Interface settings the way the robot interacts with the environment: basic interaction types are Stiff and Compliant. More...

#include <yarp/dev/ImplementInteractionMode.h>

Inheritance diagram for yarp::dev::ImplementInteractionMode:

Public Member Functions
	ImplementInteractionMode (yarp::dev::IInteractionModeRaw *Class_p)
	Constructor. More...

virtual	~ImplementInteractionMode ()
	Destructor. More...

bool	getInteractionMode (int axis, yarp::dev::InteractionModeEnum *mode) override
	Get the current interaction mode of the robot, values can be stiff or compliant. More...

bool	getInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant. More...

bool	getInteractionModes (yarp::dev::InteractionModeEnum *modes) override
	Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant. More...

bool	setInteractionMode (int axis, yarp::dev::InteractionModeEnum mode) override
	Set the interaction mode of the robot, values can be stiff or compliant. More...

bool	setInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Set the interaction mode of the robot for a set of joints, values can be stiff or compliant. More...

bool	setInteractionModes (yarp::dev::InteractionModeEnum *modes) override
	Set the interaction mode of the robot for a all the joints, values can be stiff or compliant. More...

Public Member Functions inherited from yarp::dev::IInteractionMode
virtual	~IInteractionMode ()
	Destructor. More...

Protected Member Functions
bool	initialize (int size, const int *amap)
	Initialize the internal data and alloc memory, smaller version. More...

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
yarp::dev::IInteractionModeRaw *	iInteraction

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< yarp::dev::InteractionModeEnum > *	imodeBuffManager

yarp::dev::impl::FixedSizeBuffersManager< int > *	intBuffManager

Detailed Description

Interface settings the way the robot interacts with the environment: basic interaction types are Stiff and Compliant.

This setting is intended to work in conjunction with other settings like position or velocity control.

Definition at line 40 of file ImplementInteractionMode.h.

Constructor & Destructor Documentation

◆ ImplementInteractionMode()

ImplementInteractionMode::ImplementInteractionMode ( yarp::dev::IInteractionModeRaw * Class_p )

Constructor.

Parameters

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

Definition at line 20 of file ImplementInteractionMode.cpp.

◆ ~ImplementInteractionMode()

ImplementInteractionMode::~ImplementInteractionMode ( )

virtual

Destructor.

Perform uninitialize if needed.

Definition at line 28 of file ImplementInteractionMode.cpp.

Member Function Documentation

◆ getInteractionMode()

bool ImplementInteractionMode::getInteractionMode	(	int	axis,
		yarp::dev::InteractionModeEnum *	mode
	)

overridevirtual

Get the current interaction mode of the robot, values can be stiff or compliant.

Parameters

axis	joint number
mode	contains the requested information about interaction mode of the joint

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 87 of file ImplementInteractionMode.cpp.

◆ getInteractionModes() [1/2]

bool ImplementInteractionMode::getInteractionModes	(	int	n_joints,
		int *	joints,
		yarp::dev::InteractionModeEnum *	modes
	)

overridevirtual

Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant.

Parameters

n_joints	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
modes	array containing the requested information about interaction mode, one value for each joint, the size is n_joints. for example: n_joint 3 joints 0 2 4 refs VOCAB_IM_STIFF VOCAB_IM_STIFF VOCAB_IM_COMPLIANT

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 93 of file ImplementInteractionMode.cpp.

◆ getInteractionModes() [2/2]

bool ImplementInteractionMode::getInteractionModes ( yarp::dev::InteractionModeEnum * modes )

overridevirtual

Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant.

Parameters

mode	array containing the requested information about interaction mode, one value for each joint.

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 110 of file ImplementInteractionMode.cpp.

◆ initialize() [1/2]

bool ImplementInteractionMode::initialize	(	int	size,
		const int *	amap
	)

protected

Initialize the internal data and alloc memory, smaller version.

Allocate memory for internal data.

Parameters

size	is the number of controlled axes the driver deals with.
amap	is a lookup table mapping axes onto physical drivers.

