openrave-yarp-plugins
Public Member Functions | Private Member Functions | Private Attributes | List of all members
roboticslab::YarpOpenraveControlBoard Class Reference

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

#include <YarpOpenraveControlBoard.hpp>

Inheritance diagram for roboticslab::YarpOpenraveControlBoard:
roboticslab::YarpOpenraveBase

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
degAngle value expressed in degrees.
Returns
Same value expressed in radians.

◆ degToRadIfNotPrismatic()

double roboticslab::YarpOpenraveControlBoard::degToRadIfNotPrismatic ( int  j,
double  deg 
)
inlineprivate
Parameters
jAxis to check
degAngle value expressed in degrees.
Returns
Same value expressed in radians.

◆ radToDeg()

double roboticslab::YarpOpenraveControlBoard::radToDeg ( double  rad)
inlineprivate
Parameters
radAngle value expressed in radians.
Returns
Same value expressed in degrees.

◆ radToDegIfNotPrismatic()

double roboticslab::YarpOpenraveControlBoard::radToDegIfNotPrismatic ( int  j,
double  rad 
)
inlineprivate
Parameters
jAxis to check
radAngle value expressed in radians.
Returns
Same value expressed in degrees.

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