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

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

#include <embObjMotionControl.h>

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

Public Member Functions

 embObjMotionControl ()
 
 ~embObjMotionControl ()
 
virtual bool open (yarp::os::Searchable &par)
 
virtual bool close ()
 
virtual bool initialised ()
 
virtual eth::iethresType_t type ()
 
virtual bool update (eOprotID32_t id32, double timestamp, void *rxdata)
 
virtual bool getEntityName (uint32_t entityId, std::string &entityName)
 
virtual bool 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
 
virtual bool getAxesNames (std::string key, std::vector< std::string > &axesNames) 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 2409 of file embObjMotionControl.cpp.

◆ calibrationDoneRaw()

bool embObjMotionControl::calibrationDoneRaw ( int  j)
overridevirtual

Definition at line 2486 of file embObjMotionControl.cpp.

◆ checkMotionDoneRaw() [1/3]

bool embObjMotionControl::checkMotionDoneRaw ( bool *  flag)
overridevirtual

Definition at line 2621 of file embObjMotionControl.cpp.

◆ checkMotionDoneRaw() [2/3]

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

Definition at line 2775 of file embObjMotionControl.cpp.

◆ checkMotionDoneRaw() [3/3]

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

Definition at line 2603 of file embObjMotionControl.cpp.

◆ close()

bool embObjMotionControl::close ( )
virtual

Definition at line 1581 of file embObjMotionControl.cpp.

◆ disableAmpRaw()

bool embObjMotionControl::disableAmpRaw ( int  j)
overridevirtual

Definition at line 3284 of file embObjMotionControl.cpp.

◆ disablePidRaw()

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

Definition at line 2167 of file embObjMotionControl.cpp.

◆ enableAmpRaw()

bool embObjMotionControl::enableAmpRaw ( int  j)
overridevirtual

Definition at line 3279 of file embObjMotionControl.cpp.

◆ enablePidRaw()

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

Definition at line 2172 of file embObjMotionControl.cpp.

◆ getAmpStatusRaw() [1/2]

bool embObjMotionControl::getAmpStatusRaw ( int *  st)
overridevirtual

Definition at line 3353 of file embObjMotionControl.cpp.

◆ getAmpStatusRaw() [2/2]

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

Definition at line 3346 of file embObjMotionControl.cpp.

◆ getAxes()

bool embObjMotionControl::getAxes ( int *  ax)
overridevirtual

Definition at line 2540 of file embObjMotionControl.cpp.

◆ getAxesNames()

bool embObjMotionControl::getAxesNames ( std::string  key,
std::vector< std::string > &  axesNames 
)
overridevirtual

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5734 of file embObjMotionControl.cpp.

◆ getAxisNameRaw()

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

Definition at line 3618 of file embObjMotionControl.cpp.

◆ getControlModeRaw()

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

Definition at line 2863 of file embObjMotionControl.cpp.

◆ getControlModesRaw() [1/2]

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

Definition at line 2887 of file embObjMotionControl.cpp.

◆ getControlModesRaw() [2/2]

bool embObjMotionControl::getControlModesRaw ( int *  v)
overridevirtual

Definition at line 2877 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 4346 of file embObjMotionControl.cpp.

◆ getCurrentRangeRaw()

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

Definition at line 5347 of file embObjMotionControl.cpp.

◆ getCurrentRangesRaw()

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

Definition at line 5357 of file embObjMotionControl.cpp.

◆ getCurrentRaw()

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

Definition at line 3289 of file embObjMotionControl.cpp.

◆ getCurrentsRaw()

bool embObjMotionControl::getCurrentsRaw ( double *  vals)
overridevirtual

Definition at line 3299 of file embObjMotionControl.cpp.

◆ getDutyCycleRaw()

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

Definition at line 5316 of file embObjMotionControl.cpp.

◆ getDutyCyclesRaw()

bool embObjMotionControl::getDutyCyclesRaw ( double *  v)
overridevirtual

Definition at line 5335 of file embObjMotionControl.cpp.

◆ getEncoderAccelerationRaw()

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

Definition at line 3095 of file embObjMotionControl.cpp.

