27#ifndef __embObjMotionControlh__
28#define __embObjMotionControlh__
38#include <yarp/os/Bottle.h>
39#include <yarp/os/BufferedPort.h>
40#include <yarp/os/Timer.h>
41#include <yarp/dev/DeviceDriver.h>
42#include <yarp/dev/PolyDriver.h>
43#include <yarp/dev/ControlBoardHelper.h>
45#include <yarp/dev/IVirtualAnalogSensor.h>
47#include<yarp/dev/ImplementJointFault.h>
65#ifdef NETWORK_PERFORMANCE_BENCHMARK
71#undef VERIFY_ROP_SETIMPEDANCE
73#undef VERIFY_ROP_SETPOSITIONRAW
81#define EMBOBJMC_DONT_USE_MAIS
126Watchdog(): _count(0), _isStarted(false), _threshold(60000), _time(0){;}
127Watchdog(uint32_t threshold):_count(0), _isStarted(false), _threshold(threshold), _time(0){;}
136void start() {_count = 0; _time = yarp::os::Time::now(); _isStarted =
true;}
142void setThreshold(uint8_t txrateOfRegularROPs){
if(txrateOfRegularROPs != 0) _threshold = _threshold / txrateOfRegularROPs;}
151 double _motorTempPrev;
153 int32_t _initCounter;
154 std::vector<double> _initTempBuffer;
156 TemperatureFilter(): _threshold(20), _isStarted(false), _initCounter(50), _initTempBuffer(0), _motorTempPrev(0){;}
157 TemperatureFilter(uint32_t threshold, int32_t initCounter): _threshold(threshold), _isStarted(false), _initCounter(initCounter), _initTempBuffer(0), _motorTempPrev(0){;}
172 int median_pos = std::ceil(_initTempBuffer.size() / 2) -1;
173 _motorTempPrev = _initTempBuffer.at(median_pos);
178 _initTempBuffer.push_back(temperature);
197 std::vector<BufferedPort<Bottle>*>
ports;
224 public IPidControlRaw,
225 public IControlCalibrationRaw,
226 public IAmplifierControlRaw,
227 public IEncodersTimedRaw,
228 public IMotorEncodersRaw,
229 public ImplementEncodersTimed,
230 public ImplementMotorEncoders,
232 public ImplementMotor,
233 public IPositionControlRaw,
234 public IVelocityControlRaw,
235 public IControlModeRaw,
236 public ImplementControlMode,
237 public IControlLimitsRaw,
238 public IImpedanceControlRaw,
239 public ImplementImpedanceControl,
240 public ImplementControlLimits,
241 public ImplementAmplifierControl,
242 public ImplementPositionControl,
243 public ImplementControlCalibration,
244 public ImplementPidControl,
245 public ImplementVelocityControl,
246 public ITorqueControlRaw,
247 public ImplementTorqueControl,
248 public IVirtualAnalogSensor,
249 public IPositionDirectRaw,
250 public ImplementPositionDirect,
251 public IInteractionModeRaw,
252 public ImplementInteractionMode,
253 public IRemoteVariablesRaw,
254 public ImplementRemoteVariables,
256 public ImplementAxisInfo,
257 public IPWMControlRaw,
258 public ImplementPWMControl,
259 public ICurrentControlRaw,
260 public ImplementCurrentControl,
262 public IJointFaultRaw,
263 public ImplementJointFault,
271 ControlBoardHelper* _measureConverter;
282 double * _gearbox_M2J;
283 double * _gearbox_E2J;
285 std::vector<eomc::kalmanFilterParams_t> _kalman_params;
287 std::vector<std::unique_ptr<eomc::ITemperatureSensor>> _temperatureSensorsVector;
291 std::vector<eomc::encoder_t> _jointEncs;
292 std::vector<eomc::encoder_t> _motorEncs;
294 std::vector<eomc::rotorLimits_t> _rotorsLimits;
295 std::vector<eomc::jointLimits_t> _jointsLimits;
