yarp::dev::GazeboYarpControlBoardDriver Class Reference

#include <ControlBoardDriver.h>

Inheritance diagram for yarp::dev::GazeboYarpControlBoardDriver:

Collaboration diagram for yarp::dev::GazeboYarpControlBoardDriver:

Public Member Functions
	GazeboYarpControlBoardDriver ()
virtual	~GazeboYarpControlBoardDriver ()
bool	gazebo_init ()
	Gazebo stuff.
void	onUpdate (const gazebo::common::UpdateInfo &)
	Callback for the WorldUpdateBegin Gazebo event.
void	onReset ()
	Callback for the WorldReset Gazebo event.
void	resetPositionsAndTrajectoryGenerators ()
	Helper function for resetting the position and the trajectory generator.
virtual bool	getAxisName (int axis, std::string &name) override
	Yarp interfaces start here.
virtual bool	getJointType (int axis, yarp::dev::JointTypeEnum &type) override
virtual bool	open (yarp::os::Searchable &config) override
virtual bool	close () override
virtual bool	getEncoder (int j, double *v) override
virtual bool	getEncoders (double *encs) override
virtual bool	resetEncoder (int j) override
	Since we don't know how to reset gazebo encoders, we will simply add the actual value to the future encoders readings.
virtual bool	resetEncoders () override
virtual bool	setEncoder (int j, double val) override
virtual bool	setEncoders (const double *vals) override
virtual bool	getEncoderSpeed (int j, double *sp) override
virtual bool	getEncoderSpeeds (double *spds) override
virtual bool	getEncoderAcceleration (int j, double *spds) override
virtual bool	getEncoderAccelerations (double *accs) override
virtual bool	getEncodersTimed (double *encs, double *time) override
virtual bool	getEncoderTimed (int j, double *encs, double *time) override
	Read the instantaneous acceleration of the specified axis.
virtual bool	stop (int j) override
virtual bool	stop () override
virtual bool	positionMove (int j, double ref) override
virtual bool	getAxes (int *ax) override
virtual bool	positionMove (const double *refs) override
virtual bool	setRefSpeed (int j, double sp) override
virtual bool	getRefSpeed (int j, double *ref) override
virtual bool	getRefSpeeds (double *spds) override
virtual bool	relativeMove (int j, double delta) override
virtual bool	relativeMove (const double *deltas) override
virtual bool	checkMotionDone (int j, bool *flag) override
virtual bool	checkMotionDone (bool *flag) override
virtual bool	positionMove (const int n_joint, const int *joints, const double *refs) override
virtual bool	relativeMove (const int n_joint, const int *joints, const double *deltas) override
virtual bool	checkMotionDone (const int n_joint, const int *joints, bool *flags) override
virtual bool	setRefSpeeds (const int n_joint, const int *joints, const double *spds) override
virtual bool	setRefAccelerations (const int n_joint, const int *joints, const double *accs) override
virtual bool	getRefSpeeds (const int n_joint, const int *joints, double *spds) override
virtual bool	getRefAccelerations (const int n_joint, const int *joints, double *accs) override
virtual bool	stop (const int n_joint, const int *joints) override
virtual bool	getTargetPosition (const int joint, double *ref) override
virtual bool	getTargetPositions (double *refs) override
virtual bool	getTargetPositions (const int n_joint, const int *joints, double *refs) override
virtual bool	setRefSpeeds (const double *spds) override
virtual bool	setRefAcceleration (int j, double acc) override
virtual bool	setRefAccelerations (const double *accs) override
virtual bool	getRefAcceleration (int j, double *acc) override
virtual bool	getRefAccelerations (double *accs) override
virtual bool	velocityMove (int j, double sp) override
virtual bool	velocityMove (const double *sp) override
virtual bool	velocityMove (const int n_joint, const int *joints, const double *spds) override
virtual bool	getRefVelocity (const int joint, double *vel) override
virtual bool	getRefVelocities (double *vels) override
virtual bool	getRefVelocities (const int n_joint, const int *joints, double *vels) override
virtual bool	getControlMode (int j, int *mode) override
virtual bool	getControlModes (int *modes) override
virtual bool	getControlModes (const int n_joint, const int *joints, int *modes) override
virtual bool	setControlMode (const int j, const int mode) override
virtual bool	setControlModes (const int n_joint, const int *joints, int *modes) override
virtual bool	setControlModes (int *modes) override
bool	changeControlMode (const int j, const int mode)
bool	changeInteractionMode (int j, yarp::dev::InteractionModeEnum mode)
virtual bool	setRefTorque (int j, double t) override
virtual bool	setRefTorques (const double *t) override
virtual bool	getRefTorque (int j, double *t) override
virtual bool	getRefTorques (double *t) override
virtual bool	setRefTorques (const int n_joint, const int *joints, const double *t) override
virtual bool	getTorque (int j, double *t) override
virtual bool	getTorques (double *t) override
virtual bool	getTorqueRange (int j, double *min, double *max) override
virtual bool	getTorqueRanges (double *min, double *max) override
virtual bool	getMotorTorqueParams (int j, yarp::dev::MotorTorqueParameters *params) override
virtual bool	setMotorTorqueParams (int j, const yarp::dev::MotorTorqueParameters params) override
