Loading [MathJax]/extensions/tex2jax.js
iCub-main
•All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Properties Friends Macros Modules Pages
Public Member Functions | List of all members
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 getEncoderTypeName (uint32_t jomoId, eOmc_position_t pos, std::string &encoderTypeName) override
 
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 230 of file embObjMotionControl.h.

Constructor & Destructor Documentation

◆ embObjMotionControl()

embObjMotionControl::embObjMotionControl ( )

Definition at line 188 of file embObjMotionControl.cpp.

◆ ~embObjMotionControl()

embObjMotionControl::~embObjMotionControl ( )

Definition at line 295 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 2397 of file embObjMotionControl.cpp.

◆ calibrationDoneRaw()

bool embObjMotionControl::calibrationDoneRaw ( int  j)
overridevirtual

Definition at line 2474 of file embObjMotionControl.cpp.

◆ checkMotionDoneRaw() [1/3]

bool embObjMotionControl::checkMotionDoneRaw ( bool *  flag)
overridevirtual

Definition at line 2609 of file embObjMotionControl.cpp.

◆ checkMotionDoneRaw() [2/3]

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

Definition at line 2763 of file embObjMotionControl.cpp.

◆ checkMotionDoneRaw() [3/3]

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

Definition at line 2591 of file embObjMotionControl.cpp.

◆ close()

bool embObjMotionControl::close ( )
virtual

Definition at line 1569 of file embObjMotionControl.cpp.

◆ disableAmpRaw()

bool embObjMotionControl::disableAmpRaw ( int  j)
overridevirtual

Definition at line 3272 of file embObjMotionControl.cpp.

◆ disablePidRaw()

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

Definition at line 2155 of file embObjMotionControl.cpp.

◆ enableAmpRaw()

bool embObjMotionControl::enableAmpRaw ( int  j)
overridevirtual

Definition at line 3267 of file embObjMotionControl.cpp.

◆ enablePidRaw()

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

Definition at line 2160 of file embObjMotionControl.cpp.

◆ getAmpStatusRaw() [1/2]

bool embObjMotionControl::getAmpStatusRaw ( int *  st)
overridevirtual

Definition at line 3341 of file embObjMotionControl.cpp.

◆ getAmpStatusRaw() [2/2]

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

Definition at line 3334 of file embObjMotionControl.cpp.

◆ getAxes()

bool embObjMotionControl::getAxes ( int *  ax)
overridevirtual

Definition at line 2528 of file embObjMotionControl.cpp.

◆ getAxisNameRaw()

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

Definition at line 3606 of file embObjMotionControl.cpp.

◆ getControlModeRaw()

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

Definition at line 2851 of file embObjMotionControl.cpp.

◆ getControlModesRaw() [1/2]

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

Definition at line 2875 of file embObjMotionControl.cpp.

◆ getControlModesRaw() [2/2]

bool embObjMotionControl::getControlModesRaw ( int *  v)
overridevirtual

Definition at line 2865 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 4334 of file embObjMotionControl.cpp.

◆ getCurrentRangeRaw()

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

Definition at line 5335 of file embObjMotionControl.cpp.

◆ getCurrentRangesRaw()

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

Definition at line 5345 of file embObjMotionControl.cpp.

◆ getCurrentRaw()

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

Definition at line 3277 of file embObjMotionControl.cpp.

◆ getCurrentsRaw()

bool embObjMotionControl::getCurrentsRaw ( double *  vals)
overridevirtual

Definition at line 3287 of file embObjMotionControl.cpp.

◆ getDutyCycleRaw()

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

Definition at line 5304 of file embObjMotionControl.cpp.

◆ getDutyCyclesRaw()

bool embObjMotionControl::getDutyCyclesRaw ( double *  v)
overridevirtual

Definition at line 5323 of file embObjMotionControl.cpp.

◆ getEncoderAccelerationRaw()

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

Definition at line 3083 of file embObjMotionControl.cpp.

◆ getEncoderAccelerationsRaw()

bool embObjMotionControl::getEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 3096 of file embObjMotionControl.cpp.

◆ getEncoderRaw()

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

Definition at line 3028 of file embObjMotionControl.cpp.

