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bool | open (yarp::os::Searchable &config) override |
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bool | close () override |
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bool | enableAmp (int j) override |
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bool | disableAmp (int j) override |
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bool | getAmpStatus (int j, int *v) override |
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bool | getAmpStatus (int *st) override |
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bool | getMaxCurrent (int j, double *v) override |
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bool | setMaxCurrent (int j, double v) override |
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bool | getNominalCurrent (int m, double *val) override |
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bool | setNominalCurrent (int m, double val) override |
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bool | getPeakCurrent (int m, double *val) override |
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bool | setPeakCurrent (int m, double val) override |
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bool | getPWM (int j, double *val) override |
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bool | getPWMLimit (int j, double *val) override |
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bool | setPWMLimit (int j, double val) override |
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bool | getPowerSupplyVoltage (int j, double *val) override |
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bool | getAxisName (int axis, std::string &name) override |
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bool | getJointType (int axis, yarp::dev::JointTypeEnum &type) override |
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bool | calibrateAxisWithParams (int axis, unsigned int type, double p1, double p2, double p3) override |
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bool | setCalibrationParameters (int axis, const yarp::dev::CalibrationParameters ¶ms) override |
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bool | calibrationDone (int j) override |
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bool | setLimits (int axis, double min, double max) override |
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bool | getLimits (int axis, double *min, double *max) override |
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bool | setVelLimits (int axis, double min, double max) override |
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bool | getVelLimits (int axis, double *min, double *max) override |
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bool | getControlMode (int j, int *mode) override |
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bool | getControlModes (int *modes) override |
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bool | getControlModes (int n_joint, const int *joints, int *modes) override |
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bool | setControlMode (int j, const int mode) override |
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bool | setControlModes (int n_joint, const int *joints, int *modes) override |
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bool | setControlModes (int *modes) override |
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bool | getCurrent (int m, double *curr) override |
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bool | getCurrents (double *currs) override |
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bool | getCurrentRange (int m, double *min, double *max) override |
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bool | getCurrentRanges (double *mins, double *maxs) override |
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bool | setRefCurrent (int m, double curr) override |
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bool | setRefCurrents (const double *currs) override |
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bool | setRefCurrents (int n_motor, const int *motors, const double *currs) override |
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bool | getRefCurrent (int m, double *curr) override |
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bool | getRefCurrents (double *currs) override |
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bool | getAxes (int *ax) override |
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bool | resetEncoder (int j) override |
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bool | resetEncoders () override |
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bool | setEncoder (int j, double val) override |
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bool | setEncoders (const double *vals) override |
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bool | getEncoder (int j, double *v) override |
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bool | getEncoders (double *encs) override |
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bool | getEncoderSpeed (int j, double *spd) override |
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bool | getEncoderSpeeds (double *spds) override |
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bool | getEncoderAcceleration (int j, double *spds) override |
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bool | getEncoderAccelerations (double *accs) override |
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bool | getEncoderTimed (int j, double *encs, double *time) override |
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bool | getEncodersTimed (double *encs, double *times) override |
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bool | getImpedance (int j, double *stiffness, double *damping) override |
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bool | setImpedance (int j, double stiffness, double damping) override |
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bool | setImpedanceOffset (int j, double offset) override |
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bool | getImpedanceOffset (int j, double *offset) override |
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bool | getCurrentImpedanceLimit (int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override |
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bool | getInteractionMode (int axis, yarp::dev::InteractionModeEnum *mode) override |
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bool | getInteractionModes (yarp::dev::InteractionModeEnum *modes) override |
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bool | getInteractionModes (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override |
