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yarp::dev::embObjMotionControl Class Reference
Software » iCub YARP devices library » Hardware YARP devices

embObjMotionControl : driver for iCub motor control boards EMS on a ETH bus. More...

#include <embObjMotionControl.h>

+ Inheritance diagram for yarp::dev::embObjMotionControl:

Public Member Functions

 embObjMotionControl ()
 
 ~embObjMotionControl ()
 
virtual bool open (yarp::os::Searchable &par)
 
virtual bool close ()
 
virtual bool initialised ()
 
virtual eth::iethresType_t type ()
 
virtual bool update (eOprotID32_t id32, double timestamp, void *rxdata)
 
virtual bool getEntityName (uint32_t entityId, std::string &entityName)
 
virtual bool setPidRaw (const PidControlTypeEnum &pidtype, int j, const Pid &pid) override
 
virtual bool setPidsRaw (const PidControlTypeEnum &pidtype, const Pid *pids) override
 
virtual bool setPidReferenceRaw (const PidControlTypeEnum &pidtype, int j, double ref) override
 
virtual bool setPidReferencesRaw (const PidControlTypeEnum &pidtype, const double *refs) override
 
virtual bool setPidErrorLimitRaw (const PidControlTypeEnum &pidtype, int j, double limit) override
 
virtual bool setPidErrorLimitsRaw (const PidControlTypeEnum &pidtype, const double *limits) override
 
virtual bool getPidErrorRaw (const PidControlTypeEnum &pidtype, int j, double *err) override
 
virtual bool getPidErrorsRaw (const PidControlTypeEnum &pidtype, double *errs) override
 
virtual bool getPidOutputRaw (const PidControlTypeEnum &pidtype, int j, double *out) override
 
virtual bool getPidOutputsRaw (const PidControlTypeEnum &pidtype, double *outs) override
 
virtual bool getPidRaw (const PidControlTypeEnum &pidtype, int j, Pid *pid) override
 
virtual bool getPidsRaw (const PidControlTypeEnum &pidtype, Pid *pids) override
 
virtual bool getPidReferenceRaw (const PidControlTypeEnum &pidtype, int j, double *ref) override
 
virtual bool getPidReferencesRaw (const PidControlTypeEnum &pidtype, double *refs) override
 
virtual bool getPidErrorLimitRaw (const PidControlTypeEnum &pidtype, int j, double *limit) override
 
virtual bool getPidErrorLimitsRaw (const PidControlTypeEnum &pidtype, double *limits) override
 
virtual bool resetPidRaw (const PidControlTypeEnum &pidtype, int j) override
 
virtual bool disablePidRaw (const PidControlTypeEnum &pidtype, int j) override
 
virtual bool enablePidRaw (const PidControlTypeEnum &pidtype, int j) override
 
virtual bool setPidOffsetRaw (const PidControlTypeEnum &pidtype, int j, double v) override
 
virtual bool isPidEnabledRaw (const PidControlTypeEnum &pidtype, int j, bool *enabled) override
 
virtual bool getAxes (int *ax) override
 
virtual bool positionMoveRaw (int j, double ref) override
 
virtual bool positionMoveRaw (const double *refs) override
 
virtual bool relativeMoveRaw (int j, double delta) override
 
virtual bool relativeMoveRaw (const double *deltas) override
 
virtual bool checkMotionDoneRaw (bool *flag) override
 
virtual bool checkMotionDoneRaw (int j, bool *flag) override
 
virtual bool setRefSpeedRaw (int j, double sp) override
 
virtual bool setRefSpeedsRaw (const double *spds) override
 
virtual bool setRefAccelerationRaw (int j, double acc) override
 
virtual bool setRefAccelerationsRaw (const double *accs) override
 
virtual bool getRefSpeedRaw (int j, double *ref) override
 
virtual bool getRefSpeedsRaw (double *spds) override
 
virtual bool getRefAccelerationRaw (int j, double *acc) override
 
virtual bool getRefAccelerationsRaw (double *accs) override
 
virtual bool stopRaw (int j) override
 
virtual bool stopRaw () override
 
virtual bool positionMoveRaw (const int n_joint, const int *joints, const double *refs) override
 
virtual bool relativeMoveRaw (const int n_joint, const int *joints, const double *deltas) override
 
virtual bool checkMotionDoneRaw (const int n_joint, const int *joints, bool *flags) override
 
virtual bool setRefSpeedsRaw (const int n_joint, const int *joints, const double *spds) override
 
virtual bool setRefAccelerationsRaw (const int n_joint, const int *joints, const double *accs) override
 
virtual bool getRefSpeedsRaw (const int n_joint, const int *joints, double *spds) override
 
virtual bool getRefAccelerationsRaw (const int n_joint, const int *joints, double *accs) override
 
virtual bool stopRaw (const int n_joint, const int *joints) override
 
virtual bool getTargetPositionRaw (const int joint, double *ref) override
 
virtual bool getTargetPositionsRaw (double *refs) override
 
virtual bool getTargetPositionsRaw (const int n_joint, const int *joints, double *refs) override
 
virtual bool velocityMoveRaw (int j, double sp) override
 
virtual bool velocityMoveRaw (const double *sp) override
 
virtual bool setCalibrationParametersRaw (int axis, const CalibrationParameters &params) override
 
virtual bool calibrateAxisWithParamsRaw (int axis, unsigned int type, double p1, double p2, double p3) override
 
virtual bool calibrationDoneRaw (int j) override
 
virtual bool getControlModeRaw (int j, int *v) override
 
virtual bool getControlModesRaw (int *v) override
 
virtual bool getControlModesRaw (const int n_joint, const int *joints, int *modes) override
 
virtual bool setControlModeRaw (const int j, const int mode) override
 
virtual bool setControlModesRaw (const int n_joint, const int *joints, int *modes) override
 
virtual bool setControlModesRaw (int *modes) override
 
virtual bool resetEncoderRaw (int j) override
 
virtual bool resetEncodersRaw () override
 
virtual bool setEncoderRaw (int j, double val) override
 
virtual bool setEncodersRaw (const double *vals) override
 
virtual bool getEncoderRaw (int j, double *v) override
 
virtual bool getEncodersRaw (double *encs) override
 
virtual bool getEncoderSpeedRaw (int j, double *sp) override
 
virtual bool getEncoderSpeedsRaw (double *spds) override
 
virtual bool getEncoderAccelerationRaw (int j, double *spds) override
 
virtual bool getEncoderAccelerationsRaw (double *accs) override
 
virtual bool getEncodersTimedRaw (double *encs, double *stamps) override
 
virtual bool getEncoderTimedRaw (int j, double *encs, double *stamp) override
 
virtual bool getNumberOfMotorEncodersRaw (int *num) override
 
virtual bool resetMotorEncoderRaw (int m) override
 
virtual bool resetMotorEncodersRaw () override
 
virtual bool setMotorEncoderRaw (int m, const double val) override
 
virtual bool setMotorEncodersRaw (const double *vals) override
 
virtual bool getMotorEncoderRaw (int m, double *v) override
 
virtual bool getMotorEncodersRaw (double *encs) override
 
virtual bool getMotorEncoderSpeedRaw (int m, double *sp) override
 
virtual bool getMotorEncoderSpeedsRaw (double *spds) override
 
virtual bool getMotorEncoderAccelerationRaw (int m, double *spds) override
 
virtual bool getMotorEncoderAccelerationsRaw (double *accs) override
 
virtual bool getMotorEncodersTimedRaw (double *encs, double *stamps) override
 
virtual bool getMotorEncoderTimedRaw (int m, double *encs, double *stamp) override
 
