Stub implementation of IPositionControlRaw interface. More...

#include <yarp/dev/ImplementPositionControl.h>

Inheritance diagram for yarp::dev::StubImplPositionControlRaw:

Public Member Functions
virtual	~StubImplPositionControlRaw ()

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

bool	positionMoveRaw (int j, double ref) override
	Set new reference point for a single axis. More...

bool	positionMoveRaw (const int n_joint, const int joints, const double refs) override
	Set new reference point for a subset of joints. More...

bool	positionMoveRaw (const double *refs) override
	Set new reference point for all axes. More...

bool	relativeMoveRaw (int j, double delta) override
	Set relative position. More...

bool	relativeMoveRaw (const int n_joint, const int joints, const double refs) override
	Set relative position for a subset of joints. More...

bool	relativeMoveRaw (const double *deltas) override
	Set relative position, all joints. More...

bool	checkMotionDoneRaw (int j, bool *flag) override
	Check if the current trajectory is terminated. More...

bool	checkMotionDoneRaw (const int n_joint, const int joints, bool flags) override
	Check if the current trajectory is terminated. More...

bool	checkMotionDoneRaw (bool *flag) override
	Check if the current trajectory is terminated. More...

bool	setRefSpeedRaw (int j, double sp) override
	Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. More...

bool	setRefSpeedsRaw (const int n_joint, const int joints, const double spds) override
	Set reference speed on all joints. More...

bool	setRefSpeedsRaw (const double *spds) override
	Set reference speed on all joints. More...

bool	setRefAccelerationRaw (int j, double acc) override
	Set reference acceleration for a joint. More...

bool	setRefAccelerationsRaw (const int n_joint, const int joints, const double accs) override
	Set reference acceleration on all joints. More...

bool	setRefAccelerationsRaw (const double *accs) override
	Set reference acceleration on all joints. More...

bool	getRefSpeedRaw (int j, double *ref) override
	Get reference speed for a joint. More...

bool	getRefSpeedsRaw (const int n_joint, const int joints, double spds) override
	Get reference speed of all joints. More...

bool	getRefSpeedsRaw (double *spds) override
	Get reference speed of all joints. More...

bool	getRefAccelerationRaw (int j, double *acc) override
	Get reference acceleration for a joint. More...

bool	getRefAccelerationsRaw (const int n_joint, const int joints, double accs) override
	Get reference acceleration for a joint. More...

bool	getRefAccelerationsRaw (double *accs) override
	Get reference acceleration of all joints. More...

bool	stopRaw (int j) override
	Stop motion, single joint. More...

bool	stopRaw (const int n_joint, const int *joints) override
	Stop motion for subset of joints. More...

bool	stopRaw () override
	Stop motion, multiple joints. More...

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

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

bool	getTargetPositionsRaw (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::IPositionControlRaw
virtual	~IPositionControlRaw ()
	Destructor. More...

Detailed Description

Stub implementation of IPositionControlRaw interface.

Inherit from this class if you want a stub implementation of methods in IPositionControlRaw. 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 128 of file ImplementPositionControl.h.

Constructor & Destructor Documentation

◆ ~StubImplPositionControlRaw()

virtual yarp::dev::StubImplPositionControlRaw::~StubImplPositionControlRaw ( )

inlinevirtual

Definition at line 138 of file ImplementPositionControl.h.

Member Function Documentation

◆ checkMotionDoneRaw() [1/3]

bool yarp::dev::StubImplPositionControlRaw::checkMotionDoneRaw ( bool * flag )

inlineoverridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

flag	is a pointer to return value ("and" of all joints)

Returns: true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControlRaw.

Definition at line 167 of file ImplementPositionControl.h.

◆ checkMotionDoneRaw() [2/3]

bool yarp::dev::StubImplPositionControlRaw::checkMotionDoneRaw	(	const int	n_joint,
		const int *	joints,
		bool *	flags
	)

inlineoverridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

joints	pointer to the array of joint numbers
flag	true if the trajectory is terminated, false otherwise (a single value which is the 'and' of all joints')

Returns: true/false if network communication went well.

Implements yarp::dev::IPositionControlRaw.

Definition at line 164 of file ImplementPositionControl.h.

◆ checkMotionDoneRaw() [3/3]

bool yarp::dev::StubImplPositionControlRaw::checkMotionDoneRaw	(	int	j,
		bool *	flag
	)

inlineoverridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

j	is the axis number
flag	is a pointer to return value

Returns: true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControlRaw.

Definition at line 161 of file ImplementPositionControl.h.

◆ getAxes()

bool yarp::dev::StubImplPositionControlRaw::getAxes ( int * ax )

inlineoverridevirtual

Get the number of controlled axes.

