Main Page Modules Namespace List Class Hierarchy Alphabetical List Compound List File List Namespace Members Compound Members File Members Related Pages

OSCAR::RobotServoInterface Class Reference
[Device]

#include <RobotServoInterface.h>

Inheritance diagram for OSCAR::RobotServoInterface:

[legend]List of all members.


Public Methods
	RobotServoInterface (unsigned int dof, const String &name=String(), OSCARError &err=DUMMY_ERROR(noError))
virtual	~RobotServoInterface ()
unsigned int	GetDof () const
virtual bool	GetServoValue (ControlType _type, VectorF &_value)
virtual bool	SetServoValue (ControlType _type, const VectorF &_value)
virtual bool	GetServoValue (ControlType _type, JointVector &_j_value)
virtual bool	SetServoValue (ControlType _type, const JointVector &_j_value)
virtual bool	GetLimits (ControlType _type, VectorF &_minLimits, VectorF &_maxLimits)
virtual bool	GetLimits (ControlType _type, Matrix &_limits)
virtual bool	SetLimits (ControlType _type, const VectorF &_minLimits, const VectorF &_maxLimits)
virtual bool	SetLimits (ControlType _type, const Matrix &_limits)
virtual bool	SetLimits (ControlType, const String &_filename)
virtual bool	CheckLimits (ControlType _type, const VectorF &_inputValue, LimitStatusArray &_limitStat)
virtual bool	Print ()
Protected Methods
virtual bool	getPosition (VectorF &)
virtual bool	getPosition (const int i, float &value)
virtual bool	setPosition (const VectorF &)
virtual bool	setPosition (const int i, const float value)
virtual bool	getVelocity (VectorF &)
virtual bool	getVelocity (const int i, float &value)
virtual bool	setVelocity (const VectorF &)
virtual bool	setVelocity (const int i, const float value)
virtual bool	getTorque (VectorF &)
virtual bool	getTorque (const int i, float &value)
virtual bool	setTorque (const VectorF &)
virtual bool	setTorque (const int i, const float value)
virtual bool	getCurrent (VectorF &)
virtual bool	getCurrent (const int, float &)
virtual bool	setCurrent (const VectorF &)
virtual bool	setCurrent (const int, const float)
virtual bool	setPositionDelta (const int i, const float disp)
virtual bool	setVelocityDelta (const int i, const float disp)
virtual bool	setTorqueDelta (const int i, const float disp)
virtual bool	setCurrentDelta (const int i, const float disp)
virtual bool	getPositionLimits (VectorF &_minPosLimits, VectorF &_maxPosLimits)
virtual bool	getPositionLimits (Matrix &_posLimits)
virtual bool	setPositionLimits (const VectorF &_minPosLimits, const VectorF &_maxPosLimits)
virtual bool	setPositionLimits (const Matrix &_posLimits)
virtual bool	setPositionLimits (const String &_filename)
virtual bool	checkPositionLimits (const VectorF &, LimitStatusArray &_LimitStat)
virtual bool	getVelocityLimits (VectorF &_minVelLimits, VectorF &_maxVelLimits)
virtual bool	getVelocityLimits (Matrix &_velLimits)
virtual bool	setVelocityLimits (const VectorF &_minVelLimits, const VectorF &_maxVelLimits)
virtual bool	setVelocityLimits (const Matrix &_velLimits)
virtual bool	setVelocityLimits (const String &_filename)
virtual bool	checkVelocityLimits (const VectorF &, LimitStatusArray &_LimitStat)
virtual bool	getTorqueLimits (VectorF &_minTorLimits, VectorF &_maxTorLimits)
virtual bool	getTorqueLimits (Matrix &_torLimits)
virtual bool	setTorqueLimits (const VectorF &_minTorLimits, const VectorF &_maxTorLimits)
virtual bool	setTorqueLimits (const Matrix &_torLimits)
virtual bool	setTorqueLimits (const String &_filename)
virtual bool	checkTorqueLimits (const VectorF &, LimitStatusArray &_LimitStat)
virtual bool	getCurrentLimits (VectorF &_minCurLimits, VectorF &_maxCurLimits)
virtual bool	getCurrentLimits (Matrix &_curLimits)
virtual bool	setCurrentLimits (const VectorF &_minCurLimits, const VectorF &_maxCurLimits)
virtual bool	setCurrentLimits (const Matrix &)
virtual bool	setCurrentLimits (const String &_filename)
virtual bool	checkCurrentLimits (const VectorF &, LimitStatusArray &_LimitStat)
Protected Attributes
unsigned int	dof
VectorF	maxPositionLimits
VectorF	minPositionLimits
Matrix	positionLimits
VectorF	maxVelocityLimits
VectorF	minVelocityLimits
Matrix	velocityLimits
VectorF	maxTorqueLimits
VectorF	minTorqueLimits
Matrix	torqueLimits
VectorF	minCurrentLimits
VectorF	maxCurrentLimits
Matrix	currentLimits
bool	isPositionLimitsSet
bool	isVelocityLimitsSet
bool	isTorqueLimitsSet
bool	isCurrentLimitsSet

