iCub-main
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embObjMotionControl
: driver for iCub motor control boards EMS on a ETH bus.
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#include <embObjMotionControl.h>
Public Member Functions | |
embObjMotionControl () | |
~embObjMotionControl () | |
virtual bool | open (yarp::os::Searchable &par) |
virtual bool | close () |
virtual bool | initialised () |
virtual eth::iethresType_t | type () |
virtual bool | update (eOprotID32_t id32, double timestamp, void *rxdata) |
virtual bool | getEntityName (uint32_t entityId, std::string &entityName) |
virtual bool | 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 ¶ms) override |
virtual bool | calibrateAxisWithParamsRaw (int axis, unsigned int type, double p1, double p2, double p3) override |
virtual bool | calibrationDoneRaw (int j) override |
virtual bool | getControlModeRaw (int j, int *v) override |
virtual bool | getControlModesRaw (int *v) override |
virtual bool | getControlModesRaw (const int n_joint, const int *joints, int *modes) override |
virtual bool | setControlModeRaw (const int j, const int mode) override |
virtual bool | setControlModesRaw (const int n_joint, const int *joints, int *modes) override |
virtual bool | setControlModesRaw (int *modes) override |
virtual bool | resetEncoderRaw (int j) override |
virtual bool | resetEncodersRaw () override |
virtual bool | setEncoderRaw (int j, double val) override |
virtual bool | setEncodersRaw (const double *vals) override |
virtual bool | getEncoderRaw (int j, double *v) override |
virtual bool | getEncodersRaw (double *encs) override |
virtual bool | getEncoderSpeedRaw (int j, double *sp) override |
virtual bool | getEncoderSpeedsRaw (double *spds) override |
virtual bool | getEncoderAccelerationRaw (int j, double *spds) override |
virtual bool | getEncoderAccelerationsRaw (double *accs) override |
virtual bool | getEncodersTimedRaw (double *encs, double *stamps) override |
virtual bool | getEncoderTimedRaw (int j, double *encs, double *stamp) override |
virtual bool | getNumberOfMotorEncodersRaw (int *num) override |
virtual bool | resetMotorEncoderRaw (int m) override |
virtual bool | resetMotorEncodersRaw () override |
virtual bool | setMotorEncoderRaw (int m, const double val) override |
virtual bool | setMotorEncodersRaw (const double *vals) override |
virtual bool | getMotorEncoderRaw (int m, double *v) override |
virtual bool | getMotorEncodersRaw (double *encs) override |
virtual bool | getMotorEncoderSpeedRaw (int m, double *sp) override |
virtual bool | getMotorEncoderSpeedsRaw (double *spds) override |
virtual bool | getMotorEncoderAccelerationRaw (int m, double *spds) override |
virtual bool | getMotorEncoderAccelerationsRaw (double *accs) override |
virtual bool | getMotorEncodersTimedRaw (double *encs, double *stamps) override |
virtual bool | getMotorEncoderTimedRaw (int m, double *encs, double *stamp) override |
virtual bool | getMotorEncoderCountsPerRevolutionRaw (int m, double *v) override |
virtual bool | setMotorEncoderCountsPerRevolutionRaw (int m, const double cpr) override |
virtual bool | getRemoteVariableRaw (std::string key, yarp::os::Bottle &val) override |
virtual bool | setRemoteVariableRaw (std::string key, const yarp::os::Bottle &val) override |
virtual bool | getRemoteVariablesListRaw (yarp::os::Bottle *listOfKeys) override |
virtual bool | getAxisNameRaw (int axis, std::string &name) override |
virtual bool | getJointTypeRaw (int axis, yarp::dev::JointTypeEnum &type) override |
bool | getRotorEncoderResolutionRaw (int m, double &rotres) |
bool | getJointEncoderResolutionRaw (int m, double &jntres) |
bool | getJointEncoderTypeRaw (int j, int &type) |
bool | getRotorEncoderTypeRaw (int j, int &type) |
bool | getKinematicMJRaw (int j, double &rotres) |
bool | getTemperatureSensorTypeRaw (int j, std::string &ret) |
bool | getHasTempSensorsRaw (int j, int &ret) |
bool | getHasHallSensorRaw (int j, int &ret) |
bool | getHasRotorEncoderRaw (int j, int &ret) |
bool | getHasRotorEncoderIndexRaw (int j, int &ret) |
bool | getMotorPolesRaw (int j, int &poles) |
