iCub-main
Public Member Functions | Public Attributes | Protected Attributes | Static Protected Attributes | List of all members
yarp::dev::iCubSimulationControl Class Reference

#include <iCubSimulationControl.h>

+ Inheritance diagram for yarp::dev::iCubSimulationControl:

Public Member Functions

 iCubSimulationControl ()
 Default constructor. More...
 
virtual ~iCubSimulationControl ()
 Destructor. More...
 
virtual bool open (yarp::os::Searchable &config)
 Open the device driver and start communication with the hardware. More...
 
virtual bool close (void)
 
virtual bool getEncodersTimedRaw (double *encs, double *stamps)
 
virtual bool getEncoderTimedRaw (int j, double *encs, double *stamp)
 
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
 cmd is a SingleAxis pointer with 1 double arg More...
 
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
 POSITION CONTROL INTERFACE RAW. More...
 
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
 for each axis More...
 
virtual bool velocityMoveRaw (const double *sp) override
 cmd is an array of double of length njoints specifying speed for each axis More...
 
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 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 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 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 setMotorEncoderCountsPerRevolutionRaw (int m, const double cpr) override
 
virtual bool getMotorEncoderCountsPerRevolutionRaw (int m, double *cpr) 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 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 k, 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 bool calibrateAxisWithParamsRaw (int axis, unsigned int type, double p1, double p2, double p3) override
 
virtual bool calibrationDoneRaw (int j) 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 getAxisNameRaw (int axis, std::string &name) override
 
virtual bool getJointTypeRaw (int axis, yarp::dev::JointTypeEnum &type) override
 
virtual bool getNumberOfMotorsRaw (int *m) override
 IMotor. More...
 
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 getTorqueRaw (int, double *) override
 
virtual bool getTorquesRaw (double *) override
 
virtual bool getTorqueRangeRaw (int, double *, double *) override
 
virtual bool getTorqueRangesRaw (double *, double *) override
 
virtual bool setRefTorquesRaw (const double *) override
 
virtual bool setRefTorqueRaw (int, double) override
 
virtual bool setRefTorquesRaw (const int n_joint, const int *joints, const double *t) override
 
virtual bool getRefTorquesRaw (double *) override
 
virtual bool getRefTorqueRaw (int, double *) override
 
virtual bool getMotorTorqueParamsRaw (int j, MotorTorqueParameters *params) override
 
virtual bool setMotorTorqueParamsRaw (int j, const MotorTorqueParameters params) override
 
virtual bool getControlModeRaw (int j, int *mode) override
 
virtual bool getControlModesRaw (int *modes) 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 getInteractionModeRaw (int axis, 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 axis, 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 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 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
 
void jointStep ()
 

Public Attributes

int verbosity
 

Protected Attributes

yarp::dev::PolyDriver joints
 
LogicalJoints * manager
 
std::mutex _mutex
 
bool _writerequested
 
bool _noreply
 
bool _opened
 
double * current_jnt_pos
 
double * current_mot_pos
 
double * current_jnt_torques
 
double * current_mot_torques
 
double * pwm
 
double * pwm_ref
 
double * current_ampere
 
double * current_ampere_ref
 
double * current_jnt_vel
 
double * current_mot_vel
 
double * estimated_jnt_vel
 
double * estimated_mot_vel
 
double * current_jnt_acc
 
double * current_mot_acc
 
double * estimated_jnt_acc
 
double * estimated_mot_acc
 
iCub::ctrl::AWLinEstimator * linEstJnt
 
iCub::ctrl::AWQuadEstimator * quadEstJnt
 
iCub::ctrl::AWLinEstimator * linEstMot
 
iCub::ctrl::AWQuadEstimator * quadEstMot
 
double * next_pos
 
double * ref_command_positions
 
double * ref_positions
 
double * next_vel
 
double * ref_command_speeds
 
double * ref_speeds
 
double * next_torques
 
double * ref_torques
 
int semaphoreNum
 
int partSelec
 
int njoints
 
double vel
 
int * axisMap
 
double * angleToEncoder
 
double * zeros
 
double * newtonsToSensor
 encoder zeros More...
 
double * ampsToSensor
 
double * dutycycleToPwm
 
double * error_tol
 
bool * motor_on
 
int * motor
 
double ErrorPos [100]
 
int input
 
int * inputs
 
double * vels
 
double * limitsMin
 
double * limitsMax
 
double * velLimitsMin
 
double * velLimitsMax
 
double * torqueLimits
 
double * maxCurrent
 
double * rotToEncoder
 
double * gearbox
 
double * refSpeed
 
double * refAccel
 
double * controlP
 
bool * hasHallSensor
 
bool * hasTempSensor
 
bool * hasRotorEncoder
 
int * rotorIndexOffset
 
int * motorPoles
 
int * controlMode
 
int * interactionMode
 
Pid * position_pid
 
Pid * torque_pid
 
Pid * current_pid
 
Pid * velocity_pid
 
MotorTorqueParameters * motor_torque_params
 
yarp::sig::Matrix kinematic_mj
 

Static Protected Attributes

static const int positionUpdateRate = 100
 

Detailed Description

Definition at line 77 of file iCubSimulationControl.h.

