gazebo-yarp-plugins
Gazebo Plugins exposing YARP interfaces.
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Public Member Functions | List of all members
yarp::dev::GazeboYarpFakeControlBoardDriver Class Reference

#include <FakeControlBoardDriver.h>

Inheritance diagram for yarp::dev::GazeboYarpFakeControlBoardDriver:
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Collaboration diagram for yarp::dev::GazeboYarpFakeControlBoardDriver:
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Public Member Functions

 GazeboYarpFakeControlBoardDriver ()
 
virtual ~GazeboYarpFakeControlBoardDriver ()
 
void onUpdate (const gazebo::common::UpdateInfo &)
 Callback for the WorldUpdateBegin Gazebo event.
 
bool getZero (int j, double *val)
 Helper methods.
 
bool getZero (double *vals)
 
bool getZero (const int n_joint, const int *joints, double *refs)
 
bool getTrue (int j, bool *flag)
 
bool getTrue (bool *flags)
 
bool getTrueIfArgumentIsZero (const int n_joint)
 
virtual bool getAxisName (int axis, std::string &name)
 Yarp interfaces start here.
 
virtual bool getJointType (int axis, yarp::dev::JointTypeEnum &type)
 
virtual bool open (yarp::os::Searchable &config)
 
virtual bool close ()
 
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 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 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 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 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 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 getPidOutput (const PidControlTypeEnum &pidtype, int j, double *out) override
 
virtual bool getPidOutputs (const PidControlTypeEnum &pidtype, double *outs) 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 getCurrent (int j, double *val) override
 
virtual bool getCurrents (double *vals) 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 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

◆ GazeboYarpFakeControlBoardDriver()

yarp::dev::GazeboYarpFakeControlBoardDriver::GazeboYarpFakeControlBoardDriver ( )

◆ ~GazeboYarpFakeControlBoardDriver()

yarp::dev::GazeboYarpFakeControlBoardDriver::~GazeboYarpFakeControlBoardDriver ( )
virtual

Member Function Documentation

◆ onUpdate()

void yarp::dev::GazeboYarpFakeControlBoardDriver::onUpdate ( const gazebo::common::UpdateInfo & _info)

Callback for the WorldUpdateBegin Gazebo event.

◆ getZero() [1/3]

bool GazeboYarpFakeControlBoardDriver::getZero ( int j,
double * val )

Helper methods.

◆ getZero() [2/3]

bool GazeboYarpFakeControlBoardDriver::getZero ( double * vals)

◆ getZero() [3/3]

bool GazeboYarpFakeControlBoardDriver::getZero ( const int n_joint,
const int * joints,
double * refs )

◆ getTrue() [1/2]

bool GazeboYarpFakeControlBoardDriver::getTrue ( int j,
bool * flag )

◆ getTrue() [2/2]

bool GazeboYarpFakeControlBoardDriver::getTrue ( bool * flags)

◆ getTrueIfArgumentIsZero()

bool GazeboYarpFakeControlBoardDriver::getTrueIfArgumentIsZero ( const int n_joint)

◆ getAxisName()

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

Yarp interfaces start here.

◆ getJointType()

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

◆ open()

bool yarp::dev::GazeboYarpFakeControlBoardDriver::open ( yarp::os::Searchable & config)
virtual

◆ close()

bool yarp::dev::GazeboYarpFakeControlBoardDriver::close ( )
virtual

◆ getEncoder()

bool GazeboYarpFakeControlBoardDriver::getEncoder ( int j,
double * v )
overridevirtual

◆ getEncoders()

bool GazeboYarpFakeControlBoardDriver::getEncoders ( double * encs)
overridevirtual

◆ resetEncoder()

bool GazeboYarpFakeControlBoardDriver::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 GazeboYarpFakeControlBoardDriver::resetEncoders ( )
overridevirtual

◆ setEncoder()

bool GazeboYarpFakeControlBoardDriver::setEncoder ( int j,
double val )
overridevirtual

◆ setEncoders()

bool GazeboYarpFakeControlBoardDriver::setEncoders ( const double * vals)
overridevirtual

◆ getEncoderSpeed()

bool GazeboYarpFakeControlBoardDriver::getEncoderSpeed ( int j,
double * sp )
overridevirtual

