Implementation for a fake joint (instant movement) as a single CAN bus joint (control board raw interfaces).
#include <FakeJoint.hpp>
Inheritance diagram for roboticslab::FakeJoint:
Public Member Functions | |
| bool | open (yarp::os::Searchable &config) override |
| bool | close () override |
| unsigned int | getId () override |
| Retrieve CAN node ID. | |
| bool | notifyMessage (const can_message &message) override |
| Notify observers that a new CAN message has arrived. | |
| bool | initialize () override |
| Perform CAN node initialization. | |
| bool | finalize () override |
| Finalize CAN node communications. | |
| bool | registerSender (ICanSenderDelegate *sender) override |
| Pass a handle to a CAN sender delegate instance. | |
| bool | synchronize (double timestamp) override |
| Perform synchronized action on CAN master's request. | |
| bool | enableAmpRaw (int j) override |
| bool | disableAmpRaw (int j) override |
| bool | getAmpStatusRaw (int j, int *v) override |
| bool | getAmpStatusRaw (int *st) override |
| bool | getMaxCurrentRaw (int j, double *v) override |
| bool | setMaxCurrentRaw (int j, double v) override |
| bool | getNominalCurrentRaw (int m, double *val) override |
| bool | setNominalCurrentRaw (int m, double val) override |
| bool | getPeakCurrentRaw (int m, double *val) override |
| bool | setPeakCurrentRaw (int m, double val) override |
| bool | getPWMRaw (int j, double *val) override |
| bool | getPWMLimitRaw (int j, double *val) override |
| bool | setPWMLimitRaw (int j, double val) override |
| bool | getPowerSupplyVoltageRaw (int j, double *val) override |
| bool | getAxisNameRaw (int axis, std::string &name) override |
| bool | getJointTypeRaw (int axis, yarp::dev::JointTypeEnum &type) override |
| bool | calibrateAxisWithParamsRaw (int axis, unsigned int type, double p1, double p2, double p3) override |
| bool | setCalibrationParametersRaw (int axis, const yarp::dev::CalibrationParameters ¶ms) override |
| bool | calibrationDoneRaw (int j) override |
| bool | setLimitsRaw (int axis, double min, double max) override |
| bool | getLimitsRaw (int axis, double *min, double *max) override |
| bool | setVelLimitsRaw (int axis, double min, double max) override |
| bool | getVelLimitsRaw (int axis, double *min, double *max) override |
| bool | getControlModeRaw (int j, int *mode) override |
| bool | getControlModesRaw (int *modes) override |
| bool | getControlModesRaw (int n_joint, const int *joints, int *modes) override |
| bool | setControlModeRaw (int j, int mode) override |
| bool | setControlModesRaw (int *modes) override |
| bool | setControlModesRaw (int n_joint, const int *joints, int *modes) override |
| bool | getCurrentRaw (int m, double *curr) override |
| bool | getCurrentsRaw (double *currs) override |
| bool | getCurrentRangeRaw (int m, double *min, double *max) override |
| bool | getCurrentRangesRaw (double *mins, double *maxs) override |
| bool | setRefCurrentRaw (int m, double curr) override |
| bool | setRefCurrentsRaw (const double *currs) override |
| bool | setRefCurrentsRaw (int n_motor, const int *motors, const double *currs) override |
| bool | getRefCurrentRaw (int m, double *curr) override |
| bool | getRefCurrentsRaw (double *currs) override |
| bool | getAxes (int *ax) override |
| bool | resetEncoderRaw (int j) override |
| bool | resetEncodersRaw () override |
| bool | setEncoderRaw (int j, double val) override |
| bool | setEncodersRaw (const double *vals) override |
| bool | getEncoderRaw (int j, double *v) override |
| bool | getEncodersRaw (double *encs) override |
| bool | getEncoderSpeedRaw (int j, double *spd) override |
| bool | getEncoderSpeedsRaw (double *spds) override |
| bool | getEncoderAccelerationRaw (int j, double *acc) override |
| bool | getEncoderAccelerationsRaw (double *accs) override |
| bool | getEncoderTimedRaw (int j, double *enc, double *time) override |
| bool | getEncodersTimedRaw (double *encs, double *times) override |
| bool | getImpedanceRaw (int j, double *stiffness, double *damping) override |
| bool | setImpedanceRaw (int j, double stiffness, double damping) override |
| bool | setImpedanceOffsetRaw (int j, double offset) override |
| bool | getImpedanceOffsetRaw (int j, double *offset) override |