Constructor & Destructor Documentation

◆ iCubSimulationControl()

iCubSimulationControl::iCubSimulationControl ( )

Default constructor.

Construction is done in two stages, first build the object and then open the device driver.

Definition at line 55 of file iCubSimulationControl.cpp.

◆ ~iCubSimulationControl()

iCubSimulationControl::~iCubSimulationControl ( )
virtual

Destructor.

Definition at line 80 of file iCubSimulationControl.cpp.

Member Function Documentation

◆ calibrateAxisWithParamsRaw()

bool iCubSimulationControl::calibrateAxisWithParamsRaw ( int  axis,
unsigned int  type,
double  p1,
double  p2,
double  p3 
)
overridevirtual

Definition at line 1657 of file iCubSimulationControl.cpp.

◆ calibrationDoneRaw()

bool iCubSimulationControl::calibrationDoneRaw ( int  j)
overridevirtual

Definition at line 1662 of file iCubSimulationControl.cpp.

◆ checkMotionDoneRaw() [1/3]

bool iCubSimulationControl::checkMotionDoneRaw ( bool *  flag)
overridevirtual

Definition at line 1065 of file iCubSimulationControl.cpp.

◆ checkMotionDoneRaw() [2/3]

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

Definition at line 1288 of file iCubSimulationControl.cpp.

◆ checkMotionDoneRaw() [3/3]

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

Definition at line 1082 of file iCubSimulationControl.cpp.

◆ close()

bool iCubSimulationControl::close ( void  )
virtual

Definition at line 345 of file iCubSimulationControl.cpp.

◆ disableAmpRaw()

bool iCubSimulationControl::disableAmpRaw ( int  j)
overridevirtual

Definition at line 1592 of file iCubSimulationControl.cpp.

◆ disablePidRaw()

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

Definition at line 962 of file iCubSimulationControl.cpp.

◆ enableAmpRaw()

bool iCubSimulationControl::enableAmpRaw ( int  j)
overridevirtual

Definition at line 1597 of file iCubSimulationControl.cpp.

◆ enablePidRaw()

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

Definition at line 952 of file iCubSimulationControl.cpp.

◆ getAmpStatusRaw() [1/2]

bool iCubSimulationControl::getAmpStatusRaw ( int *  st)
overridevirtual

Definition at line 1668 of file iCubSimulationControl.cpp.

◆ getAmpStatusRaw() [2/2]

bool iCubSimulationControl::getAmpStatusRaw ( int  k,
int *  st 
)
overridevirtual

Definition at line 1676 of file iCubSimulationControl.cpp.

◆ getAxes()

bool iCubSimulationControl::getAxes ( int *  ax)
overridevirtual

POSITION CONTROL INTERFACE RAW.

Definition at line 579 of file iCubSimulationControl.cpp.

◆ getAxisNameRaw()

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

Definition at line 1885 of file iCubSimulationControl.cpp.

◆ getControlModeRaw()

bool iCubSimulationControl::getControlModeRaw ( int  j,
int *  mode 
)
overridevirtual

Definition at line 2121 of file iCubSimulationControl.cpp.

◆ getControlModesRaw() [1/2]

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

Definition at line 2142 of file iCubSimulationControl.cpp.

◆ getControlModesRaw() [2/2]

bool iCubSimulationControl::getControlModesRaw ( int *  modes)
overridevirtual

Definition at line 2133 of file iCubSimulationControl.cpp.

◆ getCurrentRangeRaw()

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

Definition at line 2424 of file iCubSimulationControl.cpp.

◆ getCurrentRangesRaw()

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

Definition at line 2438 of file iCubSimulationControl.cpp.

◆ getCurrentRaw()

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

Definition at line 1612 of file iCubSimulationControl.cpp.

◆ getCurrentsRaw()

bool iCubSimulationControl::getCurrentsRaw ( double *  vals)
overridevirtual

Definition at line 1603 of file iCubSimulationControl.cpp.

◆ getDutyCycleRaw()

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

Definition at line 2391 of file iCubSimulationControl.cpp.

◆ getDutyCyclesRaw()

bool iCubSimulationControl::getDutyCyclesRaw ( double *  v)
overridevirtual

Definition at line 2404 of file iCubSimulationControl.cpp.

◆ getEncoderAccelerationRaw()

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

Definition at line 1462 of file iCubSimulationControl.cpp.

◆ getEncoderAccelerationsRaw()

bool iCubSimulationControl::getEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 1454 of file iCubSimulationControl.cpp.

◆ getEncoderRaw()

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

Definition at line 1396 of file iCubSimulationControl.cpp.

◆ getEncoderSpeedRaw()

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

Definition at line 1442 of file iCubSimulationControl.cpp.

◆ getEncoderSpeedsRaw()

bool iCubSimulationControl::getEncoderSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 1434 of file iCubSimulationControl.cpp.

◆ getEncodersRaw()

bool iCubSimulationControl::getEncodersRaw ( double *  encs)
overridevirtual

Definition at line 1379 of file iCubSimulationControl.cpp.

