iCub-main
iCubSimulationControl.h
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1 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
2 
3 /*
4 * Copyright (C) 2010 RobotCub Consortium, European Commission FP6 Project IST-004370
5 * Author: Vadim Tikhanoff, Paul Fitzpatrick, Giorgio Metta
6 * email: vadim.tikhanoff@iit.it, paulfitz@alum.mit.edu, giorgio.metta@iit.it
7 * website: www.robotcub.org
8 * Permission is granted to copy, distribute, and/or modify this program
9 * under the terms of the GNU General Public License, version 2 or any
10 * later version published by the Free Software Foundation.
11 *
12 * A copy of the license can be found at
13 * http://www.robotcub.org/icub/license/gpl.txt
14 *
15 * This program is distributed in the hope that it will be useful, but
16 * WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
18 * Public License for more details
19 */
20 
28 #ifndef __iCubSimulationControlh__
29 #define __iCubSimulationControlh__
30 
31 #include <mutex>
32 #include <string>
33 
34 #include <yarp/os/Bottle.h>
35 //#include <yarp/os/PeriodicThread.h>
36 #include <yarp/sig/Image.h>
37 #include <yarp/sig/Matrix.h>
38 #include <yarp/dev/DeviceDriver.h>
39 #include <yarp/dev/PolyDriver.h>
40 #include <yarp/dev/ControlBoardInterfaces.h>
41 #include <yarp/dev/ControlBoardInterfacesImpl.h>
43 
44 #include "LogicalJoints.h"
45 
46 //control mode definitions
47 #define MODE_IDLE 0x00
48 #define MODE_POSITION 0x01
49 #define MODE_VELOCITY 0x02
50 #define MODE_TORQUE 0x03
51 #define MODE_IMPEDANCE_POS 0x04
52 #define MODE_IMPEDANCE_VEL 0x05
53 #define MODE_PWM 0x50
54 #define MODE_CURRENT 0x60
55 #define MODE_MIXED VOCAB_CM_MIXED
56 #define MODE_FORCE_IDLE VOCAB_CM_FORCE_IDLE
57 #define MODE_HW_FAULT VOCAB_CM_HW_FAULT
58 #define MODE_CALIBRATING VOCAB_CM_CALIBRATING
59 #define MODE_CALIB_DONE VOCAB_CM_CALIB_DONE
60 #define MODE_NOT_CONFIGURED VOCAB_CM_NOT_CONFIGURED
61 #define MODE_CONFIGURED VOCAB_CM_CONFIGURED
62 #define MODE_UNKNOWN VOCAB_CM_UNKNOWN
63 
64 // not used
65 //#define MODE_CALIB_ABS_POS_SENS 0x10
66 //#define MODE_CALIB_HARD_STOPS 0x20
67 //#define MODE_HANDLE_HARD_STOPS 0x30
68 //#define MODE_MARGIN_REACHED 0x40
69 //#define MODE_CALIB_ABS_AND_INCREMENTAL 0x41
70 
71 
72 namespace yarp{
73  namespace dev{
74  class iCubSimulationControl;
75  }
76 }
78  public DeviceDriver,
79  //public yarp::os::PeriodicThread,
80  public IPositionControlRaw,
81  public ImplementPositionControl,
82  public IVelocityControlRaw,
83  public ImplementVelocityControl,
84  public ITorqueControlRaw,
85  public ImplementTorqueControl,
86  public IAmplifierControlRaw,
87  public ImplementAmplifierControl,
88  public IControlCalibrationRaw,
89  public ImplementControlCalibration,
90  public IControlLimitsRaw,
91  public ImplementControlLimits,
92  public IControlModeRaw,
93  public ImplementControlMode,
94  public IInteractionModeRaw,
95  public ImplementInteractionMode,
96  public IPidControlRaw,
97  public ImplementPidControl,
98  public IEncodersTimedRaw,
99  public ImplementEncodersTimed,
100  public IMotorEncodersRaw,
101  public ImplementMotorEncoders,
102  public IMotorRaw,
103  public ImplementMotor,
104  public IPositionDirectRaw,
105  public ImplementPositionDirect,
106  public IRemoteVariablesRaw,
107  public ImplementRemoteVariables,
108  public IAxisInfoRaw,
109  public ImplementAxisInfo,
110  public IPWMControlRaw,
111  public ImplementPWMControl,
112  public ICurrentControlRaw,
113  public ImplementCurrentControl
114 {
115  private:
117  void operator=(const iCubSimulationControl&);
118  int ControlModes_yarp2iCubSIM(int yarpMode);
119  int ControlModes_iCubSIM2yarp(int iCubMode);
120 
121  public:
127 
131  virtual ~iCubSimulationControl();
132 
138  virtual bool open(yarp::os::Searchable& config);
139 
140  virtual bool close(void);
141 
142  // IEncoderTimedRaw
143 
144  virtual bool getEncodersTimedRaw(double *encs, double *stamps);
145  virtual bool getEncoderTimedRaw(int j, double *encs, double *stamp);
146 
147 
149  //
150  virtual bool setPidRaw(const PidControlTypeEnum& pidtype, int j, const Pid &pid) override;
151  virtual bool setPidsRaw(const PidControlTypeEnum& pidtype, const Pid *pids) override;
152  virtual bool setPidReferenceRaw(const PidControlTypeEnum& pidtype, int j, double ref) override;
153  virtual bool setPidReferencesRaw(const PidControlTypeEnum& pidtype, const double *refs) override;
154  virtual bool setPidErrorLimitRaw(const PidControlTypeEnum& pidtype, int j, double limit) override;
155  virtual bool setPidErrorLimitsRaw(const PidControlTypeEnum& pidtype, const double *limits) override;
156  virtual bool getPidErrorRaw(const PidControlTypeEnum& pidtype, int j, double *err) override;
157  virtual bool getPidErrorsRaw(const PidControlTypeEnum& pidtype, double *errs) override;
158  virtual bool getPidOutputRaw(const PidControlTypeEnum& pidtype, int j, double *out) override;
159  virtual bool getPidOutputsRaw(const PidControlTypeEnum& pidtype, double *outs) override;
160  virtual bool getPidRaw(const PidControlTypeEnum& pidtype, int j, Pid *pid) override;
161  virtual bool getPidsRaw(const PidControlTypeEnum& pidtype, Pid *pids) override;
162  virtual bool getPidReferenceRaw(const PidControlTypeEnum& pidtype, int j, double *ref) override;
163  virtual bool getPidReferencesRaw(const PidControlTypeEnum& pidtype, double *refs) override;
164  virtual bool getPidErrorLimitRaw(const PidControlTypeEnum& pidtype, int j, double *limit) override;
165  virtual bool getPidErrorLimitsRaw(const PidControlTypeEnum& pidtype, double *limits) override;
166  virtual bool resetPidRaw(const PidControlTypeEnum& pidtype, int j) override;
167  virtual bool disablePidRaw(const PidControlTypeEnum& pidtype, int j) override;
168  virtual bool enablePidRaw(const PidControlTypeEnum& pidtype, int j) override;
169  virtual bool setPidOffsetRaw(const PidControlTypeEnum& pidtype, int j, double v) override;
170  virtual bool isPidEnabledRaw(const PidControlTypeEnum& pidtype, int j, bool* enabled) override;
171  //
173 
