roboticslab::ControlBoardStateToIPosition Class Reference

Reads joint positions from an input control board, sends to an output control board.

#include <ControlBoardStateToIPosition.hpp>

Inheritance diagram for roboticslab::ControlBoardStateToIPosition:

Public Member Functions
bool	configure (yarp::os::ResourceFinder &rf) override
bool	close () override
bool	updateModule () override
void	run () override

Private Attributes
std::vector< double >	encPoss
yarp::dev::PolyDriver	inRobotDevice
yarp::dev::PolyDriver	outRobotDevice
yarp::dev::IEncoders *	iEncodersIn
yarp::dev::IControlMode *	iControlModeOut
yarp::dev::IPositionDirect *	iPositionDirectOut

Member Function Documentation

close()

bool ControlBoardStateToIPosition::close ( )

override

Close function.

This is called automatically when the module closes, after the last call to updateModule. Override this to cleanup memory allocated in the configure() function or perform other activities that ensure graceful shutdown.

Returns

true/false on success failure.

configure()

bool ControlBoardStateToIPosition::configure ( yarp::os::ResourceFinder &  rf )

override

Configure the module, pass a ResourceFinder object to the module.

Parameters

rf	a previously initialized ResourceFinder

Returns

true/false upon success/failure

Note

attachTerminal() is no longer called automatically. You can call it in the configure function.

run()

void ControlBoardStateToIPosition::run ( )

override

Loop function. This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

updateModule()

bool ControlBoardStateToIPosition::updateModule ( )

override

Override this to do whatever your module needs to do.

When your module wants to stop, return false. The module's actual work could be done during this call, or it could just check the state of a thread running in the background.

Returns

true iff module should continue

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

• programs/controlBoardStateToIPosition/ControlBoardStateToIPosition.hpp
• programs/controlBoardStateToIPosition/ControlBoardStateToIPosition.cpp