◆ getEncodersTimedRaw()

bool iCubSimulationControl::getEncodersTimedRaw ( double *  encs,
double *  stamps 
)
virtual

Definition at line 1417 of file iCubSimulationControl.cpp.

◆ getEncoderTimedRaw()

bool iCubSimulationControl::getEncoderTimedRaw ( int  j,
double *  encs,
double *  stamp 
)
virtual

Definition at line 1427 of file iCubSimulationControl.cpp.

◆ getInteractionModeRaw()

bool iCubSimulationControl::getInteractionModeRaw ( int  axis,
yarp::dev::InteractionModeEnum *  mode 
)
overridevirtual

Definition at line 2200 of file iCubSimulationControl.cpp.

◆ getInteractionModesRaw() [1/2]

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

Definition at line 2206 of file iCubSimulationControl.cpp.

◆ getInteractionModesRaw() [2/2]

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

Definition at line 2216 of file iCubSimulationControl.cpp.

◆ getJointTypeRaw()

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

Definition at line 1899 of file iCubSimulationControl.cpp.

◆ getLimitsRaw()

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

Definition at line 1702 of file iCubSimulationControl.cpp.

◆ getMaxCurrentRaw()

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

Definition at line 1642 of file iCubSimulationControl.cpp.

◆ getMotorEncoderAccelerationRaw()

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

Definition at line 1580 of file iCubSimulationControl.cpp.

◆ getMotorEncoderAccelerationsRaw()

bool iCubSimulationControl::getMotorEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 1571 of file iCubSimulationControl.cpp.

◆ getMotorEncoderCountsPerRevolutionRaw()

bool iCubSimulationControl::getMotorEncoderCountsPerRevolutionRaw ( int  m,
double *  cpr 
)
overridevirtual

Definition at line 1527 of file iCubSimulationControl.cpp.

◆ getMotorEncoderRaw()

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

Definition at line 1503 of file iCubSimulationControl.cpp.

◆ getMotorEncoderSpeedRaw()

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

Definition at line 1559 of file iCubSimulationControl.cpp.

◆ getMotorEncoderSpeedsRaw()

bool iCubSimulationControl::getMotorEncoderSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 1550 of file iCubSimulationControl.cpp.

◆ getMotorEncodersRaw()

bool iCubSimulationControl::getMotorEncodersRaw ( double *  encs)
overridevirtual

Definition at line 1494 of file iCubSimulationControl.cpp.

◆ getMotorEncodersTimedRaw()

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

Definition at line 1533 of file iCubSimulationControl.cpp.

◆ getMotorEncoderTimedRaw()

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

Definition at line 1543 of file iCubSimulationControl.cpp.

◆ getMotorTorqueParamsRaw()

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

Definition at line 1990 of file iCubSimulationControl.cpp.

◆ getNominalCurrentRaw()

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

Definition at line 865 of file iCubSimulationControl.cpp.

◆ getNumberOfMotorEncodersRaw()

bool iCubSimulationControl::getNumberOfMotorEncodersRaw ( int *  num)
overridevirtual

Definition at line 1516 of file iCubSimulationControl.cpp.

◆ getNumberOfMotorsRaw()

bool iCubSimulationControl::getNumberOfMotorsRaw ( int *  m)
overridevirtual

IMotor.

Definition at line 829 of file iCubSimulationControl.cpp.

◆ getPeakCurrentRaw()

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

Definition at line 855 of file iCubSimulationControl.cpp.

◆ getPidErrorLimitRaw()

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

Definition at line 937 of file iCubSimulationControl.cpp.

◆ getPidErrorLimitsRaw()

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

Definition at line 942 of file iCubSimulationControl.cpp.

◆ getPidErrorRaw()

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

Definition at line 706 of file iCubSimulationControl.cpp.

◆ getPidErrorsRaw()

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

Definition at line 733 of file iCubSimulationControl.cpp.

◆ getPidOutputRaw()

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

Definition at line 743 of file iCubSimulationControl.cpp.

◆ getPidOutputsRaw()

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

Definition at line 816 of file iCubSimulationControl.cpp.

◆ getPidRaw()

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

Definition at line 610 of file iCubSimulationControl.cpp.

◆ getPidReferenceRaw()

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

Definition at line 895 of file iCubSimulationControl.cpp.

◆ getPidReferencesRaw()

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

Definition at line 928 of file iCubSimulationControl.cpp.

◆ getPidsRaw()

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

Definition at line 635 of file iCubSimulationControl.cpp.

◆ getPowerSupplyVoltageRaw()

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

Definition at line 890 of file iCubSimulationControl.cpp.

◆ getPWMLimitRaw()

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

Definition at line 880 of file iCubSimulationControl.cpp.

◆ getPWMRaw()

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

Definition at line 875 of file iCubSimulationControl.cpp.

◆ getRefAccelerationRaw()

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

Definition at line 1149 of file iCubSimulationControl.cpp.

◆ getRefAccelerationsRaw() [1/2]

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

Definition at line 1865 of file iCubSimulationControl.cpp.

