Stub implementation of IInteractionMode interface. More...

#include <yarp/dev/ImplementInteractionMode.h>

Inheritance diagram for yarp::dev::StubImplInteractionModeRaw:

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

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

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

bool	setInteractionModesRaw (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	setInteractionModesRaw (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::IInteractionModeRaw
virtual	~IInteractionModeRaw ()
	Destructor. More...

Protected Member Functions
bool	NOT_YET_IMPLEMENTED (const char *func=0)
	Helper for printing error message, see below. More...

Detailed Description

Stub implementation of IInteractionMode interface.

Inherit from this class if you want a stub implementation of methods in IInteractionModeRaw. This class allows to gradually implement an interface; you just have to implement functions that are useful for the underlying device. Another way to see this class is as a means to convert compile time errors in runtime errors.

If you use this class please be aware that the device you are wrapping might not function properly because you missed to implement useful functionalities.

Definition at line 113 of file ImplementInteractionMode.h.

Constructor & Destructor Documentation

◆ ~StubImplInteractionModeRaw()

virtual yarp::dev::StubImplInteractionModeRaw::~StubImplInteractionModeRaw ( )

inlinevirtual

Destructor.

Definition at line 135 of file ImplementInteractionMode.h.

Member Function Documentation

◆ getInteractionModeRaw()

bool yarp::dev::StubImplInteractionModeRaw::getInteractionModeRaw	(	int	axis,
		yarp::dev::InteractionModeEnum *	mode
	)

inlineoverridevirtual

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::IInteractionModeRaw.

Definition at line 137 of file ImplementInteractionMode.h.

◆ getInteractionModesRaw() [1/2]

bool yarp::dev::StubImplInteractionModeRaw::getInteractionModesRaw	(	int	n_joints,
		int *	joints,
		yarp::dev::InteractionModeEnum *	modes
	)

inlineoverridevirtual

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::IInteractionModeRaw.

Definition at line 142 of file ImplementInteractionMode.h.

◆ getInteractionModesRaw() [2/2]

bool yarp::dev::StubImplInteractionModeRaw::getInteractionModesRaw ( yarp::dev::InteractionModeEnum * modes )

inlineoverridevirtual

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::IInteractionModeRaw.

Definition at line 147 of file ImplementInteractionMode.h.

◆ NOT_YET_IMPLEMENTED()

bool yarp::dev::StubImplInteractionModeRaw::NOT_YET_IMPLEMENTED ( const char * func = 0 )

inlineprotected

Helper for printing error message, see below.

Implemented in ControlBoardInterfacesImpl.cpp.

Definition at line 120 of file ImplementInteractionMode.h.

◆ setInteractionModeRaw()

bool yarp::dev::StubImplInteractionModeRaw::setInteractionModeRaw	(	int	axis,
		yarp::dev::InteractionModeEnum	mode
	)

inlineoverridevirtual

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::IInteractionModeRaw.

Definition at line 152 of file ImplementInteractionMode.h.

◆ setInteractionModesRaw() [1/2]

bool yarp::dev::StubImplInteractionModeRaw::setInteractionModesRaw	(	int	n_joints,
		int *	joints,
		yarp::dev::InteractionModeEnum *	modes
	)

inlineoverridevirtual

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::IInteractionModeRaw.

Definition at line 157 of file ImplementInteractionMode.h.

◆ setInteractionModesRaw() [2/2]

bool yarp::dev::StubImplInteractionModeRaw::setInteractionModesRaw ( yarp::dev::InteractionModeEnum * modes )

inlineoverridevirtual

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::IInteractionModeRaw.

Definition at line 162 of file ImplementInteractionMode.h.

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

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

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~StubImplInteractionModeRaw()

Member Function Documentation

◆ getInteractionModeRaw()

◆ getInteractionModesRaw() [1/2]

◆ getInteractionModesRaw() [2/2]

◆ NOT_YET_IMPLEMENTED()

◆ setInteractionModeRaw()

◆ setInteractionModesRaw() [1/2]

◆ setInteractionModesRaw() [2/2]