iCub-main
Public Member Functions | List of all members
LogicalJoint Class Referenceabstract

Abstract class for mapping from "physical" (simulated) joints in the model to control joints in the ICUB specification. More...

#include <LogicalJoint.h>

+ Inheritance diagram for LogicalJoint:

Public Member Functions

virtual ~LogicalJoint ()
 Destructor. More...
 
virtual double getAngle ()=0
 Get the angle of an associated joint, in ICUB units and sign. More...
 
virtual double getVelocity ()=0
 Get the angular velocity of an associated joint, in ICUB units and sign. More...
 
virtual void setControlParameters (double vel, double acc)=0
 Set velocity and acceleration control parameters. More...
 
virtual void setPosition (double target)=0
 Drive towards an angle setpoint (in ICUB units/sign). More...
 
virtual void setVelocity (double target)=0
 Set velocity of joint (in ICUB units/sign). More...
 
virtual bool isValid ()=0
 
virtual double getTorque ()=0
 this is just a fake torque interface for now More...
 
virtual void setTorque (double target)=0
 Set the reference torque. More...
 
virtual void controlModeChanged (int cm)=0
 

Detailed Description

Abstract class for mapping from "physical" (simulated) joints in the model to control joints in the ICUB specification.

Definition at line 33 of file LogicalJoint.h.

Constructor & Destructor Documentation

◆ ~LogicalJoint()

virtual LogicalJoint::~LogicalJoint ( )
inlinevirtual

Destructor.

Definition at line 38 of file LogicalJoint.h.

Member Function Documentation

◆ controlModeChanged()

virtual void LogicalJoint::controlModeChanged ( int  cm)
pure virtual

Implemented in OdeLogicalJoint, and FakeLogicalJoint.

◆ getAngle()

virtual double LogicalJoint::getAngle ( )
pure virtual

Get the angle of an associated joint, in ICUB units and sign.

Implemented in OdeLogicalJoint, FakeLogicalJoint, and BlenderLogicalJoints.

◆ getTorque()

virtual double LogicalJoint::getTorque ( )
pure virtual

this is just a fake torque interface for now

Implemented in OdeLogicalJoint, and FakeLogicalJoint.

◆ getVelocity()

virtual double LogicalJoint::getVelocity ( )
pure virtual

Get the angular velocity of an associated joint, in ICUB units and sign.

Implemented in OdeLogicalJoint, FakeLogicalJoint, and BlenderLogicalJoints.

◆ isValid()

virtual bool LogicalJoint::isValid ( )
pure virtual

◆ setControlParameters()

virtual void LogicalJoint::setControlParameters ( double  vel,
double  acc 
)
pure virtual

Set velocity and acceleration control parameters.

Implemented in OdeLogicalJoint, FakeLogicalJoint, and BlenderLogicalJoints.

◆ setPosition()

virtual void LogicalJoint::setPosition ( double  target)
pure virtual

Drive towards an angle setpoint (in ICUB units/sign).

Implemented in OdeLogicalJoint, FakeLogicalJoint, and BlenderLogicalJoints.

◆ setTorque()

virtual void LogicalJoint::setTorque ( double  target)
pure virtual

Set the reference torque.

Implemented in OdeLogicalJoint, and FakeLogicalJoint.

◆ setVelocity()

virtual void LogicalJoint::setVelocity ( double  target)
pure virtual

Set velocity of joint (in ICUB units/sign).

Implemented in OdeLogicalJoint, FakeLogicalJoint, and BlenderLogicalJoints.


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