Constructor & Destructor Documentation

OSCAR::RobotServoInterface::RobotServoInterface ( unsigned int dof,

const String & name = String(),

OSCARError & err = DUMMY_ERROR(noError)

)

virtual OSCAR::RobotServoInterface::~RobotServoInterface ( ) [inline, virtual]

Member Function Documentation

virtual bool OSCAR::RobotServoInterface::checkCurrentLimits ( const VectorF & ,

LimitStatusArray & _LimitStat

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::CheckLimits ( ControlType _type,

const VectorF & _inputValue,

LimitStatusArray & _limitStat

) [virtual]

virtual bool OSCAR::RobotServoInterface::checkPositionLimits ( const VectorF & ,

LimitStatusArray & _LimitStat

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::checkTorqueLimits ( const VectorF & ,

LimitStatusArray & _LimitStat

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::checkVelocityLimits ( const VectorF & ,

LimitStatusArray & _LimitStat

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::getCurrent ( const int,

float &

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::getCurrent ( VectorF & ) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::getCurrentLimits ( Matrix & _curLimits ) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::getCurrentLimits ( VectorF & _minCurLimits,

VectorF & _maxCurLimits

) [protected, virtual]

unsigned int OSCAR::RobotServoInterface::GetDof ( ) const

virtual bool OSCAR::RobotServoInterface::GetLimits ( ControlType _type,

Matrix & _limits

) [virtual]

virtual bool OSCAR::RobotServoInterface::GetLimits ( ControlType _type,

VectorF & _minLimits,

VectorF & _maxLimits

) [virtual]

virtual bool OSCAR::RobotServoInterface::getPosition ( const int i,

float & value

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::getPosition ( VectorF & ) [protected, virtual]

Reimplemented in OSCAR::PCRoboworksInterface, OSCAR::PowerCubeBase, OSCAR::PowerCubeInterface, OSCAR::RobixInterface, and OSCAR::RoboworksInterface.

virtual bool OSCAR::RobotServoInterface::getPositionLimits ( Matrix & _posLimits ) [protected, virtual]

Reimplemented in OSCAR::PowerCubeInterface.

virtual bool OSCAR::RobotServoInterface::getPositionLimits ( VectorF & _minPosLimits,

VectorF & _maxPosLimits

) [protected, virtual]

Reimplemented in OSCAR::PowerCubeInterface.

virtual bool OSCAR::RobotServoInterface::GetServoValue ( ControlType _type,

JointVector & _j_value

) [virtual]

virtual bool OSCAR::RobotServoInterface::GetServoValue ( ControlType _type,

VectorF & _value

) [virtual]

Reimplemented in OSCAR::KB2017Interface.

virtual bool OSCAR::RobotServoInterface::getTorque ( const int i,

float & value

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::getTorque ( VectorF & ) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::getTorqueLimits ( Matrix & _torLimits ) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::getTorqueLimits ( VectorF & _minTorLimits,

