iCub-main
|
embObjMotionControl
: driver for iCub motor control boards EMS on a ETH bus.
More...
#include <embObjMotionControl.h>
Public Member Functions | |
embObjMotionControl () | |
~embObjMotionControl () | |
virtual bool | open (yarp::os::Searchable &par) |
virtual bool | close () |
virtual bool | initialised () |
virtual eth::iethresType_t | type () |
virtual bool | update (eOprotID32_t id32, double timestamp, void *rxdata) |
virtual bool | getEntityName (uint32_t entityId, std::string &entityName) |
virtual bool | setPidRaw (const PidControlTypeEnum &pidtype, int j, const Pid &pid) override |
virtual bool | setPidsRaw (const PidControlTypeEnum &pidtype, const Pid *pids) override |
virtual bool | setPidReferenceRaw (const PidControlTypeEnum &pidtype, int j, double ref) override |
virtual bool | setPidReferencesRaw (const PidControlTypeEnum &pidtype, const double *refs) override |
virtual bool | setPidErrorLimitRaw (const PidControlTypeEnum &pidtype, int j, double limit) override |
virtual bool | setPidErrorLimitsRaw (const PidControlTypeEnum &pidtype, const double *limits) override |
virtual bool | getPidErrorRaw (const PidControlTypeEnum &pidtype, int j, double *err) override |
virtual bool | getPidErrorsRaw (const PidControlTypeEnum &pidtype, double *errs) override |
virtual bool | getPidOutputRaw (const PidControlTypeEnum &pidtype, int j, double *out) override |
virtual bool | getPidOutputsRaw (const PidControlTypeEnum &pidtype, double *outs) override |
virtual bool | getPidRaw (const PidControlTypeEnum &pidtype, int j, Pid *pid) override |
virtual bool | getPidsRaw (const PidControlTypeEnum &pidtype, Pid *pids) override |
virtual bool | getPidReferenceRaw (const PidControlTypeEnum &pidtype, int j, double *ref) override |
virtual bool | getPidReferencesRaw (const PidControlTypeEnum &pidtype, double *refs) override |
virtual bool | getPidErrorLimitRaw (const PidControlTypeEnum &pidtype, int j, double *limit) override |
virtual bool | getPidErrorLimitsRaw (const PidControlTypeEnum &pidtype, double *limits) override |
virtual bool | resetPidRaw (const PidControlTypeEnum &pidtype, int j) override |
virtual bool | disablePidRaw (const PidControlTypeEnum &pidtype, int j) override |
virtual bool | enablePidRaw (const PidControlTypeEnum &pidtype, int j) override |
virtual bool | setPidOffsetRaw (const PidControlTypeEnum &pidtype, int j, double v) override |
virtual bool | isPidEnabledRaw (const PidControlTypeEnum &pidtype, int j, bool *enabled) override |
virtual bool | getAxes (int *ax) override |
virtual bool | positionMoveRaw (int j, double ref) override |
virtual bool | positionMoveRaw (const double *refs) override |
virtual bool | relativeMoveRaw (int j, double delta) override |
virtual bool | relativeMoveRaw (const double *deltas) override |
virtual bool | checkMotionDoneRaw (bool *flag) override |
virtual bool | checkMotionDoneRaw (int j, bool *flag) override |
virtual bool | setRefSpeedRaw (int j, double sp) override |
virtual bool | setRefSpeedsRaw (const double *spds) override |
virtual bool | setRefAccelerationRaw (int j, double acc) override |
virtual bool | setRefAccelerationsRaw (const double *accs) override |
virtual bool | getRefSpeedRaw (int j, double *ref) override |
virtual bool | getRefSpeedsRaw (double *spds) override |
virtual bool | getRefAccelerationRaw (int j, double *acc) override |
virtual bool | getRefAccelerationsRaw (double *accs) override |
virtual bool | stopRaw (int j) override |
virtual bool | stopRaw () override |
virtual bool | positionMoveRaw (const int n_joint, const int *joints, const double *refs) override |
virtual bool | relativeMoveRaw (const int n_joint, const int *joints, const double *deltas) override |
virtual bool | checkMotionDoneRaw (const int n_joint, const int *joints, bool *flags) override |
virtual bool | setRefSpeedsRaw (const int n_joint, const int *joints, const double *spds) override |
virtual bool | setRefAccelerationsRaw (const int n_joint, const int *joints, const double *accs) override |
virtual bool | getRefSpeedsRaw (const int n_joint, const int *joints, double *spds) override |