bool | getRotorIndexOffsetRaw (int j, double &rotorOffset) |
bool | getTorqueControlFilterType (int j, int &type) |
bool | getRotorLimitsRaw (int j, double *rotorMin, double *rotorMax) |
bool | getWholeImpedanceRaw (int j, eOmc_impedance_t &imped) |
virtual bool | enableAmpRaw (int j) override |
virtual bool | disableAmpRaw (int j) override |
virtual bool | getCurrentsRaw (double *vals) override |
virtual bool | getCurrentRaw (int j, double *val) override |
virtual bool | setMaxCurrentRaw (int j, double val) override |
virtual bool | getMaxCurrentRaw (int j, double *val) override |
virtual bool | getAmpStatusRaw (int *st) override |
virtual bool | getAmpStatusRaw (int j, int *st) override |
virtual bool | getPWMRaw (int j, double *val) override |
virtual bool | getPWMLimitRaw (int j, double *val) override |
virtual bool | setPWMLimitRaw (int j, const double val) override |
virtual bool | getPowerSupplyVoltageRaw (int j, double *val) override |
virtual yarp::dev::VAS_status | getVirtualAnalogSensorStatus (int ch) override |
virtual int | getVirtualAnalogSensorChannels () override |
virtual bool | updateVirtualAnalogSensorMeasure (yarp::sig::Vector &fTorques) override |
virtual bool | updateVirtualAnalogSensorMeasure (int j, double &fTorque) override |
virtual bool | setLimitsRaw (int axis, double min, double max) override |
virtual bool | getLimitsRaw (int axis, double *min, double *max) override |
virtual bool | setVelLimitsRaw (int axis, double min, double max) override |
virtual bool | getVelLimitsRaw (int axis, double *min, double *max) override |
virtual bool | getTorqueRaw (int j, double *t) override |
virtual bool | getTorquesRaw (double *t) override |
virtual bool | getTorqueRangeRaw (int j, double *min, double *max) override |
virtual bool | getTorqueRangesRaw (double *min, double *max) override |
virtual bool | setRefTorquesRaw (const double *t) override |
virtual bool | setRefTorqueRaw (int j, double t) override |
virtual bool | setRefTorquesRaw (const int n_joint, const int *joints, const double *t) override |
virtual bool | getRefTorquesRaw (double *t) override |
virtual bool | getRefTorqueRaw (int j, double *t) override |
virtual bool | getMotorTorqueParamsRaw (int j, MotorTorqueParameters *params) override |
virtual bool | setMotorTorqueParamsRaw (int j, const MotorTorqueParameters params) override |
virtual bool | velocityMoveRaw (const int n_joint, const int *joints, const double *spds) override |
virtual bool | getRefVelocityRaw (const int joint, double *ref) override |
virtual bool | getRefVelocitiesRaw (double *refs) override |
virtual bool | getRefVelocitiesRaw (const int n_joint, const int *joints, double *refs) override |
virtual bool | getImpedanceRaw (int j, double *stiffness, double *damping) override |
virtual bool | setImpedanceRaw (int j, double stiffness, double damping) override |
virtual bool | setImpedanceOffsetRaw (int j, double offset) override |
virtual bool | getImpedanceOffsetRaw (int j, double *offset) override |
virtual bool | getCurrentImpedanceLimitRaw (int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override |
virtual bool | setPositionRaw (int j, double ref) override |
virtual bool | setPositionsRaw (const int n_joint, const int *joints, const double *refs) override |
virtual bool | setPositionsRaw (const double *refs) override |
virtual bool | getRefPositionRaw (const int joint, double *ref) override |
virtual bool | getRefPositionsRaw (double *refs) override |
virtual bool | getRefPositionsRaw (const int n_joint, const int *joints, double *refs) override |
virtual bool | getInteractionModeRaw (int j, yarp::dev::InteractionModeEnum *_mode) override |
virtual bool | getInteractionModesRaw (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override |
virtual bool | getInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override |
virtual bool | setInteractionModeRaw (int j, yarp::dev::InteractionModeEnum _mode) override |
virtual bool | setInteractionModesRaw (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override |
virtual bool | setInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override |