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bool | setInteractionMode (int axis, yarp::dev::InteractionModeEnum mode) override |
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bool | setInteractionModes (yarp::dev::InteractionModeEnum *modes) override |
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bool | setInteractionModes (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override |
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bool | getLastJointFault (int j, int &fault, std::string &message) override |
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bool | getNumberOfMotors (int *num) override |
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bool | getTemperature (int m, double *val) override |
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bool | getTemperatures (double *vals) override |
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bool | getTemperatureLimit (int m, double *temp) override |
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bool | setTemperatureLimit (int m, double temp) override |
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bool | getGearboxRatio (int m, double *val) override |
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bool | setGearboxRatio (int m, double val) override |
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bool | getNumberOfMotorEncoders (int *num) override |
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bool | resetMotorEncoder (int m) override |
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bool | resetMotorEncoders () override |
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bool | setMotorEncoderCountsPerRevolution (int m, double cpr) override |
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bool | getMotorEncoderCountsPerRevolution (int m, double *cpr) override |
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bool | setMotorEncoder (int m, double val) override |
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bool | setMotorEncoders (const double *vals) override |
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bool | getMotorEncoder (int m, double *v) override |
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bool | getMotorEncoders (double *encs) override |
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bool | getMotorEncoderTimed (int m, double *enc, double *stamp) override |
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bool | getMotorEncodersTimed (double *encs, double *stamps) override |
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bool | getMotorEncoderSpeed (int m, double *sp) override |
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bool | getMotorEncoderSpeeds (double *spds) override |
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bool | getMotorEncoderAcceleration (int m, double *acc) override |
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bool | getMotorEncoderAccelerations (double *accs) override |
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bool | setPid (const yarp::dev::PidControlTypeEnum &pidtype, int j, const yarp::dev::Pid &pid) override |
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bool | setPids (const yarp::dev::PidControlTypeEnum &pidtype, const yarp::dev::Pid *pids) override |
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bool | setPidReference (const yarp::dev::PidControlTypeEnum &pidtype, int j, double ref) override |
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bool | setPidReferences (const yarp::dev::PidControlTypeEnum &pidtype, const double *refs) override |
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bool | setPidErrorLimit (const yarp::dev::PidControlTypeEnum &pidtype, int j, double limit) override |
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bool | setPidErrorLimits (const yarp::dev::PidControlTypeEnum &pidtype, const double *limits) override |
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bool | getPidError (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *err) override |
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bool | getPidErrors (const yarp::dev::PidControlTypeEnum &pidtype, double *errs) override |
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bool | getPidOutput (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *out) override |
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bool | getPidOutputs (const yarp::dev::PidControlTypeEnum &pidtype, double *outs) override |
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bool | getPid (const yarp::dev::PidControlTypeEnum &pidtype, int j, yarp::dev::Pid *pid) override |
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bool | getPids (const yarp::dev::PidControlTypeEnum &pidtype, yarp::dev::Pid *pids) override |
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bool | getPidReference (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *ref) override |
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bool | getPidReferences (const yarp::dev::PidControlTypeEnum &pidtype, double *refs) override |
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bool | getPidErrorLimit (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *limit) override |
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bool | getPidErrorLimits (const yarp::dev::PidControlTypeEnum &pidtype, double *limits) override |
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bool | resetPid (const yarp::dev::PidControlTypeEnum &pidtype, int j) override |
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bool | disablePid (const yarp::dev::PidControlTypeEnum &pidtype, int j) override |
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bool | enablePid (const yarp::dev::PidControlTypeEnum &pidtype, int j) override |
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bool | setPidOffset (const yarp::dev::PidControlTypeEnum &pidtype, int j, double v) override |
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bool | isPidEnabled (const yarp::dev::PidControlTypeEnum &pidtype, int j, bool *enabled) override |
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bool | positionMove (int j, double ref) override |
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bool | positionMove (const double *refs) override |
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bool | positionMove (int n_joint, const int *joints, const double *refs) override |
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bool | relativeMove (int j, double delta) override |
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bool | relativeMove (const double *deltas) override |
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bool | relativeMove (int n_joint, const int *joints, const double *deltas) override |
