Implements several motor interfaces.

#include <EmulatedControlBoard.hpp>

Inheritance diagram for EmulatedControlBoard:

Public Member Functions
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	setPosition (int j, double ref) override

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

bool	setPositions (const double *refs) override

bool	getRefPosition (int joint, double *ref) override

bool	getRefPositions (double *refs) override

bool	getRefPositions (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 (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

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

bool	setControlMode (int j, const int mode) override

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

bool	setControlModes (int *modes) override

bool	open (yarp::os::Searchable &config) override

bool	close () override

bool	threadInit () override

void	run () override

Public Member Functions inherited from EmulatedControlBoard_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

Protected Member Functions
void	setEncRaw (const int index, const double position)

void	setEncsRaw (const std::vector< double > &positions)

double	getEncRaw (const int index)

std::vector< double >	getEncsRaw ()

double	getEncExposed (const int index)

std::vector< double >	getEncsExposed ()

Private Types
enum	jmc_state { NOT_CONTROLLING , POSITION_MOVE , RELATIVE_MOVE , VELOCITY_MOVE }

enum	jmc_mode { POSITION_MODE , VELOCITY_MODE , POSITION_DIRECT_MODE , UNKNOWN_MODE }

Private Member Functions
bool	setPositionMode (int j)

bool	setVelocityMode (int j)

bool	setTorqueMode (int j)

bool	setPositionDirectMode (int j)

Private Attributes
jmc_mode	controlMode {UNKNOWN_MODE}

double	lastTime {0.0}

std::mutex	encRawMutex

std::vector< jmc_state >	jointStatus

std::vector< double >	encRaw

std::vector< double >	refAcc

std::vector< double >	targetExposed

std::vector< double >	velRaw

Additional Inherited Members
Public Attributes inherited from EmulatedControlBoard_ParamsParser
const std::string	m_device_classname = {"EmulatedControlBoard"}

const std::string	m_device_name = {"EmulatedControlBoard"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_axes_defaultValue = {"5"}

const std::string	m_jmcMs_defaultValue = {"20"}

const std::string	m_mode_defaultValue = {""}

const std::string	m_genInitPos_defaultValue = {"0.0"}

const std::string	m_genJointTol_defaultValue = {"0.25"}

const std::string	m_genMaxLimit_defaultValue = {"180.0"}

const std::string	m_genMinLimit_defaultValue = {"-180.0"}

const std::string	m_genRefSpeed_defaultValue = {"7.5"}

const std::string	m_genEncRawExposed_defaultValue = {"0.0174532925199433"}

const std::string	m_genVelRawExposed_defaultValue = {"0.0174532925199433"}

const std::string	m_initPoss_defaultValue = {""}

const std::string	m_jointTols_defaultValue = {""}

const std::string	m_maxLimits_defaultValue = {""}

const std::string	m_minLimits_defaultValue = {""}

const std::string	m_refSpeeds_defaultValue = {""}

const std::string	m_encRawExposeds_defaultValue = {""}

const std::string	m_velRawExposeds_defaultValue = {""}

int	m_axes = {5}

int	m_jmcMs = {20}

std::string	m_mode = {}

double	m_genInitPos = {0.0}

double	m_genJointTol = {0.25}

double	m_genMaxLimit = {180.0}

double	m_genMinLimit = {-180.0}

double	m_genRefSpeed = {7.5}

double	m_genEncRawExposed = {0.0174532925199433}

double	m_genVelRawExposed = {0.0174532925199433}

std::vector< double >	m_initPoss = {}

std::vector< double >	m_jointTols = {}

std::vector< double >	m_maxLimits = {}

std::vector< double >	m_minLimits = {}

std::vector< double >	m_refSpeeds = {}

std::vector< double >	m_encRawExposeds = {}

std::vector< double >	m_velRawExposeds = {}

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

libraries/YarpPlugins/EmulatedControlBoard/EmulatedControlBoard.hpp
libraries/YarpPlugins/EmulatedControlBoard/DeviceDriverImpl.cpp
libraries/YarpPlugins/EmulatedControlBoard/IControlLimitsImpl.cpp
libraries/YarpPlugins/EmulatedControlBoard/IControlModeImpl.cpp
libraries/YarpPlugins/EmulatedControlBoard/IEncodersImpl.cpp
libraries/YarpPlugins/EmulatedControlBoard/IPositionControlImpl.cpp
libraries/YarpPlugins/EmulatedControlBoard/IPositionDirectImpl.cpp
libraries/YarpPlugins/EmulatedControlBoard/IVelocityControlImpl.cpp
libraries/YarpPlugins/EmulatedControlBoard/PeriodicThreadImpl.cpp
libraries/YarpPlugins/EmulatedControlBoard/SharedArea.cpp

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members