◆ getEncoderSpeedRaw()

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

Definition at line 3059 of file embObjMotionControl.cpp.

◆ getEncoderSpeedsRaw()

bool embObjMotionControl::getEncoderSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 3073 of file embObjMotionControl.cpp.

◆ getEncodersRaw()

bool embObjMotionControl::getEncodersRaw ( double *  encs)
overridevirtual

Definition at line 3048 of file embObjMotionControl.cpp.

◆ getEncodersTimedRaw()

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

Definition at line 3108 of file embObjMotionControl.cpp.

◆ getEncoderTimedRaw()

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

Definition at line 3117 of file embObjMotionControl.cpp.

◆ getEncoderTypeName()

bool embObjMotionControl::getEncoderTypeName ( uint32_t  jomoId,
eOmc_position_t  pos,
std::string &  encoderTypeName 
)
overridevirtual

Reimplemented from eth::IethResource.

Definition at line 1790 of file embObjMotionControl.cpp.

◆ getEntityName()

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

Reimplemented from eth::IethResource.

Definition at line 1775 of file embObjMotionControl.cpp.

◆ getGearboxRatioRaw()

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

Definition at line 3400 of file embObjMotionControl.cpp.

◆ getHasHallSensorRaw()

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

Definition at line 3535 of file embObjMotionControl.cpp.

◆ getHasRotorEncoderIndexRaw()

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

Definition at line 3563 of file embObjMotionControl.cpp.

◆ getHasRotorEncoderRaw()

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

Definition at line 3549 of file embObjMotionControl.cpp.

◆ getHasTempSensorsRaw()

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

Definition at line 3521 of file embObjMotionControl.cpp.

◆ getImpedanceOffsetRaw()

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

Definition at line 4323 of file embObjMotionControl.cpp.

◆ getImpedanceRaw()

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

Definition at line 4247 of file embObjMotionControl.cpp.

◆ getInteractionModeRaw()

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

Definition at line 4681 of file embObjMotionControl.cpp.

◆ getInteractionModesRaw() [1/2]

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

Definition at line 4698 of file embObjMotionControl.cpp.

◆ getInteractionModesRaw() [2/2]

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

Definition at line 4709 of file embObjMotionControl.cpp.

◆ getJointEncoderResolutionRaw()

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

Definition at line 3453 of file embObjMotionControl.cpp.

◆ getJointEncoderTypeRaw()

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

Definition at line 3467 of file embObjMotionControl.cpp.

◆ getJointTypeRaw()

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

Definition at line 3620 of file embObjMotionControl.cpp.

◆ getKeyMetadata()

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

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5706 of file embObjMotionControl.cpp.

◆ getKeys()

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

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5680 of file embObjMotionControl.cpp.

◆ getKinematicMJRaw()

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

Definition at line 3495 of file embObjMotionControl.cpp.

◆ getLastJointFaultRaw()

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

Definition at line 5595 of file embObjMotionControl.cpp.

◆ getLimitsRaw()

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

Definition at line 3386 of file embObjMotionControl.cpp.

◆ getMaxCurrentRaw()

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

Definition at line 3316 of file embObjMotionControl.cpp.

◆ getMetadataMap()

bool embObjMotionControl::getMetadataMap ( rawValuesKeyMetadataMap &  metamap)
overridevirtual

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5695 of file embObjMotionControl.cpp.

◆ getMotorEncoderAccelerationRaw()

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

Definition at line 3220 of file embObjMotionControl.cpp.

◆ getMotorEncoderAccelerationsRaw()

bool embObjMotionControl::getMotorEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 3237 of file embObjMotionControl.cpp.

◆ getMotorEncoderCountsPerRevolutionRaw()

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

Definition at line 3148 of file embObjMotionControl.cpp.

◆ getMotorEncoderRaw()

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

Definition at line 3163 of file embObjMotionControl.cpp.

◆ getMotorEncoderSpeedRaw()

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

Definition at line 3193 of file embObjMotionControl.cpp.

◆ getMotorEncoderSpeedsRaw()

bool embObjMotionControl::getMotorEncoderSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 3210 of file embObjMotionControl.cpp.

