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| <li class="navelem"><a class="el" href="dir_7b0a5d1507c7f681cbfa1deb5990c6ea.html">programs</a></li><li class="navelem"><a class="el" href="dir_a05a51014cfa3448f6f17e89ac08fc0d.html">controlBoardStateToIPosition</a></li> </ul> | ||
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| <div class="title">ControlBoardStateToIPosition.hpp</div> </div> | ||
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| <div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef __CONTROL_BOARD_STATE_TO_I_POSITION_HPP__</span></div> | ||
| <div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define __CONTROL_BOARD_STATE_TO_I_POSITION_HPP__</span></div> | ||
| <div class="line"><a name="l00003"></a><span class="lineno"> 3</span>  </div> | ||
| <div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <vector></span></div> | ||
| <div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div> | ||
| <div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <yarp/os/PeriodicThread.h></span></div> | ||
| <div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <yarp/os/RFModule.h></span></div> | ||
| <div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  </div> | ||
| <div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <yarp/dev/PolyDriver.h></span></div> | ||
| <div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <yarp/dev/IControlMode.h></span></div> | ||
| <div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <yarp/dev/IEncoders.h></span></div> | ||
| <div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <yarp/dev/IPositionDirect.h></span></div> | ||
| <div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  </div> | ||
| <div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div> | ||
| <div class="line"><a name="l00015"></a><span class="lineno"> 15</span> {</div> | ||
| <div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div> | ||
| <div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classroboticslab_1_1ControlBoardStateToIPosition.html"> 20</a></span> <span class="keyword">class </span><a class="code" href="classroboticslab_1_1ControlBoardStateToIPosition.html">ControlBoardStateToIPosition</a> : <span class="keyword">public</span> yarp::os::RFModule,</div> | ||
| <div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keyword">public</span> yarp::os::PeriodicThread</div> | ||
| <div class="line"><a name="l00022"></a><span class="lineno"> 22</span> {</div> | ||
| <div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="keyword">public</span>:</div> | ||
| <div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  </div> | ||
| <div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <a class="code" href="classroboticslab_1_1ControlBoardStateToIPosition.html">ControlBoardStateToIPosition</a>()</div> | ||
| <div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  : yarp::os::PeriodicThread(1.0, yarp::os::PeriodicThreadClock::Absolute)</div> | ||
| <div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  {}</div> | ||
| <div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div> | ||
| <div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordtype">bool</span> <a class="code" href="classroboticslab_1_1ControlBoardStateToIPosition.html#a6184d33fca18afee92b28d837ff06194">configure</a>(yarp::os::ResourceFinder &rf) <span class="keyword">override</span>;</div> | ||
| <div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div> | ||
| <div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordtype">bool</span> <a class="code" href="classroboticslab_1_1ControlBoardStateToIPosition.html#a777e271c0d5127193e846f5001f23d40">close</a>() <span class="keyword">override</span>;</div> | ||
| <div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  </div> | ||
| <div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordtype">bool</span> <a class="code" href="classroboticslab_1_1ControlBoardStateToIPosition.html#ae1bad2ca2478503b2f914820338f1b94">updateModule</a>() <span class="keyword">override</span>;</div> | ||
| <div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div> | ||
| <div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keywordtype">void</span> <a class="code" href="classroboticslab_1_1ControlBoardStateToIPosition.html#ac511f4b6d136896f17d6fc74c417145f">run</a>() <span class="keyword">override</span>;</div> | ||
| <div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div> | ||
| <div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <span class="keyword">private</span>:</div> | ||
| <div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div> | ||
| <div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  std::vector< double > encPoss;</div> | ||
| <div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div> | ||
| <div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="comment">// In and out devices</span></div> | ||
| <div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  yarp::dev::PolyDriver inRobotDevice;</div> | ||
| <div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  yarp::dev::PolyDriver outRobotDevice;</div> | ||
| <div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div> | ||
| <div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="comment">// In interfaces</span></div> | ||
| <div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  yarp::dev::IEncoders *iEncodersIn;</div> | ||
| <div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div> | ||
| <div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="comment">// Out interfaces</span></div> | ||
| <div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  yarp::dev::IControlMode *iControlModeOut;</div> | ||
| <div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  yarp::dev::IPositionDirect *iPositionDirectOut;</div> | ||
| <div class="line"><a name="l00090"></a><span class="lineno"> 90</span> };</div> | ||
| <div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  </div> | ||
| <div class="line"><a name="l00092"></a><span class="lineno"> 92</span> }</div> | ||
| <div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div> | ||
| <div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="preprocessor">#endif </span><span class="comment">// __CONTROL_BOARD_STATE_TO_I_POSITION_HPP__</span></div> | ||
| <div class="ttc" id="aclassroboticslab_1_1ControlBoardStateToIPosition_html"><div class="ttname"><a href="classroboticslab_1_1ControlBoardStateToIPosition.html">roboticslab::ControlBoardStateToIPosition</a></div><div class="ttdoc">Reads joint positions from an input control board, sends to an output control board.</div><div class="ttdef"><b>Definition:</b> ControlBoardStateToIPosition.hpp:22</div></div> | ||
| <div class="ttc" id="aclassroboticslab_1_1ControlBoardStateToIPosition_html_a6184d33fca18afee92b28d837ff06194"><div class="ttname"><a href="classroboticslab_1_1ControlBoardStateToIPosition.html#a6184d33fca18afee92b28d837ff06194">roboticslab::ControlBoardStateToIPosition::configure</a></div><div class="ttdeci">bool configure(yarp::os::ResourceFinder &rf) override</div><div class="ttdef"><b>Definition:</b> ControlBoardStateToIPosition.cpp:23</div></div> | ||
| <div class="ttc" id="aclassroboticslab_1_1ControlBoardStateToIPosition_html_a777e271c0d5127193e846f5001f23d40"><div class="ttname"><a href="classroboticslab_1_1ControlBoardStateToIPosition.html#a777e271c0d5127193e846f5001f23d40">roboticslab::ControlBoardStateToIPosition::close</a></div><div class="ttdeci">bool close() override</div><div class="ttdef"><b>Definition:</b> ControlBoardStateToIPosition.cpp:112</div></div> | ||
| <div class="ttc" id="aclassroboticslab_1_1ControlBoardStateToIPosition_html_ac511f4b6d136896f17d6fc74c417145f"><div class="ttname"><a href="classroboticslab_1_1ControlBoardStateToIPosition.html#ac511f4b6d136896f17d6fc74c417145f">roboticslab::ControlBoardStateToIPosition::run</a></div><div class="ttdeci">void run() override</div><div class="ttdef"><b>Definition:</b> ControlBoardStateToIPosition.cpp:126</div></div> | ||
| <div class="ttc" id="aclassroboticslab_1_1ControlBoardStateToIPosition_html_ae1bad2ca2478503b2f914820338f1b94"><div class="ttname"><a href="classroboticslab_1_1ControlBoardStateToIPosition.html#ae1bad2ca2478503b2f914820338f1b94">roboticslab::ControlBoardStateToIPosition::updateModule</a></div><div class="ttdeci">bool updateModule() override</div><div class="ttdef"><b>Definition:</b> ControlBoardStateToIPosition.cpp:120</div></div> | ||
| <div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div> | ||
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