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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 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 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
 
- 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 146 of file embObjMotionControl.h.

Constructor & Destructor Documentation

◆ embObjMotionControl()

embObjMotionControl::embObjMotionControl ( )

Definition at line 184 of file embObjMotionControl.cpp.

◆ ~embObjMotionControl()

embObjMotionControl::~embObjMotionControl ( )

Definition at line 281 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 2108 of file embObjMotionControl.cpp.

◆ calibrationDoneRaw()

bool embObjMotionControl::calibrationDoneRaw ( int  j)
overridevirtual

Definition at line 2185 of file embObjMotionControl.cpp.

◆ checkMotionDoneRaw() [1/3]

bool embObjMotionControl::checkMotionDoneRaw ( bool *  flag)
overridevirtual

Definition at line 2321 of file embObjMotionControl.cpp.

◆ checkMotionDoneRaw() [2/3]

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

Definition at line 2475 of file embObjMotionControl.cpp.

◆ checkMotionDoneRaw() [3/3]

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

Definition at line 2303 of file embObjMotionControl.cpp.

◆ close()

bool embObjMotionControl::close ( void  )
virtual

Definition at line 1440 of file embObjMotionControl.cpp.

◆ disableAmpRaw()

bool embObjMotionControl::disableAmpRaw ( int  j)
overridevirtual

Definition at line 2984 of file embObjMotionControl.cpp.

◆ disablePidRaw()

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

Definition at line 1904 of file embObjMotionControl.cpp.

◆ enableAmpRaw()

bool embObjMotionControl::enableAmpRaw ( int  j)
overridevirtual

Definition at line 2979 of file embObjMotionControl.cpp.

◆ enablePidRaw()

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

Definition at line 1909 of file embObjMotionControl.cpp.

◆ getAmpStatusRaw() [1/2]

bool embObjMotionControl::getAmpStatusRaw ( int *  st)
overridevirtual

Definition at line 3053 of file embObjMotionControl.cpp.

◆ getAmpStatusRaw() [2/2]

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

Definition at line 3046 of file embObjMotionControl.cpp.

◆ getAxes()

bool embObjMotionControl::getAxes ( int *  ax)
overridevirtual

Definition at line 2240 of file embObjMotionControl.cpp.

◆ getAxisNameRaw()

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

Definition at line 3298 of file embObjMotionControl.cpp.

◆ getControlModeRaw()

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

Definition at line 2563 of file embObjMotionControl.cpp.

◆ getControlModesRaw() [1/2]

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

Definition at line 2587 of file embObjMotionControl.cpp.

◆ getControlModesRaw() [2/2]

bool embObjMotionControl::getControlModesRaw ( int *  v)
overridevirtual

Definition at line 2577 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 4020 of file embObjMotionControl.cpp.

◆ getCurrentRangeRaw()

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

Definition at line 5025 of file embObjMotionControl.cpp.

◆ getCurrentRangesRaw()

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

Definition at line 5035 of file embObjMotionControl.cpp.

◆ getCurrentRaw()

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

Definition at line 2989 of file embObjMotionControl.cpp.

◆ getCurrentsRaw()

bool embObjMotionControl::getCurrentsRaw ( double *  vals)
overridevirtual

Definition at line 2999 of file embObjMotionControl.cpp.

◆ getDutyCycleRaw()

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

Definition at line 4994 of file embObjMotionControl.cpp.

◆ getDutyCyclesRaw()

bool embObjMotionControl::getDutyCyclesRaw ( double *  v)
overridevirtual

Definition at line 5013 of file embObjMotionControl.cpp.

◆ getEncoderAccelerationRaw()

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

Definition at line 2795 of file embObjMotionControl.cpp.

◆ getEncoderAccelerationsRaw()

bool embObjMotionControl::getEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 2808 of file embObjMotionControl.cpp.

◆ getEncoderRaw()

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

Definition at line 2740 of file embObjMotionControl.cpp.

