yarp::robottestingframework::jointsPosMotion Class Reference

The JointPosMotion class is used has been created to simplify and speed up development of tests that controls joints in position. More...

#include <yarp/robottestingframework/JointsPosMotion.h>

Classes
class	Private

Public Member Functions
	jointsPosMotion (yarp::dev::PolyDriver *polydriver, yarp::sig::Vector &jlist)
	Creates an object for control joints specified in @jlist. More...
virtual	~jointsPosMotion ()
void	setTolerance (double tolerance)
	Sets tolerance used to check if a joint is in position. More...
void	setTimeout (double timeout)
	Sets timeout. More...
void	setSpeed (yarp::sig::Vector &speedlist)
	Sets speed of each joint used in position control. More...
bool	setAndCheckPosControlMode ()
	Sets all joints in position control mode and checks if all are in position control mode waiting timeout seconds. More...
bool	goToSingle (int j, double pos, double *reached_pos=nullptr)
	Moves joint j in position pos and checks if joint reaches target within tolerance range in maximun timeout seconds. More...
bool	goTo (yarp::sig::Vector positions, yarp::sig::Vector *reached_pos=nullptr)
	Moves joints in corresponding positions specified by positions and checks if all joints reach its target within tolerance range in maximun timeout seconds. More...
bool	checkJointLimitsReached (int j)
	Checks if joint j has reached its limit within tollerance range. More...

Detailed Description

The JointPosMotion class is used has been created to simplify and speed up development of tests that controls joints in position.

Definition at line 25 of file JointsPosMotion.h.

Constructor & Destructor Documentation

jointsPosMotion()

yarp::robottestingframework::jointsPosMotion::jointsPosMotion	(	yarp::dev::PolyDriver *	polydriver,
		yarp::sig::Vector &	jlist
	)

Creates an object for control joints specified in @jlist.

Sets default speed used in position control.

Tolerance and timeout will be initialized with default values (tolerance=1.0 deg, timeout=5 sec)

Parameters

polydriver	pointer to polydriver used to manage joints
jlist	list of joints

Definition at line 90 of file JointsPosMotion.cpp.

~jointsPosMotion()

yarp::robottestingframework::jointsPosMotion::~jointsPosMotion ( )

virtual

Definition at line 111 of file JointsPosMotion.cpp.

Member Function Documentation

checkJointLimitsReached()

bool yarp::robottestingframework::jointsPosMotion::checkJointLimitsReached

(

int

j

)

Checks if joint j has reached its limit within tollerance range.

Parameters

j	joint to check.

Returns

: true if joint is on limit, false otherwise.

Definition at line 243 of file JointsPosMotion.cpp.

goTo()

bool yarp::robottestingframework::jointsPosMotion::goTo	(	yarp::sig::Vector	positions,
		yarp::sig::Vector *	reached_pos = nullptr
	)

Moves joints in corresponding positions specified by positions and checks if all joints reach its target within tolerance range in maximun timeout seconds.

Parameters

positions	vector of target positions
reached_pos	if not null, in output will contain the reached position of each joint

Returns

: true if each joint has reached its target, false otherwise.

Definition at line 207 of file JointsPosMotion.cpp.

goToSingle()

bool yarp::robottestingframework::jointsPosMotion::goToSingle	(	int	j,
		double	pos,
		double *	reached_pos = nullptr
	)

Moves joint j in position pos and checks if joint reaches target within tolerance range in maximun timeout seconds.

Parameters

j	joint
pos	target position
reached_pos	if not null, in output will contain the reached position

Returns

: true if the joint has reached target position, false otherwise.

Definition at line 176 of file JointsPosMotion.cpp.

setAndCheckPosControlMode()

bool yarp::robottestingframework::jointsPosMotion::setAndCheckPosControlMode

(

)

Sets all joints in position control mode and checks if all are in position control mode waiting timeout seconds.

The value of timeout can be default or configured by setTimeout function.

Returns

: true if all joints are in position, false otherwise

Definition at line 123 of file JointsPosMotion.cpp.

setSpeed()

void yarp::robottestingframework::jointsPosMotion::setSpeed

(

yarp::sig::Vector &

speedlist

)

Sets speed of each joint used in position control.

Parameters

vector

of speed. The vector must have size equal to @jlist in constructor.

Definition at line 166 of file JointsPosMotion.cpp.

setTimeout()

void yarp::robottestingframework::jointsPosMotion::setTimeout

(

double

timeout

)

Sets timeout.

Parameters

timeout

in seconds

Definition at line 159 of file JointsPosMotion.cpp.

setTolerance()

void yarp::robottestingframework::jointsPosMotion::setTolerance

(

double

tolerance

)

Sets tolerance used to check if a joint is in position.

Parameters

tolerance

Definition at line 117 of file JointsPosMotion.cpp.

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

• src/libYARP_robottestingframework/src/yarp/robottestingframework/JointsPosMotion.h
• src/libYARP_robottestingframework/src/yarp/robottestingframework/JointsPosMotion.cpp