class
YarpRobotControlYarpRobotControl Yarp implementation of the IRobotControl interface.
Base classes
- class IRobotControl
- Robot control interface.
Constructors, destructors, conversion operators
- YarpRobotControl()
- Constructor.
- ~YarpRobotControl()
- Destructor.
Public functions
-
auto initialize(std::weak_ptr<ParametersHandler::
IParametersHandler> handler) -> bool final - Initialize the Interface.
- auto setDriver(std::shared_ptr<yarp::dev::PolyDriver> robotDevice) -> bool
- Set the driver required to control the robot.
- auto checkMotionDone(bool& motionDone, bool& isTimeExpired, std::vector<std::pair<std::string, double>>& info) -> bool final
- Check if the motion set through the position control mode ended.
-
auto setControlMode(const std::vector<IRobotControl::
ControlMode>& controlModes) -> bool final - Set the control mode.
-
auto setControlMode(const IRobotControl::
ControlMode& mode) -> bool final - Set the desired control mode.
-
auto setReferences(Eigen::Ref<const Eigen::VectorXd> jointValues,
const std::vector<IRobotControl::
ControlMode>& controlModes) -> bool final - Set the desired reference.
-
auto setReferences(Eigen::Ref<const Eigen::VectorXd> desiredJointValues,
const IRobotControl::
ControlMode& mode) -> bool final - Set the desired reference.
- auto getJointList() const -> std::vector<std::string> final
- Get the list of the controlled joints.
- auto isValid() const -> bool final
- Check if the class is valid.
Function documentation
bool BipedalLocomotion:: RobotInterface:: YarpRobotControl:: initialize(std::weak_ptr<ParametersHandler:: IParametersHandler> handler) final
Initialize the Interface.
Parameters | |
---|---|
handler | pointer to a parameter handler interface |
Returns | True/False in case of success/failure. |
bool BipedalLocomotion:: RobotInterface:: YarpRobotControl:: setDriver(std::shared_ptr<yarp::dev::PolyDriver> robotDevice)
Set the driver required to control the robot.
Parameters | |
---|---|
robotDevice | device used to control the robot. |
Returns | True/False in case of success/failure. |
bool BipedalLocomotion:: RobotInterface:: YarpRobotControl:: checkMotionDone(bool& motionDone,
bool& isTimeExpired,
std::vector<std::pair<std::string, double>>& info) final
Check if the motion set through the position control mode ended.
Parameters | |
---|---|
motionDone out | true if the motion ended. |
isTimeExpired | |
info out | vector containing the list of the joint whose motion did not finish yet. |
Returns | True/False in case of success/failure. |
bool BipedalLocomotion:: RobotInterface:: YarpRobotControl:: setControlMode(const std::vector<IRobotControl:: ControlMode>& controlModes) final
Set the control mode.
Parameters | |
---|---|
controlModes | vector containing the control mode for each joint. |
Returns | True/False in case of success/failure. |
bool BipedalLocomotion:: RobotInterface:: YarpRobotControl:: setControlMode(const IRobotControl:: ControlMode& mode) final
Set the desired control mode.
Returns | True/False in case of success/failure. |
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bool BipedalLocomotion:: RobotInterface:: YarpRobotControl:: setReferences(Eigen::Ref<const Eigen::VectorXd> jointValues,
const std::vector<IRobotControl:: ControlMode>& controlModes) final
Set the desired reference.
Parameters | |
---|---|
jointValues | desired joint values. |
controlModes | vector containing the control mode for each joint. |
Returns | True/False in case of success/failure. |
bool BipedalLocomotion:: RobotInterface:: YarpRobotControl:: setReferences(Eigen::Ref<const Eigen::VectorXd> desiredJointValues,
const IRobotControl:: ControlMode& mode) final
Set the desired reference.
Returns | True/False in case of success/failure. |
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std::vector<std::string> BipedalLocomotion:: RobotInterface:: YarpRobotControl:: getJointList() const final
Get the list of the controlled joints.
Returns | A vector containing the name of the controlled joints. |
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bool BipedalLocomotion:: RobotInterface:: YarpRobotControl:: isValid() const final
Check if the class is valid.
Returns | True if it is valid, false otherwise. |
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