Implements the YARP_dev IPositionControl, IVelocityControl, IEncodersTimed, etc. interface class member functions.

#include <YarpOpenraveControlBoard.hpp>

Inheritance diagram for roboticslab::YarpOpenraveControlBoard:

Public Member Functions
bool	open (yarp::os::Searchable &config) override

bool	close () override

bool	getAxisName (int axis, std::string &name) override

bool	getJointType (int axis, yarp::dev::JointTypeEnum &type) override

bool	getAxes (int *ax) override

bool	positionMove (int j, double ref) override

bool	positionMove (const double *refs) override

bool	relativeMove (int j, double delta) override

bool	relativeMove (const double *deltas) override

bool	checkMotionDone (int j, bool *flag) override

bool	checkMotionDone (bool *flag) override

bool	setRefSpeed (int j, double sp) override

bool	setRefSpeeds (const double *spds) override

bool	setRefAcceleration (int j, double acc) override

bool	setRefAccelerations (const double *accs) override

bool	getRefSpeed (int j, double *ref) override

bool	getRefSpeeds (double *spds) override

bool	getRefAcceleration (int j, double *acc) override

bool	getRefAccelerations (double *accs) override

bool	stop (int j) override

bool	stop () override

bool	positionMove (const int n_joint, const int joints, const double refs) override

bool	relativeMove (const int n_joint, const int joints, const double deltas) override

bool	checkMotionDone (const int n_joint, const int joints, bool flags) override

bool	setRefSpeeds (const int n_joint, const int joints, const double spds) override

bool	setRefAccelerations (const int n_joint, const int joints, const double accs) override

bool	getRefSpeeds (const int n_joint, const int joints, double spds) override

bool	getRefAccelerations (const int n_joint, const int joints, double accs) override

bool	stop (const int n_joint, const int *joints) override

bool	getTargetPosition (const int joint, double *ref) override

bool	getTargetPositions (double *refs) override

bool	getTargetPositions (const int n_joint, const int joints, double refs) override

bool	setPosition (int j, double ref) override

bool	setPositions (const int n_joint, const int joints, const double refs) override

bool	setPositions (const double *refs) override

bool	getRefPosition (const int joint, double *ref) override

bool	getRefPositions (double *refs) override

bool	getRefPositions (const int n_joint, const int joints, double refs) override

bool	resetEncoder (int j) override

bool	resetEncoders () override

bool	setEncoder (int j, double val) override

bool	setEncoders (const double *vals) override

bool	getEncoder (int j, double *v) override

bool	getEncoders (double *encs) override

bool	getEncoderSpeed (int j, double *sp) override

bool	getEncoderSpeeds (double *spds) override

bool	getEncoderAcceleration (int j, double *spds) override

bool	getEncoderAccelerations (double *accs) override

bool	getEncodersTimed (double encs, double time) override

bool	getEncoderTimed (int j, double encs, double time) override

bool	velocityMove (int j, double sp) override

bool	velocityMove (const double *sp) override

bool	velocityMove (const int n_joint, const int joints, const double spds) override

bool	getRefVelocity (const int joint, double *vel) override

bool	getRefVelocities (double *vels) override

bool	getRefVelocities (const int n_joint, const int joints, double vels) override

bool	setLimits (int axis, double min, double max) override

bool	getLimits (int axis, double min, double max) override

bool	setVelLimits (int axis, double min, double max) override

bool	getVelLimits (int axis, double min, double max) override

bool	getControlMode (int j, int *mode) override

bool	getControlModes (int *modes) override

bool	getControlModes (const int n_joint, const int joints, int modes) override

bool	setControlMode (const int j, const int mode) override

bool	setControlModes (const int n_joint, const int joints, int modes) override

bool	setControlModes (int *modes) override

Private Member Functions
double	degToRad (double deg)
	Converts degrees to radians. More...

double	radToDeg (double rad)
	Converts radians to degrees. More...

double	degToRadIfNotPrismatic (int j, double deg)
	Converts degrees to radians, unless joint j is prismatic. More...

double	radToDegIfNotPrismatic (int j, double rad)
	Converts radians to degrees, unless joint j is prismatic. More...

bool	configureEnvironment (yarp::os::Searchable &config)

bool	configureOpenravePlugins (yarp::os::Searchable &config)

bool	configureRobot (yarp::os::Searchable &config)

bool	clean ()

Private Attributes
unsigned int	axes

std::vector< int >	controlModes

std::vector< double >	refSpeeds

OpenRAVE::MultiControllerBasePtr	multi

std::vector< OpenRAVE::ControllerBasePtr >	pcontrols

std::vector< int >	manipulatorIDs

std::vector< OpenRAVE::dReal >	manipulatorTargetRads

std::vector< OpenRAVE::RobotBase::JointPtr >	vectorOfJointPtr

Private Attributes inherited from roboticslab::YarpOpenraveBase
OpenRAVE::EnvironmentBasePtr	penv

OpenRAVE::RobotBasePtr	probot

std::string	robotName

boost::thread_group	openraveThreads

Member Function Documentation

◆ degToRad()

double roboticslab::YarpOpenraveControlBoard::degToRad ( double deg )

inlineprivate

Parameters

deg	Angle value expressed in degrees.

Returns: Same value expressed in radians.

◆ degToRadIfNotPrismatic()

double roboticslab::YarpOpenraveControlBoard::degToRadIfNotPrismatic	(	int	j,
		double	deg
	)

inlineprivate

Parameters

j	Axis to check
deg	Angle value expressed in degrees.

Returns: Same value expressed in radians.

◆ radToDeg()

double roboticslab::YarpOpenraveControlBoard::radToDeg ( double rad )

inlineprivate

Parameters

rad	Angle value expressed in radians.

Returns: Same value expressed in degrees.

◆ radToDegIfNotPrismatic()

double roboticslab::YarpOpenraveControlBoard::radToDegIfNotPrismatic	(	int	j,
		double	rad
	)

inlineprivate

Parameters

j	Axis to check
rad	Angle value expressed in radians.

Returns: Same value expressed in degrees.

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

libraries/YarpPlugins/YarpOpenraveControlBoard/YarpOpenraveControlBoard.hpp
libraries/YarpPlugins/YarpOpenraveControlBoard/DeviceDriverImpl.cpp
libraries/YarpPlugins/YarpOpenraveControlBoard/IAxisInfoImpl.cpp
libraries/YarpPlugins/YarpOpenraveControlBoard/IControlLimitsImpl.cpp
libraries/YarpPlugins/YarpOpenraveControlBoard/IControlModeImpl.cpp
libraries/YarpPlugins/YarpOpenraveControlBoard/IEncodersImpl.cpp
libraries/YarpPlugins/YarpOpenraveControlBoard/IPositionControlImpl.cpp
libraries/YarpPlugins/YarpOpenraveControlBoard/IPositionDirectImpl.cpp
libraries/YarpPlugins/YarpOpenraveControlBoard/IVelocityControlImpl.cpp

Public Member Functions

Private Member Functions

Private Attributes

Member Function Documentation

◆ degToRad()

◆ degToRadIfNotPrismatic()

◆ radToDeg()

◆ radToDegIfNotPrismatic()