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yarp-devices
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This is the complete list of members for roboticslab::TechnosoftIpos, including all inherited members.
| checkMotionDoneRaw(int j, bool *flag) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| checkMotionDoneRaw(bool *flag) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| checkMotionDoneRaw(int n_joint, const int *joints, bool *flag) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| close() override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | |
| disablePidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| enablePidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| finalize() override | roboticslab::TechnosoftIpos | inlinevirtual |
| getAdditionalIds() override | roboticslab::TechnosoftIpos | inlinevirtual |
| getAxes(int *ax) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getAxisNameRaw(int axis, std::string &name) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getControlModeRaw(int j, int *mode) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getControlModesRaw(int *modes) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getControlModesRaw(int n_joint, const int *joints, int *modes) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getCurrentImpedanceLimitRaw(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getCurrentRangeRaw(int m, double *min, double *max) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getCurrentRangesRaw(double *min, double *max) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getCurrentRaw(int m, double *curr) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getCurrentsRaw(double *currs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getEncoderAccelerationRaw(int j, double *spds) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getEncoderAccelerationsRaw(double *accs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getEncoderRaw(int j, double *v) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getEncoderSpeedRaw(int j, double *sp) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getEncoderSpeedsRaw(double *spds) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getEncodersRaw(double *encs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getEncodersTimedRaw(double *encs, double *time) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getEncoderTimedRaw(int j, double *encs, double *time) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getGearboxRatioRaw(int m, double *val) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getId() override | roboticslab::TechnosoftIpos | inlinevirtual |
| getImpedanceOffsetRaw(int j, double *offset) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getImpedanceRaw(int j, double *stiffness, double *damping) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum *mode) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getInteractionModesRaw(yarp::dev::InteractionModeEnum *modes) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getJointTypeRaw(int axis, yarp::dev::JointTypeEnum &type) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getLastJointFaultRaw(int j, int &fault, std::string &message) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getLimitsRaw(int axis, double *min, double *max) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getMotorEncoderAccelerationRaw(int m, double *spds) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getMotorEncoderAccelerationsRaw(double *vaccs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getMotorEncoderCountsPerRevolutionRaw(int m, double *cpr) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getMotorEncoderRaw(int m, double *v) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getMotorEncoderSpeedRaw(int m, double *sp) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getMotorEncoderSpeedsRaw(double *spds) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getMotorEncodersRaw(double *encs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getMotorEncodersTimedRaw(double *encs, double *stamps) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getMotorEncoderTimedRaw(int m, double *encs, double *stamp) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getMotorTorqueParamsRaw(int j, yarp::dev::MotorTorqueParameters *params) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getNumberOfMotorEncodersRaw(int *num) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getNumberOfMotorsRaw(int *num) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getPidErrorLimitRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double *limit) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getPidErrorLimitsRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *limits) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getPidErrorRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double *err) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getPidErrorsRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *errs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getPidOutputRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double *out) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getPidOutputsRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *outs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getPidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, yarp::dev::Pid *pid) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getPidReferenceRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double *ref) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getPidReferencesRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *refs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getPidsRaw(const yarp::dev::PidControlTypeEnum &pidtype, yarp::dev::Pid *pids) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRefAccelerationRaw(int j, double *acc) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRefAccelerationsRaw(double *accs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRefAccelerationsRaw(int n_joint, const int *joints, double *accs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRefCurrentRaw(int m, double *curr) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRefCurrentsRaw(double *currs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRefPositionRaw(int joint, double *ref) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRefPositionsRaw(double *refs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRefPositionsRaw(int n_joint, const int *joints, double *refs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRefSpeedRaw(int j, double *ref) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRefSpeedsRaw(double *spds) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRefSpeedsRaw(int n_joint, const int *joints, double *spds) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRefTorqueRaw(int j, double *t) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRefTorquesRaw(double *t) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRefVelocitiesRaw(double *vels) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRefVelocitiesRaw(int n_joint, const int *joints, double *vels) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRefVelocityRaw(int joint, double *vel) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRemoteVariableRaw(std::string key, yarp::os::Bottle &val) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getRemoteVariablesListRaw(yarp::os::Bottle *listOfKeys) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getTargetPositionRaw(int joint, double *ref) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getTargetPositionsRaw(double *refs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getTargetPositionsRaw(int n_joint, const int *joints, double *refs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getTemperatureLimitRaw(int m, double *temp) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getTemperatureRaw(int m, double *val) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getTemperaturesRaw(double *vals) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getTorqueRangeRaw(int j, double *min, double *max) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getTorqueRangesRaw(double *min, double *max) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getTorqueRaw(int j, double *t) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getTorquesRaw(double *t) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| getVelLimitsRaw(int axis, double *min, double *max) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| id() const override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| impl (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | private |