◆ getEncoderAccelerationsRaw()

bool embObjMotionControl::getEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 3108 of file embObjMotionControl.cpp.

◆ getEncoderRaw()

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

Definition at line 3040 of file embObjMotionControl.cpp.

◆ getEncoderSpeedRaw()

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

Definition at line 3071 of file embObjMotionControl.cpp.

◆ getEncoderSpeedsRaw()

bool embObjMotionControl::getEncoderSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 3085 of file embObjMotionControl.cpp.

◆ getEncodersRaw()

bool embObjMotionControl::getEncodersRaw ( double *  encs)
overridevirtual

Definition at line 3060 of file embObjMotionControl.cpp.

◆ getEncodersTimedRaw()

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

Definition at line 3120 of file embObjMotionControl.cpp.

◆ getEncoderTimedRaw()

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

Definition at line 3129 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 1802 of file embObjMotionControl.cpp.

◆ getEntityName()

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

Reimplemented from eth::IethResource.

Definition at line 1787 of file embObjMotionControl.cpp.

◆ getGearboxRatioRaw()

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

Definition at line 3412 of file embObjMotionControl.cpp.

◆ getHasHallSensorRaw()

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

Definition at line 3547 of file embObjMotionControl.cpp.

◆ getHasRotorEncoderIndexRaw()

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

Definition at line 3575 of file embObjMotionControl.cpp.

◆ getHasRotorEncoderRaw()

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

Definition at line 3561 of file embObjMotionControl.cpp.

◆ getHasTempSensorsRaw()

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

Definition at line 3533 of file embObjMotionControl.cpp.

◆ getImpedanceOffsetRaw()

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

Definition at line 4335 of file embObjMotionControl.cpp.

◆ getImpedanceRaw()

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

Definition at line 4259 of file embObjMotionControl.cpp.

◆ getInteractionModeRaw()

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

Definition at line 4693 of file embObjMotionControl.cpp.

◆ getInteractionModesRaw() [1/2]

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

Definition at line 4710 of file embObjMotionControl.cpp.

◆ getInteractionModesRaw() [2/2]

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

Definition at line 4721 of file embObjMotionControl.cpp.

◆ getJointEncoderResolutionRaw()

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

Definition at line 3465 of file embObjMotionControl.cpp.

◆ getJointEncoderTypeRaw()

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

Definition at line 3479 of file embObjMotionControl.cpp.

◆ getJointTypeRaw()

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

Definition at line 3632 of file embObjMotionControl.cpp.

◆ getKeyMetadata()

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

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5718 of file embObjMotionControl.cpp.

◆ getKeys()

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

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5692 of file embObjMotionControl.cpp.

◆ getKinematicMJRaw()

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

Definition at line 3507 of file embObjMotionControl.cpp.

◆ getLastJointFaultRaw()

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

Definition at line 5607 of file embObjMotionControl.cpp.

◆ getLimitsRaw()

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

Definition at line 3398 of file embObjMotionControl.cpp.

◆ getMaxCurrentRaw()

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

Definition at line 3328 of file embObjMotionControl.cpp.

◆ getMetadataMap()

bool embObjMotionControl::getMetadataMap ( rawValuesKeyMetadataMap &  metamap)
overridevirtual

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5707 of file embObjMotionControl.cpp.

◆ getMotorEncoderAccelerationRaw()

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

Definition at line 3232 of file embObjMotionControl.cpp.

◆ getMotorEncoderAccelerationsRaw()

bool embObjMotionControl::getMotorEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 3249 of file embObjMotionControl.cpp.

◆ getMotorEncoderCountsPerRevolutionRaw()

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

Definition at line 3160 of file embObjMotionControl.cpp.

◆ getMotorEncoderRaw()

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

Definition at line 3175 of file embObjMotionControl.cpp.

◆ getMotorEncoderSpeedRaw()

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

Definition at line 3205 of file embObjMotionControl.cpp.

◆ getMotorEncoderSpeedsRaw()

bool embObjMotionControl::getMotorEncoderSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 3222 of file embObjMotionControl.cpp.