virtual bool | getRefAccelerationsRaw (const int n_joint, const int *joints, double *accs) override |
virtual bool | stopRaw (const int n_joint, const int *joints) override |
virtual bool | getTargetPositionRaw (const int joint, double *ref) override |
virtual bool | getTargetPositionsRaw (double *refs) override |
virtual bool | getTargetPositionsRaw (const int n_joint, const int *joints, double *refs) override |
virtual bool | velocityMoveRaw (int j, double sp) override |
virtual bool | velocityMoveRaw (const double *sp) override |
virtual bool | setCalibrationParametersRaw (int axis, const CalibrationParameters ¶ms) override |
virtual bool | calibrateAxisWithParamsRaw (int axis, unsigned int type, double p1, double p2, double p3) override |
virtual bool | calibrationDoneRaw (int j) override |
virtual bool | getControlModeRaw (int j, int *v) override |
virtual bool | getControlModesRaw (int *v) override |
virtual bool | getControlModesRaw (const int n_joint, const int *joints, int *modes) override |
virtual bool | setControlModeRaw (const int j, const int mode) override |
virtual bool | setControlModesRaw (const int n_joint, const int *joints, int *modes) override |
virtual bool | setControlModesRaw (int *modes) override |
virtual bool | resetEncoderRaw (int j) override |
virtual bool | resetEncodersRaw () override |
virtual bool | setEncoderRaw (int j, double val) override |
virtual bool | setEncodersRaw (const double *vals) override |
virtual bool | getEncoderRaw (int j, double *v) override |
virtual bool | getEncodersRaw (double *encs) override |
virtual bool | getEncoderSpeedRaw (int j, double *sp) override |
virtual bool | getEncoderSpeedsRaw (double *spds) override |
virtual bool | getEncoderAccelerationRaw (int j, double *spds) override |
virtual bool | getEncoderAccelerationsRaw (double *accs) override |
virtual bool | getEncodersTimedRaw (double *encs, double *stamps) override |
virtual bool | getEncoderTimedRaw (int j, double *encs, double *stamp) override |
virtual bool | getNumberOfMotorEncodersRaw (int *num) override |
virtual bool | resetMotorEncoderRaw (int m) override |
virtual bool | resetMotorEncodersRaw () override |
virtual bool | setMotorEncoderRaw (int m, const double val) override |
virtual bool | setMotorEncodersRaw (const double *vals) override |
virtual bool | getMotorEncoderRaw (int m, double *v) override |
virtual bool | getMotorEncodersRaw (double *encs) override |
virtual bool | getMotorEncoderSpeedRaw (int m, double *sp) override |
virtual bool | getMotorEncoderSpeedsRaw (double *spds) override |
virtual bool | getMotorEncoderAccelerationRaw (int m, double *spds) override |
virtual bool | getMotorEncoderAccelerationsRaw (double *accs) override |
virtual bool | getMotorEncodersTimedRaw (double *encs, double *stamps) override |
virtual bool | getMotorEncoderTimedRaw (int m, double *encs, double *stamp) override |
virtual bool | getMotorEncoderCountsPerRevolutionRaw (int m, double *v) override |
virtual bool | setMotorEncoderCountsPerRevolutionRaw (int m, const double cpr) override |
virtual bool | getRemoteVariableRaw (std::string key, yarp::os::Bottle &val) override |
virtual bool | setRemoteVariableRaw (std::string key, const yarp::os::Bottle &val) override |
virtual bool | getRemoteVariablesListRaw (yarp::os::Bottle *listOfKeys) override |
virtual bool | getAxisNameRaw (int axis, std::string &name) override |
virtual bool | getJointTypeRaw (int axis, yarp::dev::JointTypeEnum &type) override |
bool | getRotorEncoderResolutionRaw (int m, double &rotres) |
bool | getJointEncoderResolutionRaw (int m, double &jntres) |
bool | getJointEncoderTypeRaw (int j, int &type) |
bool | getRotorEncoderTypeRaw (int j, int &type) |
bool | getKinematicMJRaw (int j, double &rotres) |
bool | 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 |
Public Member Functions inherited from eth::IethResource | |
virtual | ~IethResource () |
const char * | stringOfType () |
embObjMotionControl
: driver for iCub motor control boards EMS on a ETH bus.