virtual bool | getNumberOfMotorsRaw (int *num) override |
virtual bool | getTemperatureRaw (int m, double *val) override |
virtual bool | getTemperaturesRaw (double *vals) override |
virtual bool | getTemperatureLimitRaw (int m, double *temp) override |
virtual bool | setTemperatureLimitRaw (int m, const double temp) override |
virtual bool | getPeakCurrentRaw (int m, double *val) override |
virtual bool | setPeakCurrentRaw (int m, const double val) override |
virtual bool | getNominalCurrentRaw (int m, double *val) override |
virtual bool | setNominalCurrentRaw (int m, const double val) override |
virtual bool | getGearboxRatioRaw (int m, double *gearbox) override |
virtual bool | setRefDutyCycleRaw (int j, double v) override |
virtual bool | setRefDutyCyclesRaw (const double *v) override |
virtual bool | getRefDutyCycleRaw (int j, double *v) override |
virtual bool | getRefDutyCyclesRaw (double *v) override |
virtual bool | getDutyCycleRaw (int j, double *v) override |
virtual bool | getDutyCyclesRaw (double *v) override |
virtual bool | getCurrentRangeRaw (int j, double *min, double *max) override |
virtual bool | getCurrentRangesRaw (double *min, double *max) override |
virtual bool | setRefCurrentsRaw (const double *t) override |
virtual bool | setRefCurrentRaw (int j, double t) override |
virtual bool | setRefCurrentsRaw (const int n_joint, const int *joints, const double *t) override |
virtual bool | getRefCurrentsRaw (double *t) override |
virtual bool | getRefCurrentRaw (int j, double *t) override |
virtual bool | getLastJointFaultRaw (int j, int &fault, std::string &message) override |
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 |
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virtual | ~IethResource () |
const char * | stringOfType () |
embObjMotionControl
: driver for iCub motor control boards EMS on a ETH bus.
This device contains code which handles communication to the motor control boards (EMS) on the internal ethernet network of the ETH iCub. It converts requests from function calls into ETH bus messages for the motor control boards. A thread monitors the bus for incoming messages and dispatches replies to calling threads.
For the description of the parameters supported by this device, please check the template configuration file available in robotology/robots-configuration, i.e. https://github.com/robotology/robots-configuration/blob/master/iCubTemplates/iCubTemplateV4_0/hardware/motorControl/body_part–ebX-jA_B-mc.xml .
YARP device name |
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embObjMotionControl |
Definition at line 230 of file embObjMotionControl.h.
embObjMotionControl::embObjMotionControl | ( | ) |
Definition at line 188 of file embObjMotionControl.cpp.
embObjMotionControl::~embObjMotionControl | ( | ) |
Definition at line 295 of file embObjMotionControl.cpp.
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Definition at line 2397 of file embObjMotionControl.cpp.
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Definition at line 3117 of file embObjMotionControl.cpp.
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Reimplemented from eth::IethResource.
Definition at line 1790 of file embObjMotionControl.cpp.
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Reimplemented from eth::IethResource.
Definition at line 1775 of file embObjMotionControl.cpp.
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Definition at line 3400 of file embObjMotionControl.cpp.
bool embObjMotionControl::getHasHallSensorRaw | ( | int | j, |
int & | ret | ||
) |
Definition at line 3535 of file embObjMotionControl.cpp.
bool embObjMotionControl::getHasRotorEncoderIndexRaw | ( | int | j, |
int & | ret | ||
) |
Definition at line 3563 of file embObjMotionControl.cpp.
bool embObjMotionControl::getHasRotorEncoderRaw | ( | int | j, |
int & | ret | ||
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Definition at line 3549 of file embObjMotionControl.cpp.
bool embObjMotionControl::getHasTempSensorsRaw | ( | int | j, |
int & | ret | ||
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Definition at line 3521 of file embObjMotionControl.cpp.