virtual bool	getImpedance (int j, double *stiffness, double *damping) override
virtual bool	setImpedance (int j, double stiffness, double damping) override
virtual bool	setImpedanceOffset (int j, double offset) override
virtual bool	getImpedanceOffset (int j, double *offset) override
virtual bool	getCurrentImpedanceLimit (int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override
virtual bool	getNumberOfMotors (int *ax) override
virtual bool	setRefDutyCycle (int j, double v) override
virtual bool	setRefDutyCycles (const double *v) override
virtual bool	getRefDutyCycle (int j, double *v) override
virtual bool	getRefDutyCycles (double *v) override
virtual bool	getDutyCycle (int j, double *v) override
virtual bool	getDutyCycles (double *v) override
virtual bool	getCurrent (int j, double *t) override
virtual bool	getCurrents (double *t) override
virtual bool	getCurrentRange (int j, double *min, double *max) override
virtual bool	getCurrentRanges (double *min, double *max) override
virtual bool	setRefCurrents (const double *t) override
virtual bool	setRefCurrent (int j, double t) override
virtual bool	setRefCurrents (const int n_joint, const int *joints, const double *t) override
virtual bool	getRefCurrents (double *t) override
virtual bool	getRefCurrent (int j, double *t) override
virtual VAS_status	getVirtualAnalogSensorStatus (int ch) override
virtual int	getVirtualAnalogSensorChannels () override
virtual bool	updateVirtualAnalogSensorMeasure (yarp::sig::Vector &measure) override
virtual bool	updateVirtualAnalogSensorMeasure (int ch, double &measure) override
virtual bool	setPid (const PidControlTypeEnum &pidtype, int j, const Pid &pid) override
virtual bool	setPids (const PidControlTypeEnum &pidtype, const Pid *pids) override
virtual bool	setPidReference (const PidControlTypeEnum &pidtype, int j, double ref) override
virtual bool	setPidReferences (const PidControlTypeEnum &pidtype, const double *refs) override
virtual bool	setPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double limit) override
virtual bool	setPidErrorLimits (const PidControlTypeEnum &pidtype, const double *limits) override
virtual bool	getPidError (const PidControlTypeEnum &pidtype, int j, double *err) override
virtual bool	getPidErrors (const PidControlTypeEnum &pidtype, double *errs) override
virtual bool	getPidOutput (const PidControlTypeEnum &pidtype, int j, double *out) override
virtual bool	getPidOutputs (const PidControlTypeEnum &pidtype, double *outs) override
virtual bool	getPid (const PidControlTypeEnum &pidtype, int j, Pid *pid) override
virtual bool	getPids (const PidControlTypeEnum &pidtype, Pid *pids) override
virtual bool	getPidReference (const PidControlTypeEnum &pidtype, int j, double *ref) override
virtual bool	getPidReferences (const PidControlTypeEnum &pidtype, double *refs) override
virtual bool	getPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double *limit) override
virtual bool	getPidErrorLimits (const PidControlTypeEnum &pidtype, double *limits) override
virtual bool	resetPid (const PidControlTypeEnum &pidtype, int j) override
virtual bool	disablePid (const PidControlTypeEnum &pidtype, int j) override
virtual bool	enablePid (const PidControlTypeEnum &pidtype, int j) override
virtual bool	setPidOffset (const PidControlTypeEnum &pidtype, int j, double v) override
virtual bool	isPidEnabled (const PidControlTypeEnum &pidtype, int j, bool *enabled) override
virtual bool	enableAmp (int j) override
virtual bool	disableAmp (int j) override
virtual bool	setMaxCurrent (int j, double v) override
virtual bool	getMaxCurrent (int j, double *v) override
virtual bool	getAmpStatus (int *st) override
virtual bool	getAmpStatus (int k, int *v) override
virtual bool	calibrateAxisWithParams (int j, unsigned int iv, double v1, double v2, double v3) override
virtual bool	calibrationDone (int j) override
virtual bool	getRemoteVariable (std::string key, yarp::os::Bottle &val) override
virtual bool	setRemoteVariable (std::string key, const yarp::os::Bottle &val) override
virtual bool	getRemoteVariablesList (yarp::os::Bottle *listOfKeys) override
virtual bool	getLimits (int axis, double *min, double *max) override
virtual bool	setLimits (int axis, double min, double max) override
virtual bool	getVelLimits (int axis, double *min, double *max) override
virtual bool	setVelLimits (int axis, double min, double max) override
virtual bool	setPosition (int j, double ref) override
virtual bool	setPositions (const int n_joint, const int *joints, const double *refs) override
virtual bool	setPositions (const double *refs) override
virtual bool	getRefPosition (const int joint, double *ref) override
virtual bool	getRefPositions (double *refs) override
virtual bool	getRefPositions (const int n_joint, const int *joints, double *refs) override
virtual bool	getInteractionMode (int axis, yarp::dev::InteractionModeEnum *mode) override
virtual bool	getInteractionModes (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
virtual bool	getInteractionModes (yarp::dev::InteractionModeEnum *modes) override
virtual bool	setInteractionMode (int axis, yarp::dev::InteractionModeEnum mode) override
virtual bool	setInteractionModes (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
virtual bool	setInteractionModes (yarp::dev::InteractionModeEnum *modes) override