This device contains code which handles communication to the motor control boards (EMS) on the internal ethernet network of the ETH iCub. It converts requests from function calls into ETH bus messages for the motor control boards. A thread monitors the bus for incoming messages and dispatches replies to calling threads.
For the description of the parameters supported by this device, please check the template configuration file available in robotology/robots-configuration, i.e. https://github.com/robotology/robots-configuration/blob/master/iCubTemplates/iCubTemplateV4_0/hardware/motorControl/body_part–ebX-jA_B-mc.xml .
YARP device name |
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embObjMotionControl |
Definition at line 220 of file embObjMotionControl.h.
embObjMotionControl::embObjMotionControl | ( | ) |
Definition at line 187 of file embObjMotionControl.cpp.
embObjMotionControl::~embObjMotionControl | ( | ) |
Definition at line 289 of file embObjMotionControl.cpp.
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Reimplemented from eth::IethResource.
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bool embObjMotionControl::getHasHallSensorRaw | ( | int | j, |
int & | ret | ||
) |
Definition at line 3436 of file embObjMotionControl.cpp.
bool embObjMotionControl::getHasRotorEncoderIndexRaw | ( | int | j, |
int & | ret | ||
) |
Definition at line 3464 of file embObjMotionControl.cpp.
bool embObjMotionControl::getHasRotorEncoderRaw | ( | int | j, |
int & | ret | ||
) |
Definition at line 3450 of file embObjMotionControl.cpp.
bool embObjMotionControl::getHasTempSensorsRaw | ( | int | j, |
int & | ret | ||
) |
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bool embObjMotionControl::getJointEncoderResolutionRaw | ( | int | m, |
double & | jntres | ||
) |
Definition at line 3354 of file embObjMotionControl.cpp.
bool embObjMotionControl::getJointEncoderTypeRaw | ( | int | j, |
int & | type | ||
) |
Definition at line 3368 of file embObjMotionControl.cpp.
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bool embObjMotionControl::getKinematicMJRaw | ( | int | j, |
double & | rotres | ||
) |
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bool embObjMotionControl::getMotorPolesRaw | ( | int | j, |
int & | poles | ||
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bool embObjMotionControl::getRotorEncoderResolutionRaw | ( | int | m, |
double & | rotres | ||
) |
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bool embObjMotionControl::getRotorEncoderTypeRaw | ( | int | j, |
int & | type | ||
) |
Definition at line 3382 of file embObjMotionControl.cpp.
bool embObjMotionControl::getRotorIndexOffsetRaw | ( | int | j, |
double & | rotorOffset | ||
) |
Definition at line 3493 of file embObjMotionControl.cpp.
bool embObjMotionControl::getRotorLimitsRaw | ( | int | j, |
double * | rotorMin, | ||
double * | rotorMax | ||
) |
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bool embObjMotionControl::getTemperatureSensorTypeRaw | ( | int | j, |
std::string & | ret | ||
) |
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bool embObjMotionControl::getTorqueControlFilterType | ( | int | j, |
int & | type | ||
) |
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bool embObjMotionControl::getWholeImpedanceRaw | ( | int | j, |
eOmc_impedance_t & | imped | ||
) |
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Implements eth::IethResource.