175  virtual bool getAxes(int *ax) override;
176  virtual bool positionMoveRaw(int j, double ref) override;
177  virtual bool positionMoveRaw(const double *refs) override;
178  virtual bool relativeMoveRaw(int j, double delta) override;
179  virtual bool relativeMoveRaw(const double *deltas) override;
180  virtual bool checkMotionDoneRaw(bool *flag) override;
181  virtual bool checkMotionDoneRaw(int j, bool *flag) override;
182  virtual bool setRefSpeedRaw(int j, double sp) override;
183  virtual bool setRefSpeedsRaw(const double *spds) override;
184  virtual bool setRefAccelerationRaw(int j, double acc) override;
185  virtual bool setRefAccelerationsRaw(const double *accs) override;
186  virtual bool getRefSpeedRaw(int j, double *ref) override;
187  virtual bool getRefSpeedsRaw(double *spds) override;
188  virtual bool getRefAccelerationRaw(int j, double *acc) override;
189  virtual bool getRefAccelerationsRaw(double *accs) override;
190  virtual bool stopRaw(int j) override;
191  virtual bool stopRaw() override;
192 
193  // Position Control2 Interface
194  virtual bool positionMoveRaw(const int n_joint, const int *joints, const double *refs) override;
195  virtual bool relativeMoveRaw(const int n_joint, const int *joints, const double *deltas) override;
196  virtual bool checkMotionDoneRaw(const int n_joint, const int *joints, bool *flags) override;
197  virtual bool setRefSpeedsRaw(const int n_joint, const int *joints, const double *spds) override;
198  virtual bool setRefAccelerationsRaw(const int n_joint, const int *joints, const double *accs) override;
199  virtual bool getRefSpeedsRaw(const int n_joint, const int *joints, double *spds) override;
200  virtual bool getRefAccelerationsRaw(const int n_joint, const int *joints, double *accs) override;
201  virtual bool stopRaw(const int n_joint, const int *joints) override;
202  virtual bool getTargetPositionRaw(const int joint, double *ref) override;
203  virtual bool getTargetPositionsRaw(double *refs) override;
204  virtual bool getTargetPositionsRaw(const int n_joint, const int *joints, double *refs) override;
205 
206  // Velocity Control
207  virtual bool velocityMoveRaw(int j, double sp) override;
208  virtual bool velocityMoveRaw(const double *sp) override;
209 
210  // Velocity Control2 Interface
211  virtual bool velocityMoveRaw(const int n_joint, const int *joints, const double *spds) override;
212  virtual bool getRefVelocityRaw(const int joint, double *ref) override;
213  virtual bool getRefVelocitiesRaw(double *refs) override;
214  virtual bool getRefVelocitiesRaw(const int n_joint, const int *joints, double *refs) override;
215 
216 
218  //
219  virtual bool resetEncoderRaw(int j) override;
220  virtual bool resetEncodersRaw() override;
221  virtual bool setEncoderRaw(int j, double val) override;
222  virtual bool setEncodersRaw(const double *vals) override;
223  virtual bool getEncoderRaw(int j, double *v) override;
224  virtual bool getEncodersRaw(double *encs) override;
225  virtual bool getEncoderSpeedRaw(int j, double *sp) override;
226  virtual bool getEncoderSpeedsRaw(double *spds) override;
227  virtual bool getEncoderAccelerationRaw(int j, double *spds) override;
228  virtual bool getEncoderAccelerationsRaw(double *accs) override;
229 
231 
233  //
234  virtual bool getRemoteVariableRaw(std::string key, yarp::os::Bottle& val) override;
235  virtual bool setRemoteVariableRaw(std::string key, const yarp::os::Bottle& val) override;
236  virtual bool getRemoteVariablesListRaw(yarp::os::Bottle* listOfKeys) override;
237 
239 
241  //
242  virtual bool getNumberOfMotorEncodersRaw(int* num) override;
243  virtual bool resetMotorEncoderRaw(int m) override;
244  virtual bool resetMotorEncodersRaw() override;
245  virtual bool setMotorEncoderRaw(int m, const double val) override;
246  virtual bool setMotorEncodersRaw(const double *vals) override;
247  virtual bool getMotorEncoderRaw(int m, double *v) override;
248  virtual bool setMotorEncoderCountsPerRevolutionRaw(int m, const double cpr) override;
249  virtual bool getMotorEncoderCountsPerRevolutionRaw(int m, double *cpr) override;
250  virtual bool getMotorEncodersRaw(double *encs) override;
251  virtual bool getMotorEncoderSpeedRaw(int m, double *sp) override;
252  virtual bool getMotorEncoderSpeedsRaw(double *spds) override;
253  virtual bool getMotorEncoderAccelerationRaw(int m, double *spds) override;
254  virtual bool getMotorEncoderAccelerationsRaw(double *accs) override;
255  virtual bool getMotorEncodersTimedRaw(double *encs, double *stamps) override;
256  virtual bool getMotorEncoderTimedRaw(int m, double *encs, double *stamp) override;
257 
260  //
261  virtual bool enableAmpRaw(int j) override;
262  virtual bool disableAmpRaw(int j) override;
263  virtual bool getCurrentsRaw(double *vals) override;
264  virtual bool getCurrentRaw(int j, double *val) override;
265  virtual bool setMaxCurrentRaw(int j, double val) override;
266  virtual bool getMaxCurrentRaw(int j, double* val) override;
267  virtual bool getAmpStatusRaw(int *st) override;
268  virtual bool getAmpStatusRaw(int k, int *st) override;
269  virtual bool getPWMRaw(int j, double* val) override;
270  virtual bool getPWMLimitRaw(int j, double* val) override;
271  virtual bool setPWMLimitRaw(int j, const double val) override;
272  virtual bool getPowerSupplyVoltageRaw(int j, double* val) override;
273  //
275 
277  virtual bool calibrateAxisWithParamsRaw(int axis, unsigned int type, double p1, double p2, double p3) override;
278  virtual bool calibrationDoneRaw(int j) override;
279 
281  virtual bool setLimitsRaw(int axis, double min, double max) override;
282  virtual bool getLimitsRaw(int axis, double *min, double *max) override;
283  virtual bool setVelLimitsRaw(int axis, double min, double max) override;
284  virtual bool getVelLimitsRaw(int axis, double *min, double *max) override;
285 
287  virtual bool getAxisNameRaw(int axis, std::string& name) override;
288  virtual bool getJointTypeRaw(int axis, yarp::dev::JointTypeEnum& type) override;