Constructor & Destructor Documentation

GazeboYarpControlBoardDriver()

GazeboYarpControlBoardDriver::GazeboYarpControlBoardDriver

(

)

~GazeboYarpControlBoardDriver()

GazeboYarpControlBoardDriver::~GazeboYarpControlBoardDriver ( )

virtual

Member Function Documentation

gazebo_init()

bool GazeboYarpControlBoardDriver::gazebo_init

(

)

Gazebo stuff.

onUpdate()

void GazeboYarpControlBoardDriver::onUpdate

(

const gazebo::common::UpdateInfo &

_info

)

Callback for the WorldUpdateBegin Gazebo event.

onReset()

void GazeboYarpControlBoardDriver::onReset

(

)

Callback for the WorldReset Gazebo event.

resetPositionsAndTrajectoryGenerators()

void GazeboYarpControlBoardDriver::resetPositionsAndTrajectoryGenerators

(

)

Helper function for resetting the position and the trajectory generator.

getAxisName()

bool GazeboYarpControlBoardDriver::getAxisName ( int axis, std::string & name )

overridevirtual

Yarp interfaces start here.

getJointType()

bool GazeboYarpControlBoardDriver::getJointType ( int axis, yarp::dev::JointTypeEnum & type )

overridevirtual

open()

bool GazeboYarpControlBoardDriver::open ( yarp::os::Searchable & config )

overridevirtual

close()

bool GazeboYarpControlBoardDriver::close ( )

overridevirtual

getEncoder()

bool GazeboYarpControlBoardDriver::getEncoder ( int j, double * v )

overridevirtual

getEncoders()

bool GazeboYarpControlBoardDriver::getEncoders ( double * encs )

overridevirtual

resetEncoder()

bool GazeboYarpControlBoardDriver::resetEncoder ( int j )

overridevirtual

Since we don't know how to reset gazebo encoders, we will simply add the actual value to the future encoders readings.

