Default implementation of the IPositionDirect interface. More...

#include <yarp/dev/ImplementPositionDirect.h>

Inheritance diagram for yarp::dev::ImplementPositionDirect:

Public Member Functions
	ImplementPositionDirect (yarp::dev::IPositionDirectRaw *y)
	Constructor. More...

virtual	~ImplementPositionDirect ()
	Destructor. More...

bool	getAxes (int *axes) override
	Get the number of controlled axes. More...

bool	setPosition (int j, double ref) override
	Set new position for a single axis. More...

bool	setPositions (const int n_joint, const int joints, const double refs) override
	Set new reference point for all axes. More...

bool	setPositions (const double *refs) override
	Set new position for a set of axis. More...

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

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

bool	getRefPositions (const int n_joint, const int joints, double refs) override
	Get the last position reference for the specified group of axes. More...

Public Member Functions inherited from yarp::dev::IPositionDirect
virtual	~IPositionDirect ()
	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
IPositionDirectRaw *	iPDirect

void *	helper

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

yarp::dev::impl::FixedSizeBuffersManager< double > *	doubleBuffManager

Detailed Description

Default implementation of the IPositionDirect interface.

This class can be used to easily provide an implementation of IPositionDirect.

Definition at line 38 of file ImplementPositionDirect.h.

Constructor & Destructor Documentation

◆ ImplementPositionDirect()

ImplementPositionDirect::ImplementPositionDirect ( yarp::dev::IPositionDirectRaw * y )

Constructor.

Parameters

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

Definition at line 21 of file ImplementPositionDirect.cpp.

◆ ~ImplementPositionDirect()

ImplementPositionDirect::~ImplementPositionDirect ( )

virtual

Destructor.

Perform uninitialize if needed.

Definition at line 29 of file ImplementPositionDirect.cpp.

Member Function Documentation

◆ getAxes()

bool ImplementPositionDirect::getAxes ( int * ax )

overridevirtual

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.

Implements yarp::dev::IPositionDirect.

Reimplemented in FakeMotionControl.

Definition at line 74 of file ImplementPositionDirect.cpp.

◆ getRefPosition()

bool ImplementPositionDirect::getRefPosition	(	const int	joint,
		double *	ref
	)

overridevirtual

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 from yarp::dev::IPositionDirect.

Definition at line 123 of file ImplementPositionDirect.cpp.

◆ getRefPositions() [1/2]

bool ImplementPositionDirect::getRefPositions	(	const int	n_joint,
		const int *	joints,
		double *	refs
	)

overridevirtual

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 from yarp::dev::IPositionDirect.

Definition at line 136 of file ImplementPositionDirect.cpp.

◆ getRefPositions() [2/2]

bool ImplementPositionDirect::getRefPositions ( double * refs )

overridevirtual

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 from yarp::dev::IPositionDirect.

Definition at line 162 of file ImplementPositionDirect.cpp.

◆ initialize()

bool ImplementPositionDirect::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 34 of file ImplementPositionDirect.cpp.

◆ setPosition()

bool ImplementPositionDirect::setPosition	(	int	j,
		double	ref
	)

overridevirtual

Set new position for a single axis.

Parameters

j	joint number
ref	specifies the new ref point

Returns: true/false on success/failure

Implements yarp::dev::IPositionDirect.

Definition at line 80 of file ImplementPositionDirect.cpp.

◆ setPositions() [1/2]

bool ImplementPositionDirect::setPositions ( const double * refs )

overridevirtual

Set new position for a set of axis.

Parameters

refs	specifies the new reference points

Returns: true/false on success/failure

Implements yarp::dev::IPositionDirect.

Definition at line 114 of file ImplementPositionDirect.cpp.

◆ setPositions() [2/2]

bool ImplementPositionDirect::setPositions	(	const int	n_joint,
		const int *	joints,
		const double *	refs
	)

overridevirtual

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

Implements yarp::dev::IPositionDirect.

Definition at line 89 of file ImplementPositionDirect.cpp.

◆ uninitialize()

bool ImplementPositionDirect::uninitialize ( )

protected

Clean up internal data and memory.

Returns: true if uninitialization is executed, false otherwise.

Definition at line 51 of file ImplementPositionDirect.cpp.

Member Data Documentation

◆ doubleBuffManager

yarp::dev::impl::FixedSizeBuffersManager<double>* yarp::dev::ImplementPositionDirect::doubleBuffManager

protected

Definition at line 44 of file ImplementPositionDirect.h.

◆ helper

void* yarp::dev::ImplementPositionDirect::helper

protected

Definition at line 42 of file ImplementPositionDirect.h.

◆ intBuffManager

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

protected

Definition at line 43 of file ImplementPositionDirect.h.

◆ iPDirect

IPositionDirectRaw* yarp::dev::ImplementPositionDirect::iPDirect

protected

Definition at line 41 of file ImplementPositionDirect.h.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ImplementPositionDirect()

◆ ~ImplementPositionDirect()

Member Function Documentation

◆ getAxes()

◆ getRefPosition()

◆ getRefPositions() [1/2]

◆ getRefPositions() [2/2]

◆ initialize()

◆ setPosition()

◆ setPositions() [1/2]

◆ setPositions() [2/2]

◆ uninitialize()

Member Data Documentation

◆ doubleBuffManager

◆ helper

◆ intBuffManager

◆ iPDirect