BipedalLocomotion::RobotInterface::IRobotControl class
#include <BipedalLocomotion/RobotInterface/IRobotControl.h>

Robot control interface.

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> desiredJointValues, const std::vector<IRobotControl::ControlMode>& controlModes, std::optional<Eigen::Ref<const Eigen::VectorXd>> currentJointValues = {}) -> bool pure virtual: Set the desired reference.
auto setReferences(Eigen::Ref<const Eigen::VectorXd> desiredJointValues, const IRobotControl::ControlMode& controlMode, std::optional<Eigen::Ref<const Eigen::VectorXd>> currentJointValues = {}) -> 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 setControlModeAsync(const std::vector<IRobotControl::ControlMode>& controlModes) -> std::future<bool> pure virtual: Set the control mode in an asynchronous thread.
auto setControlModeAsync(const IRobotControl::ControlMode& mode) -> std::future<bool> pure virtual: Set the desired control mode in an asynchronous thread.
auto getJointList() const -> std::vector<std::string> pure virtual: Get the list of the controlled joints.
auto getJointLimits(Eigen::Ref<Eigen::VectorXd> lowerLimits, Eigen::Ref<Eigen::VectorXd> upperLimits) const -> bool pure virtual: Get the actuated joints limits.
auto isValid() const -> bool pure virtual: Check if the class is valid.

Function documentation

bool BipedalLocomotion::RobotInterface::IRobotControl::initialize(std::weak_ptr<ParametersHandler::IParametersHandler> handler) virtual

Initialize the Interface.

Parameters
handler	pointer to a parameter handler interface
Returns	True/False in case of success/failure.

bool BipedalLocomotion::RobotInterface::IRobotControl::checkMotionDone(bool& motionDone, bool& isTimerExpired, std::vector<std::pair<std::string, double>>& info) pure virtual

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

Parameters
motionDone out	true if the motion ended.
isTimerExpired out	true if the internal timer is expired or not.
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::IRobotControl::setReferences(Eigen::Ref<const Eigen::VectorXd> desiredJointValues, const std::vector<IRobotControl::ControlMode>& controlModes, std::optional<Eigen::Ref<const Eigen::VectorXd>> currentJointValues = {}) pure virtual

Set the desired reference.

Parameters
desiredJointValues	desired joint values.
controlModes	vector containing the control mode for each joint.
currentJointValues	current joint values.
Returns	True/False in case of success/failure.

bool BipedalLocomotion::RobotInterface::IRobotControl::setReferences(Eigen::Ref<const Eigen::VectorXd> desiredJointValues, const IRobotControl::ControlMode& controlMode, std::optional<Eigen::Ref<const Eigen::VectorXd>> currentJointValues = {}) pure virtual

Set the desired reference.

Parameters
desiredJointValues	desired joint values.
controlMode	a control mode for all the joints.
currentJointValues	current joint values.
Returns	True/False in case of success/failure.

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

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::IRobotControl::setControlMode(const IRobotControl::ControlMode& mode) pure virtual

Set the desired control mode.

Returns	True/False in case of success/failure.

std::future<bool> BipedalLocomotion::RobotInterface::IRobotControl::setControlModeAsync(const std::vector<IRobotControl::ControlMode>& controlModes) pure virtual

Set the control mode in an asynchronous thread.

Parameters
controlModes	vector containing the control mode for each joint.
Returns	An std::future object to a boolean True/False in case of success/failure.

std::future<bool> BipedalLocomotion::RobotInterface::IRobotControl::setControlModeAsync(const IRobotControl::ControlMode& mode) pure virtual

Set the desired control mode in an asynchronous thread.

Returns	An std::future object to a boolean True/False in case of success/failure.

std::vector<std::string> BipedalLocomotion::RobotInterface::IRobotControl::getJointList() const pure virtual

Get the list of the controlled joints.

Returns	A vector containing the name of the controlled joints.

bool BipedalLocomotion::RobotInterface::IRobotControl::getJointLimits(Eigen::Ref<Eigen::VectorXd> lowerLimits, Eigen::Ref<Eigen::VectorXd> upperLimits) const pure virtual

Get the actuated joints limits.

Parameters
lowerLimits	vector to be filled with the lower limits of the actuated joints.
upperLimits	vector to be filled with the upper limits of the actuated joints.
Returns	True/False in case of success/failure.

bool BipedalLocomotion::RobotInterface::IRobotControl::isValid() const pure virtual

Check if the class is valid.

Returns	True if it is valid, false otherwise.