◆ getMotorEncodersRaw()

bool embObjMotionControl::getMotorEncodersRaw ( double *  encs)
overridevirtual

Definition at line 3182 of file embObjMotionControl.cpp.

◆ getMotorEncodersTimedRaw()

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

Definition at line 3247 of file embObjMotionControl.cpp.

◆ getMotorEncoderTimedRaw()

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

Definition at line 3256 of file embObjMotionControl.cpp.

◆ getMotorPolesRaw()

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

Definition at line 3577 of file embObjMotionControl.cpp.

◆ getMotorTorqueParamsRaw()

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

Definition at line 4343 of file embObjMotionControl.cpp.

◆ getNominalCurrentRaw()

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

Definition at line 5021 of file embObjMotionControl.cpp.

◆ getNumberOfKeys()

int embObjMotionControl::getNumberOfKeys ( )
overridevirtual

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5690 of file embObjMotionControl.cpp.

◆ getNumberOfMotorEncodersRaw()

bool embObjMotionControl::getNumberOfMotorEncodersRaw ( int *  num)
overridevirtual

Definition at line 3127 of file embObjMotionControl.cpp.

◆ getNumberOfMotorsRaw()

bool embObjMotionControl::getNumberOfMotorsRaw ( int *  num)
overridevirtual

Definition at line 4927 of file embObjMotionControl.cpp.

◆ getPeakCurrentRaw()

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

Definition at line 4981 of file embObjMotionControl.cpp.

◆ getPidErrorLimitRaw()

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

Definition at line 2140 of file embObjMotionControl.cpp.

◆ getPidErrorLimitsRaw()

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

Definition at line 2145 of file embObjMotionControl.cpp.

◆ getPidErrorRaw()

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

Definition at line 1925 of file embObjMotionControl.cpp.

◆ getPidErrorsRaw()

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

Definition at line 1989 of file embObjMotionControl.cpp.

◆ getPidOutputRaw()

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

Definition at line 4873 of file embObjMotionControl.cpp.

◆ getPidOutputsRaw()

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

Definition at line 4912 of file embObjMotionControl.cpp.

◆ getPidRaw()

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

Definition at line 1846 of file embObjMotionControl.cpp.

◆ getPidReferenceRaw()

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

Definition at line 2074 of file embObjMotionControl.cpp.

◆ getPidReferencesRaw()

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

Definition at line 2127 of file embObjMotionControl.cpp.

◆ getPidsRaw()

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

Definition at line 2048 of file embObjMotionControl.cpp.

◆ getPowerSupplyVoltageRaw()

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

Definition at line 5114 of file embObjMotionControl.cpp.

◆ getPWMLimitRaw()

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

Definition at line 5082 of file embObjMotionControl.cpp.

◆ getPWMRaw()

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

Definition at line 5063 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 5665 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 5650 of file embObjMotionControl.cpp.

◆ getRefAccelerationRaw()

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

Definition at line 2707 of file embObjMotionControl.cpp.

◆ getRefAccelerationsRaw() [1/2]

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

Definition at line 2827 of file embObjMotionControl.cpp.

◆ getRefAccelerationsRaw() [2/2]

bool embObjMotionControl::getRefAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 2713 of file embObjMotionControl.cpp.

◆ getRefCurrentRaw()

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

Definition at line 5403 of file embObjMotionControl.cpp.

◆ getRefCurrentsRaw()

bool embObjMotionControl::getRefCurrentsRaw ( double *  t)
overridevirtual

Definition at line 5387 of file embObjMotionControl.cpp.

◆ getRefDutyCycleRaw()

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

Definition at line 5269 of file embObjMotionControl.cpp.

◆ getRefDutyCyclesRaw()

bool embObjMotionControl::getRefDutyCyclesRaw ( double *  v)
overridevirtual

Definition at line 5288 of file embObjMotionControl.cpp.

◆ getRefPositionRaw()

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

Definition at line 4623 of file embObjMotionControl.cpp.

◆ getRefPositionsRaw() [1/2]

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

Definition at line 4667 of file embObjMotionControl.cpp.

◆ getRefPositionsRaw() [2/2]

bool embObjMotionControl::getRefPositionsRaw ( double *  refs)
overridevirtual

Definition at line 4646 of file embObjMotionControl.cpp.

