iCub-main
Loading...
Searching...
No Matches
Public Member Functions | Public Attributes | List of all members
ControlBoardHelper2 Class Reference

#include <DebugInterfaces.h>

Public Member Functions

 ControlBoardHelper2 (int n, const int *aMap, const double *angToEncs, const double *zs, const double *nw, const double *angToRot)
 
 ~ControlBoardHelper2 ()
 
bool alloc (int n)
 
bool dealloc ()
 
int toHw (int axis)
 
int toUser (int axis)
 
void toUser (const double *hwData, double *user)
 
void toUser (const int *hwData, int *user)
 
void toHw (const double *usr, double *hwData)
 
void toHw (const int *usr, int *hwData)
 
void posA2E (double ang, int j, double &enc, int &k)
 
double posA2E (double ang, int j)
 
void posE2A (double enc, int j, double &ang, int &k)
 
double posE2A (double enc, int j)
 
void posR2A (double enc, int j, double &ang, int &k)
 
double posR2A (double enc, int j)
 
void impN2S (double newtons, int j, double &sens, int &k)
 
double impN2S (double newtons, int j)
 
void impN2S (const double *newtons, double *sens)
 
void trqN2S (double newtons, int j, double &sens, int &k)
 
double trqN2S (double newtons, int j)
 
void trqN2S (const double *newtons, double *sens)
 
void trqS2N (const double *sens, double *newtons)
 
void trqS2N (double sens, int j, double &newton, int &k)
 
double trqS2N (double sens, int j)
 
void impS2N (const double *sens, double *newtons)
 
void impS2N (double sens, int j, double &newton, int &k)
 
double impS2N (double sens, int j)
 
void velA2E (double ang, int j, double &enc, int &k)
 
void velA2E_abs (double ang, int j, double &enc, int &k)
 
void velE2A (double enc, int j, double &ang, int &k)
 
void velE2A_abs (double enc, int j, double &ang, int &k)
 
void accA2E (double ang, int j, double &enc, int &k)
 
void accA2E_abs (double ang, int j, double &enc, int &k)
 
void accE2A (double enc, int j, double &ang, int &k)
 
void accE2A_abs (double enc, int j, double &ang, int &k)
 
double velE2A (double enc, int j)
 
double velE2A_abs (double enc, int j)
 
double accE2A (double enc, int j)
 
double accE2A_abs (double enc, int j)
 
void posA2E (const double *ang, double *enc)
 
void posE2A (const double *enc, double *ang)
 
void velA2E (const double *ang, double *enc)
 
void velA2E_abs (const double *ang, double *enc)
 
void velE2A (const double *enc, double *ang)
 
void velE2A_abs (const double *enc, double *ang)
 
void accA2E (const double *ang, double *enc)
 
void accA2E_abs (const double *ang, double *enc)
 
void accE2A (const double *enc, double *ang)
 
void accE2A_abs (const double *enc, double *ang)
 
int axes ()
 

Public Attributes

int nj
 
double * zeros
 
double * signs
 
int * axisMap
 
int * invAxisMap
 
double * angleToEncoders
 
double * angleToRotor
 
double * newtonsToSensors
 

Detailed Description

Definition at line 78 of file DebugInterfaces.h.

Constructor & Destructor Documentation

◆ ControlBoardHelper2()

ControlBoardHelper2::ControlBoardHelper2 ( int  n,
const int *  aMap,
const double *  angToEncs,
const double *  zs,
const double *  nw,
const double *  angToRot 
)
inline

Definition at line 81 of file DebugInterfaces.h.

◆ ~ControlBoardHelper2()

ControlBoardHelper2::~ControlBoardHelper2 ( )
inline

Definition at line 132 of file DebugInterfaces.h.

Member Function Documentation

◆ accA2E() [1/2]

void ControlBoardHelper2::accA2E ( const double *  ang,
double *  enc 
)
inline

Definition at line 474 of file DebugInterfaces.h.

◆ accA2E() [2/2]

void ControlBoardHelper2::accA2E ( double  ang,
int  j,
double &  enc,
int &  k 
)
inline

Definition at line 363 of file DebugInterfaces.h.

◆ accA2E_abs() [1/2]

void ControlBoardHelper2::accA2E_abs ( const double *  ang,
double *  enc 
)
inline

Definition at line 485 of file DebugInterfaces.h.

◆ accA2E_abs() [2/2]

void ControlBoardHelper2::accA2E_abs ( double  ang,
int  j,
double &  enc,
int &  k 
)
inline

Definition at line 368 of file DebugInterfaces.h.

◆ accE2A() [1/3]

void ControlBoardHelper2::accE2A ( const double *  enc,
double *  ang 
)
inline

Definition at line 496 of file DebugInterfaces.h.

