gravityCompensatorThread Class Reference

#include <gravityThread.h>

Inheritance diagram for gravityCompensatorThread:

Public Member Functions
	gravityCompensatorThread (std::string _wholeBodyName, int _rate, PolyDriver *_ddLA, PolyDriver *_ddRA, PolyDriver *_ddH, PolyDriver *_ddLL, PolyDriver *_ddRL, PolyDriver *_ddT, version_tag icub_type, bool _inertial_enabled)
void	setZeroJntAngVelAcc ()
bool	readAndUpdate (bool waitMeasure=false)
bool	getLowerEncodersSpeedAndAcceleration ()
bool	getUpperEncodersSpeedAndAcceleration ()
bool	threadInit () override
void	feedFwdGravityControl (int part_ctrlJnt, const std::string &s_part, IControlMode *iCtrlMode, ITorqueControl *iTqs, IImpedanceControl *iImp, IInteractionMode *iIntMode, const Vector &command, bool releasing=false)
void	run () override
void	threadRelease () override
thread_status_enum	getThreadStatus ()

Public Attributes
int	gravity_mode
int	external_mode

Detailed Description

Definition at line 45 of file gravityThread.h.

Constructor & Destructor Documentation

gravityCompensatorThread()

gravityCompensatorThread::gravityCompensatorThread	(	std::string	_wholeBodyName,
		int	_rate,
		PolyDriver *	_ddLA,
		PolyDriver *	_ddRA,
		PolyDriver *	_ddH,
		PolyDriver *	_ddLL,
		PolyDriver *	_ddRL,
		PolyDriver *	_ddT,
		version_tag	icub_type,
		bool	_inertial_enabled
	)

Definition at line 189 of file gravityThread.cpp.

Member Function Documentation

feedFwdGravityControl()

void gravityCompensatorThread::feedFwdGravityControl	(	int	part_ctrlJnt,
		const std::string &	s_part,
		IControlMode *	iCtrlMode,
		ITorqueControl *	iTqs,
		IImpedanceControl *	iImp,
		IInteractionMode *	iIntMode,
		const Vector &	command,
		bool	releasing = false
	)

Definition at line 575 of file gravityThread.cpp.

getLowerEncodersSpeedAndAcceleration()

bool gravityCompensatorThread::getLowerEncodersSpeedAndAcceleration

(

)

Definition at line 343 of file gravityThread.cpp.

getThreadStatus()

thread_status_enum gravityCompensatorThread::getThreadStatus ( )

inline

Definition at line 180 of file gravityThread.h.

getUpperEncodersSpeedAndAcceleration()

bool gravityCompensatorThread::getUpperEncodersSpeedAndAcceleration

(

)

Definition at line 403 of file gravityThread.cpp.

readAndUpdate()

bool gravityCompensatorThread::readAndUpdate

(

bool

waitMeasure = false

)

Definition at line 274 of file gravityThread.cpp.

run()

void gravityCompensatorThread::run ( )

override

Definition at line 652 of file gravityThread.cpp.

setZeroJntAngVelAcc()

void gravityCompensatorThread::setZeroJntAngVelAcc

(

)

Definition at line 257 of file gravityThread.cpp.

threadInit()

bool gravityCompensatorThread::threadInit ( )

override

Definition at line 462 of file gravityThread.cpp.

threadRelease()

void gravityCompensatorThread::threadRelease ( )

override

Definition at line 909 of file gravityThread.cpp.

Member Data Documentation

external_mode

int gravityCompensatorThread::external_mode

Definition at line 167 of file gravityThread.h.

gravity_mode

int gravityCompensatorThread::gravity_mode

Definition at line 166 of file gravityThread.h.

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

• icub-main/src/modules/gravityCompensator/gravityThread.h
• icub-main/src/modules/gravityCompensator/gravityThread.cpp