◆ getRefSpeedRaw()

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

Definition at line 2689 of file embObjMotionControl.cpp.

◆ getRefSpeedsRaw() [1/2]

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

Definition at line 2817 of file embObjMotionControl.cpp.

◆ getRefSpeedsRaw() [2/2]

bool embObjMotionControl::getRefSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 2701 of file embObjMotionControl.cpp.

◆ getRefTorqueRaw()

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

Definition at line 4178 of file embObjMotionControl.cpp.

◆ getRefTorquesRaw()

bool embObjMotionControl::getRefTorquesRaw ( double *  t)
overridevirtual

Definition at line 4170 of file embObjMotionControl.cpp.

◆ getRefVelocitiesRaw() [1/2]

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

Definition at line 4605 of file embObjMotionControl.cpp.

◆ getRefVelocitiesRaw() [2/2]

bool embObjMotionControl::getRefVelocitiesRaw ( double *  refs)
overridevirtual

Definition at line 4580 of file embObjMotionControl.cpp.

◆ getRefVelocityRaw()

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

Definition at line 4557 of file embObjMotionControl.cpp.

◆ getRemoteVariableRaw()

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

Definition at line 3648 of file embObjMotionControl.cpp.

◆ getRemoteVariablesListRaw()

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

Definition at line 3999 of file embObjMotionControl.cpp.

◆ getRotorEncoderResolutionRaw()

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

Definition at line 3439 of file embObjMotionControl.cpp.

◆ getRotorEncoderTypeRaw()

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

Definition at line 3481 of file embObjMotionControl.cpp.

◆ getRotorIndexOffsetRaw()

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

Definition at line 3592 of file embObjMotionControl.cpp.

◆ getRotorLimitsRaw()

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

Definition at line 3414 of file embObjMotionControl.cpp.

◆ getTargetPositionRaw()

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

Definition at line 4512 of file embObjMotionControl.cpp.

◆ getTargetPositionsRaw() [1/2]

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

Definition at line 4547 of file embObjMotionControl.cpp.

◆ getTargetPositionsRaw() [2/2]

bool embObjMotionControl::getTargetPositionsRaw ( double *  refs)
overridevirtual

Definition at line 4537 of file embObjMotionControl.cpp.

◆ getTemperatureLimitRaw()

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

Definition at line 4966 of file embObjMotionControl.cpp.

◆ getTemperatureRaw()

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

Definition at line 4933 of file embObjMotionControl.cpp.

◆ getTemperatureSensorTypeRaw()

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

Definition at line 3501 of file embObjMotionControl.cpp.

◆ getTemperaturesRaw()

bool embObjMotionControl::getTemperaturesRaw ( double *  vals)
overridevirtual

Definition at line 4956 of file embObjMotionControl.cpp.

◆ getTorqueControlFilterType()

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

Definition at line 3426 of file embObjMotionControl.cpp.

◆ getTorqueRangeRaw()

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

Definition at line 4132 of file embObjMotionControl.cpp.

◆ getTorqueRangesRaw()

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

Definition at line 4137 of file embObjMotionControl.cpp.

◆ getTorqueRaw()

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

Definition at line 4115 of file embObjMotionControl.cpp.

◆ getTorquesRaw()

bool embObjMotionControl::getTorquesRaw ( double *  t)
overridevirtual

Definition at line 4124 of file embObjMotionControl.cpp.

◆ getVelLimitsRaw()

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

Definition at line 4049 of file embObjMotionControl.cpp.

◆ getVirtualAnalogSensorChannels()

int embObjMotionControl::getVirtualAnalogSensorChannels ( )
overridevirtual

Definition at line 4076 of file embObjMotionControl.cpp.

◆ getVirtualAnalogSensorStatus()

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

Definition at line 4071 of file embObjMotionControl.cpp.

◆ getWholeImpedanceRaw()

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

Definition at line 4260 of file embObjMotionControl.cpp.

◆ initialised()

bool embObjMotionControl::initialised ( )
virtual

Implements eth::IethResource.

Definition at line 315 of file embObjMotionControl.cpp.

◆ isPidEnabledRaw()

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

Definition at line 4922 of file embObjMotionControl.cpp.