◆ getEncoderSpeedRaw()

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

Definition at line 2771 of file embObjMotionControl.cpp.

◆ getEncoderSpeedsRaw()

bool embObjMotionControl::getEncoderSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 2785 of file embObjMotionControl.cpp.

◆ getEncodersRaw()

bool embObjMotionControl::getEncodersRaw ( double *  encs)
overridevirtual

Definition at line 2760 of file embObjMotionControl.cpp.

◆ getEncodersTimedRaw()

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

Definition at line 2820 of file embObjMotionControl.cpp.

◆ getEncoderTimedRaw()

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

Definition at line 2829 of file embObjMotionControl.cpp.

◆ getGearboxRatioRaw()

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

Definition at line 3112 of file embObjMotionControl.cpp.

◆ getHasHallSensorRaw()

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

Definition at line 3227 of file embObjMotionControl.cpp.

◆ getHasRotorEncoderIndexRaw()

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

Definition at line 3255 of file embObjMotionControl.cpp.

◆ getHasRotorEncoderRaw()

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

Definition at line 3241 of file embObjMotionControl.cpp.

◆ getHasTempSensorsRaw()

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

Definition at line 3213 of file embObjMotionControl.cpp.

◆ getImpedanceOffsetRaw()

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

Definition at line 4009 of file embObjMotionControl.cpp.

◆ getImpedanceRaw()

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

Definition at line 3933 of file embObjMotionControl.cpp.

◆ getInteractionModeRaw()

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

Definition at line 4365 of file embObjMotionControl.cpp.

◆ getInteractionModesRaw() [1/2]

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

Definition at line 4382 of file embObjMotionControl.cpp.

◆ getInteractionModesRaw() [2/2]

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

Definition at line 4393 of file embObjMotionControl.cpp.

◆ getJointEncoderResolutionRaw()

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

Definition at line 3165 of file embObjMotionControl.cpp.

◆ getJointEncoderTypeRaw()

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

Definition at line 3179 of file embObjMotionControl.cpp.

◆ getJointTypeRaw()

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

Definition at line 3312 of file embObjMotionControl.cpp.

◆ getKinematicMJRaw()

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

Definition at line 3207 of file embObjMotionControl.cpp.

◆ getLastJointFaultRaw()

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

Definition at line 5285 of file embObjMotionControl.cpp.

◆ getLimitsRaw()

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

Definition at line 3098 of file embObjMotionControl.cpp.

◆ getMaxCurrentRaw()

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

Definition at line 3028 of file embObjMotionControl.cpp.

◆ getMotorEncoderAccelerationRaw()

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

Definition at line 2932 of file embObjMotionControl.cpp.

◆ getMotorEncoderAccelerationsRaw()

bool embObjMotionControl::getMotorEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 2949 of file embObjMotionControl.cpp.

◆ getMotorEncoderCountsPerRevolutionRaw()

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

Definition at line 2860 of file embObjMotionControl.cpp.

◆ getMotorEncoderRaw()

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

Definition at line 2875 of file embObjMotionControl.cpp.

◆ getMotorEncoderSpeedRaw()

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

Definition at line 2905 of file embObjMotionControl.cpp.

◆ getMotorEncoderSpeedsRaw()

bool embObjMotionControl::getMotorEncoderSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 2922 of file embObjMotionControl.cpp.

◆ getMotorEncodersRaw()

bool embObjMotionControl::getMotorEncodersRaw ( double *  encs)
overridevirtual

Definition at line 2894 of file embObjMotionControl.cpp.

◆ getMotorEncodersTimedRaw()

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

Definition at line 2959 of file embObjMotionControl.cpp.

◆ getMotorEncoderTimedRaw()

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

Definition at line 2968 of file embObjMotionControl.cpp.

◆ getMotorPolesRaw()

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

Definition at line 3269 of file embObjMotionControl.cpp.

◆ getMotorTorqueParamsRaw()

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

Definition at line 4029 of file embObjMotionControl.cpp.