289 
291  virtual bool getNumberOfMotorsRaw(int* m) override;
292  virtual bool getTemperatureRaw(int m, double* val) override;
293  virtual bool getTemperaturesRaw(double *vals) override;
294  virtual bool getTemperatureLimitRaw(int m, double *temp) override;
295  virtual bool setTemperatureLimitRaw(int m, const double temp) override;
296  virtual bool getPeakCurrentRaw(int m, double *val) override;
297  virtual bool setPeakCurrentRaw(int m, const double val) override;
298  virtual bool getNominalCurrentRaw(int m, double *val) override;
299  virtual bool setNominalCurrentRaw(int m, const double val) override;
300 
302  virtual bool getTorqueRaw(int, double *) override;
303  virtual bool getTorquesRaw(double *) override;
304  virtual bool getTorqueRangeRaw(int,double *,double *) override;
305  virtual bool getTorqueRangesRaw(double *,double *) override;
306  virtual bool setRefTorquesRaw(const double *) override;
307  virtual bool setRefTorqueRaw(int,double) override;
308  virtual bool setRefTorquesRaw(const int n_joint, const int *joints, const double *t) override;
309  virtual bool getRefTorquesRaw(double *) override;
310  virtual bool getRefTorqueRaw(int,double *) override;
311  virtual bool getMotorTorqueParamsRaw(int j, MotorTorqueParameters *params) override;
312  virtual bool setMotorTorqueParamsRaw(int j, const MotorTorqueParameters params) override;
313 
315  virtual bool getControlModeRaw(int j, int *mode) override;
316  virtual bool getControlModesRaw(int* modes) override;
317 
319  virtual bool getControlModesRaw(const int n_joint, const int *joints, int *modes) override;
320  virtual bool setControlModeRaw(const int j, const int mode) override;
321  virtual bool setControlModesRaw(const int n_joint, const int *joints, int *modes) override;
322  virtual bool setControlModesRaw(int *modes) override;
323 
324 
326  virtual bool getInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum* mode) override;
327  virtual bool getInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
328  virtual bool getInteractionModesRaw(yarp::dev::InteractionModeEnum* modes) override;
329  virtual bool setInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum mode) override;
330  virtual bool setInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
331  virtual bool setInteractionModesRaw(yarp::dev::InteractionModeEnum* modes) override;
332 
334  virtual bool setPositionRaw(int j, double ref) override;
335  virtual bool setPositionsRaw(const int n_joint, const int *joints, const double *refs) override;
336  virtual bool setPositionsRaw(const double *refs) override;
337  virtual bool getRefPositionRaw(const int joint, double *ref) override;
338  virtual bool getRefPositionsRaw(double *refs) override;
339  virtual bool getRefPositionsRaw(const int n_joint, const int *joints, double *refs) override;
340 
342  virtual bool setRefDutyCycleRaw(int j, double v) override;
343  virtual bool setRefDutyCyclesRaw(const double *v) override;
344  virtual bool getRefDutyCycleRaw(int j, double *v) override;
345  virtual bool getRefDutyCyclesRaw(double *v) override;
346  virtual bool getDutyCycleRaw(int j, double *v) override;
347  virtual bool getDutyCyclesRaw(double *v) override;
348 
350  // virtual bool getAxes(int *ax) override;
351  //virtual bool getCurrentRaw(int j, double *t) override;
352  //virtual bool getCurrentsRaw(double *t) override;
353  virtual bool getCurrentRangeRaw(int j, double *min, double *max) override;
354  virtual bool getCurrentRangesRaw(double *min, double *max) override;
355  virtual bool setRefCurrentsRaw(const double *t) override;
356  virtual bool setRefCurrentRaw(int j, double t) override;
357  virtual bool setRefCurrentsRaw(const int n_joint, const int *joints, const double *t) override;
358  virtual bool getRefCurrentsRaw(double *t) override;
359  virtual bool getRefCurrentRaw(int j, double *t) override;
360 
361 //void run(void);
362 
364  void jointStep();
365 
367 
368 private:
369  void compute_mot_pos_from_jnt_pos(double *mot_pos, const double *jnt_pos, int size_joints);
370  void compute_mot_vel_and_acc (double *mot_vel, double *mot_acc, const double *mot_pos, int size_joints);
371  void compute_jnt_vel_and_acc (double *jnt_vel, double *jnt_acc, const double *jnt_pos, int size_joints);
372 
373 protected:
374  yarp::dev::PolyDriver joints;
376 
377  std::mutex _mutex;
378 
380  bool _noreply;
381  bool _opened;
382 
383  //current position of the joints
386 
387  //torque of the joints
388  double *current_jnt_torques; // at the moment this is fake
389  double *current_mot_torques; // at the moment this is fake
390 
391  //pwm value
392  double *pwm; // at the moment this is fake
393  double *pwm_ref; // at the moment this is fake
394 
395  //motor current
396  double *current_ampere; // at the moment this is fake
397  double *current_ampere_ref; // at the moment this is fake
398 
399  //current velocity of the joints
404 
405  //current acceleration of the joints
414 
415  //next position of the joints
416  double *next_pos;
418  double *ref_positions;
419 
420  //next velocity of the joints during velocity control
421  double *next_vel;
423  double *ref_speeds;
424 
425  //next torques of the joints during torque control
426  double *next_torques;
427  double *ref_torques;
428 
429  //semaphore access for synch with run function of webots
431 
433  // number of joints/axes/controlled motors
434  int njoints;
435 
436  // velocity
437  double vel;
438 
439  //rate at which the position are updated im ms
440  //int positionUpdateRate;
441  static const int positionUpdateRate = 100;
442 
443  //axis remapping lookup-table
444  int *axisMap;
445  // angle to encoder conversion factors
446  double *angleToEncoder;
447 
448  double *zeros;
450  double *ampsToSensor;
451  double *dutycycleToPwm;
452 
453  double *error_tol;
454 
455  bool *motor_on;
456  int *motor;
457  double ErrorPos[100];
458  int input;
459  int *inputs; /* in fact we need an "input" flag for every joint */