296 std::vector<eomc::motorCurrentLimits_t> _currentLimits;
297 std::vector<eomc::temperatureLimits_t> _temperatureLimits;
299 std::vector<eomc::JointsSet> _jsets;
300 std::vector<int> _joint2set;
301 std::vector<eomc::timeouts_t> _timeouts;
303 std::vector<eomc::impedanceParameters_t> _impedance_params;
314 std::vector<eomc::axisInfo_t> _axesInfo;
320#ifdef VERIFY_ROP_SETIMPEDANCE
321 uint32_t *impedanceSignature;
324#ifdef VERIFY_ROP_SETPOSITIONRAW
325 uint32_t *refRawSignature;
326 bool *sendingDirects;
331 double SAFETY_THRESHOLD;
338 double *_ref_command_positions;
340 double *_ref_command_speeds;
341 double *_ref_positions;
343 double *_encodersStamp;
344 bool *checking_motiondone;
345 #define MAX_POSITION_MOVE_INTERVAL 0.080
346 double *_last_position_move_time;
347 eOmc_impedance_t *_cacheImpedance;
348 std::vector<yarp::dev::eomc::Watchdog> _temperatureSensorErrorWatchdog;
349 std::vector<yarp::dev::eomc::Watchdog> _temperatureExceededLimitWatchdog;
350 std::vector<yarp::dev::eomc::TemperatureFilter> _temperatureSpikesFilter;
352 std::map<std::string, rawValuesKeyMetadata> _rawValuesMetadataMap;
353 std::vector<std::int32_t> _rawDataAuxVector;
355#ifdef NETWORK_PERFORMANCE_BENCHMARK
356 Tools:Emb_RensponseTimingVerifier m_responseTimingVerifier;
361 std::string getBoardInfo(
void);
362 bool askRemoteValue(eOprotID32_t id32,
void* value, uint16_t& size);
364 bool askRemoteValues(eOprotEndpoint_t ep, eOprotEntity_t entity, eOprotTag_t tag, std::vector<T>& values);
365 bool checkRemoteControlModeStatus(
int joint,
int target_mode);
370 bool verifyUserControlLawConsistencyInJointSet(
eomc::PidInfo *ipdInfo);
372 bool verifyTorquePidshasSameUnitTypes(yarp::dev::PidFeedbackUnitsEnum &fbk_pidunits, yarp::dev::PidOutputUnitsEnum& out_pidunits);
373 bool verifyUseMotorSpeedFbkInJointSet(
int useMotorSpeedFbk []);
374 bool updatedJointsetsCfgWithControlInfo(
void);
375 bool saveCouplingsData(
void);
376 void debugUtil_printJointsetInfo(
void);
378 bool isTorqueControlEnabled(
int joint);
379 bool isVelocityControlEnabled(
int joint);
381 bool iNeedCouplingsInfo(
void);
383 bool getJointConfiguration(
int joint, eOmc_joint_config_t *jntCfg_ptr);
384 bool getMotorConfiguration(
int axis, eOmc_motor_config_t *motCfg_ptr);
385 bool getGerabox_E2J(
int joint,
double *gearbox_E2J_ptr);
386 bool getJointEncTolerance(
int joint,
double *jEncTolerance_ptr);
387 bool getMotorEncTolerance(
int axis,
double *mEncTolerance_ptr);
388 void updateDeadZoneWithDefaultValues(
void);
389 bool getJointDeadZoneRaw(
int j,
double &jntDeadZone);
394 bool fromConfig(yarp::os::Searchable &config);
395 int fromConfig_NumOfJoints(yarp::os::Searchable &config);
396 bool fromConfig_getGeneralInfo(yarp::os::Searchable &config);
397 bool fromConfig_Step2(yarp::os::Searchable &config);
398 bool fromConfig_readServiceCfg(yarp::os::Searchable &config);
400 bool alloc(
int njoints);
407 bool helper_setPosPidRaw(
int j,
const Pid &pid);
408 bool helper_getPosPidRaw(
int j, Pid *pid);
409 bool helper_getPosPidsRaw(Pid *pid);
412 bool helper_setTrqPidRaw(
int j,
const Pid &pid);