virtual bool getMotorEncoderCountsPerRevolutionRaw (int m, double *v) override
 
virtual bool setMotorEncoderCountsPerRevolutionRaw (int m, const double cpr) override
 
virtual bool getRemoteVariableRaw (std::string key, yarp::os::Bottle &val) override
 
virtual bool setRemoteVariableRaw (std::string key, const yarp::os::Bottle &val) override
 
virtual bool getRemoteVariablesListRaw (yarp::os::Bottle *listOfKeys) override
 
virtual bool getAxisNameRaw (int axis, std::string &name) override
 
virtual bool getJointTypeRaw (int axis, yarp::dev::JointTypeEnum &type) override
 
bool getRotorEncoderResolutionRaw (int m, double &rotres)
 
bool getJointEncoderResolutionRaw (int m, double &jntres)
 
bool getJointEncoderTypeRaw (int j, int &type)
 
bool getRotorEncoderTypeRaw (int j, int &type)
 
bool getKinematicMJRaw (int j, double &rotres)
 
bool getTemperatureSensorTypeRaw (int j, std::string &ret)
 
bool getHasTempSensorsRaw (int j, int &ret)
 
bool getHasHallSensorRaw (int j, int &ret)
 
bool getHasRotorEncoderRaw (int j, int &ret)
 
bool getHasRotorEncoderIndexRaw (int j, int &ret)
 
bool getMotorPolesRaw (int j, int &poles)
 
bool getRotorIndexOffsetRaw (int j, double &rotorOffset)
 
bool getTorqueControlFilterType (int j, int &type)
 
bool getRotorLimitsRaw (int j, double *rotorMin, double *rotorMax)
 
bool getWholeImpedanceRaw (int j, eOmc_impedance_t &imped)
 
virtual bool enableAmpRaw (int j) override
 
virtual bool disableAmpRaw (int j) override
 
virtual bool getCurrentsRaw (double *vals) override
 
virtual bool getCurrentRaw (int j, double *val) override
 
virtual bool setMaxCurrentRaw (int j, double val) override
 
virtual bool getMaxCurrentRaw (int j, double *val) override
 
virtual bool getAmpStatusRaw (int *st) override
 
virtual bool getAmpStatusRaw (int j, int *st) override
 
virtual bool getPWMRaw (int j, double *val) override
 
virtual bool getPWMLimitRaw (int j, double *val) override
 
virtual bool setPWMLimitRaw (int j, const double val) override
 
virtual bool getPowerSupplyVoltageRaw (int j, double *val) override
 
virtual yarp::dev::VAS_status getVirtualAnalogSensorStatus (int ch) override
 
virtual int getVirtualAnalogSensorChannels () override
 
virtual bool updateVirtualAnalogSensorMeasure (yarp::sig::Vector &fTorques) override
 
virtual bool updateVirtualAnalogSensorMeasure (int j, double &fTorque) override
 
virtual bool setLimitsRaw (int axis, double min, double max) override
 
virtual bool getLimitsRaw (int axis, double *min, double *max) override
 
virtual bool setVelLimitsRaw (int axis, double min, double max) override
 
virtual bool getVelLimitsRaw (int axis, double *min, double *max) override
 
virtual bool getTorqueRaw (int j, double *t) override
 
virtual bool getTorquesRaw (double *t) override
 
virtual bool getTorqueRangeRaw (int j, double *min, double *max) override
 
virtual bool getTorqueRangesRaw (double *min, double *max) override
 
virtual bool setRefTorquesRaw (const double *t) override
 
virtual bool setRefTorqueRaw (int j, double t) override
 
virtual bool setRefTorquesRaw (const int n_joint, const int *joints, const double *t) override
 
virtual bool getRefTorquesRaw (double *t) override
 
virtual bool getRefTorqueRaw (int j, double *t) override
 
virtual bool getMotorTorqueParamsRaw (int j, MotorTorqueParameters *params) override
 
virtual bool setMotorTorqueParamsRaw (int j, const MotorTorqueParameters params) override
 
virtual bool velocityMoveRaw (const int n_joint, const int *joints, const double *spds) override
 
virtual bool getRefVelocityRaw (const int joint, double *ref) override
 
virtual bool getRefVelocitiesRaw (double *refs) override
 
virtual bool getRefVelocitiesRaw (const int n_joint, const int *joints, double *refs) override
 
virtual bool getImpedanceRaw (int j, double *stiffness, double *damping) override
 
virtual bool setImpedanceRaw (int j, double stiffness, double damping) override
 
virtual bool setImpedanceOffsetRaw (int j, double offset) override
 
virtual bool getImpedanceOffsetRaw (int j, double *offset) override
 
virtual bool getCurrentImpedanceLimitRaw (int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override
 
virtual bool setPositionRaw (int j, double ref) override
 
virtual bool setPositionsRaw (const int n_joint, const int *joints, const double *refs) override
 
virtual bool setPositionsRaw (const double *refs) override
 
virtual bool getRefPositionRaw (const int joint, double *ref) override
 
virtual bool getRefPositionsRaw (double *refs) override
 
virtual bool getRefPositionsRaw (const int n_joint, const int *joints, double *refs) override
 
virtual bool getInteractionModeRaw (int j, yarp::dev::InteractionModeEnum *_mode) override
 
virtual bool getInteractionModesRaw (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
 
virtual bool getInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override
 
virtual bool setInteractionModeRaw (int j, yarp::dev::InteractionModeEnum _mode) override
 
virtual bool setInteractionModesRaw (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
 
virtual bool setInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override
 
virtual bool getNumberOfMotorsRaw (int *num) override
 
virtual bool getTemperatureRaw (int m, double *val) override
 
virtual bool getTemperaturesRaw (double *vals) override
 
virtual bool getTemperatureLimitRaw (int m, double *temp) override
 
virtual bool setTemperatureLimitRaw (int m, const double temp) override
 
virtual bool getPeakCurrentRaw (int m, double *val) override
 
virtual bool setPeakCurrentRaw (int m, const double val) override
 
virtual bool getNominalCurrentRaw (int m, double *val) override
 
virtual bool setNominalCurrentRaw (int m, const double val) override
 
virtual bool getGearboxRatioRaw (int m, double *gearbox) override
 
virtual bool setRefDutyCycleRaw (int j, double v) override
 
virtual bool setRefDutyCyclesRaw (const double *v) override
 
virtual bool getRefDutyCycleRaw (int j, double *v) override
 
virtual bool getRefDutyCyclesRaw (double *v) override
 
virtual bool getDutyCycleRaw (int j, double *v) override
 
virtual bool getDutyCyclesRaw (double *v) override
 
virtual bool getCurrentRangeRaw (int j, double *min, double *max) override
 
virtual bool getCurrentRangesRaw (double *min, double *max) override
 
virtual bool setRefCurrentsRaw (const double *t) override
 
virtual bool setRefCurrentRaw (int j, double t) override
 
virtual bool setRefCurrentsRaw (const int n_joint, const int *joints, const double *t) override
 
virtual bool getRefCurrentsRaw (double *t) override
 
virtual bool getRefCurrentRaw (int j, double *t) override
 
virtual bool getLastJointFaultRaw (int j, int &fault, std::string &message) override
 
virtual bool getRawDataMap (std::map< std::string, std::vector< std::int32_t >> &map) override
 
virtual bool getRawData (std::string key, std::vector< std::int32_t > &data) override
 
virtual bool getKeys (std::vector< std::string > &keys) override
 
virtual int getNumberOfKeys () override
 
virtual bool getMetadataMap (rawValuesKeyMetadataMap &metamap) override
 
virtual bool getKeyMetadata (std::string key, rawValuesKeyMetadata &meta) override
 
- Public Member Functions inherited from eth::IethResource
virtual ~IethResource ()
 
const char * stringOfType ()
 

Detailed Description

embObjMotionControl : driver for iCub motor control boards EMS on a ETH bus.