460  double *vels; /* in fact we need a velocity for every joint */
461 
462  double *limitsMin; // joint limits, min
463  double *limitsMax; // joint limits, max
464  double *velLimitsMin; // joint vel limits, min
465  double *velLimitsMax; // joint vel limits, max
466  double *torqueLimits; // torque limits
467  double *maxCurrent; // max motor current (simulated)
468  double *rotToEncoder; // angle to rotor conversion factors
469  double *gearbox; // the gearbox ratio
470  double *refSpeed;
471  double *refAccel;
472  double *controlP;
478 
481 
486  MotorTorqueParameters *motor_torque_params;
487  yarp::sig::Matrix kinematic_mj;
488 
489  //bool velocityMode;
490 };
491 
492 #endif
493 
494 
yarp::dev::iCubSimulationControl::getMotorEncodersRaw
virtual bool getMotorEncodersRaw(double *encs) override
Definition: iCubSimulationControl.cpp:1500
yarp::dev::iCubSimulationControl::stopRaw
virtual bool stopRaw() override
Definition: iCubSimulationControl.cpp:1176
yarp::dev::iCubSimulationControl::getPeakCurrentRaw
virtual bool getPeakCurrentRaw(int m, double *val) override
Definition: iCubSimulationControl.cpp:861
yarp::dev::iCubSimulationControl::getAxisNameRaw
virtual bool getAxisNameRaw(int axis, std::string &name) override
Definition: iCubSimulationControl.cpp:1891
yarp::dev::iCubSimulationControl::setVelLimitsRaw
virtual bool setVelLimitsRaw(int axis, double min, double max) override
Definition: iCubSimulationControl.cpp:1826
yarp::dev::iCubSimulationControl::getEncoderSpeedsRaw
virtual bool getEncoderSpeedsRaw(double *spds) override
Definition: iCubSimulationControl.cpp:1440
yarp::dev::iCubSimulationControl::setPeakCurrentRaw
virtual bool setPeakCurrentRaw(int m, const double val) override
Definition: iCubSimulationControl.cpp:866
yarp::dev::iCubSimulationControl::getEncoderAccelerationsRaw
virtual bool getEncoderAccelerationsRaw(double *accs) override
Definition: iCubSimulationControl.cpp:1460
yarp::dev::iCubSimulationControl::torqueLimits
double * torqueLimits
Definition: iCubSimulationControl.h:466
iCub::ctrl::AWQuadEstimator
Definition: adaptWinPolyEstimator.h:207
yarp::dev::iCubSimulationControl::getPidsRaw
virtual bool getPidsRaw(const PidControlTypeEnum &pidtype, Pid *pids) override
Definition: iCubSimulationControl.cpp:641
yarp::dev::iCubSimulationControl::dutycycleToPwm
double * dutycycleToPwm
Definition: iCubSimulationControl.h:451
yarp::dev::iCubSimulationControl::setControlModesRaw
virtual bool setControlModesRaw(const int n_joint, const int *joints, int *modes) override
Definition: iCubSimulationControl.cpp:2177
yarp::dev::iCubSimulationControl::getDutyCycleRaw
virtual bool getDutyCycleRaw(int j, double *v) override
Definition: iCubSimulationControl.cpp:2389
yarp::dev::iCubSimulationControl::njoints
int njoints
Definition: iCubSimulationControl.h:434
yarp::dev::iCubSimulationControl::quadEstJnt
iCub::ctrl::AWQuadEstimator * quadEstJnt
Definition: iCubSimulationControl.h:411
yarp::dev::iCubSimulationControl::getJointTypeRaw
virtual bool getJointTypeRaw(int axis, yarp::dev::JointTypeEnum &type) override
Definition: iCubSimulationControl.cpp:1905
yarp::dev::iCubSimulationControl::getTemperatureLimitRaw
virtual bool getTemperatureLimitRaw(int m, double *temp) override
Definition: iCubSimulationControl.cpp:851
yarp::dev::iCubSimulationControl::getRemoteVariablesListRaw
virtual bool getRemoteVariablesListRaw(yarp::os::Bottle *listOfKeys) override
Definition: iCubSimulationControl.cpp:1809
yarp::dev::iCubSimulationControl::ref_torques
double * ref_torques
Definition: iCubSimulationControl.h:427
yarp::dev::iCubSimulationControl::getRefVelocityRaw
virtual bool getRefVelocityRaw(const int joint, double *ref) override
Definition: iCubSimulationControl.cpp:1219
yarp::dev::iCubSimulationControl::getPowerSupplyVoltageRaw
virtual bool getPowerSupplyVoltageRaw(int j, double *val) override
Definition: iCubSimulationControl.cpp:896
yarp::dev::iCubSimulationControl::setPidErrorLimitsRaw
virtual bool setPidErrorLimitsRaw(const PidControlTypeEnum &pidtype, const double *limits) override
Definition: iCubSimulationControl.cpp:707
yarp::dev::iCubSimulationControl::velLimitsMax
double * velLimitsMax
Definition: iCubSimulationControl.h:465
yarp::dev::iCubSimulationControl::getMotorEncoderCountsPerRevolutionRaw
virtual bool getMotorEncoderCountsPerRevolutionRaw(int m, double *cpr) override
Definition: iCubSimulationControl.cpp:1533
yarp::dev::iCubSimulationControl::zeros
double * zeros
Definition: iCubSimulationControl.h:448
yarp::dev::iCubSimulationControl::getTorqueRangeRaw
virtual bool getTorqueRangeRaw(int, double *, double *) override
Definition: iCubSimulationControl.cpp:1933
yarp::dev::iCubSimulationControl::getRefTorquesRaw
virtual bool getRefTorquesRaw(double *) override
Definition: iCubSimulationControl.cpp:1975
yarp::dev::iCubSimulationControl::getEncoderSpeedRaw
virtual bool getEncoderSpeedRaw(int j, double *sp) override
Definition: iCubSimulationControl.cpp:1448
yarp::dev::iCubSimulationControl::getMotorEncoderTimedRaw
virtual bool getMotorEncoderTimedRaw(int m, double *encs, double *stamp) override
Definition: iCubSimulationControl.cpp:1549
yarp::dev::iCubSimulationControl::getRefSpeedsRaw
virtual bool getRefSpeedsRaw(double *spds) override
Definition: iCubSimulationControl.cpp:1146
yarp::dev::iCubSimulationControl::setMaxCurrentRaw
virtual bool setMaxCurrentRaw(int j, double val) override
Definition: iCubSimulationControl.cpp:1633
yarp::dev::iCubSimulationControl::getMotorEncodersTimedRaw
virtual bool getMotorEncodersTimedRaw(double *encs, double *stamps) override
Definition: iCubSimulationControl.cpp:1539
yarp::dev::iCubSimulationControl::getNumberOfMotorEncodersRaw
virtual bool getNumberOfMotorEncodersRaw(int *num) override
Definition: iCubSimulationControl.cpp:1522
yarp::dev::iCubSimulationControl::setPidErrorLimitRaw
virtual bool setPidErrorLimitRaw(const PidControlTypeEnum &pidtype, int j, double limit) override
Definition: iCubSimulationControl.cpp:702
yarp::dev::iCubSimulationControl::iCubSimulationControl
iCubSimulationControl()
Default constructor.
