iCub-main
|
embObjMotionControl
: driver for iCub motor control boards EMS on a ETH bus.
More...
#include <embObjMotionControl.h>
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 | 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 ¶ms) 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 | 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 | ~IethResource () |
const char * | stringOfType () |
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–ebX-jA_B-mc.xml .
YARP device name |
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embObjMotionControl |
Definition at line 146 of file embObjMotionControl.h.
embObjMotionControl::embObjMotionControl | ( | ) |
Definition at line 184 of file embObjMotionControl.cpp.
embObjMotionControl::~embObjMotionControl | ( | ) |
Definition at line 281 of file embObjMotionControl.cpp.
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bool embObjMotionControl::getHasHallSensorRaw | ( | int | j, |
int & | ret | ||
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Definition at line 3227 of file embObjMotionControl.cpp.
bool embObjMotionControl::getHasRotorEncoderIndexRaw | ( | int | j, |
int & | ret | ||
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Definition at line 3255 of file embObjMotionControl.cpp.
bool embObjMotionControl::getHasRotorEncoderRaw | ( | int | j, |
int & | ret | ||
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Definition at line 3241 of file embObjMotionControl.cpp.
bool embObjMotionControl::getHasTempSensorsRaw | ( | int | j, |
int & | ret | ||
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bool embObjMotionControl::getJointEncoderResolutionRaw | ( | int | m, |
double & | jntres | ||
) |
Definition at line 3165 of file embObjMotionControl.cpp.
bool embObjMotionControl::getJointEncoderTypeRaw | ( | int | j, |
int & | type | ||
) |
Definition at line 3179 of file embObjMotionControl.cpp.
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Definition at line 3312 of file embObjMotionControl.cpp.
bool embObjMotionControl::getKinematicMJRaw | ( | int | j, |
double & | rotres | ||
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bool embObjMotionControl::getMotorPolesRaw | ( | int | j, |
int & | poles | ||
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bool embObjMotionControl::getRotorEncoderResolutionRaw | ( | int | m, |
double & | rotres | ||
) |
Definition at line 3151 of file embObjMotionControl.cpp.
bool embObjMotionControl::getRotorEncoderTypeRaw | ( | int | j, |
int & | type | ||
) |
Definition at line 3193 of file embObjMotionControl.cpp.
bool embObjMotionControl::getRotorIndexOffsetRaw | ( | int | j, |
double & | rotorOffset | ||
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Definition at line 3284 of file embObjMotionControl.cpp.
bool embObjMotionControl::getRotorLimitsRaw | ( | int | j, |
double * | rotorMin, | ||
double * | rotorMax | ||
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bool embObjMotionControl::getTorqueControlFilterType | ( | int | j, |
int & | type | ||
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bool embObjMotionControl::getWholeImpedanceRaw | ( | int | j, |
eOmc_impedance_t & | imped | ||
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Implements eth::IethResource.
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Definition at line 3987 of file embObjMotionControl.cpp.
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Definition at line 3962 of file embObjMotionControl.cpp.
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Definition at line 4405 of file embObjMotionControl.cpp.
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Definition at line 4445 of file embObjMotionControl.cpp.
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Definition at line 4499 of file embObjMotionControl.cpp.
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Definition at line 3079 of file embObjMotionControl.cpp.
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Definition at line 3009 of file embObjMotionControl.cpp.
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Definition at line 2855 of file embObjMotionControl.cpp.
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Definition at line 2845 of file embObjMotionControl.cpp.
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Definition at line 2850 of file embObjMotionControl.cpp.
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Definition at line 4052 of file embObjMotionControl.cpp.
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Definition at line 4727 of file embObjMotionControl.cpp.
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Definition at line 4687 of file embObjMotionControl.cpp.
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Definition at line 1662 of file embObjMotionControl.cpp.
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Definition at line 1668 of file embObjMotionControl.cpp.
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Definition at line 1914 of file embObjMotionControl.cpp.
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Definition at line 1571 of file embObjMotionControl.cpp.
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Definition at line 1647 of file embObjMotionControl.cpp.
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Definition at line 1652 of file embObjMotionControl.cpp.
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Definition at line 1637 of file embObjMotionControl.cpp.
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Definition at line 4150 of file embObjMotionControl.cpp.
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Definition at line 4185 of file embObjMotionControl.cpp.
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Definition at line 4175 of file embObjMotionControl.cpp.
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Definition at line 4792 of file embObjMotionControl.cpp.
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Definition at line 2358 of file embObjMotionControl.cpp.
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Definition at line 2379 of file embObjMotionControl.cpp.
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Definition at line 2519 of file embObjMotionControl.cpp.
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Definition at line 5055 of file embObjMotionControl.cpp.
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Definition at line 5045 of file embObjMotionControl.cpp.
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Definition at line 5067 of file embObjMotionControl.cpp.
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Definition at line 4937 of file embObjMotionControl.cpp.
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Definition at line 4949 of file embObjMotionControl.cpp.
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Definition at line 2338 of file embObjMotionControl.cpp.
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Definition at line 2347 of file embObjMotionControl.cpp.
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Definition at line 2509 of file embObjMotionControl.cpp.
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Definition at line 3836 of file embObjMotionControl.cpp.
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Definition at line 3828 of file embObjMotionControl.cpp.
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Definition at line 3846 of file embObjMotionControl.cpp.
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Definition at line 3631 of file embObjMotionControl.cpp.
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Definition at line 4663 of file embObjMotionControl.cpp.
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Definition at line 3730 of file embObjMotionControl.cpp.
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Definition at line 2440 of file embObjMotionControl.cpp.
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Definition at line 2549 of file embObjMotionControl.cpp.
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Definition at line 2431 of file embObjMotionControl.cpp.
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virtual |
Implements eth::IethResource.
Definition at line 1506 of file embObjMotionControl.cpp.
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Implements eth::IethResource.
Definition at line 1511 of file embObjMotionControl.cpp.
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Definition at line 3778 of file embObjMotionControl.cpp.
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Definition at line 3767 of file embObjMotionControl.cpp.
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Definition at line 1957 of file embObjMotionControl.cpp.
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Definition at line 4079 of file embObjMotionControl.cpp.
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Definition at line 1923 of file embObjMotionControl.cpp.