◆ getMotorEncodersRaw()

bool embObjMotionControl::getMotorEncodersRaw ( double *  encs)
overridevirtual

Definition at line 3194 of file embObjMotionControl.cpp.

◆ getMotorEncodersTimedRaw()

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

Definition at line 3259 of file embObjMotionControl.cpp.

◆ getMotorEncoderTimedRaw()

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

Definition at line 3268 of file embObjMotionControl.cpp.

◆ getMotorPolesRaw()

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

Definition at line 3589 of file embObjMotionControl.cpp.

◆ getMotorTorqueParamsRaw()

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

Definition at line 4355 of file embObjMotionControl.cpp.

◆ getNominalCurrentRaw()

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

Definition at line 5033 of file embObjMotionControl.cpp.

◆ getNumberOfKeys()

int embObjMotionControl::getNumberOfKeys ( )
overridevirtual

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5702 of file embObjMotionControl.cpp.

◆ getNumberOfMotorEncodersRaw()

bool embObjMotionControl::getNumberOfMotorEncodersRaw ( int *  num)
overridevirtual

Definition at line 3139 of file embObjMotionControl.cpp.

◆ getNumberOfMotorsRaw()

bool embObjMotionControl::getNumberOfMotorsRaw ( int *  num)
overridevirtual

Definition at line 4939 of file embObjMotionControl.cpp.

◆ getPeakCurrentRaw()

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

Definition at line 4993 of file embObjMotionControl.cpp.

◆ getPidErrorLimitRaw()

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

Definition at line 2152 of file embObjMotionControl.cpp.

◆ getPidErrorLimitsRaw()

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

Definition at line 2157 of file embObjMotionControl.cpp.

◆ getPidErrorRaw()

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

Definition at line 1937 of file embObjMotionControl.cpp.

◆ getPidErrorsRaw()

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

Definition at line 2001 of file embObjMotionControl.cpp.

◆ getPidOutputRaw()

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

Definition at line 4885 of file embObjMotionControl.cpp.

◆ getPidOutputsRaw()

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

Definition at line 4924 of file embObjMotionControl.cpp.

◆ getPidRaw()

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

Definition at line 1858 of file embObjMotionControl.cpp.

◆ getPidReferenceRaw()

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

Definition at line 2086 of file embObjMotionControl.cpp.

◆ getPidReferencesRaw()

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

Definition at line 2139 of file embObjMotionControl.cpp.

◆ getPidsRaw()

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

Definition at line 2060 of file embObjMotionControl.cpp.

◆ getPowerSupplyVoltageRaw()

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

Definition at line 5126 of file embObjMotionControl.cpp.

◆ getPWMLimitRaw()

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

Definition at line 5094 of file embObjMotionControl.cpp.

◆ getPWMRaw()

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

Definition at line 5075 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 5677 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 5662 of file embObjMotionControl.cpp.

◆ getRefAccelerationRaw()

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

Definition at line 2719 of file embObjMotionControl.cpp.

◆ getRefAccelerationsRaw() [1/2]

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

Definition at line 2839 of file embObjMotionControl.cpp.

◆ getRefAccelerationsRaw() [2/2]

bool embObjMotionControl::getRefAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 2725 of file embObjMotionControl.cpp.

◆ getRefCurrentRaw()

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

Definition at line 5415 of file embObjMotionControl.cpp.

◆ getRefCurrentsRaw()

bool embObjMotionControl::getRefCurrentsRaw ( double *  t)
overridevirtual

Definition at line 5399 of file embObjMotionControl.cpp.

◆ getRefDutyCycleRaw()

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

Definition at line 5281 of file embObjMotionControl.cpp.

◆ getRefDutyCyclesRaw()

bool embObjMotionControl::getRefDutyCyclesRaw ( double *  v)
overridevirtual

Definition at line 5300 of file embObjMotionControl.cpp.

◆ getRefPositionRaw()

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

Definition at line 4635 of file embObjMotionControl.cpp.

◆ getRefPositionsRaw() [1/2]

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

Definition at line 4679 of file embObjMotionControl.cpp.