Definition: iCubSimulationControl.cpp:55
yarp::dev::iCubSimulationControl::gearbox
double * gearbox
Definition: iCubSimulationControl.h:469
yarp::dev::iCubSimulationControl::hasRotorEncoder
bool * hasRotorEncoder
Definition: iCubSimulationControl.h:475
yarp::dev::iCubSimulationControl::current_jnt_torques
double * current_jnt_torques
Definition: iCubSimulationControl.h:388
yarp::dev::iCubSimulationControl::ref_positions
double * ref_positions
Definition: iCubSimulationControl.h:418
yarp::dev::iCubSimulationControl::setRefDutyCyclesRaw
virtual bool setRefDutyCyclesRaw(const double *v) override
Definition: iCubSimulationControl.cpp:2360
out
out
Definition: sine.m:8
yarp::dev::iCubSimulationControl::setLimitsRaw
virtual bool setLimitsRaw(int axis, double min, double max) override
Definition: iCubSimulationControl.cpp:1695
yarp::dev::iCubSimulationControl::setPidReferenceRaw
virtual bool setPidReferenceRaw(const PidControlTypeEnum &pidtype, int j, double ref) override
cmd is a SingleAxis pointer with 1 double arg
Definition: iCubSimulationControl.cpp:660
yarp::dev::iCubSimulationControl::getPidReferencesRaw
virtual bool getPidReferencesRaw(const PidControlTypeEnum &pidtype, double *refs) override
Definition: iCubSimulationControl.cpp:934
yarp::dev::iCubSimulationControl::open
virtual bool open(yarp::os::Searchable &config)
Open the device driver and start communication with the hardware.
Definition: iCubSimulationControl.cpp:87
yarp::dev::iCubSimulationControl::enableAmpRaw
virtual bool enableAmpRaw(int j) override
Definition: iCubSimulationControl.cpp:1603
strain::dsp::fsc::min
const FSC min
Definition: strain.h:49
yarp::dev::iCubSimulationControl::calibrationDoneRaw
virtual bool calibrationDoneRaw(int j) override
Definition: iCubSimulationControl.cpp:1668
yarp::dev::iCubSimulationControl::input
int input
Definition: iCubSimulationControl.h:458
yarp::dev::iCubSimulationControl::~iCubSimulationControl
virtual ~iCubSimulationControl()
Destructor.
Definition: iCubSimulationControl.cpp:80
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yarp::dev::PolyDriver joints
Definition: iCubSimulationControl.h:374
yarp::dev::iCubSimulationControl::linEstJnt
iCub::ctrl::AWLinEstimator * linEstJnt
Definition: iCubSimulationControl.h:410
yarp::dev::iCubSimulationControl::checkMotionDoneRaw
virtual bool checkMotionDoneRaw(bool *flag) override
Definition: iCubSimulationControl.cpp:1071
yarp::dev::iCubSimulationControl::enablePidRaw
virtual bool enablePidRaw(const PidControlTypeEnum &pidtype, int j) override
Definition: iCubSimulationControl.cpp:958
yarp::dev::iCubSimulationControl::getPidErrorsRaw
virtual bool getPidErrorsRaw(const PidControlTypeEnum &pidtype, double *errs) override
Definition: iCubSimulationControl.cpp:739
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virtual bool setPositionsRaw(const int n_joint, const int *joints, const double *refs) override
Definition: iCubSimulationControl.cpp:2326
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double vel
Definition: iCubSimulationControl.h:437
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void jointStep()
Definition: iCubSimulationControl.cpp:476
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virtual bool setPositionRaw(int j, double ref) override
Definition: iCubSimulationControl.cpp:2252
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std::mutex _mutex
Definition: iCubSimulationControl.h:377
yarp::dev::iCubSimulationControl::setMotorEncoderRaw
virtual bool setMotorEncoderRaw(int m, const double val) override
Definition: iCubSimulationControl.cpp:1480
yarp::dev::iCubSimulationControl::refSpeed
double * refSpeed
Definition: iCubSimulationControl.h:470
yarp::dev::iCubSimulationControl::inputs
int * inputs
Definition: iCubSimulationControl.h:459
yarp::dev::iCubSimulationControl::velLimitsMin
double * velLimitsMin
Definition: iCubSimulationControl.h:464
yarp::dev::iCubSimulationControl::getRefCurrentsRaw
virtual bool getRefCurrentsRaw(double *t) override
Definition: iCubSimulationControl.cpp:2478
yarp::dev::iCubSimulationControl::getMotorEncoderSpeedRaw
virtual bool getMotorEncoderSpeedRaw(int m, double *sp) override
Definition: iCubSimulationControl.cpp:1565
yarp::dev::iCubSimulationControl::getCurrentsRaw
virtual bool getCurrentsRaw(double *vals) override
Definition: iCubSimulationControl.cpp:1609
yarp::dev::iCubSimulationControl::current_ampere_ref
double * current_ampere_ref
Definition: iCubSimulationControl.h:397
yarp::dev::iCubSimulationControl::getPidOutputRaw
virtual bool getPidOutputRaw(const PidControlTypeEnum &pidtype, int j, double *out) override
Definition: iCubSimulationControl.cpp:749
yarp::dev::iCubSimulationControl::rotorIndexOffset
int * rotorIndexOffset
Definition: iCubSimulationControl.h:476
yarp::dev::iCubSimulationControl::linEstMot
iCub::ctrl::AWLinEstimator * linEstMot
Definition: iCubSimulationControl.h:412
yarp::dev::iCubSimulationControl::relativeMoveRaw
virtual bool relativeMoveRaw(int j, double delta) override
Definition: iCubSimulationControl.cpp:1058
yarp::dev::iCubSimulationControl::ErrorPos
double ErrorPos[100]
Definition: iCubSimulationControl.h:457
yarp::dev::iCubSimulationControl::controlMode
int * controlMode
Definition: iCubSimulationControl.h:479
yarp::dev::iCubSimulationControl::setPidsRaw
virtual bool setPidsRaw(const PidControlTypeEnum &pidtype, const Pid *pids) override
Definition: iCubSimulationControl.cpp:650
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Pid * torque_pid
Definition: iCubSimulationControl.h:483
yarp::dev::iCubSimulationControl::setRefSpeedRaw
virtual bool setRefSpeedRaw(int j, double sp) override
Definition: iCubSimulationControl.cpp:1103
yarp::dev::iCubSimulationControl::controlP
double * controlP
Definition: iCubSimulationControl.h:472
yarp::dev::iCubSimulationControl::setPWMLimitRaw
virtual bool setPWMLimitRaw(int j, const double val) override
Definition: iCubSimulationControl.cpp:891
yarp::dev::iCubSimulationControl::getPidErrorLimitRaw
virtual bool getPidErrorLimitRaw(const PidControlTypeEnum &pidtype, int j, double *limit) override
Definition: iCubSimulationControl.cpp:943
yarp::dev::iCubSimulationControl::setControlModeRaw
virtual bool setControlModeRaw(const int j, const int mode) override
Definition: iCubSimulationControl.cpp:2148
yarp::dev::iCubSimulationControl::current_ampere
double * current_ampere
Definition: iCubSimulationControl.h:396
