Implements the YARP_dev IPositionControl, etc. interface class member functions.
#include <RealToSimControlBoard.hpp>
Inheritance diagram for RealToSimControlBoard:
Public Member Functions | |
| bool | open (yarp::os::Searchable &config) override |
| bool | close () override |
| bool | getControlMode (int j, int *mode) override |
| bool | getControlModes (int *modes) override |
| bool | getControlModes (int n_joint, const int *joints, int *modes) override |
| bool | setControlMode (int j, int mode) override |
| bool | setControlModes (int n_joint, const int *joints, int *modes) override |
| bool | setControlModes (int *modes) override |
| bool | getEncodersTimed (double *encs, double *time) override |
| bool | getEncoderTimed (int j, double *encs, double *time) 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 | 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 (int n_joint, const int *joints, const double *refs) override |
| bool | relativeMove (int n_joint, const int *joints, const double *deltas) override |
| bool | checkMotionDone (int n_joint, const int *joints, bool *flags) override |
| bool | setRefSpeeds (int n_joint, const int *joints, const double *spds) override |
| bool | setRefAccelerations (int n_joint, const int *joints, const double *accs) override |
| bool | getRefSpeeds (int n_joint, const int *joints, double *spds) override |
| bool | getRefAccelerations (int n_joint, const int *joints, double *accs) override |
| bool | stop (int n_joint, const int *joints) override |
| bool | getTargetPosition (int joint, double *ref) override |
| bool | getTargetPositions (double *refs) override |
| bool | getTargetPositions (int n_joint, const int *joints, double *refs) override |
| bool | velocityMove (int j, double sp) override |
| bool | velocityMove (const double *sp) override |
| bool | velocityMove (int n_joint, const int *joints, const double *spds) override |
| bool | getRefVelocity (int joint, double *vel) override |
| bool | getRefVelocities (double *vels) override |
| bool | getRefVelocities (int n_joint, const int *joints, double *vels) override |
 Public Member Functions inherited from RealToSimControlBoard_ParamsParser | |
| bool | parseParams (const yarp::os::Searchable &config) override |
| std::string | getDeviceClassName () const override |
| std::string | getDeviceName () const override |
| std::string | getDocumentationOfDeviceParams () const override |
| std::vector< std::string > | getListOfParams () const override |
Private Types | |
| enum | jmc_mode { POSITION_MODE , VELOCITY_MODE , POSITION_DIRECT_MODE } |
Private Attributes | |
| unsigned int | axes {0} |
| jmc_mode | controlMode {POSITION_MODE} |
| std::vector< double > | storedPositions |
| std::vector< yarp::dev::PolyDriver * > | controlledDevices |
| std::vector< roboticslab::ExposedJoint * > | exposedJoints |
Additional Inherited Members | |
| Public Attributes inherited from RealToSimControlBoard_ParamsParser | |
| const std::string | m_device_classname = {"RealToSimControlBoard"} |
| const std::string | m_device_name = {"RealToSimControlBoard"} |
| bool | m_parser_is_strict = false |
| const parser_version_type | m_parser_version = {} |
| const std::string | m_modePosVel_defaultValue = {"0"} |
| const std::string | m_remotes_defaultValue = {""} |
| const std::string | m_remotePrefix_defaultValue = {""} |
| const std::string | m_remoteSuffix_defaultValue = {""} |
| const std::string | m_localSuffix_defaultValue = {""} |
| int | m_modePosVel = {0} |
| std::vector< std::string > | m_remotes = {} |
| std::string | m_remotePrefix = {} |
| std::string | m_remoteSuffix = {} |
| std::string | m_localSuffix = {} |
The documentation for this class was generated from the following files:
- libraries/YarpPlugins/RealToSimControlBoard/RealToSimControlBoard.hpp
- libraries/YarpPlugins/RealToSimControlBoard/DeviceDriverImpl.cpp
- libraries/YarpPlugins/RealToSimControlBoard/IControlModeImpl.cpp
- libraries/YarpPlugins/RealToSimControlBoard/IEncodersTimedImpl.cpp
- libraries/YarpPlugins/RealToSimControlBoard/IPositionControlImpl.cpp
- libraries/YarpPlugins/RealToSimControlBoard/IVelocityControlImpl.cpp