◆ getRefAccelerationsRaw() [2/2]

bool iCubSimulationControl::getRefAccelerationsRaw ( double *  accs)
overridevirtual

Definition at line 1153 of file iCubSimulationControl.cpp.

◆ getRefCurrentRaw()

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

Definition at line 2488 of file iCubSimulationControl.cpp.

◆ getRefCurrentsRaw()

bool iCubSimulationControl::getRefCurrentsRaw ( double *  t)
overridevirtual

Definition at line 2480 of file iCubSimulationControl.cpp.

◆ getRefDutyCycleRaw()

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

Definition at line 2370 of file iCubSimulationControl.cpp.

◆ getRefDutyCyclesRaw()

bool iCubSimulationControl::getRefDutyCyclesRaw ( double *  v)
overridevirtual

Definition at line 2383 of file iCubSimulationControl.cpp.

◆ getRefPositionRaw()

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

Definition at line 1240 of file iCubSimulationControl.cpp.

◆ getRefPositionsRaw() [1/2]

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

Definition at line 1258 of file iCubSimulationControl.cpp.

◆ getRefPositionsRaw() [2/2]

bool iCubSimulationControl::getRefPositionsRaw ( double *  refs)
overridevirtual

Definition at line 1247 of file iCubSimulationControl.cpp.

◆ getRefSpeedRaw()

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

Definition at line 1129 of file iCubSimulationControl.cpp.

◆ getRefSpeedsRaw() [1/2]

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

Definition at line 1312 of file iCubSimulationControl.cpp.

◆ getRefSpeedsRaw() [2/2]

bool iCubSimulationControl::getRefSpeedsRaw ( double *  spds)
overridevirtual

Definition at line 1140 of file iCubSimulationControl.cpp.

◆ getRefTorqueRaw()

bool iCubSimulationControl::getRefTorqueRaw ( int  axis,
double *  ref 
)
overridevirtual

Definition at line 1978 of file iCubSimulationControl.cpp.

◆ getRefTorquesRaw()

bool iCubSimulationControl::getRefTorquesRaw ( double *  refs)
overridevirtual

Definition at line 1969 of file iCubSimulationControl.cpp.

◆ getRefVelocitiesRaw() [1/2]

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

Definition at line 1230 of file iCubSimulationControl.cpp.

◆ getRefVelocitiesRaw() [2/2]

bool iCubSimulationControl::getRefVelocitiesRaw ( double *  refs)
overridevirtual

Definition at line 1220 of file iCubSimulationControl.cpp.

◆ getRefVelocityRaw()

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

Definition at line 1213 of file iCubSimulationControl.cpp.

◆ getRemoteVariableRaw()

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

Definition at line 1715 of file iCubSimulationControl.cpp.

◆ getRemoteVariablesListRaw()

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

Definition at line 1803 of file iCubSimulationControl.cpp.

◆ getTargetPositionRaw()

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

Definition at line 1181 of file iCubSimulationControl.cpp.

◆ getTargetPositionsRaw() [1/2]

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

Definition at line 1203 of file iCubSimulationControl.cpp.

◆ getTargetPositionsRaw() [2/2]

bool iCubSimulationControl::getTargetPositionsRaw ( double *  refs)
overridevirtual

Definition at line 1193 of file iCubSimulationControl.cpp.

◆ getTemperatureLimitRaw()

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

Definition at line 845 of file iCubSimulationControl.cpp.

◆ getTemperatureRaw()

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

Definition at line 835 of file iCubSimulationControl.cpp.

◆ getTemperaturesRaw()

bool iCubSimulationControl::getTemperaturesRaw ( double *  vals)
overridevirtual

Definition at line 840 of file iCubSimulationControl.cpp.

◆ getTorqueRangeRaw()

bool iCubSimulationControl::getTorqueRangeRaw ( int  axis,
double *  a,
double *  b 
)
overridevirtual

Definition at line 1927 of file iCubSimulationControl.cpp.

◆ getTorqueRangesRaw()

bool iCubSimulationControl::getTorqueRangesRaw ( double *  a,
double *  b 
)
overridevirtual

Definition at line 1931 of file iCubSimulationControl.cpp.

◆ getTorqueRaw()

bool iCubSimulationControl::getTorqueRaw ( int  axis,
double *  sp 
)
overridevirtual

Definition at line 1911 of file iCubSimulationControl.cpp.

◆ getTorquesRaw()

bool iCubSimulationControl::getTorquesRaw ( double *  sp)
overridevirtual

Definition at line 1920 of file iCubSimulationControl.cpp.

◆ getVelLimitsRaw()

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

Definition at line 1833 of file iCubSimulationControl.cpp.

◆ isPidEnabledRaw()

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

Definition at line 824 of file iCubSimulationControl.cpp.

◆ jointStep()

void iCubSimulationControl::jointStep ( )

Definition at line 470 of file iCubSimulationControl.cpp.

◆ open()

bool iCubSimulationControl::open ( yarp::os::Searchable &  config)
virtual

Open the device driver and start communication with the hardware.