◆ accE2A() [2/3]

double ControlBoardHelper2::accE2A ( double  enc,
int  j 
)
inline

Definition at line 396 of file DebugInterfaces.h.

◆ accE2A() [3/3]

void ControlBoardHelper2::accE2A ( double  enc,
int  j,
double &  ang,
int &  k 
)
inline

Definition at line 373 of file DebugInterfaces.h.

◆ accE2A_abs() [1/3]

void ControlBoardHelper2::accE2A_abs ( const double *  enc,
double *  ang 
)
inline

Definition at line 507 of file DebugInterfaces.h.

◆ accE2A_abs() [2/3]

double ControlBoardHelper2::accE2A_abs ( double  enc,
int  j 
)
inline

Definition at line 401 of file DebugInterfaces.h.

◆ accE2A_abs() [3/3]

void ControlBoardHelper2::accE2A_abs ( double  enc,
int  j,
double &  ang,
int &  k 
)
inline

Definition at line 378 of file DebugInterfaces.h.

◆ alloc()

bool ControlBoardHelper2::alloc ( int  n)
inline

Definition at line 137 of file DebugInterfaces.h.

◆ axes()

int ControlBoardHelper2::axes ( )
inline

Definition at line 518 of file DebugInterfaces.h.

◆ dealloc()

bool ControlBoardHelper2::dealloc ( )
inline

Definition at line 158 of file DebugInterfaces.h.

◆ impN2S() [1/3]

void ControlBoardHelper2::impN2S ( const double *  newtons,
double *  sens 
)
inline

Definition at line 254 of file DebugInterfaces.h.

◆ impN2S() [2/3]

double ControlBoardHelper2::impN2S ( double  newtons,
int  j 
)
inline

Definition at line 249 of file DebugInterfaces.h.

◆ impN2S() [3/3]

void ControlBoardHelper2::impN2S ( double  newtons,
int  j,
double &  sens,
int &  k 
)
inline

Definition at line 243 of file DebugInterfaces.h.

◆ impS2N() [1/3]

void ControlBoardHelper2::impS2N ( const double *  sens,
double *  newtons 
)
inline

Definition at line 314 of file DebugInterfaces.h.

◆ impS2N() [2/3]

double ControlBoardHelper2::impS2N ( double  sens,
int  j 
)
inline

Definition at line 332 of file DebugInterfaces.h.

◆ impS2N() [3/3]

void ControlBoardHelper2::impS2N ( double  sens,
int  j,
double &  newton,
int &  k 
)
inline

Definition at line 325 of file DebugInterfaces.h.

◆ posA2E() [1/3]

void ControlBoardHelper2::posA2E ( const double *  ang,
double *  enc 
)
inline

Definition at line 407 of file DebugInterfaces.h.

◆ posA2E() [2/3]

double ControlBoardHelper2::posA2E ( double  ang,
int  j 
)
inline

Definition at line 210 of file DebugInterfaces.h.

◆ posA2E() [3/3]

void ControlBoardHelper2::posA2E ( double  ang,
int  j,
double &  enc,
int &  k 
)
inline

Definition at line 204 of file DebugInterfaces.h.

◆ posE2A() [1/3]

void ControlBoardHelper2::posE2A ( const double *  enc,
double *  ang 
)
inline

Definition at line 419 of file DebugInterfaces.h.

◆ posE2A() [2/3]

double ControlBoardHelper2::posE2A ( double  enc,
int  j 
)
inline

Definition at line 222 of file DebugInterfaces.h.

◆ posE2A() [3/3]

void ControlBoardHelper2::posE2A ( double  enc,
int  j,
double &  ang,
int &  k 
)
inline

Definition at line 215 of file DebugInterfaces.h.

◆ posR2A() [1/2]

double ControlBoardHelper2::posR2A ( double  enc,
int  j 
)
inline

Definition at line 236 of file DebugInterfaces.h.

◆ posR2A() [2/2]

void ControlBoardHelper2::posR2A ( double  enc,
int  j,
double &  ang,
int &  k 
)
inline

Definition at line 229 of file DebugInterfaces.h.

◆ toHw() [1/3]

void ControlBoardHelper2::toHw ( const double *  usr,
double *  hwData 
)
inline

Definition at line 191 of file DebugInterfaces.h.

◆ toHw() [2/3]

void ControlBoardHelper2::toHw ( const int *  usr,
int *  hwData 
)
inline

Definition at line 198 of file DebugInterfaces.h.

◆ toHw() [3/3]

int ControlBoardHelper2::toHw ( int  axis)
inline

Definition at line 170 of file DebugInterfaces.h.

◆ toUser() [1/3]

void ControlBoardHelper2::toUser ( const double *  hwData,
double *  user 
)
inline

Definition at line 177 of file DebugInterfaces.h.