This device contains code which handles communication to the motor control boards (EMS) on the internal ethernet network of the ETH iCub. It converts requests from function calls into ETH bus messages for the motor control boards. A thread monitors the bus for incoming messages and dispatches replies to calling threads.

For the description of the parameters supported by this device, please check the template configuration file available in robotology/robots-configuration, i.e. https://github.com/robotology/robots-configuration/blob/master/iCubTemplates/iCubTemplateV4_0/hardware/motorControl/body_part&ndash;ebX-jA_B-mc.xml .

YARP device name
embObjMotionControl

Definition at line 223 of file embObjMotionControl.h.

Constructor & Destructor Documentation

◆ embObjMotionControl()

embObjMotionControl::embObjMotionControl ( )

Definition at line 187 of file embObjMotionControl.cpp.

◆ ~embObjMotionControl()

embObjMotionControl::~embObjMotionControl ( )

Definition at line 291 of file embObjMotionControl.cpp.

Member Function Documentation

◆ calibrateAxisWithParamsRaw()

bool embObjMotionControl::calibrateAxisWithParamsRaw ( int  axis,
unsigned int  type,
double  p1,
double  p2,
double  p3 
)
overridevirtual

Definition at line 2325 of file embObjMotionControl.cpp.

◆ calibrationDoneRaw()

bool embObjMotionControl::calibrationDoneRaw ( int  j)
overridevirtual

Definition at line 2402 of file embObjMotionControl.cpp.

◆ checkMotionDoneRaw() [1/3]

bool embObjMotionControl::checkMotionDoneRaw ( bool *  flag)
overridevirtual

Definition at line 2538 of file embObjMotionControl.cpp.

◆ checkMotionDoneRaw() [2/3]

bool embObjMotionControl::checkMotionDoneRaw ( const int  n_joint,
const int *  joints,
bool *  flags 
)
overridevirtual

Definition at line 2692 of file embObjMotionControl.cpp.

◆ checkMotionDoneRaw() [3/3]

bool embObjMotionControl::checkMotionDoneRaw ( int  j,
bool *  flag 
)
overridevirtual

Definition at line 2520 of file embObjMotionControl.cpp.

◆ close()

bool embObjMotionControl::close ( void  )
virtual

Definition at line 1522 of file embObjMotionControl.cpp.

◆ disableAmpRaw()

bool embObjMotionControl::disableAmpRaw ( int  j)
overridevirtual

Definition at line 3201 of file embObjMotionControl.cpp.

◆ disablePidRaw()

bool embObjMotionControl::disablePidRaw ( const PidControlTypeEnum &  pidtype,
int  j 
)
overridevirtual

Definition at line 2077 of file embObjMotionControl.cpp.

◆ enableAmpRaw()

bool embObjMotionControl::enableAmpRaw ( int  j)
overridevirtual

Definition at line 3196 of file embObjMotionControl.cpp.

◆ enablePidRaw()

bool embObjMotionControl::enablePidRaw ( const PidControlTypeEnum &  pidtype,
int  j 
)
overridevirtual

Definition at line 2082 of file embObjMotionControl.cpp.

◆ getAmpStatusRaw() [1/2]

bool embObjMotionControl::getAmpStatusRaw ( int *  st)
overridevirtual

Definition at line 3270 of file embObjMotionControl.cpp.

◆ getAmpStatusRaw() [2/2]

bool embObjMotionControl::getAmpStatusRaw ( int  j,
int *  st 
)
overridevirtual

Definition at line 3263 of file embObjMotionControl.cpp.

◆ getAxes()

bool embObjMotionControl::getAxes ( int *  ax)
overridevirtual

Definition at line 2457 of file embObjMotionControl.cpp.

◆ getAxisNameRaw()

bool embObjMotionControl::getAxisNameRaw ( int  axis,
std::string &  name 
)
overridevirtual

Definition at line 3535 of file embObjMotionControl.cpp.

◆ getControlModeRaw()

bool embObjMotionControl::getControlModeRaw ( int  j,
int *  v 
)
overridevirtual

Definition at line 2780 of file embObjMotionControl.cpp.

◆ getControlModesRaw() [1/2]

bool embObjMotionControl::getControlModesRaw ( const int  n_joint,
const int *  joints,
int *  modes 
)
overridevirtual

Definition at line 2804 of file embObjMotionControl.cpp.

◆ getControlModesRaw() [2/2]

bool embObjMotionControl::getControlModesRaw ( int *  v)
overridevirtual

Definition at line 2794 of file embObjMotionControl.cpp.

◆ getCurrentImpedanceLimitRaw()

bool embObjMotionControl::getCurrentImpedanceLimitRaw ( int  j,
double *  min_stiff,
double *  max_stiff,
double *  min_damp,
double *  max_damp 
)
overridevirtual

Definition at line 4263 of file embObjMotionControl.cpp.

◆ getCurrentRangeRaw()

bool embObjMotionControl::getCurrentRangeRaw ( int  j,
double *  min,
double *  max 
)
overridevirtual

Definition at line 5282 of file embObjMotionControl.cpp.

◆ getCurrentRangesRaw()

bool embObjMotionControl::getCurrentRangesRaw ( double *  min,
double *  max 
)
overridevirtual

Definition at line 5292 of file embObjMotionControl.cpp.

◆ getCurrentRaw()

bool embObjMotionControl::getCurrentRaw ( int  j,
double *  val 
)
overridevirtual

Definition at line 3206 of file embObjMotionControl.cpp.

◆ getCurrentsRaw()

bool embObjMotionControl::getCurrentsRaw ( double *  vals)
overridevirtual

Definition at line 3216 of file embObjMotionControl.cpp.

◆ getDutyCycleRaw()

bool embObjMotionControl::getDutyCycleRaw ( int  j,
double *  v 
)
overridevirtual

Definition at line 5251 of file embObjMotionControl.cpp.

◆ getDutyCyclesRaw()

bool embObjMotionControl::getDutyCyclesRaw ( double *  v)
overridevirtual

Definition at line 5270 of file embObjMotionControl.cpp.

◆ getEncoderAccelerationRaw()

bool embObjMotionControl::getEncoderAccelerationRaw ( int  j,
double *  spds 
)
overridevirtual

Definition at line 3012 of file embObjMotionControl.cpp.

◆ getEncoderAccelerationsRaw()

bool embObjMotionControl::getEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 3025 of file embObjMotionControl.cpp.

◆ getEncoderRaw()

bool embObjMotionControl::getEncoderRaw ( int  j,
double *  v 
)
overridevirtual

Definition at line 2957 of file embObjMotionControl.cpp.