◆ open()

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

Definition at line 347 of file embObjMotionControl.cpp.

◆ positionMoveRaw() [1/3]

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

Definition at line 2569 of file embObjMotionControl.cpp.

◆ positionMoveRaw() [2/3]

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

Definition at line 2743 of file embObjMotionControl.cpp.

◆ positionMoveRaw() [3/3]

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

Definition at line 2535 of file embObjMotionControl.cpp.

◆ relativeMoveRaw() [1/3]

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

Definition at line 2585 of file embObjMotionControl.cpp.

◆ relativeMoveRaw() [2/3]

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

Definition at line 2753 of file embObjMotionControl.cpp.

◆ relativeMoveRaw() [3/3]

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

Definition at line 2580 of file embObjMotionControl.cpp.

◆ resetEncoderRaw()

bool embObjMotionControl::resetEncoderRaw ( int  j)
overridevirtual

Definition at line 3018 of file embObjMotionControl.cpp.

◆ resetEncodersRaw()

bool embObjMotionControl::resetEncodersRaw ( )
overridevirtual

Definition at line 3023 of file embObjMotionControl.cpp.

◆ resetMotorEncoderRaw()

bool embObjMotionControl::resetMotorEncoderRaw ( int  m)
overridevirtual

Definition at line 3153 of file embObjMotionControl.cpp.

◆ resetMotorEncodersRaw()

bool embObjMotionControl::resetMotorEncodersRaw ( )
overridevirtual

Definition at line 3158 of file embObjMotionControl.cpp.

◆ resetPidRaw()

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

Definition at line 2150 of file embObjMotionControl.cpp.

◆ setCalibrationParametersRaw()

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

Definition at line 2228 of file embObjMotionControl.cpp.

◆ setControlModeRaw()

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

Definition at line 2890 of file embObjMotionControl.cpp.

◆ setControlModesRaw() [1/2]

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

Definition at line 2926 of file embObjMotionControl.cpp.

◆ setControlModesRaw() [2/2]

bool embObjMotionControl::setControlModesRaw ( int *  modes)
overridevirtual

Definition at line 2964 of file embObjMotionControl.cpp.

◆ setEncoderRaw()

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

Definition at line 3008 of file embObjMotionControl.cpp.

◆ setEncodersRaw()

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

Definition at line 3013 of file embObjMotionControl.cpp.

◆ setImpedanceOffsetRaw()

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

Definition at line 4301 of file embObjMotionControl.cpp.

◆ setImpedanceRaw()

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

Definition at line 4276 of file embObjMotionControl.cpp.

◆ setInteractionModeRaw()

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

Definition at line 4721 of file embObjMotionControl.cpp.

◆ setInteractionModesRaw() [1/2]

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

Definition at line 4761 of file embObjMotionControl.cpp.

◆ setInteractionModesRaw() [2/2]

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

Definition at line 4815 of file embObjMotionControl.cpp.

◆ setLimitsRaw()

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

Definition at line 3367 of file embObjMotionControl.cpp.

◆ setMaxCurrentRaw()

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

Definition at line 3297 of file embObjMotionControl.cpp.

◆ setMotorEncoderCountsPerRevolutionRaw()

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

Definition at line 3143 of file embObjMotionControl.cpp.

◆ setMotorEncoderRaw()

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

Definition at line 3133 of file embObjMotionControl.cpp.

◆ setMotorEncodersRaw()

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

Definition at line 3138 of file embObjMotionControl.cpp.

◆ setMotorTorqueParamsRaw()

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

Definition at line 4367 of file embObjMotionControl.cpp.

◆ setNominalCurrentRaw()

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

Definition at line 5037 of file embObjMotionControl.cpp.

◆ setPeakCurrentRaw()

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

Definition at line 4997 of file embObjMotionControl.cpp.

◆ setPidErrorLimitRaw()

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

Definition at line 1913 of file embObjMotionControl.cpp.

◆ setPidErrorLimitsRaw()

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

Definition at line 1919 of file embObjMotionControl.cpp.

◆ setPidOffsetRaw()

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

Definition at line 2165 of file embObjMotionControl.cpp.

◆ setPidRaw()

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

Definition at line 1822 of file embObjMotionControl.cpp.