| bool | getCurrentImpedanceLimitRaw (int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override |
| bool | getInteractionModeRaw (int axis, yarp::dev::InteractionModeEnum *mode) override |
| bool | getInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override |
| bool | getInteractionModesRaw (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override |
| bool | setInteractionModeRaw (int axis, yarp::dev::InteractionModeEnum mode) override |
| bool | setInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override |
| bool | setInteractionModesRaw (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override |
| bool | getNumberOfMotorsRaw (int *num) override |
| bool | getTemperatureRaw (int m, double *val) override |
| bool | getTemperaturesRaw (double *vals) override |
| bool | getTemperatureLimitRaw (int m, double *temp) override |
| bool | setTemperatureLimitRaw (int m, double temp) override |
| bool | getGearboxRatioRaw (int m, double *val) override |
| bool | setGearboxRatioRaw (int m, double val) override |
| bool | getNumberOfMotorEncodersRaw (int *num) override |
| bool | resetMotorEncoderRaw (int m) override |
| bool | resetMotorEncodersRaw () override |
| bool | setMotorEncoderCountsPerRevolutionRaw (int m, double cpr) override |
| bool | getMotorEncoderCountsPerRevolutionRaw (int m, double *cpr) override |
| bool | setMotorEncoderRaw (int m, double val) override |
| bool | setMotorEncodersRaw (const double *vals) override |
| bool | getMotorEncoderRaw (int m, double *v) override |
| bool | getMotorEncodersRaw (double *encs) override |
| bool | getMotorEncoderTimedRaw (int m, double *enc, double *stamp) override |
| bool | getMotorEncodersTimedRaw (double *encs, double *stamps) override |
| bool | getMotorEncoderSpeedRaw (int m, double *sp) override |
| bool | getMotorEncoderSpeedsRaw (double *spds) override |
| bool | getMotorEncoderAccelerationRaw (int m, double *acc) override |
| bool | getMotorEncoderAccelerationsRaw (double *accs) override |
| bool | setPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, const yarp::dev::Pid &pid) override |
| bool | setPidsRaw (const yarp::dev::PidControlTypeEnum &pidtype, const yarp::dev::Pid *pids) override |
| bool | setPidReferenceRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double ref) override |
| bool | setPidReferencesRaw (const yarp::dev::PidControlTypeEnum &pidtype, const double *refs) override |
| bool | setPidErrorLimitRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double limit) override |
| bool | setPidErrorLimitsRaw (const yarp::dev::PidControlTypeEnum &pidtype, const double *limits) override |
| bool | getPidErrorRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *err) override |
| bool | getPidErrorsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *errs) override |
| bool | getPidOutputRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *out) override |
| bool | getPidOutputsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *outs) override |
| bool | getPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, yarp::dev::Pid *pid) override |
| bool | getPidsRaw (const yarp::dev::PidControlTypeEnum &pidtype, yarp::dev::Pid *pids) override |
| bool | getPidReferenceRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *ref) override |
| bool | getPidReferencesRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *refs) override |
| bool | getPidErrorLimitRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *limit) override |
| bool | getPidErrorLimitsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *limits) override |
| bool | resetPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override |
| bool | disablePidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override |
| bool | enablePidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override |
| bool | setPidOffsetRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double v) override |
| bool | isPidEnabledRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, bool *enabled) override |
| bool | positionMoveRaw (int j, double ref) override |
| bool | positionMoveRaw (const double *refs) override |
| bool | positionMoveRaw (int n_joint, const int *joints, const double *refs) override |
| bool | relativeMoveRaw (int j, double delta) override |
| bool | relativeMoveRaw (const double *deltas) override |