◆ getNominalCurrentRaw()

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

Definition at line 4711 of file embObjMotionControl.cpp.

◆ getNumberOfMotorEncodersRaw()

bool embObjMotionControl::getNumberOfMotorEncodersRaw ( int *  num)
overridevirtual

Definition at line 2839 of file embObjMotionControl.cpp.

◆ getNumberOfMotorsRaw()

bool embObjMotionControl::getNumberOfMotorsRaw ( int *  num)
overridevirtual

Definition at line 4611 of file embObjMotionControl.cpp.

◆ getPeakCurrentRaw()

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

Definition at line 4671 of file embObjMotionControl.cpp.

◆ getPidErrorLimitRaw()

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

Definition at line 1889 of file embObjMotionControl.cpp.

◆ getPidErrorLimitsRaw()

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

Definition at line 1894 of file embObjMotionControl.cpp.

◆ getPidErrorRaw()

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

Definition at line 1674 of file embObjMotionControl.cpp.

◆ getPidErrorsRaw()

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

Definition at line 1738 of file embObjMotionControl.cpp.

◆ getPidOutputRaw()

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

Definition at line 4557 of file embObjMotionControl.cpp.

◆ getPidOutputsRaw()

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

Definition at line 4596 of file embObjMotionControl.cpp.

◆ getPidRaw()

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

Definition at line 1595 of file embObjMotionControl.cpp.

◆ getPidReferenceRaw()

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

Definition at line 1823 of file embObjMotionControl.cpp.

◆ getPidReferencesRaw()

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

Definition at line 1876 of file embObjMotionControl.cpp.

◆ getPidsRaw()

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

Definition at line 1797 of file embObjMotionControl.cpp.

◆ getPowerSupplyVoltageRaw()

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

Definition at line 4804 of file embObjMotionControl.cpp.

◆ getPWMLimitRaw()

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

Definition at line 4772 of file embObjMotionControl.cpp.

◆ getPWMRaw()

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

Definition at line 4753 of file embObjMotionControl.cpp.

◆ getRefAccelerationRaw()

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

Definition at line 2419 of file embObjMotionControl.cpp.

◆ getRefAccelerationsRaw() [1/2]

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

Definition at line 2539 of file embObjMotionControl.cpp.

◆ getRefAccelerationsRaw() [2/2]

bool embObjMotionControl::getRefAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 2425 of file embObjMotionControl.cpp.

◆ getRefCurrentRaw()

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

Definition at line 5093 of file embObjMotionControl.cpp.

◆ getRefCurrentsRaw()

bool embObjMotionControl::getRefCurrentsRaw ( double *  t)
overridevirtual

Definition at line 5077 of file embObjMotionControl.cpp.

◆ getRefDutyCycleRaw()

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

Definition at line 4959 of file embObjMotionControl.cpp.

◆ getRefDutyCyclesRaw()

bool embObjMotionControl::getRefDutyCyclesRaw ( double *  v)
overridevirtual

Definition at line 4978 of file embObjMotionControl.cpp.

◆ getRefPositionRaw()

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

Definition at line 4307 of file embObjMotionControl.cpp.

◆ getRefPositionsRaw() [1/2]

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

Definition at line 4351 of file embObjMotionControl.cpp.

◆ getRefPositionsRaw() [2/2]

bool embObjMotionControl::getRefPositionsRaw ( double *  refs)
overridevirtual

Definition at line 4330 of file embObjMotionControl.cpp.

◆ getRefSpeedRaw()

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

Definition at line 2401 of file embObjMotionControl.cpp.

◆ getRefSpeedsRaw() [1/2]

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

Definition at line 2529 of file embObjMotionControl.cpp.

◆ getRefSpeedsRaw() [2/2]

bool embObjMotionControl::getRefSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 2413 of file embObjMotionControl.cpp.

◆ getRefTorqueRaw()

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

Definition at line 3864 of file embObjMotionControl.cpp.

