yarp-devices
Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
roboticslab::EmulatedControlBoard Class Reference

Implements several motor interfaces.

#include <EmulatedControlBoard.hpp>

Inheritance diagram for roboticslab::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
 
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 }
 

Private Member Functions

bool setPositionMode (int j)
 
bool setVelocityMode (int j)
 
bool setTorqueMode (int j)
 
bool setPositionDirectMode (int j)
 

Private Attributes

unsigned int axes
 
double jmcMs
 
jmc_mode controlMode
 
double lastTime
 
yarp::os::Semaphore encRawMutex
 
std::vector< jmc_state > jointStatus
 
std::vector< double > encRaw
 
std::vector< double > encRawExposed
 
std::vector< double > initPos
 
std::vector< double > jointTol
 
std::vector< double > maxLimit
 
std::vector< double > minLimit
 
std::vector< double > refAcc
 
std::vector< double > refSpeed
 
std::vector< double > targetExposed
 
std::vector< double > velRawExposed
 
std::vector< double > velRaw
 

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