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Definition at line 4709 of file embObjMotionControl.cpp.
bool embObjMotionControl::getJointEncoderResolutionRaw | ( | int | m, |
double & | jntres | ||
) |
Definition at line 3453 of file embObjMotionControl.cpp.
bool embObjMotionControl::getJointEncoderTypeRaw | ( | int | j, |
int & | type | ||
) |
Definition at line 3467 of file embObjMotionControl.cpp.
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Definition at line 3620 of file embObjMotionControl.cpp.
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Implements iCub::debugLibrary::IRawValuesPublisher.
Definition at line 5706 of file embObjMotionControl.cpp.
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Implements iCub::debugLibrary::IRawValuesPublisher.
Definition at line 5680 of file embObjMotionControl.cpp.
bool embObjMotionControl::getKinematicMJRaw | ( | int | j, |
double & | rotres | ||
) |
Definition at line 3495 of file embObjMotionControl.cpp.
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Implements iCub::debugLibrary::IRawValuesPublisher.
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Definition at line 3256 of file embObjMotionControl.cpp.
bool embObjMotionControl::getMotorPolesRaw | ( | int | j, |
int & | poles | ||
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Definition at line 3577 of file embObjMotionControl.cpp.
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Definition at line 4343 of file embObjMotionControl.cpp.
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Definition at line 5021 of file embObjMotionControl.cpp.
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Implements iCub::debugLibrary::IRawValuesPublisher.
Definition at line 5690 of file embObjMotionControl.cpp.
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Definition at line 5063 of file embObjMotionControl.cpp.
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Implements iCub::debugLibrary::IRawValuesPublisher.
Definition at line 5665 of file embObjMotionControl.cpp.
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Implements iCub::debugLibrary::IRawValuesPublisher.
Definition at line 5650 of file embObjMotionControl.cpp.
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Definition at line 3999 of file embObjMotionControl.cpp.
bool embObjMotionControl::getRotorEncoderResolutionRaw | ( | int | m, |
double & | rotres | ||
) |
Definition at line 3439 of file embObjMotionControl.cpp.
bool embObjMotionControl::getRotorEncoderTypeRaw | ( | int | j, |
int & | type | ||
) |
Definition at line 3481 of file embObjMotionControl.cpp.
bool embObjMotionControl::getRotorIndexOffsetRaw | ( | int | j, |
double & | rotorOffset | ||
) |
Definition at line 3592 of file embObjMotionControl.cpp.
bool embObjMotionControl::getRotorLimitsRaw | ( | int | j, |
double * | rotorMin, | ||
double * | rotorMax | ||
) |
Definition at line 3414 of file embObjMotionControl.cpp.
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Definition at line 4933 of file embObjMotionControl.cpp.
bool embObjMotionControl::getTemperatureSensorTypeRaw | ( | int | j, |
std::string & | ret | ||
) |
Definition at line 3501 of file embObjMotionControl.cpp.
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Definition at line 4956 of file embObjMotionControl.cpp.
bool embObjMotionControl::getTorqueControlFilterType | ( | int | j, |
int & | type | ||
) |
Definition at line 3426 of file embObjMotionControl.cpp.
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Definition at line 4076 of file embObjMotionControl.cpp.
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Definition at line 4071 of file embObjMotionControl.cpp.
bool embObjMotionControl::getWholeImpedanceRaw | ( | int | j, |
eOmc_impedance_t & | imped | ||
) |
Definition at line 4260 of file embObjMotionControl.cpp.
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Implements eth::IethResource.
Definition at line 315 of file embObjMotionControl.cpp.
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Definition at line 4922 of file embObjMotionControl.cpp.
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Definition at line 347 of file embObjMotionControl.cpp.
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Definition at line 2569 of file embObjMotionControl.cpp.
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Definition at line 2743 of file embObjMotionControl.cpp.
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Definition at line 2535 of file embObjMotionControl.cpp.
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Definition at line 2585 of file embObjMotionControl.cpp.
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Definition at line 2753 of file embObjMotionControl.cpp.
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Definition at line 2580 of file embObjMotionControl.cpp.