| initialize() override | roboticslab::TechnosoftIpos | inlinevirtual |
| isPidEnabledRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, bool *enabled) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| notifyMessage(const can_message &message) override | roboticslab::TechnosoftIpos | inlinevirtual |
| open(yarp::os::Searchable &config) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | |
| positionMoveRaw(int j, double ref) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| positionMoveRaw(const double *refs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| positionMoveRaw(int n_joint, const int *joints, const double *refs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| registerSender(ICanSenderDelegate *sender) override | roboticslab::TechnosoftIpos | inlinevirtual |
| relativeMoveRaw(int j, double delta) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| relativeMoveRaw(const double *deltas) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| relativeMoveRaw(int n_joint, const int *joints, const double *deltas) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| resetEncoderRaw(int j) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| resetEncodersRaw() override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| resetMotorEncoderRaw(int m) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| resetMotorEncodersRaw() override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| resetPidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setControlModeRaw(int j, int mode) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setControlModesRaw(int *modes) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setControlModesRaw(int n_joint, const int *joints, int *modes) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setEncoderRaw(int j, double val) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setEncodersRaw(const double *vals) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setGearboxRatioRaw(int m, double val) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setImpedanceOffsetRaw(int j, double offset) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setImpedanceRaw(int j, double stiffness, double damping) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum mode) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setInteractionModesRaw(yarp::dev::InteractionModeEnum *modes) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setLimitsRaw(int axis, double min, double max) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setMotorEncoderCountsPerRevolutionRaw(int m, double cpr) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setMotorEncoderRaw(int m, double val) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setMotorEncodersRaw(const double *vals) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setMotorTorqueParamsRaw(int j, const yarp::dev::MotorTorqueParameters params) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setPidErrorLimitRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double limit) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setPidErrorLimitsRaw(const yarp::dev::PidControlTypeEnum &pidtype, const double *limits) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setPidOffsetRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double v) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setPidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, const yarp::dev::Pid &pid) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setPidReferenceRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double ref) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setPidReferencesRaw(const yarp::dev::PidControlTypeEnum &pidtype, const double *refs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setPidsRaw(const yarp::dev::PidControlTypeEnum &pidtype, const yarp::dev::Pid *pids) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setPositionRaw(int j, double ref) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setPositionsRaw(const double *refs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setPositionsRaw(int n_joint, const int *joints, const double *refs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setRefAccelerationRaw(int j, double acc) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setRefAccelerationsRaw(const double *accs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setRefAccelerationsRaw(int n_joint, const int *joints, const double *accs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setRefCurrentRaw(int m, double curr) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setRefCurrentsRaw(const double *currs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setRefCurrentsRaw(int n_motor, const int *motors, const double *currs) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setRefSpeedRaw(int j, double sp) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setRefSpeedsRaw(const double *spds) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setRefSpeedsRaw(int n_joint, const int *joints, const double *spds) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setRefTorqueRaw(int j, double t) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setRefTorquesRaw(int n_joint, const int *joints, const double *t) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setRefTorquesRaw(const double *t) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setRemoteVariableRaw(std::string key, const yarp::os::Bottle &val) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setTemperatureLimitRaw(int m, double temp) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| setVelLimitsRaw(int axis, double min, double max) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| stopRaw(int j) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| stopRaw() override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| stopRaw(int n_joint, const int *joints) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| synchronize(double timestamp) override | roboticslab::TechnosoftIpos | inlinevirtual |
| velocityMoveRaw(int j, double sp) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| velocityMoveRaw(const double *sp) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| velocityMoveRaw(int n_joint, const int *joints, const double *spds) override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
| ~ICanBusSharer()=default | roboticslab::ICanBusSharer | virtual |
| ~ICanMessageNotifier()=default | roboticslab::ICanMessageNotifier | virtual |
| ~TechnosoftIpos() override (defined in roboticslab::TechnosoftIpos) | roboticslab::TechnosoftIpos | inline |
1.9.1