimits; class StubImplControlLimitsRaw;

Interface for control devices, commands to get/set position and veloity limits

Definition at line 28 of file ImplementControlLimits.h.

Constructor & Destructor Documentation

ImplementControlLimits()

ImplementControlLimits::ImplementControlLimits

(

yarp::dev::IControlLimitsRaw *

y

)

Constructor.

Parameters

y	is the pointer to the class instance inheriting from this implementation.

Definition at line 17 of file ImplementControlLimits.cpp.

~ImplementControlLimits()

ImplementControlLimits::~ImplementControlLimits ( )

virtual

Destructor.

Perform uninitialize if needed.

Definition at line 23 of file ImplementControlLimits.cpp.

Member Function Documentation

getLimits()

bool ImplementControlLimits::getLimits ( int  axis, double *  min, double *  max  )

overridevirtual

Get the software limits for a particular axis.

Parameters

axis	joint number
pointer	to store the value of the lower limit
pointer	to store the value of the upper limit

Returns

true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimits.

Definition at line 74 of file ImplementControlLimits.cpp.

getVelLimits()

bool ImplementControlLimits::getVelLimits ( int  axis, double *  min, double *  max  )

overridevirtual

Get the software speed limits for a particular axis.

Parameters

axis	joint number
min	pointer to store the value of the lower limit
max	pointer to store the value of the upper limit

Returns

true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimits.

Definition at line 107 of file ImplementControlLimits.cpp.

initialize()

bool ImplementControlLimits::initialize ( int  size, const int *  amap, const double *  enc, const double *  zos  )

protected

Initialize the internal data and alloc memory.

Parameters

size	is the number of controlled axes the driver deals with.
amap	is a lookup table mapping axes onto physical drivers.
enc	is an array containing the encoder to angles conversion factors.
zos	is an array containing the zeros of the encoders. respect to the control/output values of the driver.

Returns

true if initialized succeeded, false if it wasn't executed, or assert.

Definition at line 42 of file ImplementControlLimits.cpp.

setLimits()

bool ImplementControlLimits::setLimits ( int  axis, double  min, double  max  )

overridevirtual

Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.

Parameters

axis	joint number (why am I telling you this)
min	the value of the lower limit
max	the value of the upper limit

Returns

true or false on success or failure

Implements yarp::dev::IControlLimits.

Definition at line 53 of file ImplementControlLimits.cpp.

setVelLimits()

bool ImplementControlLimits::setVelLimits ( int  axis, double  min, double  max  )

overridevirtual

Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.

Parameters

axis	joint number
min	the value of the lower limit
max	the value of the upper limit

Returns

true or false on success or failure

Implements yarp::dev::IControlLimits.

Definition at line 95 of file ImplementControlLimits.cpp.

uninitialize()

bool ImplementControlLimits::uninitialize ( )

protected

Clean up internal data and memory.

Returns

true if uninitialization is executed, false otherwise.

Definition at line 32 of file ImplementControlLimits.cpp.

Member Data Documentation

helper

void* yarp::dev::ImplementControlLimits::helper

protected

Definition at line 32 of file ImplementControlLimits.h.

iLimits2

IControlLimitsRaw* yarp::dev::ImplementControlLimits::iLimits2

protected

Definition at line 31 of file ImplementControlLimits.h.

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

• src/libYARP_dev/src/yarp/dev/ImplementControlLimits.h
• src/libYARP_dev/src/yarp/dev/ImplementControlLimits.cpp