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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
 
- 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 223 of file embObjMotionControl.h.

Constructor & Destructor Documentation

◆ embObjMotionControl()

embObjMotionControl::embObjMotionControl ( )

Definition at line 187 of file embObjMotionControl.cpp.

◆ ~embObjMotionControl()

embObjMotionControl::~embObjMotionControl ( )

Definition at line 291 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 2356 of file embObjMotionControl.cpp.

◆ calibrationDoneRaw()

bool embObjMotionControl::calibrationDoneRaw ( int  j)
overridevirtual

Definition at line 2433 of file embObjMotionControl.cpp.

◆ checkMotionDoneRaw() [1/3]

bool embObjMotionControl::checkMotionDoneRaw ( bool *  flag)
overridevirtual

Definition at line 2569 of file embObjMotionControl.cpp.

◆ checkMotionDoneRaw() [2/3]

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

Definition at line 2723 of file embObjMotionControl.cpp.

◆ checkMotionDoneRaw() [3/3]

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

Definition at line 2551 of file embObjMotionControl.cpp.

◆ close()

bool embObjMotionControl::close ( )
virtual

Definition at line 1522 of file embObjMotionControl.cpp.

◆ disableAmpRaw()

bool embObjMotionControl::disableAmpRaw ( int  j)
overridevirtual

Definition at line 3232 of file embObjMotionControl.cpp.

◆ disablePidRaw()

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

Definition at line 2108 of file embObjMotionControl.cpp.

◆ enableAmpRaw()

bool embObjMotionControl::enableAmpRaw ( int  j)
overridevirtual

Definition at line 3227 of file embObjMotionControl.cpp.

◆ enablePidRaw()

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

Definition at line 2113 of file embObjMotionControl.cpp.

◆ getAmpStatusRaw() [1/2]

bool embObjMotionControl::getAmpStatusRaw ( int *  st)
overridevirtual

Definition at line 3301 of file embObjMotionControl.cpp.

◆ getAmpStatusRaw() [2/2]

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

Definition at line 3294 of file embObjMotionControl.cpp.

◆ getAxes()

bool embObjMotionControl::getAxes ( int *  ax)
overridevirtual

Definition at line 2488 of file embObjMotionControl.cpp.

◆ getAxisNameRaw()

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

Definition at line 3566 of file embObjMotionControl.cpp.

◆ getControlModeRaw()

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

Definition at line 2811 of file embObjMotionControl.cpp.

◆ getControlModesRaw() [1/2]

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

Definition at line 2835 of file embObjMotionControl.cpp.

◆ getControlModesRaw() [2/2]

bool embObjMotionControl::getControlModesRaw ( int *  v)
overridevirtual

Definition at line 2825 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 4294 of file embObjMotionControl.cpp.

◆ getCurrentRangeRaw()

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

Definition at line 5313 of file embObjMotionControl.cpp.

◆ getCurrentRangesRaw()

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

Definition at line 5323 of file embObjMotionControl.cpp.

◆ getCurrentRaw()

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

Definition at line 3237 of file embObjMotionControl.cpp.

◆ getCurrentsRaw()

bool embObjMotionControl::getCurrentsRaw ( double *  vals)
overridevirtual

Definition at line 3247 of file embObjMotionControl.cpp.

◆ getDutyCycleRaw()

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

Definition at line 5282 of file embObjMotionControl.cpp.

◆ getDutyCyclesRaw()

bool embObjMotionControl::getDutyCyclesRaw ( double *  v)
overridevirtual

Definition at line 5301 of file embObjMotionControl.cpp.

◆ getEncoderAccelerationRaw()

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

Definition at line 3043 of file embObjMotionControl.cpp.

◆ getEncoderAccelerationsRaw()

bool embObjMotionControl::getEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 3056 of file embObjMotionControl.cpp.

◆ getEncoderRaw()

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

Definition at line 2988 of file embObjMotionControl.cpp.

◆ getEncoderSpeedRaw()

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

Definition at line 3019 of file embObjMotionControl.cpp.

◆ getEncoderSpeedsRaw()

bool embObjMotionControl::getEncoderSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 3033 of file embObjMotionControl.cpp.