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bool | checkMotionDone (int j, bool *flag) override |
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bool | checkMotionDone (bool *flag) override |
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bool | checkMotionDone (int n_joint, const int *joints, bool *flag) override |
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bool | setRefSpeed (int j, double sp) override |
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bool | setRefSpeeds (const double *spds) override |
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bool | setRefSpeeds (int n_joint, const int *joints, const double *spds) override |
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bool | setRefAcceleration (int j, double acc) override |
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bool | setRefAccelerations (const double *accs) override |
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bool | setRefAccelerations (int n_joint, const int *joints, const double *accs) override |
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bool | getRefSpeed (int j, double *spd) override |
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bool | getRefSpeeds (double *spds) override |
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bool | getRefSpeeds (int n_joint, const int *joints, double *spds) override |
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bool | getRefAcceleration (int j, double *acc) override |
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bool | getRefAccelerations (double *accs) override |
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bool | getRefAccelerations (int n_joint, const int *joints, double *accs) override |
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bool | stop (int j) override |
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bool | stop () override |
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bool | stop (int n_joint, const int *joints) override |
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bool | getTargetPosition (int joint, double *ref) override |
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bool | getTargetPositions (double *refs) override |
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bool | getTargetPositions (int n_joint, const int *joints, double *refs) override |
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bool | setPosition (int j, double ref) override |
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bool | setPositions (const double *refs) override |
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bool | setPositions (int n_joint, const int *joints, const double *refs) override |
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bool | getRefPosition (int joint, double *ref) override |
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bool | getRefPositions (double *refs) override |
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bool | getRefPositions (int n_joint, const int *joints, double *refs) override |
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bool | setRefDutyCycle (int m, double ref) override |
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bool | setRefDutyCycles (const double *refs) override |
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bool | getRefDutyCycle (int m, double *ref) override |
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bool | getRefDutyCycles (double *refs) override |
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bool | getDutyCycle (int m, double *val) override |
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bool | getDutyCycles (double *vals) override |
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bool | getRemoteVariable (std::string key, yarp::os::Bottle &val) override |
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bool | setRemoteVariable (std::string key, const yarp::os::Bottle &val) override |
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bool | getRemoteVariablesList (yarp::os::Bottle *listOfKeys) override |
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bool | getRefTorque (int j, double *t) override |
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bool | getRefTorques (double *t) override |
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bool | setRefTorque (int j, double t) override |
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bool | setRefTorques (const double *t) override |
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bool | setRefTorques (int n_joint, const int *joints, const double *t) override |
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bool | getMotorTorqueParams (int j, yarp::dev::MotorTorqueParameters *params) override |
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bool | setMotorTorqueParams (int j, const yarp::dev::MotorTorqueParameters params) override |
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bool | getTorque (int j, double *t) override |
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bool | getTorques (double *t) override |
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bool | getTorqueRange (int j, double *min, double *max) override |
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bool | getTorqueRanges (double *min, double *max) override |
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bool | velocityMove (int j, double spd) override |
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bool | velocityMove (const double *spds) override |
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bool | velocityMove (int n_joint, const int *joints, const double *spds) override |
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bool | getRefVelocity (int joint, double *vel) override |
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bool | getRefVelocities (double *vels) override |
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bool | getRefVelocities (int n_joint, const int *joints, double *vels) override |
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std::size_t | getNrOfContactLoadCellArrays () const override |
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yarp::dev::MAS_status | getContactLoadCellArrayStatus (std::size_t sens_index) const override |
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bool | getContactLoadCellArrayName (std::size_t sens_index, std::string &name) const override |
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bool | getContactLoadCellArrayMeasure (std::size_t sens_index, yarp::sig::Vector &out, double ×tamp) const override |
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std::size_t | getContactLoadCellArraySize (std::size_t sens_index) const override |
