BipedalLocomotion::RobotInterface::IRobotControl class

#include <BipedalLocomotion/RobotInterface/IRobotControl.h>

Derived classes

class YarpRobotControl

YarpRobotControl Yarp implementation of the IRobotControl interface.

Public types

enum class ControlMode { Position, PositionDirect, Velocity, Torque, PWM, Current, Idle, Unknown }

ControlMode contains the supported control mode.

using unique_ptr = std::unique_ptr<IRobotControl>

using shared_ptr = std::shared_ptr<IRobotControl>

using weak_ptr = std::weak_ptr<IRobotControl>

Constructors, destructors, conversion operators

~IRobotControl() defaulted virtual

Destructor.

Public functions

auto initialize(std::weak_ptr<ParametersHandler::IParametersHandler> handler) -> bool virtual

Initialize the Interface.

auto checkMotionDone(bool& motionDone, bool& isTimerExpired, std::vector<std::pair<std::string, double>>& info) -> bool pure virtual

Check if the motion set through the position control mode ended.

auto setReferences(Eigen::Ref<const Eigen::VectorXd> jointValues, const std::vector<IRobotControl::ControlMode>& controlModes) -> bool pure virtual

Set the desired reference.

auto setReferences(Eigen::Ref<const Eigen::VectorXd> desiredJointValues, const IRobotControl::ControlMode& controlMode) -> bool pure virtual

Set the desired reference.

auto setControlMode(const std::vector<IRobotControl::ControlMode>& controlModes) -> bool pure virtual

Set the control mode.

auto setControlMode(const IRobotControl::ControlMode& mode) -> bool pure virtual

Set the desired control mode.

auto getJointList() const -> std::vector<std::string> pure virtual

Get the list of the controlled joints.

auto isValid() const -> bool pure virtual

Check if the class is valid.

Function documentation