◆ getEncodersRaw()

bool embObjMotionControl::getEncodersRaw ( double *  encs)
overridevirtual

Definition at line 3008 of file embObjMotionControl.cpp.

◆ getEncodersTimedRaw()

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

Definition at line 3068 of file embObjMotionControl.cpp.

◆ getEncoderTimedRaw()

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

Definition at line 3077 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 1743 of file embObjMotionControl.cpp.

◆ getEntityName()

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

Reimplemented from eth::IethResource.

Definition at line 1728 of file embObjMotionControl.cpp.

◆ getGearboxRatioRaw()

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

Definition at line 3360 of file embObjMotionControl.cpp.

◆ getHasHallSensorRaw()

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

Definition at line 3495 of file embObjMotionControl.cpp.

◆ getHasRotorEncoderIndexRaw()

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

Definition at line 3523 of file embObjMotionControl.cpp.

◆ getHasRotorEncoderRaw()

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

Definition at line 3509 of file embObjMotionControl.cpp.

◆ getHasTempSensorsRaw()

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

Definition at line 3481 of file embObjMotionControl.cpp.

◆ getImpedanceOffsetRaw()

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

Definition at line 4283 of file embObjMotionControl.cpp.

◆ getImpedanceRaw()

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

Definition at line 4207 of file embObjMotionControl.cpp.

◆ getInteractionModeRaw()

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

Definition at line 4641 of file embObjMotionControl.cpp.

◆ getInteractionModesRaw() [1/2]

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

Definition at line 4658 of file embObjMotionControl.cpp.

◆ getInteractionModesRaw() [2/2]

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

Definition at line 4669 of file embObjMotionControl.cpp.

◆ getJointEncoderResolutionRaw()

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

Definition at line 3413 of file embObjMotionControl.cpp.

◆ getJointEncoderTypeRaw()

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

Definition at line 3427 of file embObjMotionControl.cpp.

◆ getJointTypeRaw()

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

Definition at line 3580 of file embObjMotionControl.cpp.

◆ getKeyMetadata()

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

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5684 of file embObjMotionControl.cpp.

◆ getKeys()

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

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5658 of file embObjMotionControl.cpp.

◆ getKinematicMJRaw()

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

Definition at line 3455 of file embObjMotionControl.cpp.

◆ getLastJointFaultRaw()

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

Definition at line 5573 of file embObjMotionControl.cpp.

◆ getLimitsRaw()

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

Definition at line 3346 of file embObjMotionControl.cpp.

◆ getMaxCurrentRaw()

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

Definition at line 3276 of file embObjMotionControl.cpp.

◆ getMetadataMap()

bool embObjMotionControl::getMetadataMap ( rawValuesKeyMetadataMap &  metamap)
overridevirtual

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5673 of file embObjMotionControl.cpp.

◆ getMotorEncoderAccelerationRaw()

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

Definition at line 3180 of file embObjMotionControl.cpp.

◆ getMotorEncoderAccelerationsRaw()

bool embObjMotionControl::getMotorEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 3197 of file embObjMotionControl.cpp.

◆ getMotorEncoderCountsPerRevolutionRaw()

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

Definition at line 3108 of file embObjMotionControl.cpp.

◆ getMotorEncoderRaw()

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

Definition at line 3123 of file embObjMotionControl.cpp.

◆ getMotorEncoderSpeedRaw()

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

Definition at line 3153 of file embObjMotionControl.cpp.

◆ getMotorEncoderSpeedsRaw()

bool embObjMotionControl::getMotorEncoderSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 3170 of file embObjMotionControl.cpp.

◆ getMotorEncodersRaw()

bool embObjMotionControl::getMotorEncodersRaw ( double *  encs)
overridevirtual

Definition at line 3142 of file embObjMotionControl.cpp.

◆ getMotorEncodersTimedRaw()

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

Definition at line 3207 of file embObjMotionControl.cpp.

◆ getMotorEncoderTimedRaw()

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

Definition at line 3216 of file embObjMotionControl.cpp.