yarp::dev::iCubSimulationControl::getCurrentRangeRaw
virtual bool getCurrentRangeRaw(int j, double *min, double *max) override
Definition: iCubSimulationControl.cpp:2422
yarp::dev::iCubSimulationControl::current_mot_pos
double * current_mot_pos
Definition: iCubSimulationControl.h:385
LogicalJoints.h
yarp::dev::iCubSimulationControl::velocity_pid
Pid * velocity_pid
Definition: iCubSimulationControl.h:485
yarp::dev::iCubSimulationControl::setPidOffsetRaw
virtual bool setPidOffsetRaw(const PidControlTypeEnum &pidtype, int j, double v) override
Definition: iCubSimulationControl.cpp:963
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bool _writerequested
Definition: iCubSimulationControl.h:379
yarp::dev::iCubSimulationControl::setMotorEncoderCountsPerRevolutionRaw
virtual bool setMotorEncoderCountsPerRevolutionRaw(int m, const double cpr) override
Definition: iCubSimulationControl.cpp:1528
strain::dsp::fsc::max
const FSC max
Definition: strain.h:48
yarp::dev::iCubSimulationControl::resetEncoderRaw
virtual bool resetEncoderRaw(int j) override
Definition: iCubSimulationControl.cpp:1375
yarp::dev::iCubSimulationControl::setRefAccelerationsRaw
virtual bool setRefAccelerationsRaw(const double *accs) override
Definition: iCubSimulationControl.cpp:1131
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virtual bool close(void)
Definition: iCubSimulationControl.cpp:351
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double * ref_speeds
Definition: iCubSimulationControl.h:423
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virtual bool getTorquesRaw(double *) override
Definition: iCubSimulationControl.cpp:1926
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virtual bool getRefAccelerationRaw(int j, double *acc) override
Definition: iCubSimulationControl.cpp:1155
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int * motor
Definition: iCubSimulationControl.h:456
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virtual bool setRefDutyCycleRaw(int j, double v) override
Definition: iCubSimulationControl.cpp:2347
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virtual bool disableAmpRaw(int j) override
Definition: iCubSimulationControl.cpp:1598
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virtual bool setNominalCurrentRaw(int m, const double val) override
Definition: iCubSimulationControl.cpp:876
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bool _noreply
Definition: iCubSimulationControl.h:380
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double * newtonsToSensor
encoder zeros
Definition: iCubSimulationControl.h:449
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virtual bool setTemperatureLimitRaw(int m, const double temp) override
Definition: iCubSimulationControl.cpp:856
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virtual bool getEncoderTimedRaw(int j, double *encs, double *stamp)
Definition: iCubSimulationControl.cpp:1433
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virtual bool getLimitsRaw(int axis, double *min, double *max) override
Definition: iCubSimulationControl.cpp:1708
mode
GLenum mode
Definition: rendering.cpp:48
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virtual bool calibrateAxisWithParamsRaw(int axis, unsigned int type, double p1, double p2, double p3) override
Definition: iCubSimulationControl.cpp:1663
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double * estimated_jnt_vel
Definition: iCubSimulationControl.h:402
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virtual bool getNominalCurrentRaw(int m, double *val) override
Definition: iCubSimulationControl.cpp:871
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virtual bool getDutyCyclesRaw(double *v) override
Definition: iCubSimulationControl.cpp:2402
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virtual bool setEncoderRaw(int j, double val) override
Definition: iCubSimulationControl.cpp:1365
yarp::dev::iCubSimulationControl::next_pos
double * next_pos
Definition: iCubSimulationControl.h:416
yarp::dev::iCubSimulationControl::positionMoveRaw
virtual bool positionMoveRaw(int j, double ref) override
Definition: iCubSimulationControl.cpp:973
yarp::dev::iCubSimulationControl::setRefTorquesRaw
virtual bool setRefTorquesRaw(const double *) override
Definition: iCubSimulationControl.cpp:1941
yarp::dev::iCubSimulationControl::estimated_mot_acc
double * estimated_mot_acc
Definition: iCubSimulationControl.h:409
yarp::dev::iCubSimulationControl::getEncoderRaw
virtual bool getEncoderRaw(int j, double *v) override
Definition: iCubSimulationControl.cpp:1402
yarp::dev::iCubSimulationControl::getControlModesRaw
virtual bool getControlModesRaw(int *modes) override
Definition: iCubSimulationControl.cpp:2131
yarp::dev::iCubSimulationControl::getRefDutyCycleRaw
virtual bool getRefDutyCycleRaw(int j, double *v) override
Definition: iCubSimulationControl.cpp:2368
yarp::dev::iCubSimulationControl::getPWMRaw
virtual bool getPWMRaw(int j, double *val) override
Definition: iCubSimulationControl.cpp:881
yarp::dev::iCubSimulationControl::motor_torque_params
MotorTorqueParameters * motor_torque_params
Definition: iCubSimulationControl.h:486
yarp::dev::iCubSimulationControl::setEncodersRaw
virtual bool setEncodersRaw(const double *vals) override
Definition: iCubSimulationControl.cpp:1370
yarp::dev::iCubSimulationControl::setInteractionModeRaw
virtual bool setInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum mode) override
Definition: iCubSimulationControl.cpp:2224
yarp::dev::iCubSimulationControl::getRefCurrentRaw
virtual bool getRefCurrentRaw(int j, double *t) override
Definition: iCubSimulationControl.cpp:2486
yarp::dev::iCubSimulationControl::ampsToSensor
double * ampsToSensor
Definition: iCubSimulationControl.h:450
yarp::dev::iCubSimulationControl::getAmpStatusRaw
virtual bool getAmpStatusRaw(int *st) override
Definition: iCubSimulationControl.cpp:1674
yarp::dev::iCubSimulationControl::quadEstMot
iCub::ctrl::AWQuadEstimator * quadEstMot
Definition: iCubSimulationControl.h:413
yarp::dev::iCubSimulationControl::getInteractionModeRaw
virtual bool getInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum *mode) override
Definition: iCubSimulationControl.cpp:2198
yarp::dev::iCubSimulationControl::getRefTorqueRaw
virtual bool getRefTorqueRaw(int, double *) override
Definition: iCubSimulationControl.cpp:1984
yarp::dev::iCubSimulationControl::getPidOutputsRaw