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std::size_t | getNrOfEncoderArrays () const override |
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yarp::dev::MAS_status | getEncoderArrayStatus (std::size_t sens_index) const override |
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bool | getEncoderArrayName (std::size_t sens_index, std::string &name) const override |
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bool | getEncoderArrayMeasure (std::size_t sens_index, yarp::sig::Vector &out, double ×tamp) const override |
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std::size_t | getEncoderArraySize (std::size_t sens_index) const override |
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std::size_t | getNrOfOrientationSensors () const override |
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yarp::dev::MAS_status | getOrientationSensorStatus (std::size_t sens_index) const override |
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bool | getOrientationSensorName (std::size_t sens_index, std::string &name) const override |
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bool | getOrientationSensorFrameName (std::size_t sens_index, std::string &frameName) const override |
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bool | getOrientationSensorMeasureAsRollPitchYaw (std::size_t sens_index, yarp::sig::Vector &rpy, double ×tamp) const override |
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std::size_t | getNrOfPositionSensors () const override |
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yarp::dev::MAS_status | getPositionSensorStatus (std::size_t sens_index) const override |
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bool | getPositionSensorName (std::size_t sens_index, std::string &name) const override |
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bool | getPositionSensorFrameName (std::size_t sens_index, std::string &frameName) const override |
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bool | getPositionSensorMeasure (std::size_t sens_index, yarp::sig::Vector &xyz, double ×tamp) const override |
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std::size_t | getNrOfSixAxisForceTorqueSensors () const override |
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yarp::dev::MAS_status | getSixAxisForceTorqueSensorStatus (std::size_t sens_index) const override |
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bool | getSixAxisForceTorqueSensorName (std::size_t sens_index, std::string &name) const override |
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bool | getSixAxisForceTorqueSensorFrameName (std::size_t sens_index, std::string &frameName) const override |
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bool | getSixAxisForceTorqueSensorMeasure (std::size_t sens_index, yarp::sig::Vector &out, double ×tamp) const override |
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std::size_t | getNrOfSkinPatches () const override |
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yarp::dev::MAS_status | getSkinPatchStatus (std::size_t sens_index) const override |
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bool | getSkinPatchName (std::size_t sens_index, std::string &name) const override |
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bool | getSkinPatchMeasure (std::size_t sens_index, yarp::sig::Vector &out, double ×tamp) const override |
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std::size_t | getSkinPatchSize (std::size_t sens_index) const override |
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std::size_t | getNrOfTemperatureSensors () const override |
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yarp::dev::MAS_status | getTemperatureSensorStatus (std::size_t sens_index) const override |
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bool | getTemperatureSensorName (std::size_t sens_index, std::string &name) const override |
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bool | getTemperatureSensorFrameName (std::size_t sens_index, std::string &frameName) const override |
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bool | getTemperatureSensorMeasure (std::size_t sens_index, double &out, double ×tamp) const override |
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bool | getTemperatureSensorMeasure (std::size_t sens_index, yarp::sig::Vector &out, double ×tamp) const override |
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std::size_t | getNrOfThreeAxisGyroscopes () const override |
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yarp::dev::MAS_status | getThreeAxisGyroscopeStatus (std::size_t sens_index) const override |
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bool | getThreeAxisGyroscopeName (std::size_t sens_index, std::string &name) const override |
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bool | getThreeAxisGyroscopeFrameName (std::size_t sens_index, std::string &frameName) const override |
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bool | getThreeAxisGyroscopeMeasure (std::size_t sens_index, yarp::sig::Vector &out, double ×tamp) const override |
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std::size_t | getNrOfThreeAxisLinearAccelerometers () const override |
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yarp::dev::MAS_status | getThreeAxisLinearAccelerometerStatus (std::size_t sens_index) const override |
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bool | getThreeAxisLinearAccelerometerName (std::size_t sens_index, std::string &name) const override |
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bool | getThreeAxisLinearAccelerometerFrameName (std::size_t sens_index, std::string &frameName) const override |
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bool | getThreeAxisLinearAccelerometerMeasure (std::size_t sens_index, yarp::sig::Vector &out, double ×tamp) const override |
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std::size_t | getNrOfThreeAxisMagnetometers () const override |
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yarp::dev::MAS_status | getThreeAxisMagnetometerStatus (std::size_t sens_index) const override |
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bool | getThreeAxisMagnetometerName (std::size_t sens_index, std::string &name) const override |
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bool | getThreeAxisMagnetometerFrameName (std::size_t sens_index, std::string &frameName) const override |
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bool | getThreeAxisMagnetometerMeasure (std::size_t sens_index, yarp::sig::Vector &out, double ×tamp) const override |
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