◆ getEncoderSpeeds()

bool GazeboYarpFakeControlBoardDriver::getEncoderSpeeds ( double * spds)
overridevirtual

◆ getEncoderAcceleration()

bool GazeboYarpFakeControlBoardDriver::getEncoderAcceleration ( int j,
double * spds )
overridevirtual

◆ getEncoderAccelerations()

bool GazeboYarpFakeControlBoardDriver::getEncoderAccelerations ( double * accs)
overridevirtual

◆ getEncodersTimed()

bool GazeboYarpFakeControlBoardDriver::getEncodersTimed ( double * encs,
double * time )
overridevirtual

◆ getEncoderTimed()

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

Read the instantaneous acceleration of the specified axis.

Parameters
jaxis index
encspointer to double
timecorresponding timestamp (pointer to)
Returns
true if all goes well, false if anything bad happens.

◆ stop() [1/3]

bool GazeboYarpFakeControlBoardDriver::stop ( int j)
overridevirtual

◆ stop() [2/3]

bool GazeboYarpFakeControlBoardDriver::stop ( )
overridevirtual

◆ positionMove() [1/3]

bool GazeboYarpFakeControlBoardDriver::positionMove ( int j,
double ref )
overridevirtual

◆ getAxes()

bool GazeboYarpFakeControlBoardDriver::getAxes ( int * ax)
overridevirtual

◆ positionMove() [2/3]

bool GazeboYarpFakeControlBoardDriver::positionMove ( const double * refs)
overridevirtual

◆ setRefSpeed()

bool GazeboYarpFakeControlBoardDriver::setRefSpeed ( int j,
double sp )
overridevirtual
  • sp [deg/sec]

◆ getRefSpeed()

bool GazeboYarpFakeControlBoardDriver::getRefSpeed ( int j,
double * ref )
overridevirtual

◆ getRefSpeeds() [1/2]

bool GazeboYarpFakeControlBoardDriver::getRefSpeeds ( double * spds)
overridevirtual

◆ relativeMove() [1/3]

bool GazeboYarpFakeControlBoardDriver::relativeMove ( int j,
double delta )
overridevirtual

◆ relativeMove() [2/3]

bool GazeboYarpFakeControlBoardDriver::relativeMove ( const double * deltas)
overridevirtual

◆ checkMotionDone() [1/3]

bool GazeboYarpFakeControlBoardDriver::checkMotionDone ( int j,
bool * flag )
overridevirtual

◆ checkMotionDone() [2/3]

bool GazeboYarpFakeControlBoardDriver::checkMotionDone ( bool * flag)
overridevirtual

◆ positionMove() [3/3]

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

◆ relativeMove() [3/3]

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

◆ checkMotionDone() [3/3]

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

◆ setRefSpeeds() [1/2]

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

◆ setRefAccelerations() [1/2]

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

◆ getRefSpeeds() [2/2]

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

◆ getRefAccelerations() [1/2]

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

◆ stop() [3/3]

bool GazeboYarpFakeControlBoardDriver::stop ( const int n_joint,
const int * joints )
overridevirtual

◆ getTargetPosition()

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

◆ getTargetPositions() [1/2]

bool GazeboYarpFakeControlBoardDriver::getTargetPositions ( double * refs)
overridevirtual

◆ getTargetPositions() [2/2]

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

◆ setRefSpeeds() [2/2]

bool GazeboYarpFakeControlBoardDriver::setRefSpeeds ( const double * spds)
overridevirtual
  • spds [deg/sec]

◆ setRefAcceleration()

bool GazeboYarpFakeControlBoardDriver::setRefAcceleration ( int j,
double acc )
overridevirtual

◆ setRefAccelerations() [2/2]

bool GazeboYarpFakeControlBoardDriver::setRefAccelerations ( const double * accs)
overridevirtual

◆ getRefAcceleration()

bool GazeboYarpFakeControlBoardDriver::getRefAcceleration ( int j,
double * acc )
overridevirtual

◆ getRefAccelerations() [2/2]

bool GazeboYarpFakeControlBoardDriver::getRefAccelerations ( double * accs)
overridevirtual

◆ velocityMove() [1/3]

bool GazeboYarpFakeControlBoardDriver::velocityMove ( int j,
double sp )
overridevirtual