413 bool helper_getTrqPidRaw(
int j, Pid *pid);
414 bool helper_getTrqPidsRaw(Pid *pid);
417 bool helper_setVelPidRaw(
int j,
const Pid &pid);
418 bool helper_getVelPidRaw(
int j, Pid *pid);
419 bool helper_getVelPidsRaw(Pid *pid);
422 bool helper_setCurPidRaw(
int j,
const Pid &pid);
423 bool helper_getCurPidRaw(
int j, Pid *pid);
424 bool helper_getCurPidsRaw(Pid *pid);
427 bool helper_setSpdPidRaw(
int j,
const Pid &pid);
428 bool helper_getSpdPidRaw(
int j, Pid *pid);
429 bool helper_getSpdPidsRaw(Pid *pid);
431 bool checkCalib14RotationParam(int32_t calib_param4);
434 bool getRawData_core(std::string key, std::vector<std::int32_t> &
data);
443 virtual bool open(yarp::os::Searchable &par);
444 virtual bool close();
448 virtual bool update(eOprotID32_t id32,
double timestamp,
void *rxdata);
449 virtual bool getEntityName(uint32_t entityId, std::string &entityName);
450 virtual bool getEncoderTypeName(uint32_t jomoId, eOmc_position_t pos, std::string &encoderTypeName)
override;
453 virtual bool setPidRaw(
const PidControlTypeEnum& pidtype,
int j,
const Pid &pid)
override;
454 virtual bool setPidsRaw(
const PidControlTypeEnum& pidtype,
const Pid *pids)
override;
455 virtual bool setPidReferenceRaw(
const PidControlTypeEnum& pidtype,
int j,
double ref)
override;
456 virtual bool setPidReferencesRaw(
const PidControlTypeEnum& pidtype,
const double *refs)
override;
457 virtual bool setPidErrorLimitRaw(
const PidControlTypeEnum& pidtype,
int j,
double limit)
override;
458 virtual bool setPidErrorLimitsRaw(
const PidControlTypeEnum& pidtype,
const double *limits)
override;
459 virtual bool getPidErrorRaw(
const PidControlTypeEnum& pidtype,
int j,
double *err)
override;
460 virtual bool getPidErrorsRaw(
const PidControlTypeEnum& pidtype,
double *errs)
override;
461 virtual bool getPidOutputRaw(
const PidControlTypeEnum& pidtype,
int j,
double *
out)
override;
462 virtual bool getPidOutputsRaw(
const PidControlTypeEnum& pidtype,
double *outs)
override;
463 virtual bool getPidRaw(
const PidControlTypeEnum& pidtype,
int j, Pid *pid)
override;
464 virtual bool getPidsRaw(
const PidControlTypeEnum& pidtype, Pid *pids)
override;
465 virtual bool getPidReferenceRaw(
const PidControlTypeEnum& pidtype,
int j,
double *ref)
override;
466 virtual bool getPidReferencesRaw(
const PidControlTypeEnum& pidtype,
double *refs)
override;
467 virtual bool getPidErrorLimitRaw(
const PidControlTypeEnum& pidtype,
int j,
double *limit)
override;
469 virtual bool resetPidRaw(
const PidControlTypeEnum& pidtype,
int j)
override;
470 virtual bool disablePidRaw(
const PidControlTypeEnum& pidtype,
int j)
override;
471 virtual bool enablePidRaw(
const PidControlTypeEnum& pidtype,
int j)
override;
472 virtual bool setPidOffsetRaw(
const PidControlTypeEnum& pidtype,
int j,
double v)
override;
473 virtual bool isPidEnabledRaw(
const PidControlTypeEnum& pidtype,
int j,
bool* enabled)
override;
476 virtual bool getAxes(
int *ax)
override;
491 virtual bool stopRaw(
int j)
override;
492 virtual bool stopRaw()
override;
496 virtual bool positionMoveRaw(
const int n_joint,
const int *joints,
const double *refs)
override;