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

Parameters

size	the number of joints
amap	axis map for this device wrapper

Returns: true if uninitialization is executed, false otherwise.

Definition at line 39 of file ImplementInteractionMode.cpp.

◆ initialize() [2/2]

bool ImplementInteractionMode::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 44 of file ImplementInteractionMode.cpp.

◆ setInteractionMode()

bool ImplementInteractionMode::setInteractionMode	(	int	axis,
		yarp::dev::InteractionModeEnum	mode
	)

overridevirtual

Set the interaction mode of the robot, values can be stiff or compliant.

Please note that some robot may not implement certain types of interaction, so always check the return value.

Parameters

axis	joint number
mode	the desired interaction mode

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 127 of file ImplementInteractionMode.cpp.

◆ setInteractionModes() [1/2]

bool ImplementInteractionMode::setInteractionModes	(	int	n_joints,
		int *	joints,
		yarp::dev::InteractionModeEnum *	modes
	)

overridevirtual

Set the interaction mode of the robot for a set of joints, values can be stiff or compliant.

Please note that some robot may not implement certain types of interaction, so always check the return value.

Parameters

n_joints	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
modes	array containing the desired interaction mode, one value for each joint, the size is n_joints. for example: n_joint 3 joints 0 2 4 refs VOCAB_IM_STIFF VOCAB_IM_STIFF VOCAB_IM_COMPLIANT

Returns: true or false on success or failure. If one or more joint fails, the return value will be false.

Implements yarp::dev::IInteractionMode.

Definition at line 133 of file ImplementInteractionMode.cpp.

◆ setInteractionModes() [2/2]

bool ImplementInteractionMode::setInteractionModes ( yarp::dev::InteractionModeEnum * modes )

overridevirtual

Set the interaction mode of the robot for a all the joints, values can be stiff or compliant.

Some robot may not implement some types of interaction, so always check the return value

Parameters

mode	array with the desired interaction mode for all joints, length is the total number of joints for the part

Returns: true or false on success or failure. If one or more joint fails, the return value will be false.

Implements yarp::dev::IInteractionMode.

Definition at line 149 of file ImplementInteractionMode.cpp.

◆ uninitialize()

bool ImplementInteractionMode::uninitialize ( )

protected

Clean up internal data and memory.

Returns: true if uninitialization is executed, false otherwise.

Definition at line 65 of file ImplementInteractionMode.cpp.

Member Data Documentation

◆ helper

void* yarp::dev::ImplementInteractionMode::helper

protected

Definition at line 44 of file ImplementInteractionMode.h.

◆ iInteraction

yarp::dev::IInteractionModeRaw* yarp::dev::ImplementInteractionMode::iInteraction

protected

Definition at line 43 of file ImplementInteractionMode.h.

◆ imodeBuffManager

yarp::dev::impl::FixedSizeBuffersManager<yarp::dev::InteractionModeEnum>* yarp::dev::ImplementInteractionMode::imodeBuffManager

protected

Definition at line 46 of file ImplementInteractionMode.h.

◆ intBuffManager

yarp::dev::impl::FixedSizeBuffersManager<int>* yarp::dev::ImplementInteractionMode::intBuffManager

protected

Definition at line 47 of file ImplementInteractionMode.h.

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

src/libYARP_dev/src/yarp/dev/ImplementInteractionMode.h
src/libYARP_dev/src/yarp/dev/ImplementInteractionMode.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ImplementInteractionMode()

◆ ~ImplementInteractionMode()

Member Function Documentation

◆ getInteractionMode()

◆ getInteractionModes() [1/2]

◆ getInteractionModes() [2/2]

◆ initialize() [1/2]

◆ initialize() [2/2]

◆ setInteractionMode()

◆ setInteractionModes() [1/2]

◆ setInteractionModes() [2/2]

◆ uninitialize()

Member Data Documentation

◆ helper

◆ iInteraction

◆ imodeBuffManager

◆ intBuffManager