◆ getMotorPolesRaw()

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

Definition at line 3537 of file embObjMotionControl.cpp.

◆ getMotorTorqueParamsRaw()

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

Definition at line 4303 of file embObjMotionControl.cpp.

◆ getNominalCurrentRaw()

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

Definition at line 4999 of file embObjMotionControl.cpp.

◆ getNumberOfKeys()

int embObjMotionControl::getNumberOfKeys ( )
overridevirtual

Implements iCub::debugLibrary::IRawValuesPublisher.

Definition at line 5668 of file embObjMotionControl.cpp.

◆ getNumberOfMotorEncodersRaw()

bool embObjMotionControl::getNumberOfMotorEncodersRaw ( int *  num)
overridevirtual

Definition at line 3087 of file embObjMotionControl.cpp.

◆ getNumberOfMotorsRaw()

bool embObjMotionControl::getNumberOfMotorsRaw ( int *  num)
overridevirtual

Definition at line 4887 of file embObjMotionControl.cpp.

◆ getPeakCurrentRaw()

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

Definition at line 4959 of file embObjMotionControl.cpp.

◆ getPidErrorLimitRaw()

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

Definition at line 2093 of file embObjMotionControl.cpp.

◆ getPidErrorLimitsRaw()

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

Definition at line 2098 of file embObjMotionControl.cpp.

◆ getPidErrorRaw()

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

Definition at line 1878 of file embObjMotionControl.cpp.

◆ getPidErrorsRaw()

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

Definition at line 1942 of file embObjMotionControl.cpp.

◆ getPidOutputRaw()

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

Definition at line 4833 of file embObjMotionControl.cpp.

◆ getPidOutputsRaw()

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

Definition at line 4872 of file embObjMotionControl.cpp.

◆ getPidRaw()

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

Definition at line 1799 of file embObjMotionControl.cpp.

◆ getPidReferenceRaw()

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

Definition at line 2027 of file embObjMotionControl.cpp.

◆ getPidReferencesRaw()

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

Definition at line 2080 of file embObjMotionControl.cpp.

◆ getPidsRaw()

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

Definition at line 2001 of file embObjMotionControl.cpp.

◆ getPowerSupplyVoltageRaw()

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

Definition at line 5092 of file embObjMotionControl.cpp.

◆ getPWMLimitRaw()

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

Definition at line 5060 of file embObjMotionControl.cpp.

◆ getPWMRaw()

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

Definition at line 5041 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 5643 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 5628 of file embObjMotionControl.cpp.

◆ getRefAccelerationRaw()

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

Definition at line 2667 of file embObjMotionControl.cpp.

◆ getRefAccelerationsRaw() [1/2]

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

Definition at line 2787 of file embObjMotionControl.cpp.

◆ getRefAccelerationsRaw() [2/2]

bool embObjMotionControl::getRefAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 2673 of file embObjMotionControl.cpp.

◆ getRefCurrentRaw()

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

Definition at line 5381 of file embObjMotionControl.cpp.

◆ getRefCurrentsRaw()

bool embObjMotionControl::getRefCurrentsRaw ( double *  t)
overridevirtual

Definition at line 5365 of file embObjMotionControl.cpp.

◆ getRefDutyCycleRaw()

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

Definition at line 5247 of file embObjMotionControl.cpp.

◆ getRefDutyCyclesRaw()

bool embObjMotionControl::getRefDutyCyclesRaw ( double *  v)
overridevirtual

Definition at line 5266 of file embObjMotionControl.cpp.

◆ getRefPositionRaw()

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

Definition at line 4583 of file embObjMotionControl.cpp.

◆ getRefPositionsRaw() [1/2]

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

Definition at line 4627 of file embObjMotionControl.cpp.

◆ getRefPositionsRaw() [2/2]

bool embObjMotionControl::getRefPositionsRaw ( double *  refs)
overridevirtual

Definition at line 4606 of file embObjMotionControl.cpp.

◆ getRefSpeedRaw()

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

Definition at line 2649 of file embObjMotionControl.cpp.

◆ getRefSpeedsRaw() [1/2]

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

Definition at line 2777 of file embObjMotionControl.cpp.