497 virtual bool relativeMoveRaw(
const int n_joint,
const int *joints,
const double *deltas)
override;
498 virtual bool checkMotionDoneRaw(
const int n_joint,
const int *joints,
bool *flags)
override;
499 virtual bool setRefSpeedsRaw(
const int n_joint,
const int *joints,
const double *spds)
override;
501 virtual bool getRefSpeedsRaw(
const int n_joint,
const int *joints,
double *spds)
override;
503 virtual bool stopRaw(
const int n_joint,
const int *joints)
override;
526 virtual bool getControlModesRaw(
const int n_joint,
const int *joints,
int *modes)
override;
528 virtual bool setControlModesRaw(
const int n_joint,
const int *joints,
int *modes)
override;
572 virtual bool getAxisNameRaw(
int axis, std::string& name)
override;
602 virtual bool getPWMRaw(
int j,
double* val)
override;
615#ifdef IMPLEMENT_DEBUG_INTERFACE
619 virtual bool setParameterRaw(
int j,
unsigned int type,
double value)
override;
620 virtual bool getParameterRaw(
int j,
unsigned int type,
double *value)
override;
621 virtual bool setDebugParameterRaw(
int j,
unsigned int index,
double value)
override;
622 virtual bool setDebugReferencePositionRaw(
int j,
double value)
override;
623 virtual bool getDebugParameterRaw(
int j,
unsigned int index,
double *value)
override;
624 virtual bool getDebugReferencePositionRaw(
int j,
double *value)
override;
628 virtual bool setLimitsRaw(
int axis,
double min,
double max)
override;
629 virtual bool getLimitsRaw(
int axis,
double *min,
double *max)
override;
631 virtual bool setVelLimitsRaw(
int axis,
double min,
double max)
override;
632 virtual bool getVelLimitsRaw(
int axis,
double *min,
double *max)
override;
641 virtual bool setRefTorquesRaw(
const int n_joint,
const int *joints,
const double *t)
override;
649 virtual bool velocityMoveRaw(
const int n_joint,
const int *joints,
const double *spds)
override;
652 virtual bool getRefVelocitiesRaw(
const int n_joint,
const int *joints,
double *refs)
override;
656 virtual bool getImpedanceRaw(
int j,
double *stiffness,
double *damping)
override;
657 virtual bool setImpedanceRaw(
int j,
double stiffness,
double damping)
override;
660 virtual bool getCurrentImpedanceLimitRaw(
int j,
double *min_stiff,
double *max_stiff,
double *min_damp,
double *max_damp)
override;
664 virtual bool setPositionsRaw(
const int n_joint,
const int *joints,
const double *refs)
override;
668 virtual bool getRefPositionsRaw(
const int n_joint,
const int *joints,
double *refs)
override;
672 virtual bool getInteractionModesRaw(
int n_joints,
int *joints, yarp::dev::InteractionModeEnum* modes)
override;
675 virtual bool setInteractionModesRaw(
int n_joints,
int *joints, yarp::dev::InteractionModeEnum* modes)
override;
706 virtual bool setRefCurrentsRaw(
const int n_joint,
const int *joints,
const double *t)
override;
717 virtual bool getRawDataMap(std::map<std::string, std::vector<std::int32_t>> &map)
override;
718 virtual bool getRawData(std::string key, std::vector<std::int32_t> &
data)
override;
719 virtual bool getKeys(std::vector<std::string> &keys)
override;
embObjMotionControl : driver for iCub motor control boards EMS on a ETH bus.
