Stub implementation of IPositionControl2Raw interface. More...

#include <yarp/dev/ImplementVelocityControl.h>

Inheritance diagram for yarp::dev::StubImplVelocityControlRaw:

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

bool	velocityMoveRaw (int j, double sp) override
	Start motion at a given speed, single joint. More...

bool	velocityMoveRaw (const double *sp) override
	Start motion at a given speed, multiple joints. More...

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

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

bool	getRefAccelerationRaw (int j, double *acc) 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 () override
	Stop motion, multiple joints. More...

bool	velocityMoveRaw (const int n_joint, const int joints, const double spds) override
	Start motion at a given speed for a subset of joints. More...

bool	getRefVelocityRaw (const int joint, double *vel) override
	Get the last reference speed set by velocityMove for single joint. More...

bool	getRefVelocitiesRaw (double *vels) override
	Get the last reference speed set by velocityMove for all joints. More...

bool	getRefVelocitiesRaw (const int n_joint, const int joints, double vels) override
	Get the last reference speed set by velocityMove for a group of joints. More...

bool	setRefAccelerationsRaw (const int n_joint, const int joints, const double accs) override
	Set reference acceleration for a subset of joints. More...

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

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

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

Detailed Description

Stub implementation of IPositionControl2Raw 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 108 of file ImplementVelocityControl.h.

Member Function Documentation

◆ getAxes()

bool yarp::dev::StubImplVelocityControlRaw::getAxes ( int * axis )

inlineoverridevirtual

Get the number of controlled axes.

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

Parameters

axis	pointer to storage, return value

Returns: true/false.

Implements yarp::dev::IVelocityControlRaw.

Definition at line 126 of file ImplementVelocityControl.h.

◆ getRefAccelerationRaw()

bool yarp::dev::StubImplVelocityControlRaw::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::IVelocityControlRaw.

Definition at line 141 of file ImplementVelocityControl.h.

◆ getRefAccelerationsRaw() [1/2]

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

inlineoverridevirtual

Get reference acceleration for a subset of joints.

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

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 or failure

Implements yarp::dev::IVelocityControlRaw.

Definition at line 170 of file ImplementVelocityControl.h.

◆ getRefAccelerationsRaw() [2/2]

bool yarp::dev::StubImplVelocityControlRaw::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::IVelocityControlRaw.

Definition at line 144 of file ImplementVelocityControl.h.

◆ getRefVelocitiesRaw() [1/2]

bool yarp::dev::StubImplVelocityControlRaw::getRefVelocitiesRaw	(	const int	n_joint,
		const int *	joints,
		double *	vels
	)

inlineoverridevirtual

Get the last reference speed set by velocityMove for a group of joints.

Parameters

n_joint	how many joints this command is referring to
joints	of joints controlled. The size of this array is n_joints
vels	pointer to the array containing the requested values, one value for each joint. The size of the array is n_joints.

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControlRaw.

Definition at line 164 of file ImplementVelocityControl.h.

◆ getRefVelocitiesRaw() [2/2]

bool yarp::dev::StubImplVelocityControlRaw::getRefVelocitiesRaw ( double * vels )

inlineoverridevirtual

Get the last reference speed set by velocityMove for all joints.

Parameters

vels	pointer to the array containing the new speed values, one value for each joint

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControlRaw.

Definition at line 161 of file ImplementVelocityControl.h.

◆ getRefVelocityRaw()

bool yarp::dev::StubImplVelocityControlRaw::getRefVelocityRaw	(	const int	joint,
		double *	vel
	)

inlineoverridevirtual

Get the last reference speed set by velocityMove for single joint.

Parameters

j	joint number
vel	returns the requested reference.

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControlRaw.

Definition at line 158 of file ImplementVelocityControl.h.

◆ setRefAccelerationRaw()

bool yarp::dev::StubImplVelocityControlRaw::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::IVelocityControlRaw.

Definition at line 135 of file ImplementVelocityControl.h.

◆ setRefAccelerationsRaw() [1/2]

bool yarp::dev::StubImplVelocityControlRaw::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::IVelocityControlRaw.

Definition at line 138 of file ImplementVelocityControl.h.

◆ setRefAccelerationsRaw() [2/2]

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

inlineoverridevirtual

Set reference acceleration for a subset of 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 containing acceleration values

Returns: true/false upon success/failure

Implements yarp::dev::IVelocityControlRaw.

Definition at line 167 of file ImplementVelocityControl.h.

◆ stopRaw() [1/3]

bool yarp::dev::StubImplVelocityControlRaw::stopRaw ( )

inlineoverridevirtual

Stop motion, multiple joints.

Returns: true/false on success or failure

Implements yarp::dev::IVelocityControlRaw.

Definition at line 150 of file ImplementVelocityControl.h.

◆ stopRaw() [2/3]

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

inlineoverridevirtual

Stop motion for a subset of joints.

Parameters

joints pointer to the array of joint numbers

Returns: true/false on success or failure

Implements yarp::dev::IVelocityControlRaw.

Definition at line 173 of file ImplementVelocityControl.h.

◆ stopRaw() [3/3]

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

inlineoverridevirtual

Stop motion, single joint.

Parameters

j	joint number

Returns: true/false on success or failure

Implements yarp::dev::IVelocityControlRaw.

Definition at line 147 of file ImplementVelocityControl.h.

◆ velocityMoveRaw() [1/3]

bool yarp::dev::StubImplVelocityControlRaw::velocityMoveRaw ( const double * sp )

inlineoverridevirtual

Start motion at a given speed, multiple joints.

Parameters

sp	pointer to the array containing the new speed values

Returns: true/false upon success/failure

Implements yarp::dev::IVelocityControlRaw.

Definition at line 132 of file ImplementVelocityControl.h.

◆ velocityMoveRaw() [2/3]

bool yarp::dev::StubImplVelocityControlRaw::velocityMoveRaw	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

inlineoverridevirtual

Start motion at a given speed for a subset of joints.

Parameters

n_joint	how many joints this command is referring to
joints	pointer to the array of joint numbers
spds	pointer to the array containing the new speed values

Returns: true/false upon success/failure

Implements yarp::dev::IVelocityControlRaw.

Definition at line 155 of file ImplementVelocityControl.h.

◆ velocityMoveRaw() [3/3]

bool yarp::dev::StubImplVelocityControlRaw::velocityMoveRaw	(	int	j,
		double	sp
	)

inlineoverridevirtual

Start motion at a given speed, single joint.

Parameters

j	joint number
sp	speed value

Returns: bool/false upone success/failure

Implements yarp::dev::IVelocityControlRaw.

Definition at line 129 of file ImplementVelocityControl.h.

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

src/libYARP_dev/src/yarp/dev/ImplementVelocityControl.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ getAxes()

◆ getRefAccelerationRaw()

◆ getRefAccelerationsRaw() [1/2]

◆ getRefAccelerationsRaw() [2/2]

◆ getRefVelocitiesRaw() [1/2]

◆ getRefVelocitiesRaw() [2/2]

◆ getRefVelocityRaw()

◆ setRefAccelerationRaw()

◆ setRefAccelerationsRaw() [1/2]

◆ setRefAccelerationsRaw() [2/2]

◆ stopRaw() [1/3]

◆ stopRaw() [2/3]

◆ stopRaw() [3/3]

◆ velocityMoveRaw() [1/3]

◆ velocityMoveRaw() [2/3]

◆ velocityMoveRaw() [3/3]