◆ getEncoderSpeedRaw()

bool embObjMotionControl::getEncoderSpeedRaw ( int  j,
double *  sp 
)
overridevirtual

Definition at line 2988 of file embObjMotionControl.cpp.

◆ getEncoderSpeedsRaw()

bool embObjMotionControl::getEncoderSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 3002 of file embObjMotionControl.cpp.

◆ getEncodersRaw()

bool embObjMotionControl::getEncodersRaw ( double *  encs)
overridevirtual

Definition at line 2977 of file embObjMotionControl.cpp.

◆ getEncodersTimedRaw()

bool embObjMotionControl::getEncodersTimedRaw ( double *  encs,
double *  stamps 
)
overridevirtual

Definition at line 3037 of file embObjMotionControl.cpp.

◆ getEncoderTimedRaw()

bool embObjMotionControl::getEncoderTimedRaw ( int  j,
double *  encs,
double *  stamp 
)
overridevirtual

Definition at line 3046 of file embObjMotionControl.cpp.

◆ getEntityName()

bool embObjMotionControl::getEntityName ( uint32_t  entityId,
std::string &  entityName 
)
virtual

Reimplemented from eth::IethResource.

Definition at line 1729 of file embObjMotionControl.cpp.

◆ getGearboxRatioRaw()

bool embObjMotionControl::getGearboxRatioRaw ( int  m,
double *  gearbox 
)
overridevirtual

Definition at line 3329 of file embObjMotionControl.cpp.

◆ getHasHallSensorRaw()

bool embObjMotionControl::getHasHallSensorRaw ( int  j,
int &  ret 
)

Definition at line 3464 of file embObjMotionControl.cpp.

◆ getHasRotorEncoderIndexRaw()

bool embObjMotionControl::getHasRotorEncoderIndexRaw ( int  j,
int &  ret 
)

Definition at line 3492 of file embObjMotionControl.cpp.

◆ getHasRotorEncoderRaw()

bool embObjMotionControl::getHasRotorEncoderRaw ( int  j,
int &  ret 
)

Definition at line 3478 of file embObjMotionControl.cpp.

◆ getHasTempSensorsRaw()

bool embObjMotionControl::getHasTempSensorsRaw ( int  j,
int &  ret 
)

Definition at line 3450 of file embObjMotionControl.cpp.

◆ getImpedanceOffsetRaw()

bool embObjMotionControl::getImpedanceOffsetRaw ( int  j,
double *  offset 
)
overridevirtual

Definition at line 4252 of file embObjMotionControl.cpp.

◆ getImpedanceRaw()

bool embObjMotionControl::getImpedanceRaw ( int  j,
double *  stiffness,
double *  damping 
)
overridevirtual

Definition at line 4176 of file embObjMotionControl.cpp.

◆ getInteractionModeRaw()

bool embObjMotionControl::getInteractionModeRaw ( int  j,
yarp::dev::InteractionModeEnum *  _mode 
)
overridevirtual

Definition at line 4610 of file embObjMotionControl.cpp.

◆ getInteractionModesRaw() [1/2]

bool embObjMotionControl::getInteractionModesRaw ( int  n_joints,
int *  joints,
yarp::dev::InteractionModeEnum *  modes 
)
overridevirtual

Definition at line 4627 of file embObjMotionControl.cpp.

◆ getInteractionModesRaw() [2/2]

bool embObjMotionControl::getInteractionModesRaw ( yarp::dev::InteractionModeEnum *  modes)
overridevirtual

Definition at line 4638 of file embObjMotionControl.cpp.

◆ getJointEncoderResolutionRaw()

bool embObjMotionControl::getJointEncoderResolutionRaw ( int  m,
double &  jntres 
)

Definition at line 3382 of file embObjMotionControl.cpp.

◆ getJointEncoderTypeRaw()

bool embObjMotionControl::getJointEncoderTypeRaw ( int  j,
int &  type 
)

Definition at line 3396 of file embObjMotionControl.cpp.

◆ getJointTypeRaw()

bool embObjMotionControl::getJointTypeRaw ( int  axis,
yarp::dev::JointTypeEnum &  type 
)
overridevirtual

Definition at line 3549 of file embObjMotionControl.cpp.

◆ getKeyMetadata()

bool embObjMotionControl::getKeyMetadata ( std::string  key,
rawValuesKeyMetadata &  meta 
)
overridevirtual

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5653 of file embObjMotionControl.cpp.

◆ getKeys()

bool embObjMotionControl::getKeys ( std::vector< std::string > &  keys)
overridevirtual

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5627 of file embObjMotionControl.cpp.

◆ getKinematicMJRaw()

bool embObjMotionControl::getKinematicMJRaw ( int  j,
double &  rotres 
)

Definition at line 3424 of file embObjMotionControl.cpp.

◆ getLastJointFaultRaw()

bool embObjMotionControl::getLastJointFaultRaw ( int  j,
int &  fault,
std::string &  message 
)
overridevirtual

Definition at line 5542 of file embObjMotionControl.cpp.

◆ getLimitsRaw()

bool embObjMotionControl::getLimitsRaw ( int  axis,
double *  min,
double *  max 
)
overridevirtual

Definition at line 3315 of file embObjMotionControl.cpp.

◆ getMaxCurrentRaw()

bool embObjMotionControl::getMaxCurrentRaw ( int  j,
double *  val 
)
overridevirtual

Definition at line 3245 of file embObjMotionControl.cpp.

◆ getMetadataMap()

bool embObjMotionControl::getMetadataMap ( rawValuesKeyMetadataMap &  metamap)
overridevirtual

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5642 of file embObjMotionControl.cpp.

◆ getMotorEncoderAccelerationRaw()

bool embObjMotionControl::getMotorEncoderAccelerationRaw ( int  m,
double *  spds 
)
overridevirtual

Definition at line 3149 of file embObjMotionControl.cpp.

◆ getMotorEncoderAccelerationsRaw()

bool embObjMotionControl::getMotorEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 3166 of file embObjMotionControl.cpp.

◆ getMotorEncoderCountsPerRevolutionRaw()

bool embObjMotionControl::getMotorEncoderCountsPerRevolutionRaw ( int  m,
double *  v 
)
overridevirtual

Definition at line 3077 of file embObjMotionControl.cpp.

◆ getMotorEncoderRaw()

bool embObjMotionControl::getMotorEncoderRaw ( int  m,
double *  v 
)
overridevirtual

Definition at line 3092 of file embObjMotionControl.cpp.

◆ getMotorEncoderSpeedRaw()

bool embObjMotionControl::getMotorEncoderSpeedRaw ( int  m,
double *  sp 
)
overridevirtual

Definition at line 3122 of file embObjMotionControl.cpp.

◆ getMotorEncoderSpeedsRaw()

bool embObjMotionControl::getMotorEncoderSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 3139 of file embObjMotionControl.cpp.

◆ getMotorEncodersRaw()

bool embObjMotionControl::getMotorEncodersRaw ( double *  encs)
overridevirtual

Definition at line 3111 of file embObjMotionControl.cpp.

◆ getMotorEncodersTimedRaw()

bool embObjMotionControl::getMotorEncodersTimedRaw ( double *  encs,
double *  stamps 
)
overridevirtual

Definition at line 3176 of file embObjMotionControl.cpp.