virtual bool getPidReferenceRaw(const PidControlTypeEnum &pidtype, int j, double *ref) override
virtual bool setVelLimitsRaw(int axis, double min, double max) override
virtual bool setMaxCurrentRaw(int j, double val) override
virtual bool getMotorEncoderRaw(int m, double *v) override
virtual bool enablePidRaw(const PidControlTypeEnum &pidtype, int j) override
virtual bool getRawData(std::string key, std::vector< std::int32_t > &data) override
virtual bool setPidErrorLimitsRaw(const PidControlTypeEnum &pidtype, const double *limits) override
virtual bool setRefSpeedsRaw(const double *spds) override
virtual bool getEncoderTypeName(uint32_t jomoId, eOmc_position_t pos, std::string &encoderTypeName) override
virtual bool getTorqueRangesRaw(double *min, double *max) override
virtual bool getControlModesRaw(int *v) override
virtual bool getRefCurrentRaw(int j, double *t) override
virtual bool setInteractionModeRaw(int j, yarp::dev::InteractionModeEnum _mode) override
virtual bool getPidOutputRaw(const PidControlTypeEnum &pidtype, int j, double *out) override
virtual bool getInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
virtual bool setInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
bool getRotorEncoderTypeRaw(int j, int &type)
virtual bool setRefAccelerationsRaw(const double *accs) override
virtual bool disablePidRaw(const PidControlTypeEnum &pidtype, int j) override
virtual bool getImpedanceRaw(int j, double *stiffness, double *damping) override
virtual bool update(eOprotID32_t id32, double timestamp, void *rxdata)
virtual bool setPidOffsetRaw(const PidControlTypeEnum &pidtype, int j, double v) override
virtual bool getPowerSupplyVoltageRaw(int j, double *val) override
virtual bool setPidsRaw(const PidControlTypeEnum &pidtype, const Pid *pids) override
virtual bool getPidErrorLimitRaw(const PidControlTypeEnum &pidtype, int j, double *limit) override
virtual bool setPeakCurrentRaw(int m, const double val) override
virtual bool enableAmpRaw(int j) override
bool getHasRotorEncoderRaw(int j, int &ret)
virtual bool setRefTorqueRaw(int j, double t) override
virtual bool relativeMoveRaw(int j, double delta) override
virtual bool disableAmpRaw(int j) override
virtual bool getRefVelocityRaw(const int joint, double *ref) override
virtual bool getEncodersRaw(double *encs) override
virtual bool getLastJointFaultRaw(int j, int &fault, std::string &message) override
virtual bool getDutyCyclesRaw(double *v) override
virtual bool getPidReferencesRaw(const PidControlTypeEnum &pidtype, double *refs) override
virtual bool getMotorEncoderAccelerationsRaw(double *accs) override
virtual bool resetMotorEncoderRaw(int m) override
virtual bool checkMotionDoneRaw(bool *flag) override
virtual bool getPWMLimitRaw(int j, double *val) override
virtual bool getControlModeRaw(int j, int *v) override
virtual bool getPWMRaw(int j, double *val) override
bool getRotorLimitsRaw(int j, double *rotorMin, double *rotorMax)
virtual bool getTorqueRaw(int j, double *t) override
virtual bool getMotorEncodersRaw(double *encs) override
virtual bool open(yarp::os::Searchable &par)
virtual bool getEncodersTimedRaw(double *encs, double *stamps) override
bool getHasHallSensorRaw(int j, int &ret)
bool getJointEncoderResolutionRaw(int m, double &jntres)
virtual bool getRefSpeedsRaw(double *spds) override
virtual bool getInteractionModeRaw(int j, yarp::dev::InteractionModeEnum *_mode) override
virtual bool getEntityName(uint32_t entityId, std::string &entityName)
virtual eth::iethresType_t type()
bool getTemperatureSensorTypeRaw(int j, std::string &ret)
virtual bool getCurrentRangesRaw(double *min, double *max) override
virtual bool getLimitsRaw(int axis, double *min, double *max) override
virtual bool setPidReferenceRaw(const PidControlTypeEnum &pidtype, int j, double ref) override
virtual bool updateVirtualAnalogSensorMeasure(yarp::sig::Vector &fTorques) override
virtual bool setImpedanceRaw(int j, double stiffness, double damping) override
virtual bool setRemoteVariableRaw(std::string key, const yarp::os::Bottle &val) override
virtual bool getCurrentsRaw(double *vals) override
virtual bool getTorqueRangeRaw(int j, double *min, double *max) override
