CouplingICubEye Class Reference

Coupling law from https://icub-tech-iit.github.io/documentation/icub_kinematics/icub-vergence-version/icub-vergence-version/. More...

#include <CouplingICubEye.h>

Inheritance diagram for CouplingICubEye:

Public Member Functions
	CouplingICubEye ()=default
virtual	~CouplingICubEye () override=default
bool	convertFromPhysicalJointsToActuatedAxesPos (const yarp::sig::Vector &physJointsPos, yarp::sig::Vector &actAxesPos) override
bool	convertFromPhysicalJointsToActuatedAxesVel (const yarp::sig::Vector &physJointsPos, const yarp::sig::Vector &physJointsVel, yarp::sig::Vector &actAxesVel) override
bool	convertFromPhysicalJointsToActuatedAxesAcc (const yarp::sig::Vector &physJointsPos, const yarp::sig::Vector &physJointsVel, const yarp::sig::Vector &physJointsAcc, yarp::sig::Vector &actAxesAcc) override
bool	convertFromPhysicalJointsToActuatedAxesTrq (const yarp::sig::Vector &physJointsPos, const yarp::sig::Vector &physJointsTrq, yarp::sig::Vector &actAxesTrq) override
bool	convertFromActuatedAxesToPhysicalJointsPos (const yarp::sig::Vector &actAxesPos, yarp::sig::Vector &physJointsPos) override
bool	convertFromActuatedAxesToPhysicalJointsVel (const yarp::sig::Vector &actAxesPos, const yarp::sig::Vector &actAxesVel, yarp::sig::Vector &physJointsVel) override
bool	convertFromActuatedAxesToPhysicalJointsAcc (const yarp::sig::Vector &actAxesPos, const yarp::sig::Vector &actAxesVel, const yarp::sig::Vector &actAxesAcc, yarp::sig::Vector &physJointsAcc) override
bool	convertFromActuatedAxesToPhysicalJointsTrq (const yarp::sig::Vector &actAxesPos, const yarp::sig::Vector &actAxesTrq, yarp::sig::Vector &physJointsTrq) override
bool	open (yarp::os::Searchable &config) override
	Configure with a set of options.
Public Member Functions inherited from CouplingICubEye_ParamsParser
	CouplingICubEye_ParamsParser ()
	~CouplingICubEye_ParamsParser () override=default
bool	parseParams (const yarp::os::Searchable &config) override
std::string	getDeviceClassName () const override
std::string	getDeviceName () const override
std::string	getDocumentationOfDeviceParams () const override
std::vector< std::string >	getListOfParams () const override

Additional Inherited Members
Public Attributes inherited from CouplingICubEye_ParamsParser
const std::string	m_device_classname = {"CouplingICubEye"}
const std::string	m_device_name = {"couplingICubEye"}
bool	m_parser_is_strict = false
const parser_version_type	m_parser_version = {}
const std::string	m_jointNames_defaultValue = {""}
const std::string	m_LIMITS_jntPosMin_defaultValue = {""}
const std::string	m_LIMITS_jntPosMax_defaultValue = {""}
const std::string	m_COUPLING_device_defaultValue = {""}
const std::string	m_COUPLING_actuatedAxesNames_defaultValue = {""}
const std::string	m_COUPLING_actuatedAxesPosMin_defaultValue = {""}
const std::string	m_COUPLING_actuatedAxesPosMax_defaultValue = {""}
std::vector< std::string >	m_jointNames = {}
std::vector< double >	m_LIMITS_jntPosMin = {}
std::vector< double >	m_LIMITS_jntPosMax = {}
std::string	m_COUPLING_device = {}
std::vector< std::string >	m_COUPLING_actuatedAxesNames = {}
std::vector< double >	m_COUPLING_actuatedAxesPosMin = {}
std::vector< double >	m_COUPLING_actuatedAxesPosMax = {}

Detailed Description

Coupling law from https://icub-tech-iit.github.io/documentation/icub_kinematics/icub-vergence-version/icub-vergence-version/.

Definition at line 28 of file CouplingICubEye.h.

Constructor & Destructor Documentation

CouplingICubEye()

CouplingICubEye::CouplingICubEye ( )

default

~CouplingICubEye()

virtual CouplingICubEye::~CouplingICubEye ( )

overridevirtualdefault

Member Function Documentation

convertFromActuatedAxesToPhysicalJointsAcc()

bool CouplingICubEye::convertFromActuatedAxesToPhysicalJointsAcc ( const yarp::sig::Vector &  actAxesPos, const yarp::sig::Vector &  actAxesVel, const yarp::sig::Vector &  actAxesAcc, yarp::sig::Vector &  physJointsAcc  )

override

Definition at line 152 of file CouplingICubEye.cpp.

convertFromActuatedAxesToPhysicalJointsPos()

bool CouplingICubEye::convertFromActuatedAxesToPhysicalJointsPos ( const yarp::sig::Vector &  actAxesPos, yarp::sig::Vector &  physJointsPos  )

override

Definition at line 112 of file CouplingICubEye.cpp.

convertFromActuatedAxesToPhysicalJointsTrq()

bool CouplingICubEye::convertFromActuatedAxesToPhysicalJointsTrq ( const yarp::sig::Vector &  actAxesPos, const yarp::sig::Vector &  actAxesTrq, yarp::sig::Vector &  physJointsTrq  )

override

Definition at line 172 of file CouplingICubEye.cpp.

convertFromActuatedAxesToPhysicalJointsVel()

bool CouplingICubEye::convertFromActuatedAxesToPhysicalJointsVel ( const yarp::sig::Vector &  actAxesPos, const yarp::sig::Vector &  actAxesVel, yarp::sig::Vector &  physJointsVel  )

override

Definition at line 132 of file CouplingICubEye.cpp.

convertFromPhysicalJointsToActuatedAxesAcc()

bool CouplingICubEye::convertFromPhysicalJointsToActuatedAxesAcc ( const yarp::sig::Vector &  physJointsPos, const yarp::sig::Vector &  physJointsVel, const yarp::sig::Vector &  physJointsAcc, yarp::sig::Vector &  actAxesAcc  )

override

Definition at line 88 of file CouplingICubEye.cpp.

convertFromPhysicalJointsToActuatedAxesPos()

bool CouplingICubEye::convertFromPhysicalJointsToActuatedAxesPos ( const yarp::sig::Vector &  physJointsPos, yarp::sig::Vector &  actAxesPos  )

override

Definition at line 49 of file CouplingICubEye.cpp.

convertFromPhysicalJointsToActuatedAxesTrq()

bool CouplingICubEye::convertFromPhysicalJointsToActuatedAxesTrq ( const yarp::sig::Vector &  physJointsPos, const yarp::sig::Vector &  physJointsTrq, yarp::sig::Vector &  actAxesTrq  )

override

Definition at line 108 of file CouplingICubEye.cpp.

convertFromPhysicalJointsToActuatedAxesVel()

bool CouplingICubEye::convertFromPhysicalJointsToActuatedAxesVel ( const yarp::sig::Vector &  physJointsPos, const yarp::sig::Vector &  physJointsVel, yarp::sig::Vector &  actAxesVel  )

override

Definition at line 69 of file CouplingICubEye.cpp.

open()

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

override

Configure with a set of options.

Parameters

config

The options to use

Returns

true iff the object could be configured.

Definition at line 33 of file CouplingICubEye.cpp.

---

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

• icub-main/src/libraries/icubmod/couplingICubEye/CouplingICubEye.h
• icub-main/src/libraries/icubmod/couplingICubEye/CouplingICubEye.cpp