◆ getRefPositionsRaw() [2/2]

bool embObjMotionControl::getRefPositionsRaw ( double *  refs)
overridevirtual

Definition at line 4658 of file embObjMotionControl.cpp.

◆ getRefSpeedRaw()

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

Definition at line 2701 of file embObjMotionControl.cpp.

◆ getRefSpeedsRaw() [1/2]

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

Definition at line 2829 of file embObjMotionControl.cpp.

◆ getRefSpeedsRaw() [2/2]

bool embObjMotionControl::getRefSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 2713 of file embObjMotionControl.cpp.

◆ getRefTorqueRaw()

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

Definition at line 4190 of file embObjMotionControl.cpp.

◆ getRefTorquesRaw()

bool embObjMotionControl::getRefTorquesRaw ( double *  t)
overridevirtual

Definition at line 4182 of file embObjMotionControl.cpp.

◆ getRefVelocitiesRaw() [1/2]

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

Definition at line 4617 of file embObjMotionControl.cpp.

◆ getRefVelocitiesRaw() [2/2]

bool embObjMotionControl::getRefVelocitiesRaw ( double *  refs)
overridevirtual

Definition at line 4592 of file embObjMotionControl.cpp.

◆ getRefVelocityRaw()

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

Definition at line 4569 of file embObjMotionControl.cpp.

◆ getRemoteVariableRaw()

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

Definition at line 3660 of file embObjMotionControl.cpp.

◆ getRemoteVariablesListRaw()

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

Definition at line 4011 of file embObjMotionControl.cpp.

◆ getRotorEncoderResolutionRaw()

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

Definition at line 3451 of file embObjMotionControl.cpp.

◆ getRotorEncoderTypeRaw()

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

Definition at line 3493 of file embObjMotionControl.cpp.

◆ getRotorIndexOffsetRaw()

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

Definition at line 3604 of file embObjMotionControl.cpp.

◆ getRotorLimitsRaw()

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

Definition at line 3426 of file embObjMotionControl.cpp.

◆ getTargetPositionRaw()

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

Definition at line 4524 of file embObjMotionControl.cpp.

◆ getTargetPositionsRaw() [1/2]

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

Definition at line 4559 of file embObjMotionControl.cpp.

◆ getTargetPositionsRaw() [2/2]

bool embObjMotionControl::getTargetPositionsRaw ( double *  refs)
overridevirtual

Definition at line 4549 of file embObjMotionControl.cpp.

◆ getTemperatureLimitRaw()

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

Definition at line 4978 of file embObjMotionControl.cpp.

◆ getTemperatureRaw()

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

Definition at line 4945 of file embObjMotionControl.cpp.

◆ getTemperatureSensorTypeRaw()

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

Definition at line 3513 of file embObjMotionControl.cpp.

◆ getTemperaturesRaw()

bool embObjMotionControl::getTemperaturesRaw ( double *  vals)
overridevirtual

Definition at line 4968 of file embObjMotionControl.cpp.

◆ getTorqueControlFilterType()

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

Definition at line 3438 of file embObjMotionControl.cpp.

◆ getTorqueRangeRaw()

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

Definition at line 4144 of file embObjMotionControl.cpp.

◆ getTorqueRangesRaw()

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

Definition at line 4149 of file embObjMotionControl.cpp.

◆ getTorqueRaw()

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

Definition at line 4127 of file embObjMotionControl.cpp.

◆ getTorquesRaw()

bool embObjMotionControl::getTorquesRaw ( double *  t)
overridevirtual

Definition at line 4136 of file embObjMotionControl.cpp.

◆ getVelLimitsRaw()

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

Definition at line 4061 of file embObjMotionControl.cpp.

◆ getVirtualAnalogSensorChannels()

int embObjMotionControl::getVirtualAnalogSensorChannels ( )
overridevirtual

Definition at line 4088 of file embObjMotionControl.cpp.

◆ getVirtualAnalogSensorStatus()

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

Definition at line 4083 of file embObjMotionControl.cpp.