virtual bool getTorquesRaw(double *t) override
virtual bool getAmpStatusRaw(int *st) override
virtual yarp::dev::VAS_status getVirtualAnalogSensorStatus(int ch) override
bool getHasTempSensorsRaw(int j, int &ret)
virtual bool setRefCurrentsRaw(const double *t) override
virtual bool getTargetPositionRaw(const int joint, double *ref) override
virtual bool setMotorEncoderCountsPerRevolutionRaw(int m, const double cpr) override
virtual bool getGearboxRatioRaw(int m, double *gearbox) override
virtual bool resetEncodersRaw() override
virtual bool getTemperatureLimitRaw(int m, double *temp) override
virtual bool setCalibrationParametersRaw(int axis, const CalibrationParameters ¶ms) override
virtual bool getRawDataMap(std::map< std::string, std::vector< std::int32_t > > &map) override
virtual bool setNominalCurrentRaw(int m, const double val) override
virtual bool setMotorTorqueParamsRaw(int j, const MotorTorqueParameters params) override
virtual bool setRefCurrentRaw(int j, double t) override
virtual bool setTemperatureLimitRaw(int m, const double temp) override
virtual bool getRemoteVariableRaw(std::string key, yarp::os::Bottle &val) override
virtual bool calibrationDoneRaw(int j) override
virtual bool getEncoderTimedRaw(int j, double *encs, double *stamp) override
virtual bool getMetadataMap(rawValuesKeyMetadataMap &metamap) override
virtual bool getAxisNameRaw(int axis, std::string &name) override
virtual bool setPWMLimitRaw(int j, const double val) override
virtual bool getRefAccelerationRaw(int j, double *acc) override
virtual bool resetPidRaw(const PidControlTypeEnum &pidtype, int j) override
virtual bool getPidRaw(const PidControlTypeEnum &pidtype, int j, Pid *pid) override
virtual bool setPositionRaw(int j, double ref) override
virtual bool getRefSpeedRaw(int j, double *ref) override
virtual bool setPidErrorLimitRaw(const PidControlTypeEnum &pidtype, int j, double limit) override
virtual bool setControlModesRaw(const int n_joint, const int *joints, int *modes) override
bool getRotorEncoderResolutionRaw(int m, double &rotres)
virtual bool setRefDutyCycleRaw(int j, double v) override
virtual bool getImpedanceOffsetRaw(int j, double *offset) override
bool getWholeImpedanceRaw(int j, eOmc_impedance_t &imped)
virtual bool getEncoderSpeedsRaw(double *spds) override
virtual bool setPositionsRaw(const int n_joint, const int *joints, const double *refs) override
virtual bool resetMotorEncodersRaw() override
bool getJointEncoderTypeRaw(int j, int &type)
virtual bool getNumberOfMotorEncodersRaw(int *num) override
virtual bool getPidErrorLimitsRaw(const PidControlTypeEnum &pidtype, double *limits) override
virtual bool setMotorEncoderRaw(int m, const double val) override
virtual bool stopRaw() override
virtual bool getMotorEncoderTimedRaw(int m, double *encs, double *stamp) override
virtual bool setEncoderRaw(int j, double val) override
virtual bool resetEncoderRaw(int j) override
virtual bool setPidRaw(const PidControlTypeEnum &pidtype, int j, const Pid &pid) override
virtual bool getRefAccelerationsRaw(double *accs) override
virtual bool getPidOutputsRaw(const PidControlTypeEnum &pidtype, double *outs) override
virtual bool getRefPositionsRaw(double *refs) override
virtual bool getJointTypeRaw(int axis, yarp::dev::JointTypeEnum &type) override
virtual bool calibrateAxisWithParamsRaw(int axis, unsigned int type, double p1, double p2, double p3) override
virtual bool getNominalCurrentRaw(int m, double *val) override
virtual bool initialised()
virtual bool setRefTorquesRaw(const double *t) override
virtual bool getRefDutyCyclesRaw(double *v) override
virtual bool getCurrentRaw(int j, double *val) override
bool getMotorPolesRaw(int j, int &poles)
virtual bool getCurrentRangeRaw(int j, double *min, double *max) override
virtual bool getRefTorquesRaw(double *t) override
virtual bool setEncodersRaw(const double *vals) override
virtual bool getEncoderRaw(int j, double *v) override
virtual bool getKeys(std::vector< std::string > &keys) override
virtual bool setControlModeRaw(const int j, const int mode) override
virtual bool positionMoveRaw(int j, double ref) override