resetEncoders()

bool GazeboYarpControlBoardDriver::resetEncoders ( )

overridevirtual

setEncoder()

bool GazeboYarpControlBoardDriver::setEncoder ( int j, double val )

overridevirtual

setEncoders()

bool GazeboYarpControlBoardDriver::setEncoders ( const double * vals )

overridevirtual

getEncoderSpeed()

bool GazeboYarpControlBoardDriver::getEncoderSpeed ( int j, double * sp )

overridevirtual

getEncoderSpeeds()

bool GazeboYarpControlBoardDriver::getEncoderSpeeds ( double * spds )

overridevirtual

getEncoderAcceleration()

bool GazeboYarpControlBoardDriver::getEncoderAcceleration ( int j, double * spds )

overridevirtual

getEncoderAccelerations()

bool GazeboYarpControlBoardDriver::getEncoderAccelerations ( double * accs )

overridevirtual

getEncodersTimed()

bool GazeboYarpControlBoardDriver::getEncodersTimed ( double * encs, double * time )

overridevirtual

getEncoderTimed()

bool GazeboYarpControlBoardDriver::getEncoderTimed ( int j, double * encs, double * time )

overridevirtual

Read the instantaneous acceleration of the specified axis.

Parameters

j	axis index
encs	pointer to double
time	corresponding timestamp (pointer to)

Returns

true if all goes well, false if anything bad happens.

stop() [1/3]

bool GazeboYarpControlBoardDriver::stop ( int j )

overridevirtual

stop() [2/3]

bool GazeboYarpControlBoardDriver::stop ( )

overridevirtual

positionMove() [1/3]

bool GazeboYarpControlBoardDriver::positionMove ( int j, double ref )

overridevirtual

getAxes()

bool GazeboYarpControlBoardDriver::getAxes ( int * ax )

overridevirtual

positionMove() [2/3]

bool GazeboYarpControlBoardDriver::positionMove ( const double * refs )

overridevirtual

setRefSpeed()

bool GazeboYarpControlBoardDriver::setRefSpeed ( int j, double sp )

overridevirtual

• sp [deg/sec]

getRefSpeed()

bool GazeboYarpControlBoardDriver::getRefSpeed ( int j, double * ref )

overridevirtual

getRefSpeeds() [1/2]

bool GazeboYarpControlBoardDriver::getRefSpeeds ( double * spds )

overridevirtual

relativeMove() [1/3]

bool GazeboYarpControlBoardDriver::relativeMove ( int j, double delta )

overridevirtual

relativeMove() [2/3]

bool GazeboYarpControlBoardDriver::relativeMove ( const double * deltas )

overridevirtual

checkMotionDone() [1/3]

bool GazeboYarpControlBoardDriver::checkMotionDone ( int j, bool * flag )

overridevirtual

checkMotionDone() [2/3]

bool GazeboYarpControlBoardDriver::checkMotionDone ( bool * flag )

overridevirtual

positionMove() [3/3]

bool GazeboYarpControlBoardDriver::positionMove ( const int n_joint, const int * joints, const double * refs )

overridevirtual

relativeMove() [3/3]

bool GazeboYarpControlBoardDriver::relativeMove ( const int n_joint, const int * joints, const double * deltas )

overridevirtual

checkMotionDone() [3/3]

bool GazeboYarpControlBoardDriver::checkMotionDone ( const int n_joint, const int * joints, bool * flags )

overridevirtual

setRefSpeeds() [1/2]

bool GazeboYarpControlBoardDriver::setRefSpeeds ( const int n_joint, const int * joints, const double * spds )

overridevirtual

setRefAccelerations() [1/2]

bool GazeboYarpControlBoardDriver::setRefAccelerations ( const int n_joint, const int * joints, const double * accs )

overridevirtual

getRefSpeeds() [2/2]

bool GazeboYarpControlBoardDriver::getRefSpeeds ( const int n_joint, const int * joints, double * spds )

overridevirtual

getRefAccelerations() [1/2]

bool GazeboYarpControlBoardDriver::getRefAccelerations ( const int n_joint, const int * joints, double * accs )

overridevirtual

stop() [3/3]

bool GazeboYarpControlBoardDriver::stop ( const int n_joint, const int * joints )

overridevirtual

getTargetPosition()

bool GazeboYarpControlBoardDriver::getTargetPosition ( const int joint, double * ref )

overridevirtual

getTargetPositions() [1/2]

bool GazeboYarpControlBoardDriver::getTargetPositions ( double * refs )