This command asks the number of controlled axes for the current physical interface.

Parameters

ax	storage to return param

Returns: true/false.

Implements yarp::dev::IPositionControlRaw.

Definition at line 140 of file ImplementPositionControl.h.

◆ getRefAccelerationRaw()

bool yarp::dev::StubImplPositionControlRaw::getRefAccelerationRaw	(	int	j,
		double *	acc
	)

inlineoverridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters

j	joint number
acc	pointer to storage for the return value

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 197 of file ImplementPositionControl.h.

◆ getRefAccelerationsRaw() [1/2]

bool yarp::dev::StubImplPositionControlRaw::getRefAccelerationsRaw	(	const int	n_joint,
		const int *	joints,
		double *	accs
	)

inlineoverridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters

joints	pointer to the array of joint numbers
accs	pointer to the array that will store the acceleration values

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 200 of file ImplementPositionControl.h.

◆ getRefAccelerationsRaw() [2/2]

bool yarp::dev::StubImplPositionControlRaw::getRefAccelerationsRaw ( double * accs )

inlineoverridevirtual

Get reference acceleration of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

accs	pointer to the array that will store the acceleration values.

Returns: true/false on success or failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 203 of file ImplementPositionControl.h.

◆ getRefSpeedRaw()

bool yarp::dev::StubImplPositionControlRaw::getRefSpeedRaw	(	int	j,
		double *	ref
	)

inlineoverridevirtual

Get reference speed for a joint.

Returns the speed used to generate the trajectory profile.

Parameters

j	joint number
ref	pointer to storage for the return value

Returns: true/false on success or failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 188 of file ImplementPositionControl.h.

◆ getRefSpeedsRaw() [1/2]

bool yarp::dev::StubImplPositionControlRaw::getRefSpeedsRaw	(	const int	n_joint,
		const int *	joints,
		double *	spds
	)

inlineoverridevirtual

Get reference speed of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
spds	pointer to the array that will store the speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 191 of file ImplementPositionControl.h.

◆ getRefSpeedsRaw() [2/2]

bool yarp::dev::StubImplPositionControlRaw::getRefSpeedsRaw ( double * spds )

inlineoverridevirtual

Get reference speed of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

spds	pointer to the array that will store the speed values.

Implements yarp::dev::IPositionControlRaw.

Definition at line 194 of file ImplementPositionControl.h.

◆ getTargetPositionRaw()

bool yarp::dev::StubImplPositionControlRaw::getTargetPositionRaw	(	const int	joint,
		double *	ref
	)

inlineoverridevirtual

Get the last position reference for the specified axis.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControlRaw.

Definition at line 215 of file ImplementPositionControl.h.

◆ getTargetPositionsRaw() [1/2]

bool yarp::dev::StubImplPositionControlRaw::getTargetPositionsRaw	(	const int	n_joint,
		const int *	joints,
		double *	refs
	)

inlineoverridevirtual

Get the last position reference for the specified group of axes.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControlRaw.

Definition at line 221 of file ImplementPositionControl.h.

◆ getTargetPositionsRaw() [2/2]

bool yarp::dev::StubImplPositionControlRaw::getTargetPositionsRaw ( double * refs )

inlineoverridevirtual

Get the last position reference for all axes.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControlRaw.

Definition at line 218 of file ImplementPositionControl.h.

◆ positionMoveRaw() [1/3]

bool yarp::dev::StubImplPositionControlRaw::positionMoveRaw ( const double * refs )

inlineoverridevirtual

Set new reference point for all axes.

Parameters

refs	array, new reference points.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 149 of file ImplementPositionControl.h.

◆ positionMoveRaw() [2/3]

bool yarp::dev::StubImplPositionControlRaw::positionMoveRaw	(	const int	n_joint,
		const int *	joints,
		const double *	refs
	)

inlineoverridevirtual

Set new reference point for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
refs	pointer to the array specifies the new reference points

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 146 of file ImplementPositionControl.h.

◆ positionMoveRaw() [3/3]

bool yarp::dev::StubImplPositionControlRaw::positionMoveRaw	(	int	j,
		double	ref
	)

inlineoverridevirtual

Set new reference point for a single axis.

Parameters

j	joint number
ref	specifies the new ref point

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 143 of file ImplementPositionControl.h.

◆ relativeMoveRaw() [1/3]

bool yarp::dev::StubImplPositionControlRaw::relativeMoveRaw ( const double * deltas )

inlineoverridevirtual

Set relative position, all joints.

Parameters

deltas pointer to the relative commands

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 158 of file ImplementPositionControl.h.