◆ getRefTorquesRaw()

bool embObjMotionControl::getRefTorquesRaw ( double *  t)
overridevirtual

Definition at line 3856 of file embObjMotionControl.cpp.

◆ getRefVelocitiesRaw() [1/2]

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

Definition at line 4289 of file embObjMotionControl.cpp.

◆ getRefVelocitiesRaw() [2/2]

bool embObjMotionControl::getRefVelocitiesRaw ( double *  refs)
overridevirtual

Definition at line 4264 of file embObjMotionControl.cpp.

◆ getRefVelocityRaw()

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

Definition at line 4241 of file embObjMotionControl.cpp.

◆ getRemoteVariableRaw()

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

Definition at line 3340 of file embObjMotionControl.cpp.

◆ getRemoteVariablesListRaw()

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

Definition at line 3686 of file embObjMotionControl.cpp.

◆ getRotorEncoderResolutionRaw()

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

Definition at line 3151 of file embObjMotionControl.cpp.

◆ getRotorEncoderTypeRaw()

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

Definition at line 3193 of file embObjMotionControl.cpp.

◆ getRotorIndexOffsetRaw()

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

Definition at line 3284 of file embObjMotionControl.cpp.

◆ getRotorLimitsRaw()

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

Definition at line 3126 of file embObjMotionControl.cpp.

◆ getTargetPositionRaw()

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

Definition at line 4196 of file embObjMotionControl.cpp.

◆ getTargetPositionsRaw() [1/2]

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

Definition at line 4231 of file embObjMotionControl.cpp.

◆ getTargetPositionsRaw() [2/2]

bool embObjMotionControl::getTargetPositionsRaw ( double *  refs)
overridevirtual

Definition at line 4221 of file embObjMotionControl.cpp.

◆ getTemperatureLimitRaw()

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

Definition at line 4646 of file embObjMotionControl.cpp.

◆ getTemperatureRaw()

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

Definition at line 4617 of file embObjMotionControl.cpp.

◆ getTemperaturesRaw()

bool embObjMotionControl::getTemperaturesRaw ( double *  vals)
overridevirtual

Definition at line 4636 of file embObjMotionControl.cpp.

◆ getTorqueControlFilterType()

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

Definition at line 3138 of file embObjMotionControl.cpp.

◆ getTorqueRangeRaw()

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

Definition at line 3818 of file embObjMotionControl.cpp.

◆ getTorqueRangesRaw()

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

Definition at line 3823 of file embObjMotionControl.cpp.

◆ getTorqueRaw()

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

Definition at line 3801 of file embObjMotionControl.cpp.

◆ getTorquesRaw()

bool embObjMotionControl::getTorquesRaw ( double *  t)
overridevirtual

Definition at line 3810 of file embObjMotionControl.cpp.

◆ getVelLimitsRaw()

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

Definition at line 3735 of file embObjMotionControl.cpp.

◆ getVirtualAnalogSensorChannels()

int embObjMotionControl::getVirtualAnalogSensorChannels ( )
overridevirtual

Definition at line 3762 of file embObjMotionControl.cpp.

◆ getVirtualAnalogSensorStatus()

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

Definition at line 3757 of file embObjMotionControl.cpp.

◆ getWholeImpedanceRaw()

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

Definition at line 3946 of file embObjMotionControl.cpp.

◆ initialised()

bool embObjMotionControl::initialised ( )
virtual

Implements eth::IethResource.

Definition at line 301 of file embObjMotionControl.cpp.

◆ isPidEnabledRaw()

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

Definition at line 4606 of file embObjMotionControl.cpp.

◆ open()

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

Definition at line 333 of file embObjMotionControl.cpp.

◆ positionMoveRaw() [1/3]

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

Definition at line 2281 of file embObjMotionControl.cpp.

◆ positionMoveRaw() [2/3]

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

Definition at line 2455 of file embObjMotionControl.cpp.

◆ positionMoveRaw() [3/3]

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

Definition at line 2247 of file embObjMotionControl.cpp.