◆ getRefSpeedsRaw() [2/2]

bool embObjMotionControl::getRefSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 2661 of file embObjMotionControl.cpp.

◆ getRefTorqueRaw()

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

Definition at line 4138 of file embObjMotionControl.cpp.

◆ getRefTorquesRaw()

bool embObjMotionControl::getRefTorquesRaw ( double *  t)
overridevirtual

Definition at line 4130 of file embObjMotionControl.cpp.

◆ getRefVelocitiesRaw() [1/2]

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

Definition at line 4565 of file embObjMotionControl.cpp.

◆ getRefVelocitiesRaw() [2/2]

bool embObjMotionControl::getRefVelocitiesRaw ( double *  refs)
overridevirtual

Definition at line 4540 of file embObjMotionControl.cpp.

◆ getRefVelocityRaw()

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

Definition at line 4517 of file embObjMotionControl.cpp.

◆ getRemoteVariableRaw()

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

Definition at line 3608 of file embObjMotionControl.cpp.

◆ getRemoteVariablesListRaw()

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

Definition at line 3959 of file embObjMotionControl.cpp.

◆ getRotorEncoderResolutionRaw()

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

Definition at line 3399 of file embObjMotionControl.cpp.

◆ getRotorEncoderTypeRaw()

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

Definition at line 3441 of file embObjMotionControl.cpp.

◆ getRotorIndexOffsetRaw()

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

Definition at line 3552 of file embObjMotionControl.cpp.

◆ getRotorLimitsRaw()

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

Definition at line 3374 of file embObjMotionControl.cpp.

◆ getTargetPositionRaw()

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

Definition at line 4472 of file embObjMotionControl.cpp.

◆ getTargetPositionsRaw() [1/2]

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

Definition at line 4507 of file embObjMotionControl.cpp.

◆ getTargetPositionsRaw() [2/2]

bool embObjMotionControl::getTargetPositionsRaw ( double *  refs)
overridevirtual

Definition at line 4497 of file embObjMotionControl.cpp.

◆ getTemperatureLimitRaw()

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

Definition at line 4932 of file embObjMotionControl.cpp.

◆ getTemperatureRaw()

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

Definition at line 4893 of file embObjMotionControl.cpp.

◆ getTemperatureSensorTypeRaw()

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

Definition at line 3461 of file embObjMotionControl.cpp.

◆ getTemperaturesRaw()

bool embObjMotionControl::getTemperaturesRaw ( double *  vals)
overridevirtual

Definition at line 4922 of file embObjMotionControl.cpp.

◆ getTorqueControlFilterType()

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

Definition at line 3386 of file embObjMotionControl.cpp.

◆ getTorqueRangeRaw()

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

Definition at line 4092 of file embObjMotionControl.cpp.

◆ getTorqueRangesRaw()

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

Definition at line 4097 of file embObjMotionControl.cpp.

◆ getTorqueRaw()

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

Definition at line 4075 of file embObjMotionControl.cpp.

◆ getTorquesRaw()

bool embObjMotionControl::getTorquesRaw ( double *  t)
overridevirtual

Definition at line 4084 of file embObjMotionControl.cpp.

◆ getVelLimitsRaw()

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

Definition at line 4009 of file embObjMotionControl.cpp.

◆ getVirtualAnalogSensorChannels()

int embObjMotionControl::getVirtualAnalogSensorChannels ( )
overridevirtual

Definition at line 4036 of file embObjMotionControl.cpp.

◆ getVirtualAnalogSensorStatus()

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

Definition at line 4031 of file embObjMotionControl.cpp.

◆ getWholeImpedanceRaw()

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

Definition at line 4220 of file embObjMotionControl.cpp.

◆ initialised()

bool embObjMotionControl::initialised ( )
virtual

Implements eth::IethResource.

Definition at line 311 of file embObjMotionControl.cpp.

◆ isPidEnabledRaw()

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

Definition at line 4882 of file embObjMotionControl.cpp.

◆ open()

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

Definition at line 343 of file embObjMotionControl.cpp.