◆ toUser() [2/3]

void ControlBoardHelper2::toUser ( const int *  hwData,
int *  user 
)
inline

Definition at line 184 of file DebugInterfaces.h.

◆ toUser() [3/3]

int ControlBoardHelper2::toUser ( int  axis)
inline

Definition at line 173 of file DebugInterfaces.h.

◆ trqN2S() [1/3]

void ControlBoardHelper2::trqN2S ( const double *  newtons,
double *  sens 
)
inline

Definition at line 277 of file DebugInterfaces.h.

◆ trqN2S() [2/3]

double ControlBoardHelper2::trqN2S ( double  newtons,
int  j 
)
inline

Definition at line 271 of file DebugInterfaces.h.

◆ trqN2S() [3/3]

void ControlBoardHelper2::trqN2S ( double  newtons,
int  j,
double &  sens,
int &  k 
)
inline

Definition at line 265 of file DebugInterfaces.h.

◆ trqS2N() [1/3]

void ControlBoardHelper2::trqS2N ( const double *  sens,
double *  newtons 
)
inline

Definition at line 289 of file DebugInterfaces.h.

◆ trqS2N() [2/3]

double ControlBoardHelper2::trqS2N ( double  sens,
int  j 
)
inline

Definition at line 307 of file DebugInterfaces.h.

◆ trqS2N() [3/3]

void ControlBoardHelper2::trqS2N ( double  sens,
int  j,
double &  newton,
int &  k 
)
inline

Definition at line 300 of file DebugInterfaces.h.

◆ velA2E() [1/2]

void ControlBoardHelper2::velA2E ( const double *  ang,
double *  enc 
)
inline

Definition at line 430 of file DebugInterfaces.h.

◆ velA2E() [2/2]

void ControlBoardHelper2::velA2E ( double  ang,
int  j,
double &  enc,
int &  k 
)
inline

Definition at line 339 of file DebugInterfaces.h.

◆ velA2E_abs() [1/2]

void ControlBoardHelper2::velA2E_abs ( const double *  ang,
double *  enc 
)
inline

Definition at line 441 of file DebugInterfaces.h.

◆ velA2E_abs() [2/2]

void ControlBoardHelper2::velA2E_abs ( double  ang,
int  j,
double &  enc,
int &  k 
)
inline

Definition at line 345 of file DebugInterfaces.h.

◆ velE2A() [1/3]

void ControlBoardHelper2::velE2A ( const double *  enc,
double *  ang 
)
inline

Definition at line 452 of file DebugInterfaces.h.

◆ velE2A() [2/3]

double ControlBoardHelper2::velE2A ( double  enc,
int  j 
)
inline

Definition at line 383 of file DebugInterfaces.h.

◆ velE2A() [3/3]

void ControlBoardHelper2::velE2A ( double  enc,
int  j,
double &  ang,
int &  k 
)
inline

Definition at line 351 of file DebugInterfaces.h.

◆ velE2A_abs() [1/3]

void ControlBoardHelper2::velE2A_abs ( const double *  enc,
double *  ang 
)
inline

Definition at line 463 of file DebugInterfaces.h.

◆ velE2A_abs() [2/3]

double ControlBoardHelper2::velE2A_abs ( double  enc,
int  j 
)
inline

Definition at line 389 of file DebugInterfaces.h.

◆ velE2A_abs() [3/3]

void ControlBoardHelper2::velE2A_abs ( double  enc,
int  j,
double &  ang,
int &  k 
)
inline

Definition at line 357 of file DebugInterfaces.h.

Member Data Documentation

◆ angleToEncoders

double* ControlBoardHelper2::angleToEncoders

Definition at line 527 of file DebugInterfaces.h.

◆ angleToRotor

double* ControlBoardHelper2::angleToRotor

Definition at line 528 of file DebugInterfaces.h.

◆ axisMap

int* ControlBoardHelper2::axisMap

Definition at line 525 of file DebugInterfaces.h.

◆ invAxisMap

int* ControlBoardHelper2::invAxisMap

Definition at line 526 of file DebugInterfaces.h.

◆ newtonsToSensors

double* ControlBoardHelper2::newtonsToSensors

Definition at line 529 of file DebugInterfaces.h.

◆ nj

int ControlBoardHelper2::nj

Definition at line 521 of file DebugInterfaces.h.

◆ signs

double* ControlBoardHelper2::signs

Definition at line 524 of file DebugInterfaces.h.

◆ zeros

double* ControlBoardHelper2::zeros

Definition at line 523 of file DebugInterfaces.h.

The documentation for this class was generated from the following file:
Generated on Fri Sep 26 2025 14:18:35 for iCub-main by doxygen 1.9.8