Parameters
configis a Searchable object containing the list of parameters.
Returns
true on success/failure.

Definition at line 87 of file iCubSimulationControl.cpp.

◆ positionMoveRaw() [1/3]

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

Definition at line 1042 of file iCubSimulationControl.cpp.

◆ positionMoveRaw() [2/3]

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

Definition at line 1268 of file iCubSimulationControl.cpp.

◆ positionMoveRaw() [3/3]

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

Definition at line 967 of file iCubSimulationControl.cpp.

◆ relativeMoveRaw() [1/3]

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

Definition at line 1057 of file iCubSimulationControl.cpp.

◆ relativeMoveRaw() [2/3]

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

Definition at line 1278 of file iCubSimulationControl.cpp.

◆ relativeMoveRaw() [3/3]

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

Definition at line 1052 of file iCubSimulationControl.cpp.

◆ resetEncoderRaw()

bool iCubSimulationControl::resetEncoderRaw ( int  j)
overridevirtual

Definition at line 1369 of file iCubSimulationControl.cpp.

◆ resetEncodersRaw()

bool iCubSimulationControl::resetEncodersRaw ( )
overridevirtual

Definition at line 1374 of file iCubSimulationControl.cpp.

◆ resetMotorEncoderRaw()

bool iCubSimulationControl::resetMotorEncoderRaw ( int  m)
overridevirtual

Definition at line 1484 of file iCubSimulationControl.cpp.

◆ resetMotorEncodersRaw()

bool iCubSimulationControl::resetMotorEncodersRaw ( )
overridevirtual

Definition at line 1489 of file iCubSimulationControl.cpp.

◆ resetPidRaw()

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

Definition at line 947 of file iCubSimulationControl.cpp.

◆ setControlModeRaw()

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

Definition at line 2150 of file iCubSimulationControl.cpp.

◆ setControlModesRaw() [1/2]

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

Definition at line 2179 of file iCubSimulationControl.cpp.

◆ setControlModesRaw() [2/2]

bool iCubSimulationControl::setControlModesRaw ( int *  modes)
overridevirtual

Definition at line 2189 of file iCubSimulationControl.cpp.

◆ setEncoderRaw()

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

Definition at line 1359 of file iCubSimulationControl.cpp.

◆ setEncodersRaw()

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

Definition at line 1364 of file iCubSimulationControl.cpp.

◆ setInteractionModeRaw()

bool iCubSimulationControl::setInteractionModeRaw ( int  axis,
yarp::dev::InteractionModeEnum  mode 
)
overridevirtual

Definition at line 2226 of file iCubSimulationControl.cpp.

◆ setInteractionModesRaw() [1/2]

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

Definition at line 2233 of file iCubSimulationControl.cpp.

◆ setInteractionModesRaw() [2/2]

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

Definition at line 2243 of file iCubSimulationControl.cpp.

◆ setLimitsRaw()

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

Definition at line 1689 of file iCubSimulationControl.cpp.

◆ setMaxCurrentRaw()

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

Definition at line 1627 of file iCubSimulationControl.cpp.

◆ setMotorEncoderCountsPerRevolutionRaw()

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

Definition at line 1522 of file iCubSimulationControl.cpp.

◆ setMotorEncoderRaw()

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

Definition at line 1474 of file iCubSimulationControl.cpp.

◆ setMotorEncodersRaw()

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

Definition at line 1479 of file iCubSimulationControl.cpp.

◆ setMotorTorqueParamsRaw()

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

Definition at line 2007 of file iCubSimulationControl.cpp.

◆ setNominalCurrentRaw()

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

Definition at line 870 of file iCubSimulationControl.cpp.

◆ setPeakCurrentRaw()

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

Definition at line 860 of file iCubSimulationControl.cpp.

◆ setPidErrorLimitRaw()

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

Definition at line 696 of file iCubSimulationControl.cpp.

◆ setPidErrorLimitsRaw()

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

Definition at line 701 of file iCubSimulationControl.cpp.

◆ setPidOffsetRaw()

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

Definition at line 957 of file iCubSimulationControl.cpp.

◆ setPidRaw()

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

Definition at line 585 of file iCubSimulationControl.cpp.

◆ setPidReferenceRaw()

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

cmd is a SingleAxis pointer with 1 double arg

Definition at line 654 of file iCubSimulationControl.cpp.

◆ setPidReferencesRaw()

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

Definition at line 686 of file iCubSimulationControl.cpp.

◆ setPidsRaw()

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

Definition at line 644 of file iCubSimulationControl.cpp.

◆ setPositionRaw()

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

Definition at line 2254 of file iCubSimulationControl.cpp.

◆ setPositionsRaw() [1/2]

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

Definition at line 2338 of file iCubSimulationControl.cpp.

◆ setPositionsRaw() [2/2]

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

Definition at line 2328 of file iCubSimulationControl.cpp.

◆ setPWMLimitRaw()

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

Definition at line 885 of file iCubSimulationControl.cpp.

◆ setRefAccelerationRaw()

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

Definition at line 1121 of file iCubSimulationControl.cpp.