◆ relativeMoveRaw() [2/3]

bool yarp::dev::StubImplPositionControlRaw::relativeMoveRaw	(	const int	n_joint,
		const int *	joints,
		const double *	deltas
	)

inlineoverridevirtual

Set relative position for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
deltas	pointer to the array of relative commands

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 155 of file ImplementPositionControl.h.

◆ relativeMoveRaw() [3/3]

bool yarp::dev::StubImplPositionControlRaw::relativeMoveRaw	(	int	j,
		double	delta
	)

inlineoverridevirtual

Set relative position.

The command is relative to the current position of the axis.

Parameters

j	joint axis number
delta	relative command

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 152 of file ImplementPositionControl.h.

◆ setRefAccelerationRaw()

bool yarp::dev::StubImplPositionControlRaw::setRefAccelerationRaw	(	int	j,
		double	acc
	)

inlineoverridevirtual

Set reference acceleration for a joint.

This value is used during the trajectory generation.

Parameters

j	joint number
acc	acceleration value

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 179 of file ImplementPositionControl.h.

◆ setRefAccelerationsRaw() [1/2]

bool yarp::dev::StubImplPositionControlRaw::setRefAccelerationsRaw ( const double * accs )

inlineoverridevirtual

Set reference acceleration on all joints.

This is the valure that is used during the generation of the trajectory.

Parameters

accs	pointer to the array of acceleration values

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 185 of file ImplementPositionControl.h.

◆ setRefAccelerationsRaw() [2/2]

bool yarp::dev::StubImplPositionControlRaw::setRefAccelerationsRaw	(	const int	n_joint,
		const int *	joints,
		const double *	accs
	)

inlineoverridevirtual

Set reference acceleration on all joints.

This is the valure that is used during the generation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
accs	pointer to the array with acceleration values

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 182 of file ImplementPositionControl.h.

◆ setRefSpeedRaw()

bool yarp::dev::StubImplPositionControlRaw::setRefSpeedRaw	(	int	j,
		double	sp
	)

inlineoverridevirtual

Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.

Parameters

j	joint number
sp	speed value

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 170 of file ImplementPositionControl.h.

◆ setRefSpeedsRaw() [1/2]

bool yarp::dev::StubImplPositionControlRaw::setRefSpeedsRaw ( const double * spds )

inlineoverridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters

spds	pointer to the array of speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 176 of file ImplementPositionControl.h.

◆ setRefSpeedsRaw() [2/2]

bool yarp::dev::StubImplPositionControlRaw::setRefSpeedsRaw	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

inlineoverridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
spds	pointer to the array with speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 173 of file ImplementPositionControl.h.

◆ stopRaw() [1/3]

bool yarp::dev::StubImplPositionControlRaw::stopRaw ( )

inlineoverridevirtual

Stop motion, multiple joints.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 212 of file ImplementPositionControl.h.

◆ stopRaw() [2/3]

bool yarp::dev::StubImplPositionControlRaw::stopRaw	(	const int	n_joint,
		const int *	joints
	)

inlineoverridevirtual

Stop motion for subset of joints.

Parameters

joints pointer to the array of joint numbers

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 209 of file ImplementPositionControl.h.

◆ stopRaw() [3/3]

bool yarp::dev::StubImplPositionControlRaw::stopRaw ( int j )

inlineoverridevirtual

Stop motion, single joint.

Parameters

j	joint number

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 206 of file ImplementPositionControl.h.

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

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~StubImplPositionControlRaw()

Member Function Documentation

◆ checkMotionDoneRaw() [1/3]

◆ checkMotionDoneRaw() [2/3]

◆ checkMotionDoneRaw() [3/3]

◆ getAxes()

◆ getRefAccelerationRaw()

◆ getRefAccelerationsRaw() [1/2]

◆ getRefAccelerationsRaw() [2/2]

◆ getRefSpeedRaw()

◆ getRefSpeedsRaw() [1/2]

◆ getRefSpeedsRaw() [2/2]

◆ getTargetPositionRaw()

◆ getTargetPositionsRaw() [1/2]

◆ getTargetPositionsRaw() [2/2]

◆ positionMoveRaw() [1/3]

◆ positionMoveRaw() [2/3]

◆ positionMoveRaw() [3/3]

◆ relativeMoveRaw() [1/3]

◆ relativeMoveRaw() [2/3]

◆ relativeMoveRaw() [3/3]

◆ setRefAccelerationRaw()

◆ setRefAccelerationsRaw() [1/2]

◆ setRefAccelerationsRaw() [2/2]

◆ setRefSpeedRaw()

◆ setRefSpeedsRaw() [1/2]

◆ setRefSpeedsRaw() [2/2]

◆ stopRaw() [1/3]

◆ stopRaw() [2/3]

◆ stopRaw() [3/3]