◆ relativeMoveRaw() [1/3]

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

Definition at line 2297 of file embObjMotionControl.cpp.

◆ relativeMoveRaw() [2/3]

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

Definition at line 2465 of file embObjMotionControl.cpp.

◆ relativeMoveRaw() [3/3]

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

Definition at line 2292 of file embObjMotionControl.cpp.

◆ resetEncoderRaw()

bool embObjMotionControl::resetEncoderRaw ( int  j)
overridevirtual

Definition at line 2730 of file embObjMotionControl.cpp.

◆ resetEncodersRaw()

bool embObjMotionControl::resetEncodersRaw ( )
overridevirtual

Definition at line 2735 of file embObjMotionControl.cpp.

◆ resetMotorEncoderRaw()

bool embObjMotionControl::resetMotorEncoderRaw ( int  m)
overridevirtual

Definition at line 2865 of file embObjMotionControl.cpp.

◆ resetMotorEncodersRaw()

bool embObjMotionControl::resetMotorEncodersRaw ( )
overridevirtual

Definition at line 2870 of file embObjMotionControl.cpp.

◆ resetPidRaw()

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

Definition at line 1899 of file embObjMotionControl.cpp.

◆ setCalibrationParametersRaw()

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

Definition at line 1977 of file embObjMotionControl.cpp.

◆ setControlModeRaw()

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

Definition at line 2602 of file embObjMotionControl.cpp.

◆ setControlModesRaw() [1/2]

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

Definition at line 2638 of file embObjMotionControl.cpp.

◆ setControlModesRaw() [2/2]

bool embObjMotionControl::setControlModesRaw ( int *  modes)
overridevirtual

Definition at line 2676 of file embObjMotionControl.cpp.

◆ setEncoderRaw()

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

Definition at line 2720 of file embObjMotionControl.cpp.

◆ setEncodersRaw()

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

Definition at line 2725 of file embObjMotionControl.cpp.

◆ setImpedanceOffsetRaw()

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

Definition at line 3987 of file embObjMotionControl.cpp.

◆ setImpedanceRaw()

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

Definition at line 3962 of file embObjMotionControl.cpp.

◆ setInteractionModeRaw()

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

Definition at line 4405 of file embObjMotionControl.cpp.

◆ setInteractionModesRaw() [1/2]

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

Definition at line 4445 of file embObjMotionControl.cpp.

◆ setInteractionModesRaw() [2/2]

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

Definition at line 4499 of file embObjMotionControl.cpp.

◆ setLimitsRaw()

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

Definition at line 3079 of file embObjMotionControl.cpp.

◆ setMaxCurrentRaw()

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

Definition at line 3009 of file embObjMotionControl.cpp.

◆ setMotorEncoderCountsPerRevolutionRaw()

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

Definition at line 2855 of file embObjMotionControl.cpp.

◆ setMotorEncoderRaw()

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

Definition at line 2845 of file embObjMotionControl.cpp.

◆ setMotorEncodersRaw()

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

Definition at line 2850 of file embObjMotionControl.cpp.

◆ setMotorTorqueParamsRaw()

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

Definition at line 4052 of file embObjMotionControl.cpp.

◆ setNominalCurrentRaw()

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

Definition at line 4727 of file embObjMotionControl.cpp.

◆ setPeakCurrentRaw()

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

Definition at line 4687 of file embObjMotionControl.cpp.

◆ setPidErrorLimitRaw()

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

Definition at line 1662 of file embObjMotionControl.cpp.

◆ setPidErrorLimitsRaw()

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

Definition at line 1668 of file embObjMotionControl.cpp.

◆ setPidOffsetRaw()

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

Definition at line 1914 of file embObjMotionControl.cpp.

◆ setPidRaw()

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

Definition at line 1571 of file embObjMotionControl.cpp.

◆ setPidReferenceRaw()

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

Definition at line 1647 of file embObjMotionControl.cpp.