virtual bool getPidOutputsRaw(const PidControlTypeEnum &pidtype, double *outs) override
Definition: iCubSimulationControl.cpp:822
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int verbosity
Definition: iCubSimulationControl.h:366
yarp::dev::iCubSimulationControl::setRefCurrentRaw
virtual bool setRefCurrentRaw(int j, double t) override
Definition: iCubSimulationControl.cpp:2455
yarp::dev::iCubSimulationControl::getTorqueRaw
virtual bool getTorqueRaw(int, double *) override
Definition: iCubSimulationControl.cpp:1917
yarp::dev::iCubSimulationControl::getPidErrorLimitsRaw
virtual bool getPidErrorLimitsRaw(const PidControlTypeEnum &pidtype, double *limits) override
Definition: iCubSimulationControl.cpp:948
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double * next_vel
Definition: iCubSimulationControl.h:421
yarp::dev::iCubSimulationControl
Definition: iCubSimulationControl.h:77
string
string(REPLACE "-rdynamic" "" CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "${CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS}") include_directories($
Definition: CMakeLists.txt:9
yarp::dev::iCubSimulationControl::_opened
bool _opened
Definition: iCubSimulationControl.h:381
yarp::dev::iCubSimulationControl::getMotorEncoderSpeedsRaw
virtual bool getMotorEncoderSpeedsRaw(double *spds) override
Definition: iCubSimulationControl.cpp:1556
yarp::dev::iCubSimulationControl::getTemperaturesRaw
virtual bool getTemperaturesRaw(double *vals) override
Definition: iCubSimulationControl.cpp:846
yarp::dev::iCubSimulationControl::pwm_ref
double * pwm_ref
Definition: iCubSimulationControl.h:393
yarp::dev::iCubSimulationControl::getTemperatureRaw
virtual bool getTemperatureRaw(int m, double *val) override
Definition: iCubSimulationControl.cpp:841
yarp::dev::iCubSimulationControl::hasTempSensor
bool * hasTempSensor
Definition: iCubSimulationControl.h:474
yarp::dev::iCubSimulationControl::getEncodersRaw
virtual bool getEncodersRaw(double *encs) override
Definition: iCubSimulationControl.cpp:1385
yarp::dev::iCubSimulationControl::setRefCurrentsRaw
virtual bool setRefCurrentsRaw(const double *t) override
Definition: iCubSimulationControl.cpp:2447
yarp::dev::iCubSimulationControl::semaphoreNum
int semaphoreNum
Definition: iCubSimulationControl.h:430
yarp::dev::iCubSimulationControl::vels
double * vels
Definition: iCubSimulationControl.h:460
yarp::dev::iCubSimulationControl::getTargetPositionRaw
virtual bool getTargetPositionRaw(const int joint, double *ref) override
Definition: iCubSimulationControl.cpp:1187
yarp::dev::iCubSimulationControl::position_pid
Pid * position_pid
Definition: iCubSimulationControl.h:482
yarp::dev::iCubSimulationControl::getControlModeRaw
virtual bool getControlModeRaw(int j, int *mode) override
Definition: iCubSimulationControl.cpp:2119
yarp::dev::iCubSimulationControl::estimated_mot_vel
double * estimated_mot_vel
Definition: iCubSimulationControl.h:403
yarp::dev::iCubSimulationControl::getPidRaw
virtual bool getPidRaw(const PidControlTypeEnum &pidtype, int j, Pid *pid) override
Definition: iCubSimulationControl.cpp:616
yarp::dev::iCubSimulationControl::setPidReferencesRaw
virtual bool setPidReferencesRaw(const PidControlTypeEnum &pidtype, const double *refs) override
Definition: iCubSimulationControl.cpp:692
yarp::dev::iCubSimulationControl::setMotorEncodersRaw
virtual bool setMotorEncodersRaw(const double *vals) override
Definition: iCubSimulationControl.cpp:1485
yarp::dev::iCubSimulationControl::resetPidRaw
virtual bool resetPidRaw(const PidControlTypeEnum &pidtype, int j) override
Definition: iCubSimulationControl.cpp:953
yarp::dev::iCubSimulationControl::getRefSpeedRaw
virtual bool getRefSpeedRaw(int j, double *ref) override
Definition: iCubSimulationControl.cpp:1135
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virtual bool getRefDutyCyclesRaw(double *v) override
Definition: iCubSimulationControl.cpp:2381
yarp::dev::iCubSimulationControl::current_jnt_vel
double * current_jnt_vel
Definition: iCubSimulationControl.h:400
yarp::dev::iCubSimulationControl::getCurrentRaw
virtual bool getCurrentRaw(int j, double *val) override
Definition: iCubSimulationControl.cpp:1618
yarp::dev::iCubSimulationControl::getEncodersTimedRaw
virtual bool getEncodersTimedRaw(double *encs, double *stamps)
Definition: iCubSimulationControl.cpp:1423
yarp::dev::iCubSimulationControl::setRefTorqueRaw
virtual bool setRefTorqueRaw(int, double) override
Definition: iCubSimulationControl.cpp:1951
yarp::dev::iCubSimulationControl::setPidRaw
virtual bool setPidRaw(const PidControlTypeEnum &pidtype, int j, const Pid &pid) override
Definition: iCubSimulationControl.cpp:591
yarp::dev::iCubSimulationControl::pwm
double * pwm
Definition: iCubSimulationControl.h:392
yarp::dev::iCubSimulationControl::getRefVelocitiesRaw
virtual bool getRefVelocitiesRaw(double *refs) override
Definition: iCubSimulationControl.cpp:1226
yarp::dev::iCubSimulationControl::getPidErrorRaw
virtual bool getPidErrorRaw(const PidControlTypeEnum &pidtype, int j, double *err) override
Definition: iCubSimulationControl.cpp:712
yarp::dev::iCubSimulationControl::partSelec
int partSelec
Definition: iCubSimulationControl.h:432
v
static int v
Definition: iCub_Sim.cpp:42
yarp::dev::iCubSimulationControl::getNumberOfMotorsRaw
virtual bool getNumberOfMotorsRaw(int *m) override
IMotor.
Definition: iCubSimulationControl.cpp:835
adaptWinPolyEstimator.h
yarp::dev::iCubSimulationControl::interactionMode
int * interactionMode
Definition: iCubSimulationControl.h:480
yarp::dev::iCubSimulationControl::getAxes
virtual bool getAxes(int *ax) override
POSITION CONTROL INTERFACE RAW.
Definition: iCubSimulationControl.cpp:585
yarp::dev::iCubSimulationControl::current_pid
Pid * current_pid
Definition: iCubSimulationControl.h:484
iCub::ctrl::AWLinEstimator
Definition: adaptWinPolyEstimator.h:184
yarp::dev::iCubSimulationControl::resetMotorEncodersRaw
virtual bool resetMotorEncodersRaw() override
Definition: iCubSimulationControl.cpp:1495
yarp::dev::iCubSimulationControl::disablePidRaw
virtual bool disablePidRaw(const PidControlTypeEnum &pidtype, int j) override
Definition: iCubSimulationControl.cpp:968
yarp::dev::iCubSimulationControl::getPWMLimitRaw
virtual bool getPWMLimitRaw(int j, double *val) override
Definition: iCubSimulationControl.cpp:886
yarp::dev::iCubSimulationControl::estimated_jnt_acc
double * estimated_jnt_acc
Definition: iCubSimulationControl.h:408
yarp
Copyright (C) 2008 RobotCub Consortium.