| bool | relativeMoveRaw (int n_joint, const int *joints, const double *deltas) override |
| bool | checkMotionDoneRaw (int j, bool *flag) override |
| bool | checkMotionDoneRaw (bool *flag) override |
| bool | checkMotionDoneRaw (int n_joint, const int *joints, bool *flag) override |
| bool | setRefSpeedRaw (int j, double sp) override |
| bool | setRefSpeedsRaw (const double *spds) override |
| bool | setRefSpeedsRaw (int n_joint, const int *joints, const double *spds) override |
| bool | setRefAccelerationRaw (int j, double acc) override |
| bool | setRefAccelerationsRaw (const double *accs) override |
| bool | setRefAccelerationsRaw (int n_joint, const int *joints, const double *accs) override |
| bool | getRefSpeedRaw (int j, double *spd) override |
| bool | getRefSpeedsRaw (double *spds) override |
| bool | getRefSpeedsRaw (int n_joint, const int *joints, double *spds) override |
| bool | getRefAccelerationRaw (int j, double *acc) override |
| bool | getRefAccelerationsRaw (double *accs) override |
| bool | getRefAccelerationsRaw (int n_joint, const int *joints, double *accs) override |
| bool | stopRaw (int j) override |
| bool | stopRaw () override |
| bool | stopRaw (int n_joint, const int *joints) override |
| bool | getTargetPositionRaw (int joint, double *ref) override |
| bool | getTargetPositionsRaw (double *refs) override |
| bool | getTargetPositionsRaw (int n_joint, const int *joints, double *refs) override |
| bool | setPositionRaw (int j, double ref) override |
| bool | setPositionsRaw (const double *refs) override |
| bool | setPositionsRaw (int n_joint, const int *joints, const double *refs) override |
| bool | getRefPositionRaw (int joint, double *ref) override |
| bool | getRefPositionsRaw (double *refs) override |
| bool | getRefPositionsRaw (int n_joint, const int *joints, double *refs) override |
| bool | setRefDutyCycleRaw (int m, double ref) override |
| bool | setRefDutyCyclesRaw (const double *refs) override |
| bool | getRefDutyCycleRaw (int m, double *ref) override |
| bool | getRefDutyCyclesRaw (double *refs) override |
| bool | getDutyCycleRaw (int m, double *val) override |
| bool | getDutyCyclesRaw (double *vals) override |
| bool | getRemoteVariableRaw (std::string key, yarp::os::Bottle &val) override |
| bool | setRemoteVariableRaw (std::string key, const yarp::os::Bottle &val) override |
| bool | getRemoteVariablesListRaw (yarp::os::Bottle *listOfKeys) override |
| bool | getRefTorqueRaw (int j, double *t) override |
| bool | getRefTorquesRaw (double *t) override |
| bool | setRefTorqueRaw (int j, double t) override |
| bool | setRefTorquesRaw (const double *t) override |
| bool | setRefTorquesRaw (int n_joint, const int *joints, const double *t) override |
| bool | getMotorTorqueParamsRaw (int j, yarp::dev::MotorTorqueParameters *params) override |
| bool | setMotorTorqueParamsRaw (int j, const yarp::dev::MotorTorqueParameters params) override |
| bool | getTorqueRaw (int j, double *t) override |
| bool | getTorquesRaw (double *t) override |
| bool | getTorqueRangeRaw (int j, double *min, double *max) override |
| bool | getTorqueRangesRaw (double *mins, double *maxs) override |
| bool | velocityMoveRaw (int j, double spd) override |
| bool | velocityMoveRaw (const double *spds) override |
| bool | velocityMoveRaw (int n_joint, const int *joints, const double *spds) override |
| bool | getRefVelocityRaw (int joint, double *vel) override |
| bool | getRefVelocitiesRaw (double *vels) override |
| bool | getRefVelocitiesRaw (int n_joint, const int *joints, double *vels) override |
 Public Member Functions inherited from roboticslab::ICanBusSharer | |
| virtual | ~ICanBusSharer ()=default |
| Destructor. | |
| virtual std::vector< unsigned int > | getAdditionalIds () |
| Retrieve more associated CAN node IDs, if any. | |
| Public Member Functions inherited from roboticslab::ICanMessageNotifier | |
| virtual | ~ICanMessageNotifier ()=default |
| Virtual destructor. | |
Private Attributes | |
| std::string | jointName |
| int | controlMode {VOCAB_CM_CONFIGURED} |
| yarp::dev::InteractionModeEnum | interactionMode {yarp::dev::VOCAB_IM_UNKNOWN} |
The documentation for this class was generated from the following files:
- libraries/YarpPlugins/FakeJoint/FakeJoint.hpp
- libraries/YarpPlugins/FakeJoint/FakeJoint.cpp
