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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.


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