overridevirtual

getTargetPositions() [2/2]

bool GazeboYarpControlBoardDriver::getTargetPositions ( const int n_joint, const int * joints, double * refs )

overridevirtual

setRefSpeeds() [2/2]

bool GazeboYarpControlBoardDriver::setRefSpeeds ( const double * spds )

overridevirtual

• spds [deg/sec]

setRefAcceleration()

bool GazeboYarpControlBoardDriver::setRefAcceleration ( int j, double acc )

overridevirtual

setRefAccelerations() [2/2]

bool GazeboYarpControlBoardDriver::setRefAccelerations ( const double * accs )

overridevirtual

getRefAcceleration()

bool GazeboYarpControlBoardDriver::getRefAcceleration ( int j, double * acc )

overridevirtual

getRefAccelerations() [2/2]

bool GazeboYarpControlBoardDriver::getRefAccelerations ( double * accs )

overridevirtual

velocityMove() [1/3]

bool GazeboYarpControlBoardDriver::velocityMove ( int j, double sp )

overridevirtual

velocityMove() [2/3]

bool GazeboYarpControlBoardDriver::velocityMove ( const double * sp )

overridevirtual

velocityMove() [3/3]

bool GazeboYarpControlBoardDriver::velocityMove ( const int n_joint, const int * joints, const double * spds )

overridevirtual

getRefVelocity()

bool GazeboYarpControlBoardDriver::getRefVelocity ( const int joint, double * vel )

overridevirtual

getRefVelocities() [1/2]

bool GazeboYarpControlBoardDriver::getRefVelocities ( double * vels )

overridevirtual

getRefVelocities() [2/2]

bool GazeboYarpControlBoardDriver::getRefVelocities ( const int n_joint, const int * joints, double * vels )

overridevirtual

getControlMode()

bool GazeboYarpControlBoardDriver::getControlMode ( int j, int * mode )

overridevirtual

getControlModes() [1/2]

bool GazeboYarpControlBoardDriver::getControlModes ( int * modes )

overridevirtual

getControlModes() [2/2]

bool GazeboYarpControlBoardDriver::getControlModes ( const int n_joint, const int * joints, int * modes )

overridevirtual

setControlMode()

bool GazeboYarpControlBoardDriver::setControlMode ( const int j, const int mode )

overridevirtual

setControlModes() [1/2]

bool GazeboYarpControlBoardDriver::setControlModes ( const int n_joint, const int * joints, int * modes )

overridevirtual

setControlModes() [2/2]

bool GazeboYarpControlBoardDriver::setControlModes ( int * modes )

overridevirtual

changeControlMode()

bool GazeboYarpControlBoardDriver::changeControlMode	(	const int	j,
		const int	mode )

changeInteractionMode()

bool GazeboYarpControlBoardDriver::changeInteractionMode	(	int	j,
		yarp::dev::InteractionModeEnum	mode )

setRefTorque()

bool GazeboYarpControlBoardDriver::setRefTorque ( int j, double t )

overridevirtual

setRefTorques() [1/2]

bool GazeboYarpControlBoardDriver::setRefTorques ( const double * t )

overridevirtual

getRefTorque()

bool GazeboYarpControlBoardDriver::getRefTorque ( int j, double * t )

overridevirtual

getRefTorques()

bool GazeboYarpControlBoardDriver::getRefTorques ( double * t )

overridevirtual

setRefTorques() [2/2]

bool GazeboYarpControlBoardDriver::setRefTorques ( const int n_joint, const int * joints, const double * t )

overridevirtual

getTorque()

bool GazeboYarpControlBoardDriver::getTorque ( int j, double * t )

overridevirtual

getTorques()

bool GazeboYarpControlBoardDriver::getTorques ( double * t )

overridevirtual

getTorqueRange()

bool GazeboYarpControlBoardDriver::getTorqueRange ( int j, double * min, double * max )

overridevirtual

getTorqueRanges()

bool GazeboYarpControlBoardDriver::getTorqueRanges ( double * min, double * max )

overridevirtual

getMotorTorqueParams()

bool GazeboYarpControlBoardDriver::getMotorTorqueParams ( int j, yarp::dev::MotorTorqueParameters * params )

overridevirtual

setMotorTorqueParams()