◆ setPidReferencesRaw()

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

Definition at line 1652 of file embObjMotionControl.cpp.

◆ setPidsRaw()

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

Definition at line 1637 of file embObjMotionControl.cpp.

◆ setPositionRaw()

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

Definition at line 4150 of file embObjMotionControl.cpp.

◆ setPositionsRaw() [1/2]

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

Definition at line 4185 of file embObjMotionControl.cpp.

◆ setPositionsRaw() [2/2]

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

Definition at line 4175 of file embObjMotionControl.cpp.

◆ setPWMLimitRaw()

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

Definition at line 4792 of file embObjMotionControl.cpp.

◆ setRefAccelerationRaw()

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

Definition at line 2358 of file embObjMotionControl.cpp.

◆ setRefAccelerationsRaw() [1/2]

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

Definition at line 2379 of file embObjMotionControl.cpp.

◆ setRefAccelerationsRaw() [2/2]

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

Definition at line 2519 of file embObjMotionControl.cpp.

◆ setRefCurrentRaw()

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

Definition at line 5055 of file embObjMotionControl.cpp.

◆ setRefCurrentsRaw() [1/2]

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

Definition at line 5045 of file embObjMotionControl.cpp.

◆ setRefCurrentsRaw() [2/2]

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

Definition at line 5067 of file embObjMotionControl.cpp.

◆ setRefDutyCycleRaw()

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

Definition at line 4937 of file embObjMotionControl.cpp.

◆ setRefDutyCyclesRaw()

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

Definition at line 4949 of file embObjMotionControl.cpp.

◆ setRefSpeedRaw()

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

Definition at line 2338 of file embObjMotionControl.cpp.

◆ setRefSpeedsRaw() [1/2]

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

Definition at line 2347 of file embObjMotionControl.cpp.

◆ setRefSpeedsRaw() [2/2]

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

Definition at line 2509 of file embObjMotionControl.cpp.

◆ setRefTorqueRaw()

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

Definition at line 3836 of file embObjMotionControl.cpp.

◆ setRefTorquesRaw() [1/2]

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

Definition at line 3828 of file embObjMotionControl.cpp.

◆ setRefTorquesRaw() [2/2]

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

Definition at line 3846 of file embObjMotionControl.cpp.

◆ setRemoteVariableRaw()

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

Definition at line 3631 of file embObjMotionControl.cpp.

◆ setTemperatureLimitRaw()

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

Definition at line 4663 of file embObjMotionControl.cpp.

◆ setVelLimitsRaw()

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

Definition at line 3730 of file embObjMotionControl.cpp.

◆ stopRaw() [1/3]

bool embObjMotionControl::stopRaw ( )
overridevirtual

Definition at line 2440 of file embObjMotionControl.cpp.

◆ stopRaw() [2/3]

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

Definition at line 2549 of file embObjMotionControl.cpp.

◆ stopRaw() [3/3]

bool embObjMotionControl::stopRaw ( int  j)
overridevirtual

Definition at line 2431 of file embObjMotionControl.cpp.

◆ type()

eth::iethresType_t embObjMotionControl::type ( )
virtual

Implements eth::IethResource.

Definition at line 1506 of file embObjMotionControl.cpp.

◆ update()

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

Implements eth::IethResource.

Definition at line 1511 of file embObjMotionControl.cpp.

◆ updateVirtualAnalogSensorMeasure() [1/2]

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

Definition at line 3778 of file embObjMotionControl.cpp.

◆ updateVirtualAnalogSensorMeasure() [2/2]

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

Definition at line 3767 of file embObjMotionControl.cpp.

◆ velocityMoveRaw() [1/3]

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

Definition at line 1957 of file embObjMotionControl.cpp.

◆ velocityMoveRaw() [2/3]

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

Definition at line 4079 of file embObjMotionControl.cpp.

◆ velocityMoveRaw() [3/3]

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

Definition at line 1923 of file embObjMotionControl.cpp.

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