VectorF & _maxTorLimits

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::getVelocity ( const int i,

float & value

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::getVelocity ( VectorF & ) [protected, virtual]

Reimplemented in OSCAR::PCRoboworksInterface, OSCAR::PowerCubeBase, and OSCAR::PowerCubeInterface.

virtual bool OSCAR::RobotServoInterface::getVelocityLimits ( Matrix & _velLimits ) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::getVelocityLimits ( VectorF & _minVelLimits,

VectorF & _maxVelLimits

) [protected, virtual]

Reimplemented in OSCAR::PowerCubeInterface.

virtual bool OSCAR::RobotServoInterface::Print ( ) [inline, virtual]

virtual bool OSCAR::RobotServoInterface::setCurrent ( const int,

const float

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::setCurrent ( const VectorF & ) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::setCurrentDelta ( const int i,

const float disp

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::setCurrentLimits ( const String & _filename ) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::setCurrentLimits ( const Matrix & ) [inline, protected, virtual]

virtual bool OSCAR::RobotServoInterface::setCurrentLimits ( const VectorF & _minCurLimits,

const VectorF & _maxCurLimits

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::SetLimits ( ControlType ,

const String & _filename

) [virtual]

virtual bool OSCAR::RobotServoInterface::SetLimits ( ControlType _type,

const Matrix & _limits

) [virtual]

virtual bool OSCAR::RobotServoInterface::SetLimits ( ControlType _type,

const VectorF & _minLimits,

const VectorF & _maxLimits

) [virtual]

virtual bool OSCAR::RobotServoInterface::setPosition ( const int i,

const float value

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::setPosition ( const VectorF & ) [protected, virtual]

Reimplemented in OSCAR::PCRoboworksInterface, OSCAR::PowerCubeBase, OSCAR::PowerCubeInterface, OSCAR::RobixInterface, and OSCAR::RoboworksInterface.

virtual bool OSCAR::RobotServoInterface::setPositionDelta ( const int i,

const float disp

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::setPositionLimits ( const String & _filename ) [protected, virtual]

Reimplemented in OSCAR::PowerCubeInterface.

virtual bool OSCAR::RobotServoInterface::setPositionLimits ( const Matrix & _posLimits ) [protected, virtual]

Reimplemented in OSCAR::PowerCubeInterface.

virtual bool OSCAR::RobotServoInterface::setPositionLimits ( const VectorF & _minPosLimits,

const VectorF & _maxPosLimits

) [protected, virtual]

Reimplemented in OSCAR::PowerCubeInterface.

virtual bool OSCAR::RobotServoInterface::SetServoValue ( ControlType _type,

const JointVector & _j_value

) [virtual]

virtual bool OSCAR::RobotServoInterface::SetServoValue ( ControlType _type,

const VectorF & _value

) [virtual]

Reimplemented in OSCAR::KB2017Interface.

virtual bool OSCAR::RobotServoInterface::setTorque ( const int i,

const float value

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::setTorque ( const VectorF & ) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::setTorqueDelta ( const int i,

const float disp

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::setTorqueLimits ( const String & _filename ) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::setTorqueLimits ( const Matrix & _torLimits ) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::setTorqueLimits ( const VectorF & _minTorLimits,

const VectorF & _maxTorLimits

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::setVelocity ( const int i,

const float value

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::setVelocity ( const VectorF & ) [protected, virtual]

Reimplemented in OSCAR::PCRoboworksInterface, OSCAR::PowerCubeBase, and OSCAR::PowerCubeInterface.

virtual bool OSCAR::RobotServoInterface::setVelocityDelta ( const int i,

const float disp

) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::setVelocityLimits ( const String & _filename ) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::setVelocityLimits ( const Matrix & _velLimits ) [protected, virtual]

virtual bool OSCAR::RobotServoInterface::setVelocityLimits ( const VectorF & _minVelLimits,

const VectorF & _maxVelLimits

) [protected, virtual]

Reimplemented in OSCAR::PCRoboworksInterface, OSCAR::PowerCubeBase, and OSCAR::PowerCubeInterface.