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Definition at line 3018 of file embObjMotionControl.cpp.
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Definition at line 3023 of file embObjMotionControl.cpp.
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Definition at line 3153 of file embObjMotionControl.cpp.
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Definition at line 3158 of file embObjMotionControl.cpp.
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Definition at line 2150 of file embObjMotionControl.cpp.
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Definition at line 2228 of file embObjMotionControl.cpp.
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Definition at line 2890 of file embObjMotionControl.cpp.
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Definition at line 2926 of file embObjMotionControl.cpp.
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Definition at line 2964 of file embObjMotionControl.cpp.
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Definition at line 3008 of file embObjMotionControl.cpp.
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Definition at line 3013 of file embObjMotionControl.cpp.
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Definition at line 4301 of file embObjMotionControl.cpp.
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Definition at line 4276 of file embObjMotionControl.cpp.
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Definition at line 4721 of file embObjMotionControl.cpp.
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Definition at line 4761 of file embObjMotionControl.cpp.
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Definition at line 4815 of file embObjMotionControl.cpp.
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Definition at line 3367 of file embObjMotionControl.cpp.
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Definition at line 3297 of file embObjMotionControl.cpp.
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Definition at line 3143 of file embObjMotionControl.cpp.
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Definition at line 3133 of file embObjMotionControl.cpp.
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Definition at line 3138 of file embObjMotionControl.cpp.
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Definition at line 4367 of file embObjMotionControl.cpp.
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Definition at line 5037 of file embObjMotionControl.cpp.
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Definition at line 4997 of file embObjMotionControl.cpp.
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Definition at line 1913 of file embObjMotionControl.cpp.
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Definition at line 1919 of file embObjMotionControl.cpp.
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Definition at line 2165 of file embObjMotionControl.cpp.
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Definition at line 1822 of file embObjMotionControl.cpp.
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Definition at line 1898 of file embObjMotionControl.cpp.
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Definition at line 1903 of file embObjMotionControl.cpp.
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Definition at line 1888 of file embObjMotionControl.cpp.
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Definition at line 4466 of file embObjMotionControl.cpp.
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Definition at line 4501 of file embObjMotionControl.cpp.
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Definition at line 4491 of file embObjMotionControl.cpp.
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Definition at line 5102 of file embObjMotionControl.cpp.
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Definition at line 2646 of file embObjMotionControl.cpp.
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Definition at line 2667 of file embObjMotionControl.cpp.
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Definition at line 2807 of file embObjMotionControl.cpp.
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Definition at line 5365 of file embObjMotionControl.cpp.
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Definition at line 5355 of file embObjMotionControl.cpp.
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Definition at line 5377 of file embObjMotionControl.cpp.
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Definition at line 5247 of file embObjMotionControl.cpp.
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Definition at line 5259 of file embObjMotionControl.cpp.
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Definition at line 2626 of file embObjMotionControl.cpp.
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Definition at line 2635 of file embObjMotionControl.cpp.
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Definition at line 2797 of file embObjMotionControl.cpp.
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Definition at line 4150 of file embObjMotionControl.cpp.
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Definition at line 4142 of file embObjMotionControl.cpp.
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Definition at line 4160 of file embObjMotionControl.cpp.
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Definition at line 3944 of file embObjMotionControl.cpp.
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Definition at line 4973 of file embObjMotionControl.cpp.
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Definition at line 4044 of file embObjMotionControl.cpp.
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Definition at line 2728 of file embObjMotionControl.cpp.
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Definition at line 2837 of file embObjMotionControl.cpp.
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Definition at line 2719 of file embObjMotionControl.cpp.
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Implements eth::IethResource.
Definition at line 1635 of file embObjMotionControl.cpp.
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Implements eth::IethResource.
Definition at line 1640 of file embObjMotionControl.cpp.
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Definition at line 4092 of file embObjMotionControl.cpp.
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Definition at line 4081 of file embObjMotionControl.cpp.
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Definition at line 2208 of file embObjMotionControl.cpp.
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Definition at line 4395 of file embObjMotionControl.cpp.
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Definition at line 2174 of file embObjMotionControl.cpp.