◆ setRefAccelerationsRaw() [1/2]

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

Definition at line 1125 of file iCubSimulationControl.cpp.

◆ setRefAccelerationsRaw() [2/2]

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

Definition at line 1855 of file iCubSimulationControl.cpp.

◆ setRefCurrentRaw()

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

Definition at line 2457 of file iCubSimulationControl.cpp.

◆ setRefCurrentsRaw() [1/2]

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

Definition at line 2449 of file iCubSimulationControl.cpp.

◆ setRefCurrentsRaw() [2/2]

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

Definition at line 2470 of file iCubSimulationControl.cpp.

◆ setRefDutyCycleRaw()

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

Definition at line 2349 of file iCubSimulationControl.cpp.

◆ setRefDutyCyclesRaw()

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

Definition at line 2362 of file iCubSimulationControl.cpp.

◆ setRefSpeedRaw()

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

Definition at line 1097 of file iCubSimulationControl.cpp.

◆ setRefSpeedsRaw() [1/2]

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

Definition at line 1112 of file iCubSimulationControl.cpp.

◆ setRefSpeedsRaw() [2/2]

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

Definition at line 1302 of file iCubSimulationControl.cpp.

◆ setRefTorqueRaw()

bool iCubSimulationControl::setRefTorqueRaw ( int  axis,
double  ref 
)
overridevirtual

Definition at line 1945 of file iCubSimulationControl.cpp.

◆ setRefTorquesRaw() [1/2]

bool iCubSimulationControl::setRefTorquesRaw ( const double *  sp)
overridevirtual

Definition at line 1935 of file iCubSimulationControl.cpp.

◆ setRefTorquesRaw() [2/2]

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

Definition at line 1959 of file iCubSimulationControl.cpp.

◆ setRemoteVariableRaw()

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

Definition at line 1770 of file iCubSimulationControl.cpp.

◆ setTemperatureLimitRaw()

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

Definition at line 850 of file iCubSimulationControl.cpp.

◆ setVelLimitsRaw()

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

Definition at line 1820 of file iCubSimulationControl.cpp.

◆ stopRaw() [1/3]

bool iCubSimulationControl::stopRaw ( )
overridevirtual

Definition at line 1170 of file iCubSimulationControl.cpp.

◆ stopRaw() [2/3]

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

Definition at line 1875 of file iCubSimulationControl.cpp.

◆ stopRaw() [3/3]

bool iCubSimulationControl::stopRaw ( int  j)
overridevirtual

Definition at line 1157 of file iCubSimulationControl.cpp.

◆ velocityMoveRaw() [1/3]

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

cmd is an array of double of length njoints specifying speed for each axis

Definition at line 1349 of file iCubSimulationControl.cpp.

◆ velocityMoveRaw() [2/3]

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

Definition at line 1845 of file iCubSimulationControl.cpp.

◆ velocityMoveRaw() [3/3]

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

for each axis

Definition at line 1324 of file iCubSimulationControl.cpp.

Member Data Documentation

◆ _mutex

std::mutex yarp::dev::iCubSimulationControl::_mutex
protected

Definition at line 377 of file iCubSimulationControl.h.

◆ _noreply

bool yarp::dev::iCubSimulationControl::_noreply
protected

Definition at line 380 of file iCubSimulationControl.h.

◆ _opened

bool yarp::dev::iCubSimulationControl::_opened
protected

Definition at line 381 of file iCubSimulationControl.h.

◆ _writerequested

bool yarp::dev::iCubSimulationControl::_writerequested
protected

Definition at line 379 of file iCubSimulationControl.h.

◆ ampsToSensor

double* yarp::dev::iCubSimulationControl::ampsToSensor
protected

Definition at line 450 of file iCubSimulationControl.h.

◆ angleToEncoder

double* yarp::dev::iCubSimulationControl::angleToEncoder
protected

Definition at line 446 of file iCubSimulationControl.h.

◆ axisMap

int* yarp::dev::iCubSimulationControl::axisMap
protected

Definition at line 444 of file iCubSimulationControl.h.

◆ controlMode

int* yarp::dev::iCubSimulationControl::controlMode
protected

Definition at line 479 of file iCubSimulationControl.h.

◆ controlP

double* yarp::dev::iCubSimulationControl::controlP
protected

Definition at line 472 of file iCubSimulationControl.h.

◆ current_ampere

double* yarp::dev::iCubSimulationControl::current_ampere
protected

Definition at line 396 of file iCubSimulationControl.h.

◆ current_ampere_ref

double* yarp::dev::iCubSimulationControl::current_ampere_ref
protected

Definition at line 397 of file iCubSimulationControl.h.

◆ current_jnt_acc

double* yarp::dev::iCubSimulationControl::current_jnt_acc
protected

Definition at line 406 of file iCubSimulationControl.h.

◆ current_jnt_pos

double* yarp::dev::iCubSimulationControl::current_jnt_pos
protected

Definition at line 384 of file iCubSimulationControl.h.

◆ current_jnt_torques

double* yarp::dev::iCubSimulationControl::current_jnt_torques
protected

Definition at line 388 of file iCubSimulationControl.h.

