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

Implementation for the Technosoft iPOS as a single CAN bus joint (control board raw interfaces).

#include <TechnosoftIpos.hpp>

Inheritance diagram for roboticslab::TechnosoftIpos:
roboticslab::ICanBusSharer

Public Member Functions

bool open (yarp::os::Searchable &config) override
 
bool close () override
 
std::string id () const override
 
unsigned int getId () override
 Retrieve CAN node ID.
 
std::vector< unsigned int > getAdditionalIds () override
 Retrieve more associated CAN node IDs, if any.
 
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 getAxisNameRaw (int axis, std::string &name) override
 
bool getJointTypeRaw (int axis, yarp::dev::JointTypeEnum &type) 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 *min, double *max) 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 *sp) override
 
bool getEncoderSpeedsRaw (double *spds) override
 
bool getEncoderAccelerationRaw (int j, double *spds) override
 
bool getEncoderAccelerationsRaw (double *accs) override
 
bool getEncoderTimedRaw (int j, double *encs, double *time) override
 
bool getEncodersTimedRaw (double *encs, double *time) 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 (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
 
bool getInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override
 
bool setInteractionModeRaw (int axis, yarp::dev::InteractionModeEnum mode) override
 
bool setInteractionModesRaw (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
 
bool setInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override
 
bool getLastJointFaultRaw (int j, int &fault, std::string &message) 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 *encs, 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 *spds) override
 
bool getMotorEncoderAccelerationsRaw (double *vaccs) 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 *ref) 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 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 (int n_joint, const int *joints, const double *t) override
 
bool setRefTorquesRaw (const double *t) 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 *min, double *max) override
 
bool getMotorTorqueParamsRaw (int j, yarp::dev::MotorTorqueParameters *params) override
 
bool setMotorTorqueParamsRaw (int j, const yarp::dev::MotorTorqueParameters params) override
 
bool velocityMoveRaw (int j, double sp) override
 
bool velocityMoveRaw (const double *sp) 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.
 
- Public Member Functions inherited from roboticslab::ICanMessageNotifier
virtual ~ICanMessageNotifier ()=default
 Virtual destructor.
 

Private Attributes

TechnosoftIposBaseimpl {nullptr}
 

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