◆ getMotorEncoderTimedRaw()

bool embObjMotionControl::getMotorEncoderTimedRaw ( int  m,
double *  encs,
double *  stamp 
)
overridevirtual

Definition at line 3185 of file embObjMotionControl.cpp.

◆ getMotorPolesRaw()

bool embObjMotionControl::getMotorPolesRaw ( int  j,
int &  poles 
)

Definition at line 3506 of file embObjMotionControl.cpp.

◆ getMotorTorqueParamsRaw()

bool embObjMotionControl::getMotorTorqueParamsRaw ( int  j,
MotorTorqueParameters *  params 
)
overridevirtual

Definition at line 4272 of file embObjMotionControl.cpp.

◆ getNominalCurrentRaw()

bool embObjMotionControl::getNominalCurrentRaw ( int  m,
double *  val 
)
overridevirtual

Definition at line 4968 of file embObjMotionControl.cpp.

◆ getNumberOfKeys()

int embObjMotionControl::getNumberOfKeys ( )
overridevirtual

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5637 of file embObjMotionControl.cpp.

◆ getNumberOfMotorEncodersRaw()

bool embObjMotionControl::getNumberOfMotorEncodersRaw ( int *  num)
overridevirtual

Definition at line 3056 of file embObjMotionControl.cpp.

◆ getNumberOfMotorsRaw()

bool embObjMotionControl::getNumberOfMotorsRaw ( int *  num)
overridevirtual

Definition at line 4856 of file embObjMotionControl.cpp.

◆ getPeakCurrentRaw()

bool embObjMotionControl::getPeakCurrentRaw ( int  m,
double *  val 
)
overridevirtual

Definition at line 4928 of file embObjMotionControl.cpp.

◆ getPidErrorLimitRaw()

bool embObjMotionControl::getPidErrorLimitRaw ( const PidControlTypeEnum &  pidtype,
int  j,
double *  limit 
)
overridevirtual

Definition at line 2062 of file embObjMotionControl.cpp.

◆ getPidErrorLimitsRaw()

bool embObjMotionControl::getPidErrorLimitsRaw ( const PidControlTypeEnum &  pidtype,
double *  limits 
)
overridevirtual

Definition at line 2067 of file embObjMotionControl.cpp.

◆ getPidErrorRaw()

bool embObjMotionControl::getPidErrorRaw ( const PidControlTypeEnum &  pidtype,
int  j,
double *  err 
)
overridevirtual

Definition at line 1847 of file embObjMotionControl.cpp.

◆ getPidErrorsRaw()

bool embObjMotionControl::getPidErrorsRaw ( const PidControlTypeEnum &  pidtype,
double *  errs 
)
overridevirtual

Definition at line 1911 of file embObjMotionControl.cpp.

◆ getPidOutputRaw()

bool embObjMotionControl::getPidOutputRaw ( const PidControlTypeEnum &  pidtype,
int  j,
double *  out 
)
overridevirtual

Definition at line 4802 of file embObjMotionControl.cpp.

◆ getPidOutputsRaw()

bool embObjMotionControl::getPidOutputsRaw ( const PidControlTypeEnum &  pidtype,
double *  outs 
)
overridevirtual

Definition at line 4841 of file embObjMotionControl.cpp.

◆ getPidRaw()

bool embObjMotionControl::getPidRaw ( const PidControlTypeEnum &  pidtype,
int  j,
Pid *  pid 
)
overridevirtual

Definition at line 1768 of file embObjMotionControl.cpp.

◆ getPidReferenceRaw()

bool embObjMotionControl::getPidReferenceRaw ( const PidControlTypeEnum &  pidtype,
int  j,
double *  ref 
)
overridevirtual

Definition at line 1996 of file embObjMotionControl.cpp.

◆ getPidReferencesRaw()

bool embObjMotionControl::getPidReferencesRaw ( const PidControlTypeEnum &  pidtype,
double *  refs 
)
overridevirtual

Definition at line 2049 of file embObjMotionControl.cpp.

◆ getPidsRaw()

bool embObjMotionControl::getPidsRaw ( const PidControlTypeEnum &  pidtype,
Pid *  pids 
)
overridevirtual

Definition at line 1970 of file embObjMotionControl.cpp.

◆ getPowerSupplyVoltageRaw()

bool embObjMotionControl::getPowerSupplyVoltageRaw ( int  j,
double *  val 
)
overridevirtual

Definition at line 5061 of file embObjMotionControl.cpp.

◆ getPWMLimitRaw()

bool embObjMotionControl::getPWMLimitRaw ( int  j,
double *  val 
)
overridevirtual

Definition at line 5029 of file embObjMotionControl.cpp.

◆ getPWMRaw()

bool embObjMotionControl::getPWMRaw ( int  j,
double *  val 
)
overridevirtual

Definition at line 5010 of file embObjMotionControl.cpp.

◆ getRawData()

bool embObjMotionControl::getRawData ( std::string  key,
std::vector< std::int32_t > &  data 
)
overridevirtual

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5612 of file embObjMotionControl.cpp.

◆ getRawDataMap()

bool embObjMotionControl::getRawDataMap ( std::map< std::string, std::vector< std::int32_t >> &  map)
overridevirtual

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5597 of file embObjMotionControl.cpp.

◆ getRefAccelerationRaw()

bool embObjMotionControl::getRefAccelerationRaw ( int  j,
double *  acc 
)
overridevirtual

Definition at line 2636 of file embObjMotionControl.cpp.

◆ getRefAccelerationsRaw() [1/2]

bool embObjMotionControl::getRefAccelerationsRaw ( const int  n_joint,
const int *  joints,
double *  accs 
)
overridevirtual

Definition at line 2756 of file embObjMotionControl.cpp.

◆ getRefAccelerationsRaw() [2/2]

bool embObjMotionControl::getRefAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 2642 of file embObjMotionControl.cpp.

◆ getRefCurrentRaw()

bool embObjMotionControl::getRefCurrentRaw ( int  j,
double *  t 
)
overridevirtual

Definition at line 5350 of file embObjMotionControl.cpp.

◆ getRefCurrentsRaw()

bool embObjMotionControl::getRefCurrentsRaw ( double *  t)
overridevirtual

Definition at line 5334 of file embObjMotionControl.cpp.

◆ getRefDutyCycleRaw()

bool embObjMotionControl::getRefDutyCycleRaw ( int  j,
double *  v 
)
overridevirtual

Definition at line 5216 of file embObjMotionControl.cpp.

◆ getRefDutyCyclesRaw()

bool embObjMotionControl::getRefDutyCyclesRaw ( double *  v)
overridevirtual

Definition at line 5235 of file embObjMotionControl.cpp.

◆ getRefPositionRaw()

bool embObjMotionControl::getRefPositionRaw ( const int  joint,
double *  ref 
)
overridevirtual

Definition at line 4552 of file embObjMotionControl.cpp.

◆ getRefPositionsRaw() [1/2]

bool embObjMotionControl::getRefPositionsRaw ( const int  n_joint,
const int *  joints,
double *  refs 
)
overridevirtual

Definition at line 4596 of file embObjMotionControl.cpp.

◆ getRefPositionsRaw() [2/2]

bool embObjMotionControl::getRefPositionsRaw ( double *  refs)
overridevirtual

Definition at line 4575 of file embObjMotionControl.cpp.