◆ getWholeImpedanceRaw()

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

Definition at line 4272 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 4934 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 2581 of file embObjMotionControl.cpp.

◆ positionMoveRaw() [2/3]

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

Definition at line 2755 of file embObjMotionControl.cpp.

◆ positionMoveRaw() [3/3]

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

Definition at line 2547 of file embObjMotionControl.cpp.

◆ relativeMoveRaw() [1/3]

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

Definition at line 2597 of file embObjMotionControl.cpp.

◆ relativeMoveRaw() [2/3]

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

Definition at line 2765 of file embObjMotionControl.cpp.

◆ relativeMoveRaw() [3/3]

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

Definition at line 2592 of file embObjMotionControl.cpp.

◆ resetEncoderRaw()

bool embObjMotionControl::resetEncoderRaw ( int  j)
overridevirtual

Definition at line 3030 of file embObjMotionControl.cpp.

◆ resetEncodersRaw()

bool embObjMotionControl::resetEncodersRaw ( )
overridevirtual

Definition at line 3035 of file embObjMotionControl.cpp.

◆ resetMotorEncoderRaw()

bool embObjMotionControl::resetMotorEncoderRaw ( int  m)
overridevirtual

Definition at line 3165 of file embObjMotionControl.cpp.

◆ resetMotorEncodersRaw()

bool embObjMotionControl::resetMotorEncodersRaw ( )
overridevirtual

Definition at line 3170 of file embObjMotionControl.cpp.

◆ resetPidRaw()

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

Definition at line 2162 of file embObjMotionControl.cpp.

◆ setCalibrationParametersRaw()

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

Definition at line 2240 of file embObjMotionControl.cpp.

◆ setControlModeRaw()

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

Definition at line 2902 of file embObjMotionControl.cpp.

◆ setControlModesRaw() [1/2]

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

Definition at line 2938 of file embObjMotionControl.cpp.

◆ setControlModesRaw() [2/2]

bool embObjMotionControl::setControlModesRaw ( int *  modes)
overridevirtual

Definition at line 2976 of file embObjMotionControl.cpp.

◆ setEncoderRaw()

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

Definition at line 3020 of file embObjMotionControl.cpp.

◆ setEncodersRaw()

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

Definition at line 3025 of file embObjMotionControl.cpp.

◆ setImpedanceOffsetRaw()

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

Definition at line 4313 of file embObjMotionControl.cpp.

◆ setImpedanceRaw()

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

Definition at line 4288 of file embObjMotionControl.cpp.

◆ setInteractionModeRaw()

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

Definition at line 4733 of file embObjMotionControl.cpp.

◆ setInteractionModesRaw() [1/2]

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

Definition at line 4773 of file embObjMotionControl.cpp.

◆ setInteractionModesRaw() [2/2]

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

Definition at line 4827 of file embObjMotionControl.cpp.

◆ setLimitsRaw()

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

Definition at line 3379 of file embObjMotionControl.cpp.

◆ setMaxCurrentRaw()

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

Definition at line 3309 of file embObjMotionControl.cpp.

◆ setMotorEncoderCountsPerRevolutionRaw()

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

Definition at line 3155 of file embObjMotionControl.cpp.

◆ setMotorEncoderRaw()

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

Definition at line 3145 of file embObjMotionControl.cpp.

◆ setMotorEncodersRaw()

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

Definition at line 3150 of file embObjMotionControl.cpp.

◆ setMotorTorqueParamsRaw()

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

Definition at line 4379 of file embObjMotionControl.cpp.

◆ setNominalCurrentRaw()

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

Definition at line 5049 of file embObjMotionControl.cpp.

◆ setPeakCurrentRaw()

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

Definition at line 5009 of file embObjMotionControl.cpp.

◆ setPidErrorLimitRaw()

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

Definition at line 1925 of file embObjMotionControl.cpp.

◆ setPidErrorLimitsRaw()

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

Definition at line 1931 of file embObjMotionControl.cpp.

◆ setPidOffsetRaw()

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

Definition at line 2177 of file embObjMotionControl.cpp.

◆ setPidRaw()

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

Definition at line 1834 of file embObjMotionControl.cpp.