◆ current_jnt_vel

double* yarp::dev::iCubSimulationControl::current_jnt_vel
protected

Definition at line 400 of file iCubSimulationControl.h.

◆ current_mot_acc

double* yarp::dev::iCubSimulationControl::current_mot_acc
protected

Definition at line 407 of file iCubSimulationControl.h.

◆ current_mot_pos

double* yarp::dev::iCubSimulationControl::current_mot_pos
protected

Definition at line 385 of file iCubSimulationControl.h.

◆ current_mot_torques

double* yarp::dev::iCubSimulationControl::current_mot_torques
protected

Definition at line 389 of file iCubSimulationControl.h.

◆ current_mot_vel

double* yarp::dev::iCubSimulationControl::current_mot_vel
protected

Definition at line 401 of file iCubSimulationControl.h.

◆ current_pid

Pid* yarp::dev::iCubSimulationControl::current_pid
protected

Definition at line 484 of file iCubSimulationControl.h.

◆ dutycycleToPwm

double* yarp::dev::iCubSimulationControl::dutycycleToPwm
protected

Definition at line 451 of file iCubSimulationControl.h.

◆ error_tol

double* yarp::dev::iCubSimulationControl::error_tol
protected

Definition at line 453 of file iCubSimulationControl.h.

◆ ErrorPos

double yarp::dev::iCubSimulationControl::ErrorPos[100]
protected

Definition at line 457 of file iCubSimulationControl.h.

◆ estimated_jnt_acc

double* yarp::dev::iCubSimulationControl::estimated_jnt_acc
protected

Definition at line 408 of file iCubSimulationControl.h.

◆ estimated_jnt_vel

double* yarp::dev::iCubSimulationControl::estimated_jnt_vel
protected

Definition at line 402 of file iCubSimulationControl.h.

◆ estimated_mot_acc

double* yarp::dev::iCubSimulationControl::estimated_mot_acc
protected

Definition at line 409 of file iCubSimulationControl.h.

◆ estimated_mot_vel

double* yarp::dev::iCubSimulationControl::estimated_mot_vel
protected

Definition at line 403 of file iCubSimulationControl.h.

◆ gearbox

double* yarp::dev::iCubSimulationControl::gearbox
protected

Definition at line 469 of file iCubSimulationControl.h.

◆ hasHallSensor

bool* yarp::dev::iCubSimulationControl::hasHallSensor
protected

Definition at line 473 of file iCubSimulationControl.h.

◆ hasRotorEncoder

bool* yarp::dev::iCubSimulationControl::hasRotorEncoder
protected

Definition at line 475 of file iCubSimulationControl.h.

◆ hasTempSensor

bool* yarp::dev::iCubSimulationControl::hasTempSensor
protected

Definition at line 474 of file iCubSimulationControl.h.

◆ input

int yarp::dev::iCubSimulationControl::input
protected

Definition at line 458 of file iCubSimulationControl.h.

◆ inputs

int* yarp::dev::iCubSimulationControl::inputs
protected

Definition at line 459 of file iCubSimulationControl.h.

◆ interactionMode

int* yarp::dev::iCubSimulationControl::interactionMode
protected

Definition at line 480 of file iCubSimulationControl.h.

◆ joints

yarp::dev::PolyDriver yarp::dev::iCubSimulationControl::joints
protected

Definition at line 374 of file iCubSimulationControl.h.

◆ kinematic_mj

yarp::sig::Matrix yarp::dev::iCubSimulationControl::kinematic_mj
protected

Definition at line 487 of file iCubSimulationControl.h.

◆ limitsMax

double* yarp::dev::iCubSimulationControl::limitsMax
protected

Definition at line 463 of file iCubSimulationControl.h.

◆ limitsMin

double* yarp::dev::iCubSimulationControl::limitsMin
protected

Definition at line 462 of file iCubSimulationControl.h.

◆ linEstJnt

iCub::ctrl::AWLinEstimator* yarp::dev::iCubSimulationControl::linEstJnt
protected

Definition at line 410 of file iCubSimulationControl.h.

◆ linEstMot

iCub::ctrl::AWLinEstimator* yarp::dev::iCubSimulationControl::linEstMot
protected

Definition at line 412 of file iCubSimulationControl.h.

◆ manager

LogicalJoints* yarp::dev::iCubSimulationControl::manager
protected

Definition at line 375 of file iCubSimulationControl.h.

◆ maxCurrent

double* yarp::dev::iCubSimulationControl::maxCurrent
protected

Definition at line 467 of file iCubSimulationControl.h.

◆ motor

int* yarp::dev::iCubSimulationControl::motor
protected

Definition at line 456 of file iCubSimulationControl.h.

◆ motor_on

bool* yarp::dev::iCubSimulationControl::motor_on
protected

Definition at line 455 of file iCubSimulationControl.h.

◆ motor_torque_params

MotorTorqueParameters* yarp::dev::iCubSimulationControl::motor_torque_params
protected

Definition at line 486 of file iCubSimulationControl.h.

