iCub-main
BlenderLogicalJoints.h
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1 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
2 /*
3  * Copyright (C) 2011 Paul Fitzpatrick
4  * CopyPolicy: Released under the terms of the GNU GPL v2.0.
5  *
6  */
7 
8 #ifndef ICUBSIMULATION_BLENDERLOGICALJOINTS_INC
9 #define ICUBSIMULATION_BLENDERLOGICALJOINTS_INC
10 
11 #include "LogicalJoints.h"
12 
13 #include <yarp/dev/DeviceDriver.h>
15 public:
16  virtual LogicalJoint& control(int part, int axis) {
17  return *this;
18  }
19 
20  virtual double getAngle() { return 0; }
21 
22  virtual double getVelocity() { return 0; }
23 
24  virtual void setControlParameters(double vel, double acc) {}
25 
26  virtual void setPosition(double target) {}
27 
28  virtual void setVelocity(double target) {}
29 
30  virtual bool isValid() {
31  return true;
32  }
33 };
34 
35 #endif
virtual void setPosition(double target)
Drive towards an angle setpoint (in ICUB units/sign).
virtual LogicalJoint & control(int part, int axis)
Access the control for a logical joint, based on part and axis number.
virtual void setControlParameters(double vel, double acc)
Set velocity and acceleration control parameters.
virtual double getAngle()
Get the angle of an associated joint, in ICUB units and sign.
virtual void setVelocity(double target)
Set velocity of joint (in ICUB units/sign).
virtual double getVelocity()
Get the angular velocity of an associated joint, in ICUB units and sign.
Abstract class for mapping from "physical" (simulated) joints in the model to control joints in the I...
Definition: LogicalJoint.h:33
Route control for the robots controlled joints to their implementation.
Definition: LogicalJoints.h:31
_3f_vect_t acc
Definition: dataTypes.h:1