◆ getRefSpeedRaw()

bool embObjMotionControl::getRefSpeedRaw ( int  j,
double *  ref 
)
overridevirtual

Definition at line 2618 of file embObjMotionControl.cpp.

◆ getRefSpeedsRaw() [1/2]

bool embObjMotionControl::getRefSpeedsRaw ( const int  n_joint,
const int *  joints,
double *  spds 
)
overridevirtual

Definition at line 2746 of file embObjMotionControl.cpp.

◆ getRefSpeedsRaw() [2/2]

bool embObjMotionControl::getRefSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 2630 of file embObjMotionControl.cpp.

◆ getRefTorqueRaw()

bool embObjMotionControl::getRefTorqueRaw ( int  j,
double *  t 
)
overridevirtual

Definition at line 4107 of file embObjMotionControl.cpp.

◆ getRefTorquesRaw()

bool embObjMotionControl::getRefTorquesRaw ( double *  t)
overridevirtual

Definition at line 4099 of file embObjMotionControl.cpp.

◆ getRefVelocitiesRaw() [1/2]

bool embObjMotionControl::getRefVelocitiesRaw ( const int  n_joint,
const int *  joints,
double *  refs 
)
overridevirtual

Definition at line 4534 of file embObjMotionControl.cpp.

◆ getRefVelocitiesRaw() [2/2]

bool embObjMotionControl::getRefVelocitiesRaw ( double *  refs)
overridevirtual

Definition at line 4509 of file embObjMotionControl.cpp.

◆ getRefVelocityRaw()

bool embObjMotionControl::getRefVelocityRaw ( const int  joint,
double *  ref 
)
overridevirtual

Definition at line 4486 of file embObjMotionControl.cpp.

◆ getRemoteVariableRaw()

bool embObjMotionControl::getRemoteVariableRaw ( std::string  key,
yarp::os::Bottle &  val 
)
overridevirtual

Definition at line 3577 of file embObjMotionControl.cpp.

◆ getRemoteVariablesListRaw()

bool embObjMotionControl::getRemoteVariablesListRaw ( yarp::os::Bottle *  listOfKeys)
overridevirtual

Definition at line 3928 of file embObjMotionControl.cpp.

◆ getRotorEncoderResolutionRaw()

bool embObjMotionControl::getRotorEncoderResolutionRaw ( int  m,
double &  rotres 
)

Definition at line 3368 of file embObjMotionControl.cpp.

◆ getRotorEncoderTypeRaw()

bool embObjMotionControl::getRotorEncoderTypeRaw ( int  j,
int &  type 
)

Definition at line 3410 of file embObjMotionControl.cpp.

◆ getRotorIndexOffsetRaw()

bool embObjMotionControl::getRotorIndexOffsetRaw ( int  j,
double &  rotorOffset 
)

Definition at line 3521 of file embObjMotionControl.cpp.

◆ getRotorLimitsRaw()

bool embObjMotionControl::getRotorLimitsRaw ( int  j,
double *  rotorMin,
double *  rotorMax 
)

Definition at line 3343 of file embObjMotionControl.cpp.

◆ getTargetPositionRaw()

bool embObjMotionControl::getTargetPositionRaw ( const int  joint,
double *  ref 
)
overridevirtual

Definition at line 4441 of file embObjMotionControl.cpp.

◆ getTargetPositionsRaw() [1/2]

bool embObjMotionControl::getTargetPositionsRaw ( const int  n_joint,
const int *  joints,
double *  refs 
)
overridevirtual

Definition at line 4476 of file embObjMotionControl.cpp.

◆ getTargetPositionsRaw() [2/2]

bool embObjMotionControl::getTargetPositionsRaw ( double *  refs)
overridevirtual

Definition at line 4466 of file embObjMotionControl.cpp.

◆ getTemperatureLimitRaw()

bool embObjMotionControl::getTemperatureLimitRaw ( int  m,
double *  temp 
)
overridevirtual

Definition at line 4901 of file embObjMotionControl.cpp.

◆ getTemperatureRaw()

bool embObjMotionControl::getTemperatureRaw ( int  m,
double *  val 
)
overridevirtual

Definition at line 4862 of file embObjMotionControl.cpp.

◆ getTemperatureSensorTypeRaw()

bool embObjMotionControl::getTemperatureSensorTypeRaw ( int  j,
std::string &  ret 
)

Definition at line 3430 of file embObjMotionControl.cpp.

◆ getTemperaturesRaw()

bool embObjMotionControl::getTemperaturesRaw ( double *  vals)
overridevirtual

Definition at line 4891 of file embObjMotionControl.cpp.

◆ getTorqueControlFilterType()

bool embObjMotionControl::getTorqueControlFilterType ( int  j,
int &  type 
)

Definition at line 3355 of file embObjMotionControl.cpp.

◆ getTorqueRangeRaw()

bool embObjMotionControl::getTorqueRangeRaw ( int  j,
double *  min,
double *  max 
)
overridevirtual

Definition at line 4061 of file embObjMotionControl.cpp.

◆ getTorqueRangesRaw()

bool embObjMotionControl::getTorqueRangesRaw ( double *  min,
double *  max 
)
overridevirtual

Definition at line 4066 of file embObjMotionControl.cpp.

◆ getTorqueRaw()

bool embObjMotionControl::getTorqueRaw ( int  j,
double *  t 
)
overridevirtual

Definition at line 4044 of file embObjMotionControl.cpp.

◆ getTorquesRaw()

bool embObjMotionControl::getTorquesRaw ( double *  t)
overridevirtual

Definition at line 4053 of file embObjMotionControl.cpp.

◆ getVelLimitsRaw()

bool embObjMotionControl::getVelLimitsRaw ( int  axis,
double *  min,
double *  max 
)
overridevirtual

Definition at line 3978 of file embObjMotionControl.cpp.

◆ getVirtualAnalogSensorChannels()

int embObjMotionControl::getVirtualAnalogSensorChannels ( )
overridevirtual

Definition at line 4005 of file embObjMotionControl.cpp.

◆ getVirtualAnalogSensorStatus()

yarp::dev::VAS_status embObjMotionControl::getVirtualAnalogSensorStatus ( int  ch)
overridevirtual

Definition at line 4000 of file embObjMotionControl.cpp.

◆ getWholeImpedanceRaw()

bool embObjMotionControl::getWholeImpedanceRaw ( int  j,
eOmc_impedance_t &  imped 
)

Definition at line 4189 of file embObjMotionControl.cpp.

◆ initialised()

bool embObjMotionControl::initialised ( )
virtual

Implements eth::IethResource.

Definition at line 311 of file embObjMotionControl.cpp.

◆ isPidEnabledRaw()

bool embObjMotionControl::isPidEnabledRaw ( const PidControlTypeEnum &  pidtype,
int  j,
bool *  enabled 
)
overridevirtual

Definition at line 4851 of file embObjMotionControl.cpp.

◆ open()

bool embObjMotionControl::open ( yarp::os::Searchable &  par)
virtual

Definition at line 343 of file embObjMotionControl.cpp.

◆ positionMoveRaw() [1/3]

bool embObjMotionControl::positionMoveRaw ( const double *  refs)
overridevirtual

Definition at line 2498 of file embObjMotionControl.cpp.

◆ positionMoveRaw() [2/3]

bool embObjMotionControl::positionMoveRaw ( const int  n_joint,
const int *  joints,
const double *  refs 
)
overridevirtual

Definition at line 2672 of file embObjMotionControl.cpp.