◆ positionMoveRaw() [1/3]

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

Definition at line 2529 of file embObjMotionControl.cpp.

◆ positionMoveRaw() [2/3]

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

Definition at line 2703 of file embObjMotionControl.cpp.

◆ positionMoveRaw() [3/3]

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

Definition at line 2495 of file embObjMotionControl.cpp.

◆ relativeMoveRaw() [1/3]

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

Definition at line 2545 of file embObjMotionControl.cpp.

◆ relativeMoveRaw() [2/3]

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

Definition at line 2713 of file embObjMotionControl.cpp.

◆ relativeMoveRaw() [3/3]

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

Definition at line 2540 of file embObjMotionControl.cpp.

◆ resetEncoderRaw()

bool embObjMotionControl::resetEncoderRaw ( int  j)
overridevirtual

Definition at line 2978 of file embObjMotionControl.cpp.

◆ resetEncodersRaw()

bool embObjMotionControl::resetEncodersRaw ( )
overridevirtual

Definition at line 2983 of file embObjMotionControl.cpp.

◆ resetMotorEncoderRaw()

bool embObjMotionControl::resetMotorEncoderRaw ( int  m)
overridevirtual

Definition at line 3113 of file embObjMotionControl.cpp.

◆ resetMotorEncodersRaw()

bool embObjMotionControl::resetMotorEncodersRaw ( )
overridevirtual

Definition at line 3118 of file embObjMotionControl.cpp.

◆ resetPidRaw()

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

Definition at line 2103 of file embObjMotionControl.cpp.

◆ setCalibrationParametersRaw()

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

Definition at line 2181 of file embObjMotionControl.cpp.

◆ setControlModeRaw()

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

Definition at line 2850 of file embObjMotionControl.cpp.

◆ setControlModesRaw() [1/2]

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

Definition at line 2886 of file embObjMotionControl.cpp.

◆ setControlModesRaw() [2/2]

bool embObjMotionControl::setControlModesRaw ( int *  modes)
overridevirtual

Definition at line 2924 of file embObjMotionControl.cpp.

◆ setEncoderRaw()

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

Definition at line 2968 of file embObjMotionControl.cpp.

◆ setEncodersRaw()

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

Definition at line 2973 of file embObjMotionControl.cpp.

◆ setImpedanceOffsetRaw()

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

Definition at line 4261 of file embObjMotionControl.cpp.

◆ setImpedanceRaw()

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

Definition at line 4236 of file embObjMotionControl.cpp.

◆ setInteractionModeRaw()

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

Definition at line 4681 of file embObjMotionControl.cpp.

◆ setInteractionModesRaw() [1/2]

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

Definition at line 4721 of file embObjMotionControl.cpp.

◆ setInteractionModesRaw() [2/2]

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

Definition at line 4775 of file embObjMotionControl.cpp.

◆ setLimitsRaw()

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

Definition at line 3327 of file embObjMotionControl.cpp.

◆ setMaxCurrentRaw()

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

Definition at line 3257 of file embObjMotionControl.cpp.

◆ setMotorEncoderCountsPerRevolutionRaw()

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

Definition at line 3103 of file embObjMotionControl.cpp.

◆ setMotorEncoderRaw()

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

Definition at line 3093 of file embObjMotionControl.cpp.

◆ setMotorEncodersRaw()

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

Definition at line 3098 of file embObjMotionControl.cpp.

◆ setMotorTorqueParamsRaw()

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

Definition at line 4327 of file embObjMotionControl.cpp.

◆ setNominalCurrentRaw()

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

Definition at line 5015 of file embObjMotionControl.cpp.

◆ setPeakCurrentRaw()

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

Definition at line 4975 of file embObjMotionControl.cpp.

◆ setPidErrorLimitRaw()

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

Definition at line 1866 of file embObjMotionControl.cpp.

◆ setPidErrorLimitsRaw()

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

Definition at line 1872 of file embObjMotionControl.cpp.

◆ setPidOffsetRaw()

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

Definition at line 2118 of file embObjMotionControl.cpp.

◆ setPidRaw()

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

Definition at line 1775 of file embObjMotionControl.cpp.

