29 public
yarp::dev::ImplementJointCoupling,
34 bool convertFromPhysicalJointsToActuatedAxesPos(
const yarp::sig::Vector& physJointsPos, yarp::sig::Vector& actAxesPos)
override;
35 bool convertFromPhysicalJointsToActuatedAxesVel(
const yarp::sig::Vector& physJointsPos,
const yarp::sig::Vector& physJointsVel, yarp::sig::Vector& actAxesVel)
override;
36 bool convertFromPhysicalJointsToActuatedAxesAcc(
const yarp::sig::Vector& physJointsPos,
const yarp::sig::Vector& physJointsVel,
const yarp::sig::Vector& physJointsAcc, yarp::sig::Vector& actAxesAcc)
override;
37 bool convertFromPhysicalJointsToActuatedAxesTrq(
const yarp::sig::Vector& physJointsPos,
const yarp::sig::Vector& physJointsTrq, yarp::sig::Vector& actAxesTrq)
override;
38 bool convertFromActuatedAxesToPhysicalJointsPos(
const yarp::sig::Vector& actAxesPos, yarp::sig::Vector& physJointsPos)
override;
39 bool convertFromActuatedAxesToPhysicalJointsVel(
const yarp::sig::Vector& actAxesPos,
const yarp::sig::Vector& actAxesVel, yarp::sig::Vector& physJointsVel)
override;
40 bool convertFromActuatedAxesToPhysicalJointsAcc(
const yarp::sig::Vector& actAxesPos,
const yarp::sig::Vector& actAxesVel,
const yarp::sig::Vector& actAxesAcc, yarp::sig::Vector& physJointsAcc)
override;
41 bool convertFromActuatedAxesToPhysicalJointsTrq(
const yarp::sig::Vector& actAxesPos,
const yarp::sig::Vector& actAxesTrq, yarp::sig::Vector& physJointsTrq)
override;
49 bool open(yarp::os::Searchable& config)
override;
52 bool populateCouplingParameters();