fakeMotorDeviceServer Class Reference

This class implements the server part of the fake motor device driver. More...

#include <fakeMotorDeviceComponents.h>

Inheritance diagram for fakeMotorDeviceServer:

Public Member Functions
	fakeMotorDeviceServer ()
bool	open (yarp::os::Searchable &config)
bool	close ()
bool	getLimits (int axis, double *min, double *max)
bool	setLimits (int, double, double)
bool	setVelLimits (int, double, double)
bool	getVelLimits (int, double *, double *)
bool	getAxes (int *ax)
bool	getEncoder (int, double *)
bool	getEncoders (double *)
bool	resetEncoder (int)
bool	resetEncoders ()
bool	setEncoder (int, double)
bool	setEncoders (const double *)
bool	getEncoderSpeed (int, double *)
bool	getEncoderSpeeds (double *)
bool	getEncoderAcceleration (int, double *)
bool	getEncoderAccelerations (double *)
bool	velocityMove (int j, double sp)
bool	setRefAcceleration (int j, double acc)
bool	stop (int j)
bool	velocityMove (const int, const int *, const double *)
bool	velocityMove (const double *)
bool	setRefAccelerations (const int, const int *, const double *)
bool	setRefAccelerations (const double *)
bool	getRefAccelerations (const int, const int *, double *)
bool	getRefAcceleration (int, double *)
bool	getRefAccelerations (double *)
bool	stop (const int, const int *)
bool	stop ()

Protected Member Functions
void	run ()
bool	read (yarp::os::ConnectionReader &connection)
	This method decodes the requests forwarded by the client and responds with corresponding replies.

Protected Attributes
yarp::os::BufferedPort< yarp::sig::Vector >	statePort
yarp::os::BufferedPort< yarp::os::Bottle >	cmdPort
yarp::os::Port	rpcPort
std::mutex	mtx
iCub::ctrl::Integrator *	motors
yarp::sig::Vector	vel
bool	configured

Detailed Description

This class implements the server part of the fake motor device driver.

Only the used interface methods are actually implemented.

Definition at line 33 of file fakeMotorDeviceComponents.h.

Constructor & Destructor Documentation

fakeMotorDeviceServer()

fakeMotorDeviceServer::fakeMotorDeviceServer

(

)

Definition at line 30 of file fakeMotorDeviceServer.cpp.

Member Function Documentation

close()

bool fakeMotorDeviceServer::close

(

)

Definition at line 76 of file fakeMotorDeviceServer.cpp.

getAxes()

bool fakeMotorDeviceServer::getAxes

(

int *

ax

)

Definition at line 211 of file fakeMotorDeviceServer.cpp.

getEncoder()

bool fakeMotorDeviceServer::getEncoder ( int  , double *    )

inline

Definition at line 85 of file fakeMotorDeviceComponents.h.

getEncoderAcceleration()

bool fakeMotorDeviceServer::getEncoderAcceleration ( int  , double *    )

inline

Definition at line 93 of file fakeMotorDeviceComponents.h.

getEncoderAccelerations()

bool fakeMotorDeviceServer::getEncoderAccelerations ( double *  )

inline

Definition at line 94 of file fakeMotorDeviceComponents.h.

getEncoders()

bool fakeMotorDeviceServer::getEncoders ( double *  )

inline

Definition at line 86 of file fakeMotorDeviceComponents.h.

getEncoderSpeed()

bool fakeMotorDeviceServer::getEncoderSpeed ( int  , double *    )

inline

Definition at line 91 of file fakeMotorDeviceComponents.h.

getEncoderSpeeds()

bool fakeMotorDeviceServer::getEncoderSpeeds ( double *  )

inline

Definition at line 92 of file fakeMotorDeviceComponents.h.

getLimits()

bool fakeMotorDeviceServer::getLimits	(	int	axis,
		double *	min,
		double *	max
	)

Definition at line 195 of file fakeMotorDeviceServer.cpp.

getRefAcceleration()

bool fakeMotorDeviceServer::getRefAcceleration ( int  , double *    )

inline

Definition at line 112 of file fakeMotorDeviceComponents.h.

getRefAccelerations() [1/2]

bool fakeMotorDeviceServer::getRefAccelerations ( const int  , const int *  , double *    )

inline

Definition at line 111 of file fakeMotorDeviceComponents.h.

getRefAccelerations() [2/2]

bool fakeMotorDeviceServer::getRefAccelerations ( double *  )

inline

Definition at line 113 of file fakeMotorDeviceComponents.h.

getVelLimits()

bool fakeMotorDeviceServer::getVelLimits ( int  , double *  , double *    )

inline

Definition at line 74 of file fakeMotorDeviceComponents.h.

open()

bool fakeMotorDeviceServer::open

(

yarp::os::Searchable &

config

)

Definition at line 37 of file fakeMotorDeviceServer.cpp.

read()

bool fakeMotorDeviceServer::read ( yarp::os::ConnectionReader &  connection )

protected

This method decodes the requests forwarded by the client and responds with corresponding replies.