◆ setPidReferenceRaw()

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

Definition at line 1851 of file embObjMotionControl.cpp.

◆ setPidReferencesRaw()

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

Definition at line 1856 of file embObjMotionControl.cpp.

◆ setPidsRaw()

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

Definition at line 1841 of file embObjMotionControl.cpp.

◆ setPositionRaw()

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

Definition at line 4426 of file embObjMotionControl.cpp.

◆ setPositionsRaw() [1/2]

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

Definition at line 4461 of file embObjMotionControl.cpp.

◆ setPositionsRaw() [2/2]

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

Definition at line 4451 of file embObjMotionControl.cpp.

◆ setPWMLimitRaw()

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

Definition at line 5080 of file embObjMotionControl.cpp.

◆ setRefAccelerationRaw()

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

Definition at line 2606 of file embObjMotionControl.cpp.

◆ setRefAccelerationsRaw() [1/2]

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

Definition at line 2627 of file embObjMotionControl.cpp.

◆ setRefAccelerationsRaw() [2/2]

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

Definition at line 2767 of file embObjMotionControl.cpp.

◆ setRefCurrentRaw()

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

Definition at line 5343 of file embObjMotionControl.cpp.

◆ setRefCurrentsRaw() [1/2]

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

Definition at line 5333 of file embObjMotionControl.cpp.

◆ setRefCurrentsRaw() [2/2]

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

Definition at line 5355 of file embObjMotionControl.cpp.

◆ setRefDutyCycleRaw()

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

Definition at line 5225 of file embObjMotionControl.cpp.

◆ setRefDutyCyclesRaw()

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

Definition at line 5237 of file embObjMotionControl.cpp.

◆ setRefSpeedRaw()

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

Definition at line 2586 of file embObjMotionControl.cpp.

◆ setRefSpeedsRaw() [1/2]

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

Definition at line 2595 of file embObjMotionControl.cpp.

◆ setRefSpeedsRaw() [2/2]

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

Definition at line 2757 of file embObjMotionControl.cpp.

◆ setRefTorqueRaw()

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

Definition at line 4110 of file embObjMotionControl.cpp.

◆ setRefTorquesRaw() [1/2]

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

Definition at line 4102 of file embObjMotionControl.cpp.

◆ setRefTorquesRaw() [2/2]

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

Definition at line 4120 of file embObjMotionControl.cpp.

◆ setRemoteVariableRaw()

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

Definition at line 3904 of file embObjMotionControl.cpp.

◆ setTemperatureLimitRaw()

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

Definition at line 4951 of file embObjMotionControl.cpp.

◆ setVelLimitsRaw()

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

Definition at line 4004 of file embObjMotionControl.cpp.

◆ stopRaw() [1/3]

bool embObjMotionControl::stopRaw ( )
overridevirtual

Definition at line 2688 of file embObjMotionControl.cpp.

◆ stopRaw() [2/3]

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

Definition at line 2797 of file embObjMotionControl.cpp.

◆ stopRaw() [3/3]

bool embObjMotionControl::stopRaw ( int  j)
overridevirtual

Definition at line 2679 of file embObjMotionControl.cpp.

◆ type()

eth::iethresType_t embObjMotionControl::type ( )
virtual

Implements eth::IethResource.

Definition at line 1588 of file embObjMotionControl.cpp.

◆ update()

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

Implements eth::IethResource.

Definition at line 1593 of file embObjMotionControl.cpp.

◆ updateVirtualAnalogSensorMeasure() [1/2]

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

Definition at line 4052 of file embObjMotionControl.cpp.

◆ updateVirtualAnalogSensorMeasure() [2/2]

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

Definition at line 4041 of file embObjMotionControl.cpp.

◆ velocityMoveRaw() [1/3]

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

Definition at line 2161 of file embObjMotionControl.cpp.

◆ velocityMoveRaw() [2/3]

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

Definition at line 4355 of file embObjMotionControl.cpp.

◆ velocityMoveRaw() [3/3]

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

Definition at line 2127 of file embObjMotionControl.cpp.

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