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Definition at line 2122 of file embObjMotionControl.cpp.
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Definition at line 2791 of file embObjMotionControl.cpp.
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Definition at line 2827 of file embObjMotionControl.cpp.
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Definition at line 2865 of file embObjMotionControl.cpp.
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Definition at line 2909 of file embObjMotionControl.cpp.
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Definition at line 2914 of file embObjMotionControl.cpp.
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Definition at line 4202 of file embObjMotionControl.cpp.
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Definition at line 4177 of file embObjMotionControl.cpp.
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Definition at line 4622 of file embObjMotionControl.cpp.
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Definition at line 4662 of file embObjMotionControl.cpp.
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Definition at line 4716 of file embObjMotionControl.cpp.
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Definition at line 3268 of file embObjMotionControl.cpp.
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Definition at line 3198 of file embObjMotionControl.cpp.
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Definition at line 3044 of file embObjMotionControl.cpp.
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Definition at line 3034 of file embObjMotionControl.cpp.
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Definition at line 3039 of file embObjMotionControl.cpp.
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Definition at line 4268 of file embObjMotionControl.cpp.
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Definition at line 4956 of file embObjMotionControl.cpp.
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Definition at line 4916 of file embObjMotionControl.cpp.
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Definition at line 1807 of file embObjMotionControl.cpp.
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Definition at line 1813 of file embObjMotionControl.cpp.
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Definition at line 2059 of file embObjMotionControl.cpp.
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Definition at line 1716 of file embObjMotionControl.cpp.
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Definition at line 1792 of file embObjMotionControl.cpp.
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Definition at line 1797 of file embObjMotionControl.cpp.
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Definition at line 1782 of file embObjMotionControl.cpp.
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Definition at line 4367 of file embObjMotionControl.cpp.
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Definition at line 4402 of file embObjMotionControl.cpp.
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Definition at line 4392 of file embObjMotionControl.cpp.
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Definition at line 5021 of file embObjMotionControl.cpp.
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Definition at line 2547 of file embObjMotionControl.cpp.
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Definition at line 2568 of file embObjMotionControl.cpp.
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Definition at line 2708 of file embObjMotionControl.cpp.
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Definition at line 5284 of file embObjMotionControl.cpp.
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Definition at line 5274 of file embObjMotionControl.cpp.
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Definition at line 5296 of file embObjMotionControl.cpp.
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Definition at line 5166 of file embObjMotionControl.cpp.
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Definition at line 5178 of file embObjMotionControl.cpp.
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Definition at line 2527 of file embObjMotionControl.cpp.
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Definition at line 2536 of file embObjMotionControl.cpp.
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Definition at line 2698 of file embObjMotionControl.cpp.
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Definition at line 4051 of file embObjMotionControl.cpp.
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Definition at line 4043 of file embObjMotionControl.cpp.
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Definition at line 4061 of file embObjMotionControl.cpp.
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Definition at line 3845 of file embObjMotionControl.cpp.
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Definition at line 4892 of file embObjMotionControl.cpp.
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Definition at line 3945 of file embObjMotionControl.cpp.
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Definition at line 2629 of file embObjMotionControl.cpp.
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Definition at line 2738 of file embObjMotionControl.cpp.
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Definition at line 2620 of file embObjMotionControl.cpp.
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Implements eth::IethResource.
Definition at line 1560 of file embObjMotionControl.cpp.
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Implements eth::IethResource.
Definition at line 1565 of file embObjMotionControl.cpp.
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Definition at line 3993 of file embObjMotionControl.cpp.
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Definition at line 3982 of file embObjMotionControl.cpp.
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Definition at line 2102 of file embObjMotionControl.cpp.
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Definition at line 4296 of file embObjMotionControl.cpp.
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Definition at line 2068 of file embObjMotionControl.cpp.