bool GazeboYarpControlBoardDriver::setMotorTorqueParams ( int j, const yarp::dev::MotorTorqueParameters params )

overridevirtual

getImpedance()

bool GazeboYarpControlBoardDriver::getImpedance ( int j, double * stiffness, double * damping )

overridevirtual

setImpedance()

bool GazeboYarpControlBoardDriver::setImpedance ( int j, double stiffness, double damping )

overridevirtual

setImpedanceOffset()

bool GazeboYarpControlBoardDriver::setImpedanceOffset ( int j, double offset )

overridevirtual

getImpedanceOffset()

bool GazeboYarpControlBoardDriver::getImpedanceOffset ( int j, double * offset )

overridevirtual

getCurrentImpedanceLimit()

bool GazeboYarpControlBoardDriver::getCurrentImpedanceLimit ( int j, double * min_stiff, double * max_stiff, double * min_damp, double * max_damp )

overridevirtual

getNumberOfMotors()

bool yarp::dev::GazeboYarpControlBoardDriver::getNumberOfMotors ( int * ax )

overridevirtual

setRefDutyCycle()

bool yarp::dev::GazeboYarpControlBoardDriver::setRefDutyCycle ( int j, double v )

overridevirtual

setRefDutyCycles()

bool yarp::dev::GazeboYarpControlBoardDriver::setRefDutyCycles ( const double * v )

overridevirtual

getRefDutyCycle()

bool yarp::dev::GazeboYarpControlBoardDriver::getRefDutyCycle ( int j, double * v )

overridevirtual

getRefDutyCycles()

bool yarp::dev::GazeboYarpControlBoardDriver::getRefDutyCycles ( double * v )

overridevirtual

getDutyCycle()

bool yarp::dev::GazeboYarpControlBoardDriver::getDutyCycle ( int j, double * v )

overridevirtual

getDutyCycles()

bool yarp::dev::GazeboYarpControlBoardDriver::getDutyCycles ( double * v )

overridevirtual

getCurrent()

bool yarp::dev::GazeboYarpControlBoardDriver::getCurrent ( int j, double * t )

overridevirtual

getCurrents()

bool yarp::dev::GazeboYarpControlBoardDriver::getCurrents ( double * t )

overridevirtual

getCurrentRange()

bool yarp::dev::GazeboYarpControlBoardDriver::getCurrentRange ( int j, double * min, double * max )

overridevirtual

getCurrentRanges()

bool yarp::dev::GazeboYarpControlBoardDriver::getCurrentRanges ( double * min, double * max )

overridevirtual

setRefCurrents() [1/2]

bool yarp::dev::GazeboYarpControlBoardDriver::setRefCurrents ( const double * t )

overridevirtual

setRefCurrent()

bool yarp::dev::GazeboYarpControlBoardDriver::setRefCurrent ( int j, double t )

overridevirtual

setRefCurrents() [2/2]

bool yarp::dev::GazeboYarpControlBoardDriver::setRefCurrents ( const int n_joint, const int * joints, const double * t )

overridevirtual

getRefCurrents()

bool yarp::dev::GazeboYarpControlBoardDriver::getRefCurrents ( double * t )

overridevirtual

getRefCurrent()

bool yarp::dev::GazeboYarpControlBoardDriver::getRefCurrent ( int j, double * t )

overridevirtual

getVirtualAnalogSensorStatus()

VAS_status yarp::dev::GazeboYarpControlBoardDriver::getVirtualAnalogSensorStatus ( int ch )

overridevirtual

getVirtualAnalogSensorChannels()

int yarp::dev::GazeboYarpControlBoardDriver::getVirtualAnalogSensorChannels ( )

overridevirtual

updateVirtualAnalogSensorMeasure() [1/2]

bool yarp::dev::GazeboYarpControlBoardDriver::updateVirtualAnalogSensorMeasure ( yarp::sig::Vector & measure )

overridevirtual

updateVirtualAnalogSensorMeasure() [2/2]

bool yarp::dev::GazeboYarpControlBoardDriver::updateVirtualAnalogSensorMeasure ( int ch, double & measure )

overridevirtual

setPid()

bool yarp::dev::GazeboYarpControlBoardDriver::setPid ( const PidControlTypeEnum & pidtype, int j, const Pid & pid )

