BaseCouplingHandler Class Reference

#include <ControlBoardDriverCoupling.h>

Inheritance diagram for BaseCouplingHandler:

Public Member Functions
virtual	~BaseCouplingHandler ()
virtual bool	decouplePos (yarp::sig::Vector &current_pos)=0
virtual bool	decoupleVel (yarp::sig::Vector &current_vel)=0
virtual bool	decoupleAcc (yarp::sig::Vector &current_acc)=0
virtual bool	decoupleTrq (yarp::sig::Vector &current_trq)=0
virtual yarp::sig::VectorOf< int >	getCoupledJoints ()
virtual std::string	getCoupledJointName (int joint)
virtual bool	checkJointIsCoupled (int joint)
virtual yarp::sig::Vector	decoupleRefPos (yarp::sig::Vector &pos_ref)=0
virtual yarp::sig::Vector	decoupleRefVel (yarp::sig::Vector &vel_ref, const yarp::sig::Vector &pos_feedback)=0
virtual yarp::sig::Vector	decoupleRefTrq (yarp::sig::Vector &trq_ref)=0
virtual void	setCoupledJointLimit (int joint, const double &min, const double &max)
virtual void	getCoupledJointLimit (int joint, double &min, double &max)

Protected Member Functions
	BaseCouplingHandler (gazebo::physics::Model *model, yarp::sig::VectorOf< int > coupled_joints, std::vector< std::string > coupled_joint_names, std::vector< Range > coupled_joint_limits)

Protected Attributes
gazebo::physics::Model *	m_robot
yarp::sig::VectorOf< int >	m_coupledJoints
std::vector< std::string >	m_coupledJointNames
std::unordered_map< int, Range >	m_coupledJointLimits
unsigned int	m_controllerPeriod
unsigned int	m_couplingSize

Constructor & Destructor Documentation

BaseCouplingHandler()

BaseCouplingHandler::BaseCouplingHandler ( gazebo::physics::Model * model, yarp::sig::VectorOf< int > coupled_joints, std::vector< std::string > coupled_joint_names, std::vector< Range > coupled_joint_limits )

protected

~BaseCouplingHandler()

BaseCouplingHandler::~BaseCouplingHandler ( )

virtual

Member Function Documentation

decouplePos()

virtual bool BaseCouplingHandler::decouplePos ( yarp::sig::Vector & current_pos )

pure virtual

Implemented in EyesCouplingHandler, ThumbCouplingHandler, IndexCouplingHandler, MiddleCouplingHandler, PinkyCouplingHandler, FingersAbductionCouplingHandler, CerHandCouplingHandler, HandMk3CouplingHandler, and HandMk4CouplingHandler.

decoupleVel()

virtual bool BaseCouplingHandler::decoupleVel ( yarp::sig::Vector & current_vel )

pure virtual

Implemented in EyesCouplingHandler, ThumbCouplingHandler, IndexCouplingHandler, MiddleCouplingHandler, PinkyCouplingHandler, FingersAbductionCouplingHandler, CerHandCouplingHandler, HandMk3CouplingHandler, and HandMk4CouplingHandler.

decoupleAcc()

virtual bool BaseCouplingHandler::decoupleAcc ( yarp::sig::Vector & current_acc )

pure virtual

Implemented in EyesCouplingHandler, ThumbCouplingHandler, IndexCouplingHandler, MiddleCouplingHandler, PinkyCouplingHandler, FingersAbductionCouplingHandler, CerHandCouplingHandler, HandMk3CouplingHandler, and HandMk4CouplingHandler.

decoupleTrq()

virtual bool BaseCouplingHandler::decoupleTrq ( yarp::sig::Vector & current_trq )

pure virtual

Implemented in EyesCouplingHandler, ThumbCouplingHandler, IndexCouplingHandler, MiddleCouplingHandler, PinkyCouplingHandler, FingersAbductionCouplingHandler, CerHandCouplingHandler, HandMk3CouplingHandler, and HandMk4CouplingHandler.

getCoupledJoints()

yarp::sig::VectorOf< int > BaseCouplingHandler::getCoupledJoints ( )

virtual

getCoupledJointName()

std::string BaseCouplingHandler::getCoupledJointName ( int joint )

virtual

checkJointIsCoupled()

bool BaseCouplingHandler::checkJointIsCoupled ( int joint )

virtual

decoupleRefPos()

virtual yarp::sig::Vector BaseCouplingHandler::decoupleRefPos ( yarp::sig::Vector & pos_ref )

pure virtual

Implemented in EyesCouplingHandler, ThumbCouplingHandler, IndexCouplingHandler, MiddleCouplingHandler, PinkyCouplingHandler, FingersAbductionCouplingHandler, CerHandCouplingHandler, HandMk3CouplingHandler, and HandMk4CouplingHandler.

decoupleRefVel()

virtual yarp::sig::Vector BaseCouplingHandler::decoupleRefVel ( yarp::sig::Vector & vel_ref, const yarp::sig::Vector & pos_feedback )

pure virtual

Implemented in EyesCouplingHandler, ThumbCouplingHandler, IndexCouplingHandler, MiddleCouplingHandler, PinkyCouplingHandler, FingersAbductionCouplingHandler, CerHandCouplingHandler, HandMk3CouplingHandler, and HandMk4CouplingHandler.

decoupleRefTrq()

virtual yarp::sig::Vector BaseCouplingHandler::decoupleRefTrq ( yarp::sig::Vector & trq_ref )

pure virtual

Implemented in EyesCouplingHandler, ThumbCouplingHandler, IndexCouplingHandler, MiddleCouplingHandler, PinkyCouplingHandler, FingersAbductionCouplingHandler, CerHandCouplingHandler, HandMk3CouplingHandler, and HandMk4CouplingHandler.

setCoupledJointLimit()

void BaseCouplingHandler::setCoupledJointLimit ( int joint, const double & min, const double & max )

virtual

getCoupledJointLimit()

void BaseCouplingHandler::getCoupledJointLimit ( int joint, double & min, double & max )

virtual

Member Data Documentation

m_robot

gazebo::physics::Model* BaseCouplingHandler::m_robot

protected

m_coupledJoints

yarp::sig::VectorOf<int> BaseCouplingHandler::m_coupledJoints

protected

m_coupledJointNames

std::vector<std::string> BaseCouplingHandler::m_coupledJointNames

protected

m_coupledJointLimits

std::unordered_map<int, Range> BaseCouplingHandler::m_coupledJointLimits

protected

m_controllerPeriod

unsigned int BaseCouplingHandler::m_controllerPeriod

protected

m_couplingSize

unsigned int BaseCouplingHandler::m_couplingSize

protected

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

• ControlBoardDriverCoupling.h
• ControlBoardDriverCoupling.cpp