Definition at line 123 of file fakeMotorDeviceServer.cpp.

resetEncoder()

bool fakeMotorDeviceServer::resetEncoder ( int  )

inline

Definition at line 87 of file fakeMotorDeviceComponents.h.

resetEncoders()

bool fakeMotorDeviceServer::resetEncoders ( )

inline

Definition at line 88 of file fakeMotorDeviceComponents.h.

run()

void fakeMotorDeviceServer::run ( )

protected

Definition at line 108 of file fakeMotorDeviceServer.cpp.

setEncoder()

bool fakeMotorDeviceServer::setEncoder ( int  , double    )

inline

Definition at line 89 of file fakeMotorDeviceComponents.h.

setEncoders()

bool fakeMotorDeviceServer::setEncoders ( const double *  )

inline

Definition at line 90 of file fakeMotorDeviceComponents.h.

setLimits()

bool fakeMotorDeviceServer::setLimits ( int  , double  , double    )

inline

Definition at line 72 of file fakeMotorDeviceComponents.h.

setRefAcceleration()

bool fakeMotorDeviceServer::setRefAcceleration	(	int	j,
		double	acc
	)

Definition at line 241 of file fakeMotorDeviceServer.cpp.

setRefAccelerations() [1/2]

bool fakeMotorDeviceServer::setRefAccelerations ( const double *  )

inline

Definition at line 110 of file fakeMotorDeviceComponents.h.

setRefAccelerations() [2/2]

bool fakeMotorDeviceServer::setRefAccelerations ( const int  , const int *  , const double *    )

inline

Definition at line 109 of file fakeMotorDeviceComponents.h.

setVelLimits()

bool fakeMotorDeviceServer::setVelLimits ( int  , double  , double    )

inline

Definition at line 73 of file fakeMotorDeviceComponents.h.

stop() [1/3]

bool fakeMotorDeviceServer::stop ( )

inline

Definition at line 115 of file fakeMotorDeviceComponents.h.

stop() [2/3]

bool fakeMotorDeviceServer::stop ( const int  , const int *    )

inline

Definition at line 114 of file fakeMotorDeviceComponents.h.

stop() [3/3]

bool fakeMotorDeviceServer::stop

(

int

j

)

Definition at line 250 of file fakeMotorDeviceServer.cpp.

velocityMove() [1/3]

bool fakeMotorDeviceServer::velocityMove ( const double *  )

inline

Definition at line 108 of file fakeMotorDeviceComponents.h.

velocityMove() [2/3]

bool fakeMotorDeviceServer::velocityMove ( const int  , const int *  , const double *    )

inline

Definition at line 107 of file fakeMotorDeviceComponents.h.

velocityMove() [3/3]

bool fakeMotorDeviceServer::velocityMove	(	int	j,
		double	sp
	)

Definition at line 226 of file fakeMotorDeviceServer.cpp.

Member Data Documentation

cmdPort

yarp::os::BufferedPort<yarp::os::Bottle> fakeMotorDeviceServer::cmdPort

protected

Definition at line 42 of file fakeMotorDeviceComponents.h.

configured

bool fakeMotorDeviceServer::configured

protected

Definition at line 49 of file fakeMotorDeviceComponents.h.

motors

iCub::ctrl::Integrator* fakeMotorDeviceServer::motors

protected

Definition at line 47 of file fakeMotorDeviceComponents.h.

mtx

std::mutex fakeMotorDeviceServer::mtx

protected

Definition at line 45 of file fakeMotorDeviceComponents.h.

rpcPort

yarp::os::Port fakeMotorDeviceServer::rpcPort

protected

Definition at line 43 of file fakeMotorDeviceComponents.h.

statePort

yarp::os::BufferedPort<yarp::sig::Vector> fakeMotorDeviceServer::statePort

protected

Definition at line 41 of file fakeMotorDeviceComponents.h.

vel

yarp::sig::Vector fakeMotorDeviceServer::vel

protected

Definition at line 48 of file fakeMotorDeviceComponents.h.

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

• icub-tutorials/src/anyRobotCartesianInterface/src/fakeMotorDevice/include/private/fakeMotorDeviceComponents.h
• icub-tutorials/src/anyRobotCartesianInterface/src/fakeMotorDevice/src/fakeMotorDeviceServer.cpp