overridevirtual

setPids()

bool yarp::dev::GazeboYarpControlBoardDriver::setPids ( const PidControlTypeEnum & pidtype, const Pid * pids )

overridevirtual

setPidReference()

bool yarp::dev::GazeboYarpControlBoardDriver::setPidReference ( const PidControlTypeEnum & pidtype, int j, double ref )

overridevirtual

setPidReferences()

bool yarp::dev::GazeboYarpControlBoardDriver::setPidReferences ( const PidControlTypeEnum & pidtype, const double * refs )

overridevirtual

setPidErrorLimit()

bool yarp::dev::GazeboYarpControlBoardDriver::setPidErrorLimit ( const PidControlTypeEnum & pidtype, int j, double limit )

overridevirtual

setPidErrorLimits()

bool yarp::dev::GazeboYarpControlBoardDriver::setPidErrorLimits ( const PidControlTypeEnum & pidtype, const double * limits )

overridevirtual

getPidError()

bool yarp::dev::GazeboYarpControlBoardDriver::getPidError ( const PidControlTypeEnum & pidtype, int j, double * err )

overridevirtual

getPidErrors()

bool yarp::dev::GazeboYarpControlBoardDriver::getPidErrors ( const PidControlTypeEnum & pidtype, double * errs )

overridevirtual

getPidOutput()

bool yarp::dev::GazeboYarpControlBoardDriver::getPidOutput ( const PidControlTypeEnum & pidtype, int j, double * out )

overridevirtual

getPidOutputs()

bool yarp::dev::GazeboYarpControlBoardDriver::getPidOutputs ( const PidControlTypeEnum & pidtype, double * outs )

overridevirtual

getPid()

bool yarp::dev::GazeboYarpControlBoardDriver::getPid ( const PidControlTypeEnum & pidtype, int j, Pid * pid )

overridevirtual

getPids()

bool yarp::dev::GazeboYarpControlBoardDriver::getPids ( const PidControlTypeEnum & pidtype, Pid * pids )

overridevirtual

getPidReference()

bool yarp::dev::GazeboYarpControlBoardDriver::getPidReference ( const PidControlTypeEnum & pidtype, int j, double * ref )

overridevirtual

getPidReferences()

bool yarp::dev::GazeboYarpControlBoardDriver::getPidReferences ( const PidControlTypeEnum & pidtype, double * refs )

overridevirtual

getPidErrorLimit()

bool yarp::dev::GazeboYarpControlBoardDriver::getPidErrorLimit ( const PidControlTypeEnum & pidtype, int j, double * limit )

overridevirtual

getPidErrorLimits()

bool yarp::dev::GazeboYarpControlBoardDriver::getPidErrorLimits ( const PidControlTypeEnum & pidtype, double * limits )

overridevirtual

resetPid()

bool yarp::dev::GazeboYarpControlBoardDriver::resetPid ( const PidControlTypeEnum & pidtype, int j )

overridevirtual

disablePid()

bool yarp::dev::GazeboYarpControlBoardDriver::disablePid ( const PidControlTypeEnum & pidtype, int j )

overridevirtual

enablePid()

bool yarp::dev::GazeboYarpControlBoardDriver::enablePid ( const PidControlTypeEnum & pidtype, int j )

overridevirtual

setPidOffset()

bool yarp::dev::GazeboYarpControlBoardDriver::setPidOffset ( const PidControlTypeEnum & pidtype, int j, double v )

overridevirtual

isPidEnabled()

bool yarp::dev::GazeboYarpControlBoardDriver::isPidEnabled ( const PidControlTypeEnum & pidtype, int j, bool * enabled )

overridevirtual

enableAmp()

bool GazeboYarpControlBoardDriver::enableAmp ( int j )

overridevirtual

disableAmp()

bool GazeboYarpControlBoardDriver::disableAmp ( int j )

overridevirtual

setMaxCurrent()

bool GazeboYarpControlBoardDriver::setMaxCurrent ( int j, double v )

overridevirtual

getMaxCurrent()

bool GazeboYarpControlBoardDriver::getMaxCurrent ( int j, double * v )

overridevirtual

getAmpStatus() [1/2]