◆ setPidReferenceRaw()

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

Definition at line 1910 of file embObjMotionControl.cpp.

◆ setPidReferencesRaw()

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

Definition at line 1915 of file embObjMotionControl.cpp.

◆ setPidsRaw()

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

Definition at line 1900 of file embObjMotionControl.cpp.

◆ setPositionRaw()

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

Definition at line 4478 of file embObjMotionControl.cpp.

◆ setPositionsRaw() [1/2]

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

Definition at line 4513 of file embObjMotionControl.cpp.

◆ setPositionsRaw() [2/2]

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

Definition at line 4503 of file embObjMotionControl.cpp.

◆ setPWMLimitRaw()

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

Definition at line 5114 of file embObjMotionControl.cpp.

◆ setRefAccelerationRaw()

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

Definition at line 2658 of file embObjMotionControl.cpp.

◆ setRefAccelerationsRaw() [1/2]

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

Definition at line 2679 of file embObjMotionControl.cpp.

◆ setRefAccelerationsRaw() [2/2]

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

Definition at line 2819 of file embObjMotionControl.cpp.

◆ setRefCurrentRaw()

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

Definition at line 5377 of file embObjMotionControl.cpp.

◆ setRefCurrentsRaw() [1/2]

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

Definition at line 5367 of file embObjMotionControl.cpp.

◆ setRefCurrentsRaw() [2/2]

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

Definition at line 5389 of file embObjMotionControl.cpp.

◆ setRefDutyCycleRaw()

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

Definition at line 5259 of file embObjMotionControl.cpp.

◆ setRefDutyCyclesRaw()

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

Definition at line 5271 of file embObjMotionControl.cpp.

◆ setRefSpeedRaw()

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

Definition at line 2638 of file embObjMotionControl.cpp.

◆ setRefSpeedsRaw() [1/2]

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

Definition at line 2647 of file embObjMotionControl.cpp.

◆ setRefSpeedsRaw() [2/2]

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

Definition at line 2809 of file embObjMotionControl.cpp.

◆ setRefTorqueRaw()

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

Definition at line 4162 of file embObjMotionControl.cpp.

◆ setRefTorquesRaw() [1/2]

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

Definition at line 4154 of file embObjMotionControl.cpp.

◆ setRefTorquesRaw() [2/2]

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

Definition at line 4172 of file embObjMotionControl.cpp.

◆ setRemoteVariableRaw()

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

Definition at line 3956 of file embObjMotionControl.cpp.

◆ setTemperatureLimitRaw()

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

Definition at line 4985 of file embObjMotionControl.cpp.

◆ setVelLimitsRaw()

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

Definition at line 4056 of file embObjMotionControl.cpp.

◆ stopRaw() [1/3]

bool embObjMotionControl::stopRaw ( )
overridevirtual

Definition at line 2740 of file embObjMotionControl.cpp.

◆ stopRaw() [2/3]

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

Definition at line 2849 of file embObjMotionControl.cpp.

◆ stopRaw() [3/3]

bool embObjMotionControl::stopRaw ( int  j)
overridevirtual

Definition at line 2731 of file embObjMotionControl.cpp.

◆ type()

eth::iethresType_t embObjMotionControl::type ( )
virtual

Implements eth::IethResource.

Definition at line 1647 of file embObjMotionControl.cpp.

◆ update()

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

Implements eth::IethResource.

Definition at line 1652 of file embObjMotionControl.cpp.

◆ updateVirtualAnalogSensorMeasure() [1/2]

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

Definition at line 4104 of file embObjMotionControl.cpp.

◆ updateVirtualAnalogSensorMeasure() [2/2]

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

Definition at line 4093 of file embObjMotionControl.cpp.

◆ velocityMoveRaw() [1/3]

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

Definition at line 2220 of file embObjMotionControl.cpp.

◆ velocityMoveRaw() [2/3]

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

Definition at line 4407 of file embObjMotionControl.cpp.

◆ velocityMoveRaw() [3/3]

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

Definition at line 2186 of file embObjMotionControl.cpp.

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