◆ positionMoveRaw() [3/3]

bool embObjMotionControl::positionMoveRaw ( int  j,
double  ref 
)
overridevirtual

Definition at line 2464 of file embObjMotionControl.cpp.

◆ relativeMoveRaw() [1/3]

bool embObjMotionControl::relativeMoveRaw ( const double *  deltas)
overridevirtual

Definition at line 2514 of file embObjMotionControl.cpp.

◆ relativeMoveRaw() [2/3]

bool embObjMotionControl::relativeMoveRaw ( const int  n_joint,
const int *  joints,
const double *  deltas 
)
overridevirtual

Definition at line 2682 of file embObjMotionControl.cpp.

◆ relativeMoveRaw() [3/3]

bool embObjMotionControl::relativeMoveRaw ( int  j,
double  delta 
)
overridevirtual

Definition at line 2509 of file embObjMotionControl.cpp.

◆ resetEncoderRaw()

bool embObjMotionControl::resetEncoderRaw ( int  j)
overridevirtual

Definition at line 2947 of file embObjMotionControl.cpp.

◆ resetEncodersRaw()

bool embObjMotionControl::resetEncodersRaw ( )
overridevirtual

Definition at line 2952 of file embObjMotionControl.cpp.

◆ resetMotorEncoderRaw()

bool embObjMotionControl::resetMotorEncoderRaw ( int  m)
overridevirtual

Definition at line 3082 of file embObjMotionControl.cpp.

◆ resetMotorEncodersRaw()

bool embObjMotionControl::resetMotorEncodersRaw ( )
overridevirtual

Definition at line 3087 of file embObjMotionControl.cpp.

◆ resetPidRaw()

bool embObjMotionControl::resetPidRaw ( const PidControlTypeEnum &  pidtype,
int  j 
)
overridevirtual

Definition at line 2072 of file embObjMotionControl.cpp.

◆ setCalibrationParametersRaw()

bool embObjMotionControl::setCalibrationParametersRaw ( int  axis,
const CalibrationParameters &  params 
)
overridevirtual

Definition at line 2150 of file embObjMotionControl.cpp.

◆ setControlModeRaw()

bool embObjMotionControl::setControlModeRaw ( const int  j,
const int  mode 
)
overridevirtual

Definition at line 2819 of file embObjMotionControl.cpp.

◆ setControlModesRaw() [1/2]

bool embObjMotionControl::setControlModesRaw ( const int  n_joint,
const int *  joints,
int *  modes 
)
overridevirtual

Definition at line 2855 of file embObjMotionControl.cpp.

◆ setControlModesRaw() [2/2]

bool embObjMotionControl::setControlModesRaw ( int *  modes)
overridevirtual

Definition at line 2893 of file embObjMotionControl.cpp.

◆ setEncoderRaw()

bool embObjMotionControl::setEncoderRaw ( int  j,
double  val 
)
overridevirtual

Definition at line 2937 of file embObjMotionControl.cpp.

◆ setEncodersRaw()

bool embObjMotionControl::setEncodersRaw ( const double *  vals)
overridevirtual

Definition at line 2942 of file embObjMotionControl.cpp.

◆ setImpedanceOffsetRaw()

bool embObjMotionControl::setImpedanceOffsetRaw ( int  j,
double  offset 
)
overridevirtual

Definition at line 4230 of file embObjMotionControl.cpp.

◆ setImpedanceRaw()

bool embObjMotionControl::setImpedanceRaw ( int  j,
double  stiffness,
double  damping 
)
overridevirtual

Definition at line 4205 of file embObjMotionControl.cpp.

◆ setInteractionModeRaw()

bool embObjMotionControl::setInteractionModeRaw ( int  j,
yarp::dev::InteractionModeEnum  _mode 
)
overridevirtual

Definition at line 4650 of file embObjMotionControl.cpp.

◆ setInteractionModesRaw() [1/2]

bool embObjMotionControl::setInteractionModesRaw ( int  n_joints,
int *  joints,
yarp::dev::InteractionModeEnum *  modes 
)
overridevirtual

Definition at line 4690 of file embObjMotionControl.cpp.

◆ setInteractionModesRaw() [2/2]

bool embObjMotionControl::setInteractionModesRaw ( yarp::dev::InteractionModeEnum *  modes)
overridevirtual

Definition at line 4744 of file embObjMotionControl.cpp.

◆ setLimitsRaw()

bool embObjMotionControl::setLimitsRaw ( int  axis,
double  min,
double  max 
)
overridevirtual

Definition at line 3296 of file embObjMotionControl.cpp.

◆ setMaxCurrentRaw()

bool embObjMotionControl::setMaxCurrentRaw ( int  j,
double  val 
)
overridevirtual

Definition at line 3226 of file embObjMotionControl.cpp.

◆ setMotorEncoderCountsPerRevolutionRaw()

bool embObjMotionControl::setMotorEncoderCountsPerRevolutionRaw ( int  m,
const double  cpr 
)
overridevirtual

Definition at line 3072 of file embObjMotionControl.cpp.

◆ setMotorEncoderRaw()

bool embObjMotionControl::setMotorEncoderRaw ( int  m,
const double  val 
)
overridevirtual

Definition at line 3062 of file embObjMotionControl.cpp.

◆ setMotorEncodersRaw()

bool embObjMotionControl::setMotorEncodersRaw ( const double *  vals)
overridevirtual

Definition at line 3067 of file embObjMotionControl.cpp.

◆ setMotorTorqueParamsRaw()

bool embObjMotionControl::setMotorTorqueParamsRaw ( int  j,
const MotorTorqueParameters  params 
)
overridevirtual

Definition at line 4296 of file embObjMotionControl.cpp.

◆ setNominalCurrentRaw()

bool embObjMotionControl::setNominalCurrentRaw ( int  m,
const double  val 
)
overridevirtual

Definition at line 4984 of file embObjMotionControl.cpp.

◆ setPeakCurrentRaw()

bool embObjMotionControl::setPeakCurrentRaw ( int  m,
const double  val 
)
overridevirtual

Definition at line 4944 of file embObjMotionControl.cpp.

◆ setPidErrorLimitRaw()

bool embObjMotionControl::setPidErrorLimitRaw ( const PidControlTypeEnum &  pidtype,
int  j,
double  limit 
)
overridevirtual

Definition at line 1835 of file embObjMotionControl.cpp.

◆ setPidErrorLimitsRaw()

bool embObjMotionControl::setPidErrorLimitsRaw ( const PidControlTypeEnum &  pidtype,
const double *  limits 
)
overridevirtual

Definition at line 1841 of file embObjMotionControl.cpp.

◆ setPidOffsetRaw()

bool embObjMotionControl::setPidOffsetRaw ( const PidControlTypeEnum &  pidtype,
int  j,
double  v 
)
overridevirtual

Definition at line 2087 of file embObjMotionControl.cpp.

◆ setPidRaw()

bool embObjMotionControl::setPidRaw ( const PidControlTypeEnum &  pidtype,
int  j,
const Pid &  pid 
)
overridevirtual

Definition at line 1744 of file embObjMotionControl.cpp.

◆ setPidReferenceRaw()

bool embObjMotionControl::setPidReferenceRaw ( const PidControlTypeEnum &  pidtype,
int  j,
double  ref 
)
overridevirtual

Definition at line 1820 of file embObjMotionControl.cpp.