◆ setPidReferenceRaw()

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

Definition at line 1898 of file embObjMotionControl.cpp.

◆ setPidReferencesRaw()

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

Definition at line 1903 of file embObjMotionControl.cpp.

◆ setPidsRaw()

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

Definition at line 1888 of file embObjMotionControl.cpp.

◆ setPositionRaw()

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

Definition at line 4466 of file embObjMotionControl.cpp.

◆ setPositionsRaw() [1/2]

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

Definition at line 4501 of file embObjMotionControl.cpp.

◆ setPositionsRaw() [2/2]

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

Definition at line 4491 of file embObjMotionControl.cpp.

◆ setPWMLimitRaw()

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

Definition at line 5102 of file embObjMotionControl.cpp.

◆ setRefAccelerationRaw()

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

Definition at line 2646 of file embObjMotionControl.cpp.

◆ setRefAccelerationsRaw() [1/2]

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

Definition at line 2667 of file embObjMotionControl.cpp.

◆ setRefAccelerationsRaw() [2/2]

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

Definition at line 2807 of file embObjMotionControl.cpp.

◆ setRefCurrentRaw()

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

Definition at line 5365 of file embObjMotionControl.cpp.

◆ setRefCurrentsRaw() [1/2]

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

Definition at line 5355 of file embObjMotionControl.cpp.

◆ setRefCurrentsRaw() [2/2]

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

Definition at line 5377 of file embObjMotionControl.cpp.

◆ setRefDutyCycleRaw()

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

Definition at line 5247 of file embObjMotionControl.cpp.

◆ setRefDutyCyclesRaw()

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

Definition at line 5259 of file embObjMotionControl.cpp.

◆ setRefSpeedRaw()

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

Definition at line 2626 of file embObjMotionControl.cpp.

◆ setRefSpeedsRaw() [1/2]

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

Definition at line 2635 of file embObjMotionControl.cpp.

◆ setRefSpeedsRaw() [2/2]

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

Definition at line 2797 of file embObjMotionControl.cpp.

◆ setRefTorqueRaw()

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

Definition at line 4150 of file embObjMotionControl.cpp.

◆ setRefTorquesRaw() [1/2]

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

Definition at line 4142 of file embObjMotionControl.cpp.

◆ setRefTorquesRaw() [2/2]

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

Definition at line 4160 of file embObjMotionControl.cpp.

◆ setRemoteVariableRaw()

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

Definition at line 3944 of file embObjMotionControl.cpp.

◆ setTemperatureLimitRaw()

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

Definition at line 4973 of file embObjMotionControl.cpp.

◆ setVelLimitsRaw()

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

Definition at line 4044 of file embObjMotionControl.cpp.

◆ stopRaw() [1/3]

bool embObjMotionControl::stopRaw ( )
overridevirtual

Definition at line 2728 of file embObjMotionControl.cpp.

◆ stopRaw() [2/3]

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

Definition at line 2837 of file embObjMotionControl.cpp.

◆ stopRaw() [3/3]

bool embObjMotionControl::stopRaw ( int  j)
overridevirtual

Definition at line 2719 of file embObjMotionControl.cpp.

◆ type()

eth::iethresType_t embObjMotionControl::type ( )
virtual

Implements eth::IethResource.

Definition at line 1635 of file embObjMotionControl.cpp.

◆ update()

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

Implements eth::IethResource.

Definition at line 1640 of file embObjMotionControl.cpp.

◆ updateVirtualAnalogSensorMeasure() [1/2]

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

Definition at line 4092 of file embObjMotionControl.cpp.

◆ updateVirtualAnalogSensorMeasure() [2/2]

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

Definition at line 4081 of file embObjMotionControl.cpp.

◆ velocityMoveRaw() [1/3]

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

Definition at line 2208 of file embObjMotionControl.cpp.

◆ velocityMoveRaw() [2/3]

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

Definition at line 4395 of file embObjMotionControl.cpp.

◆ velocityMoveRaw() [3/3]

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

Definition at line 2174 of file embObjMotionControl.cpp.

The documentation for this class was generated from the following files:
Generated on Tue May 6 2025 15:42:09 for iCub-main by doxygen 1.9.8