Definition: DebugInterfaces.h:51
yarp::dev::iCubSimulationControl::error_tol
double * error_tol
Definition: iCubSimulationControl.h:453
yarp::dev::iCubSimulationControl::setRefSpeedsRaw
virtual bool setRefSpeedsRaw(const double *spds) override
Definition: iCubSimulationControl.cpp:1118
python-motor-control.encs
encs
Definition: python-motor-control.py:36
yarp::dev::iCubSimulationControl::refAccel
double * refAccel
Definition: iCubSimulationControl.h:471
yarp::dev::iCubSimulationControl::getEncoderAccelerationRaw
virtual bool getEncoderAccelerationRaw(int j, double *spds) override
Definition: iCubSimulationControl.cpp:1468
yarp::dev::iCubSimulationControl::getInteractionModesRaw
virtual bool getInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
Definition: iCubSimulationControl.cpp:2204
yarp::dev::iCubSimulationControl::getVelLimitsRaw
virtual bool getVelLimitsRaw(int axis, double *min, double *max) override
Definition: iCubSimulationControl.cpp:1839
LogicalJoints
Route control for the robots controlled joints to their implementation.
Definition: LogicalJoints.h:31
yarp::dev::iCubSimulationControl::motor_on
bool * motor_on
Definition: iCubSimulationControl.h:455
yarp::dev::iCubSimulationControl::setRefAccelerationRaw
virtual bool setRefAccelerationRaw(int j, double acc) override
Definition: iCubSimulationControl.cpp:1127
yarp::dev::iCubSimulationControl::current_mot_acc
double * current_mot_acc
Definition: iCubSimulationControl.h:407
acc
_3f_vect_t acc
Definition: dataTypes.h:3
yarp::dev::iCubSimulationControl::getTorqueRangesRaw
virtual bool getTorqueRangesRaw(double *, double *) override
Definition: iCubSimulationControl.cpp:1937
yarp::dev::iCubSimulationControl::setInteractionModesRaw
virtual bool setInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
Definition: iCubSimulationControl.cpp:2231
yarp::dev::iCubSimulationControl::getMotorEncoderAccelerationsRaw
virtual bool getMotorEncoderAccelerationsRaw(double *accs) override
Definition: iCubSimulationControl.cpp:1577
yarp::dev::iCubSimulationControl::setMotorTorqueParamsRaw
virtual bool setMotorTorqueParamsRaw(int j, const MotorTorqueParameters params) override
Definition: iCubSimulationControl.cpp:2009
yarp::dev::iCubSimulationControl::getMotorEncoderRaw
virtual bool getMotorEncoderRaw(int m, double *v) override
Definition: iCubSimulationControl.cpp:1509
yarp::dev::iCubSimulationControl::getCurrentRangesRaw
virtual bool getCurrentRangesRaw(double *min, double *max) override
Definition: iCubSimulationControl.cpp:2436
yarp::dev::iCubSimulationControl::limitsMin
double * limitsMin
Definition: iCubSimulationControl.h:462
yarp::dev::iCubSimulationControl::velocityMoveRaw
virtual bool velocityMoveRaw(int j, double sp) override
for each axis
Definition: iCubSimulationControl.cpp:1330
yarp::dev::iCubSimulationControl::limitsMax
double * limitsMax
Definition: iCubSimulationControl.h:463
yarp::dev::iCubSimulationControl::current_jnt_acc
double * current_jnt_acc
Definition: iCubSimulationControl.h:406
yarp::dev::iCubSimulationControl::getRefPositionRaw
virtual bool getRefPositionRaw(const int joint, double *ref) override
Definition: iCubSimulationControl.cpp:1246
yarp::dev::iCubSimulationControl::axisMap
int * axisMap
Definition: iCubSimulationControl.h:444
yarp::dev::iCubSimulationControl::angleToEncoder
double * angleToEncoder
Definition: iCubSimulationControl.h:446
yarp::dev::iCubSimulationControl::getRefPositionsRaw
virtual bool getRefPositionsRaw(double *refs) override
Definition: iCubSimulationControl.cpp:1253
yarp::dev::iCubSimulationControl::current_jnt_pos
double * current_jnt_pos
Definition: iCubSimulationControl.h:384
yarp::dev::iCubSimulationControl::current_mot_vel
double * current_mot_vel
Definition: iCubSimulationControl.h:401
yarp::dev::iCubSimulationControl::ref_command_speeds
double * ref_command_speeds
Definition: iCubSimulationControl.h:422
yarp::dev::iCubSimulationControl::manager
LogicalJoints * manager
Definition: iCubSimulationControl.h:375
yarp::dev::iCubSimulationControl::isPidEnabledRaw
virtual bool isPidEnabledRaw(const PidControlTypeEnum &pidtype, int j, bool *enabled) override
Definition: iCubSimulationControl.cpp:830
yarp::dev::iCubSimulationControl::resetMotorEncoderRaw
virtual bool resetMotorEncoderRaw(int m) override
Definition: iCubSimulationControl.cpp:1490
yarp::dev::iCubSimulationControl::getMotorTorqueParamsRaw
virtual bool getMotorTorqueParamsRaw(int j, MotorTorqueParameters *params) override
Definition: iCubSimulationControl.cpp:1996
yarp::dev::iCubSimulationControl::getRemoteVariableRaw
virtual bool getRemoteVariableRaw(std::string key, yarp::os::Bottle &val) override
Definition: iCubSimulationControl.cpp:1721
yarp::dev::iCubSimulationControl::getRefAccelerationsRaw
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Definition: iCubSimulationControl.cpp:1159
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Definition: iCubSimulationControl.cpp:1199
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Definition: iCubSimulationControl.h:441
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Definition: iCubSimulationControl.cpp:1380
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Definition: iCubSimulationControl.cpp:1648
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Definition: iCubSimulationControl.cpp:901
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Definition: iCubSimulationControl.h:473
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Definition: iCubSimulationControl.h:389
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Definition: iCubSimulationControl.h:426
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Definition: iCubSimulationControl.h:417
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Definition: iCubSimulationControl.h:487
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Definition: iCubSimulationControl.h:477
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Definition: iCubSimulationControl.cpp:1776
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Definition: iCubSimulationControl.h:467
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Definition: iCubSimulationControl.cpp:1586
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Definition: iCubSimulationControl.h:468