◆ velocityMove() [2/3]

bool GazeboYarpFakeControlBoardDriver::velocityMove ( const double * sp)
overridevirtual

◆ velocityMove() [3/3]

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

◆ getRefVelocity()

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

◆ getRefVelocities() [1/2]

bool GazeboYarpFakeControlBoardDriver::getRefVelocities ( double * vels)
overridevirtual

◆ getRefVelocities() [2/2]

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

◆ getControlMode()

bool GazeboYarpFakeControlBoardDriver::getControlMode ( int j,
int * mode )
overridevirtual

◆ getControlModes() [1/2]

bool GazeboYarpFakeControlBoardDriver::getControlModes ( int * modes)
overridevirtual

◆ getControlModes() [2/2]

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

◆ setControlMode()

bool GazeboYarpFakeControlBoardDriver::setControlMode ( const int j,
const int mode )
overridevirtual

◆ setControlModes() [1/2]

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

◆ setControlModes() [2/2]

bool GazeboYarpFakeControlBoardDriver::setControlModes ( int * modes)
overridevirtual

◆ changeControlMode()

bool yarp::dev::GazeboYarpFakeControlBoardDriver::changeControlMode ( const int j,
const int mode )

◆ changeInteractionMode()

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

◆ setRefTorque()

bool GazeboYarpFakeControlBoardDriver::setRefTorque ( int j,
double t )
overridevirtual

◆ setRefTorques()

bool GazeboYarpFakeControlBoardDriver::setRefTorques ( const double * t)
overridevirtual

◆ getRefTorque()

bool GazeboYarpFakeControlBoardDriver::getRefTorque ( int j,
double * t )
overridevirtual

◆ getRefTorques()

bool GazeboYarpFakeControlBoardDriver::getRefTorques ( double * t)
overridevirtual

◆ getTorque()

bool GazeboYarpFakeControlBoardDriver::getTorque ( int j,
double * t )
overridevirtual

◆ getTorques()

bool GazeboYarpFakeControlBoardDriver::getTorques ( double * t)
overridevirtual

◆ getTorqueRange()

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

◆ getTorqueRanges()

bool GazeboYarpFakeControlBoardDriver::getTorqueRanges ( double * min,
double * max )
overridevirtual

◆ getImpedance()

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

◆ setImpedance()

bool GazeboYarpFakeControlBoardDriver::setImpedance ( int j,
double stiffness,
double damping )
overridevirtual

◆ setImpedanceOffset()

bool GazeboYarpFakeControlBoardDriver::setImpedanceOffset ( int j,
double offset )
overridevirtual

◆ getImpedanceOffset()

bool GazeboYarpFakeControlBoardDriver::getImpedanceOffset ( int j,
double * offset )
overridevirtual

◆ getCurrentImpedanceLimit()

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

◆ getNumberOfMotors()

bool GazeboYarpFakeControlBoardDriver::getNumberOfMotors ( int * ax)
overridevirtual

◆ setRefDutyCycle()

bool GazeboYarpFakeControlBoardDriver::setRefDutyCycle ( int j,
double v )
overridevirtual

◆ setRefDutyCycles()

bool GazeboYarpFakeControlBoardDriver::setRefDutyCycles ( const double * v)
overridevirtual

◆ getRefDutyCycle()

bool GazeboYarpFakeControlBoardDriver::getRefDutyCycle ( int j,
double * v )
overridevirtual

◆ getRefDutyCycles()

bool GazeboYarpFakeControlBoardDriver::getRefDutyCycles ( double * v)
overridevirtual

◆ getDutyCycle()

bool GazeboYarpFakeControlBoardDriver::getDutyCycle ( int j,
double * v )
overridevirtual

◆ getDutyCycles()

bool GazeboYarpFakeControlBoardDriver::getDutyCycles ( double * v)
overridevirtual

◆ getCurrentRange()

bool GazeboYarpFakeControlBoardDriver::getCurrentRange ( int j,
double * min,
double * max )
overridevirtual

◆ getCurrentRanges()

bool GazeboYarpFakeControlBoardDriver::getCurrentRanges ( double * min,
double * max )
overridevirtual