◆ motorPoles

int* yarp::dev::iCubSimulationControl::motorPoles
protected

Definition at line 477 of file iCubSimulationControl.h.

◆ newtonsToSensor

double* yarp::dev::iCubSimulationControl::newtonsToSensor
protected

encoder zeros

Definition at line 449 of file iCubSimulationControl.h.

◆ next_pos

double* yarp::dev::iCubSimulationControl::next_pos
protected

Definition at line 416 of file iCubSimulationControl.h.

◆ next_torques

double* yarp::dev::iCubSimulationControl::next_torques
protected

Definition at line 426 of file iCubSimulationControl.h.

◆ next_vel

double* yarp::dev::iCubSimulationControl::next_vel
protected

Definition at line 421 of file iCubSimulationControl.h.

◆ njoints

int yarp::dev::iCubSimulationControl::njoints
protected

Definition at line 434 of file iCubSimulationControl.h.

◆ partSelec

int yarp::dev::iCubSimulationControl::partSelec
protected

Definition at line 432 of file iCubSimulationControl.h.

◆ position_pid

Pid* yarp::dev::iCubSimulationControl::position_pid
protected

Definition at line 482 of file iCubSimulationControl.h.

◆ positionUpdateRate

const int yarp::dev::iCubSimulationControl::positionUpdateRate = 100
staticprotected

Definition at line 441 of file iCubSimulationControl.h.

◆ pwm

double* yarp::dev::iCubSimulationControl::pwm
protected

Definition at line 392 of file iCubSimulationControl.h.

◆ pwm_ref

double* yarp::dev::iCubSimulationControl::pwm_ref
protected

Definition at line 393 of file iCubSimulationControl.h.

◆ quadEstJnt

iCub::ctrl::AWQuadEstimator* yarp::dev::iCubSimulationControl::quadEstJnt
protected

Definition at line 411 of file iCubSimulationControl.h.

◆ quadEstMot

iCub::ctrl::AWQuadEstimator* yarp::dev::iCubSimulationControl::quadEstMot
protected

Definition at line 413 of file iCubSimulationControl.h.

◆ ref_command_positions

double* yarp::dev::iCubSimulationControl::ref_command_positions
protected

Definition at line 417 of file iCubSimulationControl.h.

◆ ref_command_speeds

double* yarp::dev::iCubSimulationControl::ref_command_speeds
protected

Definition at line 422 of file iCubSimulationControl.h.

◆ ref_positions

double* yarp::dev::iCubSimulationControl::ref_positions
protected

Definition at line 418 of file iCubSimulationControl.h.

◆ ref_speeds

double* yarp::dev::iCubSimulationControl::ref_speeds
protected

Definition at line 423 of file iCubSimulationControl.h.

◆ ref_torques

double* yarp::dev::iCubSimulationControl::ref_torques
protected

Definition at line 427 of file iCubSimulationControl.h.

◆ refAccel

double* yarp::dev::iCubSimulationControl::refAccel
protected

Definition at line 471 of file iCubSimulationControl.h.

◆ refSpeed

double* yarp::dev::iCubSimulationControl::refSpeed
protected

Definition at line 470 of file iCubSimulationControl.h.

◆ rotorIndexOffset

int* yarp::dev::iCubSimulationControl::rotorIndexOffset
protected

Definition at line 476 of file iCubSimulationControl.h.

◆ rotToEncoder

double* yarp::dev::iCubSimulationControl::rotToEncoder
protected

Definition at line 468 of file iCubSimulationControl.h.

◆ semaphoreNum

int yarp::dev::iCubSimulationControl::semaphoreNum
protected

Definition at line 430 of file iCubSimulationControl.h.

◆ torque_pid

Pid* yarp::dev::iCubSimulationControl::torque_pid
protected

Definition at line 483 of file iCubSimulationControl.h.

◆ torqueLimits

double* yarp::dev::iCubSimulationControl::torqueLimits
protected

Definition at line 466 of file iCubSimulationControl.h.

◆ vel

double yarp::dev::iCubSimulationControl::vel
protected

Definition at line 437 of file iCubSimulationControl.h.

◆ velLimitsMax

double* yarp::dev::iCubSimulationControl::velLimitsMax
protected

Definition at line 465 of file iCubSimulationControl.h.

◆ velLimitsMin

double* yarp::dev::iCubSimulationControl::velLimitsMin
protected

Definition at line 464 of file iCubSimulationControl.h.

◆ velocity_pid

Pid* yarp::dev::iCubSimulationControl::velocity_pid
protected

Definition at line 485 of file iCubSimulationControl.h.

◆ vels

double* yarp::dev::iCubSimulationControl::vels
protected

Definition at line 460 of file iCubSimulationControl.h.

◆ verbosity

int yarp::dev::iCubSimulationControl::verbosity

Definition at line 366 of file iCubSimulationControl.h.

◆ zeros

double* yarp::dev::iCubSimulationControl::zeros
protected

Definition at line 448 of file iCubSimulationControl.h.

The documentation for this class was generated from the following files:
Generated on Mon Jul 11 2022 18:07:13 for iCub-main by   doxygen 1.8.17