bool getKinematicMJRaw(int j, double &rotres)
virtual bool setLimitsRaw(int axis, double min, double max) override
virtual bool getEncoderAccelerationRaw(int j, double *spds) override
virtual bool getMotorTorqueParamsRaw(int j, MotorTorqueParameters *params) override
virtual bool getTemperatureRaw(int m, double *val) override
virtual int getNumberOfKeys() override
virtual bool setPidReferencesRaw(const PidControlTypeEnum &pidtype, const double *refs) override
virtual bool getCurrentImpedanceLimitRaw(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override
virtual bool getVelLimitsRaw(int axis, double *min, double *max) override
virtual bool getRefTorqueRaw(int j, double *t) override
virtual bool getNumberOfMotorsRaw(int *num) override
virtual bool setRefSpeedRaw(int j, double sp) override
virtual bool getMotorEncoderSpeedsRaw(double *spds) override
virtual bool getMaxCurrentRaw(int j, double *val) override
virtual bool getTemperaturesRaw(double *vals) override
virtual bool getMotorEncoderCountsPerRevolutionRaw(int m, double *v) override
virtual bool getEncoderAccelerationsRaw(double *accs) override
virtual bool getPidsRaw(const PidControlTypeEnum &pidtype, Pid *pids) override
virtual bool getRemoteVariablesListRaw(yarp::os::Bottle *listOfKeys) override
bool getTorqueControlFilterType(int j, int &type)
virtual bool getRefCurrentsRaw(double *t) override
virtual bool getPidErrorRaw(const PidControlTypeEnum &pidtype, int j, double *err) override
virtual bool setImpedanceOffsetRaw(int j, double offset) override
virtual bool getRefDutyCycleRaw(int j, double *v) override
virtual bool getMotorEncodersTimedRaw(double *encs, double *stamps) override
virtual int getVirtualAnalogSensorChannels() override
bool getRotorIndexOffsetRaw(int j, double &rotorOffset)
virtual bool setMotorEncodersRaw(const double *vals) override
virtual bool isPidEnabledRaw(const PidControlTypeEnum &pidtype, int j, bool *enabled) override
virtual bool setRefAccelerationRaw(int j, double acc) override
virtual bool getEncoderSpeedRaw(int j, double *sp) override
virtual bool getMotorEncoderSpeedRaw(int m, double *sp) override
virtual bool getMotorEncoderAccelerationRaw(int m, double *spds) override
virtual bool getAxes(int *ax) override
virtual bool getRefPositionRaw(const int joint, double *ref) override
virtual bool setRefDutyCyclesRaw(const double *v) override
virtual bool getKeyMetadata(std::string key, rawValuesKeyMetadata &meta) override
virtual bool velocityMoveRaw(int j, double sp) override
virtual bool getPeakCurrentRaw(int m, double *val) override
virtual bool getPidErrorsRaw(const PidControlTypeEnum &pidtype, double *errs) override
virtual bool getRefVelocitiesRaw(double *refs) override
virtual bool getTargetPositionsRaw(double *refs) override
bool getHasRotorEncoderIndexRaw(int j, int &ret)
virtual bool getDutyCycleRaw(int j, double *v) override
void updatePrevTemperature(double temperature)
TemperatureFilter(TemperatureFilter &&other) noexcept=default
TemperatureFilter & operator=(const TemperatureFilter &other)=default
TemperatureFilter(const TemperatureFilter &other)=default
TemperatureFilter & operator=(TemperatureFilter &&other) noexcept=default
TemperatureFilter(uint32_t threshold, int32_t initCounter)
uint32_t getTemperatureThreshold()
double getPrevTemperature()
void start(double temperature)
~TemperatureFilter()=default
Watchdog & operator=(const Watchdog &other)=default
void setThreshold(uint8_t txrateOfRegularROPs)
Watchdog(uint32_t threshold)
Watchdog(const Watchdog &other)=default
Watchdog(Watchdog &&other) noexcept=default
Watchdog & operator=(Watchdog &&other) noexcept=default
This file contains the definition of unique IDs for the body parts and the skin parts of the robot.
Copyright (C) 2008 RobotCub Consortium.
std::vector< BufferedPort< Bottle > * > ports
eOmn_serv_diagn_cfg_t config
bool useRawEncoderData
its value depends on environment variable "ETH_VERBOSEWHENOK"
bool pwmIsLimited
if true than do not use calibration data
int resolution
Num of error bits passable for joint encoder.
double tolerance
joint encoder type
vector< eOmc_jointset_configuration_t > jointset_cfgs
vector< vector< int > > set2joint