Class blmc_drivers::LegInterface

class LegInterface : public blmc_drivers::DeviceInterface, public blmc_drivers::DeviceInterface

This class defines an interface to control a leg.

This legg is composed of 2 motor, one for the hip and one for the knee.

Subclassed by blmc_drivers::Leg, blmc_drivers::Leg

Public Types

enum MotorMeasurementIndexing

MotorMeasurementIndexing this enum allow to access the different kind of sensor measurements in an understandable way in the code.

Values:

enumerator current

enumerator position

enumerator velocity

enumerator encoder_index

enumerator motor_measurement_count

enumerator current

enumerator position

enumerator velocity

enumerator encoder_index

enumerator motor_measurement_count

enum MotorIndexing

This enum list the motors in the leg.

Values:

enumerator hip

enumerator knee

enumerator motor_count

enumerator hip

enumerator knee

enumerator motor_count

enum MotorMeasurementIndexing

MotorMeasurementIndexing this enum allow to access the different kind of sensor measurements in an understandable way in the code.

Values:

enumerator current

enumerator position

enumerator velocity

enumerator encoder_index

enumerator motor_measurement_count

enumerator current

enumerator position

enumerator velocity

enumerator encoder_index

enumerator motor_measurement_count

enum MotorIndexing

This enum list the motors in the leg.

Values:

enumerator hip

enumerator knee

enumerator motor_count

enumerator hip

enumerator knee

enumerator motor_count

typedef time_series::TimeSeries<double> ScalarTimeseries

ScalarTimeseries is a simple shortcut for more intelligible code.

template<typename Type>
using Ptr = std::shared_ptr<Type>

This is a shortcut for creating shared pointer in a simpler writting expression.

Template Parameters:

Type – is the template paramer of the shared pointer.

typedef time_series::TimeSeries<double> ScalarTimeseries

ScalarTimeseries is a simple shortcut for more intelligible code.

template<typename Type>
using Ptr = std::shared_ptr<Type>

This is a shortcut for creating shared pointer in a simpler writting expression.

Template Parameters:

Type – is the template paramer of the shared pointer.

Public Functions

inline virtual ~LegInterface()

Destroy the LegInterface object.

virtual Ptr<const ScalarTimeseries> get_motor_measurement(const int &motor_index, const int &measurement_index) const = 0

Getters.

Get the device output

Parameters:

• motor_index – [in] designate the motor from which we want the data from.

• measurement_index – [in] is teh kind of data we are looking for.

Returns:

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

virtual Ptr<const ScalarTimeseries> get_current_target(const int &motor_index) const = 0

Get the actual target current.

Parameters:

motor_index – [in] designate the motor from which we want the data from.

Returns:

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

virtual Ptr<const ScalarTimeseries> get_sent_current_target(const int &motor_index) const = 0

Get the last sent target current.

Parameters:

motor_index – [in] designate the motor from which we want the data from.

Returns:

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

virtual void set_current_target(const double &current_target, const int &motor_index) = 0

Setters.

Set the current target saves internally the desired current. This data is not send to the motor yet. Please call send_if_input_changed in order to actually send the data to the card.

Parameters:

• current_target – is the current to achieve on the motor card.

• motor_index – is the motor to control.

virtual void send_if_input_changed() = 0

Sender.

Actually send the target current to the motor cards.

inline virtual ~LegInterface()

Destroy the LegInterface object.

virtual Ptr<const ScalarTimeseries> get_motor_measurement(const int &motor_index, const int &measurement_index) const = 0

Getters.

Get the device output

Parameters:

• motor_index – [in] designate the motor from which we want the data from.

• measurement_index – [in] is teh kind of data we are looking for.

Returns:

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

virtual Ptr<const ScalarTimeseries> get_current_target(const int &motor_index) const = 0

Get the actual target current.

Parameters:

motor_index – [in] designate the motor from which we want the data from.

Returns:

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

virtual Ptr<const ScalarTimeseries> get_sent_current_target(const int &motor_index) const = 0

Get the last sent target current.

Parameters:

motor_index – [in] designate the motor from which we want the data from.

Returns:

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

virtual void set_current_target(const double &current_target, const int &motor_index) = 0

Setters.

Set the current target saves internally the desired current. This data is not send to the motor yet. Please call send_if_input_changed in order to actually send the data to the card.

Parameters:

• current_target – is the current to achieve on the motor card.

• motor_index – is the motor to control.

virtual void send_if_input_changed() = 0

Sender.

Actually send the target current to the motor cards.