bool GazeboYarpControlBoardDriver::getAmpStatus ( int * st )

overridevirtual

getAmpStatus() [2/2]

bool GazeboYarpControlBoardDriver::getAmpStatus ( int k, int * v )

overridevirtual

calibrateAxisWithParams()

bool GazeboYarpControlBoardDriver::calibrateAxisWithParams ( int j, unsigned int iv, double v1, double v2, double v3 )

overridevirtual

calibrationDone()

bool GazeboYarpControlBoardDriver::calibrationDone ( int j )

overridevirtual

getRemoteVariable()

bool GazeboYarpControlBoardDriver::getRemoteVariable ( std::string key, yarp::os::Bottle & val )

overridevirtual

setRemoteVariable()

bool GazeboYarpControlBoardDriver::setRemoteVariable ( std::string key, const yarp::os::Bottle & val )

overridevirtual

getRemoteVariablesList()

bool GazeboYarpControlBoardDriver::getRemoteVariablesList ( yarp::os::Bottle * listOfKeys )

overridevirtual

getLimits()

bool GazeboYarpControlBoardDriver::getLimits ( int axis, double * min, double * max )

overridevirtual

setLimits()

bool GazeboYarpControlBoardDriver::setLimits ( int axis, double min, double max )

overridevirtual

getVelLimits()

bool GazeboYarpControlBoardDriver::getVelLimits ( int axis, double * min, double * max )

overridevirtual

setVelLimits()

bool GazeboYarpControlBoardDriver::setVelLimits ( int axis, double min, double max )

overridevirtual

setPosition()

bool GazeboYarpControlBoardDriver::setPosition ( int j, double ref )

overridevirtual

setPositions() [1/2]

bool GazeboYarpControlBoardDriver::setPositions ( const int n_joint, const int * joints, const double * refs )

overridevirtual

setPositions() [2/2]

bool GazeboYarpControlBoardDriver::setPositions ( const double * refs )

overridevirtual

getRefPosition()

bool GazeboYarpControlBoardDriver::getRefPosition ( const int joint, double * ref )

overridevirtual

getRefPositions() [1/2]

bool GazeboYarpControlBoardDriver::getRefPositions ( double * refs )

overridevirtual

getRefPositions() [2/2]

bool GazeboYarpControlBoardDriver::getRefPositions ( const int n_joint, const int * joints, double * refs )

overridevirtual

getInteractionMode()

bool GazeboYarpControlBoardDriver::getInteractionMode ( int axis, yarp::dev::InteractionModeEnum * mode )

overridevirtual

getInteractionModes() [1/2]

bool GazeboYarpControlBoardDriver::getInteractionModes ( int n_joints, int * joints, yarp::dev::InteractionModeEnum * modes )

overridevirtual

getInteractionModes() [2/2]

bool GazeboYarpControlBoardDriver::getInteractionModes ( yarp::dev::InteractionModeEnum * modes )

overridevirtual

setInteractionMode()

bool GazeboYarpControlBoardDriver::setInteractionMode ( int axis, yarp::dev::InteractionModeEnum mode )

overridevirtual

setInteractionModes() [1/2]

bool GazeboYarpControlBoardDriver::setInteractionModes ( int n_joints, int * joints, yarp::dev::InteractionModeEnum * modes )

overridevirtual

setInteractionModes() [2/2]

bool GazeboYarpControlBoardDriver::setInteractionModes ( yarp::dev::InteractionModeEnum * modes )

overridevirtual

---

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

• ControlBoardDriver.h
• ControlBoardDriver.cpp
• ControlBoardDriverControlMode.cpp
• ControlBoardDriverCurrent.cpp
• ControlBoardDriverDeviceDriver.cpp
• ControlBoardDriverEncoders.cpp
• ControlBoardDriverImpedancePositionControl.cpp
• ControlBoardDriverInteractionMode.cpp
• ControlBoardDriverOthers.cpp
• ControlBoardDriverPidControl.cpp
• ControlBoardDriverPositionControl.cpp
• ControlBoardDriverPWM.cpp
• ControlBoardDriverRemoteVariables.cpp
• ControlBoardDriverTorqueControl.cpp
• ControlBoardDriverVelocityControl.cpp
• ControlBoardDriverVirtualAnalogSensor.cpp