◆ setPidReferencesRaw()

bool embObjMotionControl::setPidReferencesRaw ( const PidControlTypeEnum &  pidtype,
const double *  refs 
)
overridevirtual

Definition at line 1825 of file embObjMotionControl.cpp.

◆ setPidsRaw()

bool embObjMotionControl::setPidsRaw ( const PidControlTypeEnum &  pidtype,
const Pid *  pids 
)
overridevirtual

Definition at line 1810 of file embObjMotionControl.cpp.

◆ setPositionRaw()

bool embObjMotionControl::setPositionRaw ( int  j,
double  ref 
)
overridevirtual

Definition at line 4395 of file embObjMotionControl.cpp.

◆ setPositionsRaw() [1/2]

bool embObjMotionControl::setPositionsRaw ( const double *  refs)
overridevirtual

Definition at line 4430 of file embObjMotionControl.cpp.

◆ setPositionsRaw() [2/2]

bool embObjMotionControl::setPositionsRaw ( const int  n_joint,
const int *  joints,
const double *  refs 
)
overridevirtual

Definition at line 4420 of file embObjMotionControl.cpp.

◆ setPWMLimitRaw()

bool embObjMotionControl::setPWMLimitRaw ( int  j,
const double  val 
)
overridevirtual

Definition at line 5049 of file embObjMotionControl.cpp.

◆ setRefAccelerationRaw()

bool embObjMotionControl::setRefAccelerationRaw ( int  j,
double  acc 
)
overridevirtual

Definition at line 2575 of file embObjMotionControl.cpp.

◆ setRefAccelerationsRaw() [1/2]

bool embObjMotionControl::setRefAccelerationsRaw ( const double *  accs)
overridevirtual

Definition at line 2596 of file embObjMotionControl.cpp.

◆ setRefAccelerationsRaw() [2/2]

bool embObjMotionControl::setRefAccelerationsRaw ( const int  n_joint,
const int *  joints,
const double *  accs 
)
overridevirtual

Definition at line 2736 of file embObjMotionControl.cpp.

◆ setRefCurrentRaw()

bool embObjMotionControl::setRefCurrentRaw ( int  j,
double  t 
)
overridevirtual

Definition at line 5312 of file embObjMotionControl.cpp.

◆ setRefCurrentsRaw() [1/2]

bool embObjMotionControl::setRefCurrentsRaw ( const double *  t)
overridevirtual

Definition at line 5302 of file embObjMotionControl.cpp.

◆ setRefCurrentsRaw() [2/2]

bool embObjMotionControl::setRefCurrentsRaw ( const int  n_joint,
const int *  joints,
const double *  t 
)
overridevirtual

Definition at line 5324 of file embObjMotionControl.cpp.

◆ setRefDutyCycleRaw()

bool embObjMotionControl::setRefDutyCycleRaw ( int  j,
double  v 
)
overridevirtual

Definition at line 5194 of file embObjMotionControl.cpp.

◆ setRefDutyCyclesRaw()

bool embObjMotionControl::setRefDutyCyclesRaw ( const double *  v)
overridevirtual

Definition at line 5206 of file embObjMotionControl.cpp.

◆ setRefSpeedRaw()

bool embObjMotionControl::setRefSpeedRaw ( int  j,
double  sp 
)
overridevirtual

Definition at line 2555 of file embObjMotionControl.cpp.

◆ setRefSpeedsRaw() [1/2]

bool embObjMotionControl::setRefSpeedsRaw ( const double *  spds)
overridevirtual

Definition at line 2564 of file embObjMotionControl.cpp.

◆ setRefSpeedsRaw() [2/2]

bool embObjMotionControl::setRefSpeedsRaw ( const int  n_joint,
const int *  joints,
const double *  spds 
)
overridevirtual

Definition at line 2726 of file embObjMotionControl.cpp.

◆ setRefTorqueRaw()

bool embObjMotionControl::setRefTorqueRaw ( int  j,
double  t 
)
overridevirtual

Definition at line 4079 of file embObjMotionControl.cpp.

◆ setRefTorquesRaw() [1/2]

bool embObjMotionControl::setRefTorquesRaw ( const double *  t)
overridevirtual

Definition at line 4071 of file embObjMotionControl.cpp.

◆ setRefTorquesRaw() [2/2]

bool embObjMotionControl::setRefTorquesRaw ( const int  n_joint,
const int *  joints,
const double *  t 
)
overridevirtual

Definition at line 4089 of file embObjMotionControl.cpp.

◆ setRemoteVariableRaw()

bool embObjMotionControl::setRemoteVariableRaw ( std::string  key,
const yarp::os::Bottle &  val 
)
overridevirtual

Definition at line 3873 of file embObjMotionControl.cpp.

◆ setTemperatureLimitRaw()

bool embObjMotionControl::setTemperatureLimitRaw ( int  m,
const double  temp 
)
overridevirtual

Definition at line 4920 of file embObjMotionControl.cpp.

◆ setVelLimitsRaw()

bool embObjMotionControl::setVelLimitsRaw ( int  axis,
double  min,
double  max 
)
overridevirtual

Definition at line 3973 of file embObjMotionControl.cpp.

◆ stopRaw() [1/3]

bool embObjMotionControl::stopRaw ( )
overridevirtual

Definition at line 2657 of file embObjMotionControl.cpp.

◆ stopRaw() [2/3]

bool embObjMotionControl::stopRaw ( const int  n_joint,
const int *  joints 
)
overridevirtual

Definition at line 2766 of file embObjMotionControl.cpp.

◆ stopRaw() [3/3]

bool embObjMotionControl::stopRaw ( int  j)
overridevirtual

Definition at line 2648 of file embObjMotionControl.cpp.

◆ type()

eth::iethresType_t embObjMotionControl::type ( )
virtual

Implements eth::IethResource.

Definition at line 1588 of file embObjMotionControl.cpp.

◆ update()

bool embObjMotionControl::update ( eOprotID32_t  id32,
double  timestamp,
void *  rxdata 
)
virtual

Implements eth::IethResource.

Definition at line 1593 of file embObjMotionControl.cpp.

◆ updateVirtualAnalogSensorMeasure() [1/2]

bool embObjMotionControl::updateVirtualAnalogSensorMeasure ( int  j,
double &  fTorque 
)
overridevirtual

Definition at line 4021 of file embObjMotionControl.cpp.

◆ updateVirtualAnalogSensorMeasure() [2/2]

bool embObjMotionControl::updateVirtualAnalogSensorMeasure ( yarp::sig::Vector &  fTorques)
overridevirtual

Definition at line 4010 of file embObjMotionControl.cpp.

◆ velocityMoveRaw() [1/3]

bool embObjMotionControl::velocityMoveRaw ( const double *  sp)
overridevirtual

Definition at line 2130 of file embObjMotionControl.cpp.

◆ velocityMoveRaw() [2/3]

bool embObjMotionControl::velocityMoveRaw ( const int  n_joint,
const int *  joints,
const double *  spds 
)
overridevirtual

Definition at line 4324 of file embObjMotionControl.cpp.

◆ velocityMoveRaw() [3/3]

bool embObjMotionControl::velocityMoveRaw ( int  j,
double  sp 
)
overridevirtual

Definition at line 2096 of file embObjMotionControl.cpp.

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