◆ setRefCurrents() [1/2]

bool GazeboYarpFakeControlBoardDriver::setRefCurrents ( const double * t)
overridevirtual

◆ setRefCurrent()

bool GazeboYarpFakeControlBoardDriver::setRefCurrent ( int j,
double t )
overridevirtual

◆ setRefCurrents() [2/2]

bool GazeboYarpFakeControlBoardDriver::setRefCurrents ( const int n_joint,
const int * joints,
const double * t )
overridevirtual

◆ getRefCurrents()

bool GazeboYarpFakeControlBoardDriver::getRefCurrents ( double * t)
overridevirtual

◆ getRefCurrent()

bool GazeboYarpFakeControlBoardDriver::getRefCurrent ( int j,
double * t )
overridevirtual

◆ setPid()

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

◆ setPids()

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

◆ setPidReference()

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

◆ setPidReferences()

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

◆ setPidErrorLimit()

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

◆ setPidErrorLimits()

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

◆ getPidError()

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

◆ getPidErrors()

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

◆ getPid()

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

◆ getPids()

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

◆ getPidReference()

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

◆ getPidReferences()

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

◆ getPidErrorLimit()

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

◆ getPidErrorLimits()

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

◆ resetPid()

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

◆ disablePid()

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

◆ enablePid()

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

◆ setPidOffset()

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

◆ getPidOutput()

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

◆ getPidOutputs()

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

◆ isPidEnabled()

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

◆ enableAmp()

bool GazeboYarpFakeControlBoardDriver::enableAmp ( int j)
overridevirtual

◆ disableAmp()

bool GazeboYarpFakeControlBoardDriver::disableAmp ( int j)
overridevirtual

◆ getCurrent()

bool GazeboYarpFakeControlBoardDriver::getCurrent ( int j,
double * val )
overridevirtual

◆ getCurrents()

bool GazeboYarpFakeControlBoardDriver::getCurrents ( double * vals)
overridevirtual

◆ setMaxCurrent()

bool GazeboYarpFakeControlBoardDriver::setMaxCurrent ( int j,
double v )
overridevirtual

◆ getMaxCurrent()

bool GazeboYarpFakeControlBoardDriver::getMaxCurrent ( int j,
double * v )
overridevirtual

◆ getAmpStatus() [1/2]

bool GazeboYarpFakeControlBoardDriver::getAmpStatus ( int * st)
overridevirtual

◆ getAmpStatus() [2/2]

bool GazeboYarpFakeControlBoardDriver::getAmpStatus ( int k,
int * v )
overridevirtual

◆ calibrateAxisWithParams()

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

◆ calibrationDone()

bool GazeboYarpFakeControlBoardDriver::calibrationDone ( int j)
overridevirtual

◆ getRemoteVariable()

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

◆ setRemoteVariable()

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

◆ getRemoteVariablesList()

bool GazeboYarpFakeControlBoardDriver::getRemoteVariablesList ( yarp::os::Bottle * listOfKeys)
overridevirtual

◆ getLimits()

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

◆ setLimits()

bool GazeboYarpFakeControlBoardDriver::setLimits ( int axis,
double min,
double max )
overridevirtual

◆ getVelLimits()

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

◆ setVelLimits()

bool GazeboYarpFakeControlBoardDriver::setVelLimits ( int axis,
double min,
double max )
overridevirtual

◆ setPosition()

bool GazeboYarpFakeControlBoardDriver::setPosition ( int j,
double ref )
overridevirtual

◆ setPositions() [1/2]

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

◆ setPositions() [2/2]

bool GazeboYarpFakeControlBoardDriver::setPositions ( const double * refs)
overridevirtual

◆ getInteractionMode()

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

◆ getInteractionModes() [1/2]

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

◆ getInteractionModes() [2/2]

bool GazeboYarpFakeControlBoardDriver::getInteractionModes ( yarp::dev::InteractionModeEnum * modes)
overridevirtual

◆ setInteractionMode()

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

◆ setInteractionModes() [1/2]

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

◆ setInteractionModes() [2/2]

bool GazeboYarpFakeControlBoardDriver::setInteractionModes ( yarp::dev::InteractionModeEnum * modes)
overridevirtual
The documentation for this class was generated from the following files: