Class list

• Class Controller
  • Controller
    • Controller::Controller()
    • Controller::start_loop()
    • Controller::loop()
• Class LegController
  • LegController
    • LegController::LegController()
    • LegController::~LegController()
    • LegController::start_loop()
    • LegController::loop()
• Class blmc_drivers::AnalogSensor
  • AnalogSensor
    • AnalogSensor::AnalogSensor()
    • AnalogSensor::get_measurement()
• Class blmc_drivers::AnalogSensorInterface
  • AnalogSensorInterface
    • AnalogSensorInterface::ScalarTimeseries
    • AnalogSensorInterface::get_measurement()
    • AnalogSensorInterface::~AnalogSensorInterface()
• Class blmc_drivers::BlmcJointModule
  • BlmcJointModule
    • BlmcJointModule::BlmcJointModule()
    • BlmcJointModule::set_torque()
    • BlmcJointModule::set_zero_angle()
    • BlmcJointModule::set_joint_polarity()
    • BlmcJointModule::send_torque()
    • BlmcJointModule::get_max_torque()
    • BlmcJointModule::get_sent_torque()
    • BlmcJointModule::get_measured_torque()
    • BlmcJointModule::get_measured_angle()
    • BlmcJointModule::get_measured_velocity()
    • BlmcJointModule::get_measured_index_angle()
    • BlmcJointModule::get_zero_angle()
    • BlmcJointModule::set_position_control_gains()
    • BlmcJointModule::execute_position_controller()
    • BlmcJointModule::calibrate()
    • BlmcJointModule::homing_at_current_position()
    • BlmcJointModule::init_homing()
    • BlmcJointModule::update_homing()
    • BlmcJointModule::get_distance_travelled_during_homing()
• Class blmc_drivers::BlmcJointModules
  • BlmcJointModules
    • BlmcJointModules::Vector
    • BlmcJointModules::BlmcJointModules()
    • BlmcJointModules::BlmcJointModules()
    • BlmcJointModules::set_motor_array()
    • BlmcJointModules::send_torques()
    • BlmcJointModules::set_joint_polarities()
    • BlmcJointModules::set_torques()
    • BlmcJointModules::get_max_torques()
    • BlmcJointModules::get_sent_torques()
    • BlmcJointModules::get_measured_torques()
    • BlmcJointModules::get_measured_angles()
    • BlmcJointModules::get_measured_velocities()
    • BlmcJointModules::set_zero_angles()
    • BlmcJointModules::get_zero_angles()
    • BlmcJointModules::get_measured_index_angles()
    • BlmcJointModules::set_position_control_gains()
    • BlmcJointModules::set_position_control_gains()
    • BlmcJointModules::execute_homing_at_current_position()
    • BlmcJointModules::execute_homing()
    • BlmcJointModules::get_distance_travelled_during_homing()
    • BlmcJointModules::go_to()
• Class blmc_drivers::CanBus
  • CanBus
    • CanBus::CanBus()
    • CanBus::~CanBus()
    • CanBus::get_output_frame()
    • CanBus::get_input_frame()
    • CanBus::get_sent_input_frame()
    • CanBus::set_input_frame()
    • CanBus::send_if_input_changed()
• Class blmc_drivers::CanBusConnection
  • CanBusConnection
    • CanBusConnection::send_addr
    • CanBusConnection::socket
• Class blmc_drivers::CanBusFrame
  • CanBusFrame
    • CanBusFrame::print()
    • CanBusFrame::data
    • CanBusFrame::dlc
    • CanBusFrame::id
• Class blmc_drivers::CanBusInterface
  • CanBusInterface
    • CanBusInterface::CanframeTimeseries
    • CanBusInterface::~CanBusInterface()
    • CanBusInterface::get_output_frame()
    • CanBusInterface::get_input_frame()
    • CanBusInterface::get_sent_input_frame()
    • CanBusInterface::set_input_frame()
    • CanBusInterface::send_if_input_changed()
• Class blmc_drivers::CanBusMotorBoard
  • CanBusMotorBoard
    • CanBusMotorBoard::CanBusMotorBoard()
    • CanBusMotorBoard::~CanBusMotorBoard()
    • CanBusMotorBoard::get_measurement()
    • CanBusMotorBoard::get_status()
    • CanBusMotorBoard::get_control()
    • CanBusMotorBoard::get_command()
    • CanBusMotorBoard::get_sent_control()
    • CanBusMotorBoard::get_sent_command()
    • CanBusMotorBoard::set_control()
    • CanBusMotorBoard::set_command()
    • CanBusMotorBoard::send_if_input_changed()
    • CanBusMotorBoard::wait_until_ready()
    • CanBusMotorBoard::is_ready()
    • CanBusMotorBoard::pause_motors()
    • CanBusMotorBoard::disable_can_recv_timeout()
• Class blmc_drivers::ConstTorqueControl
  • ConstTorqueControl
    • ConstTorqueControl::ConstTorqueControl()
    • ConstTorqueControl::~ConstTorqueControl()
    • ConstTorqueControl::start_loop()
    • ConstTorqueControl::stop_loop()
• Class blmc_drivers::DeviceInterface
  • DeviceInterface
• Class blmc_drivers::Leg
  • Leg
    • Leg::Leg()
    • Leg::~Leg()
    • Leg::get_motor_measurement()
    • Leg::get_current_target()
    • Leg::get_sent_current_target()
    • Leg::set_current_target()
    • Leg::send_if_input_changed()
• Class blmc_drivers::LegInterface
  • LegInterface
    • LegInterface::MotorMeasurementIndexing
      • LegInterface::MotorMeasurementIndexing::current
      • LegInterface::MotorMeasurementIndexing::position
      • LegInterface::MotorMeasurementIndexing::velocity
      • LegInterface::MotorMeasurementIndexing::encoder_index
      • LegInterface::MotorMeasurementIndexing::motor_measurement_count
    • LegInterface::MotorIndexing
      • LegInterface::MotorIndexing::hip
      • LegInterface::MotorIndexing::knee
      • LegInterface::MotorIndexing::motor_count
    • LegInterface::ScalarTimeseries
    • LegInterface::Ptr
    • LegInterface::~LegInterface()
    • LegInterface::get_motor_measurement()
    • LegInterface::get_current_target()
    • LegInterface::get_sent_current_target()
    • LegInterface::set_current_target()
    • LegInterface::send_if_input_changed()
• Class blmc_drivers::Motor
  • Motor
    • Motor::Motor()
    • Motor::~Motor()
    • Motor::send_if_input_changed()
    • Motor::get_measurement()
    • Motor::get_current_target()
    • Motor::get_sent_current_target()
    • Motor::set_current_target()
    • Motor::set_command()
    • Motor::print()
• Class blmc_drivers::MotorBoardCommand
  • MotorBoardCommand
    • MotorBoardCommand::IDs
      • MotorBoardCommand::IDs::ENABLE_SYS
      • MotorBoardCommand::IDs::ENABLE_MTR1
      • MotorBoardCommand::IDs::ENABLE_MTR2
      • MotorBoardCommand::IDs::ENABLE_VSPRING1
      • MotorBoardCommand::IDs::ENABLE_VSPRING2
      • MotorBoardCommand::IDs::SEND_CURRENT
      • MotorBoardCommand::IDs::SEND_POSITION
      • MotorBoardCommand::IDs::SEND_VELOCITY
      • MotorBoardCommand::IDs::SEND_ADC6
      • MotorBoardCommand::IDs::SEND_ENC_INDEX
      • MotorBoardCommand::IDs::SEND_ALL
      • MotorBoardCommand::IDs::SET_CAN_RECV_TIMEOUT
      • MotorBoardCommand::IDs::ENABLE_POS_ROLLOVER_ERROR
    • MotorBoardCommand::Contents
      • MotorBoardCommand::Contents::ENABLE
      • MotorBoardCommand::Contents::DISABLE
    • MotorBoardCommand::MotorBoardCommand()
    • MotorBoardCommand::MotorBoardCommand()
    • MotorBoardCommand::print()
    • MotorBoardCommand::id_
    • MotorBoardCommand::content_
• Class blmc_drivers::MotorBoardInterface
  • MotorBoardInterface
    • MotorBoardInterface::MeasurementIndex
      • MotorBoardInterface::MeasurementIndex::current_0
      • MotorBoardInterface::MeasurementIndex::current_1
      • MotorBoardInterface::MeasurementIndex::position_0
      • MotorBoardInterface::MeasurementIndex::position_1
      • MotorBoardInterface::MeasurementIndex::velocity_0
      • MotorBoardInterface::MeasurementIndex::velocity_1
      • MotorBoardInterface::MeasurementIndex::analog_0
      • MotorBoardInterface::MeasurementIndex::analog_1
      • MotorBoardInterface::MeasurementIndex::encoder_index_0
      • MotorBoardInterface::MeasurementIndex::encoder_index_1
      • MotorBoardInterface::MeasurementIndex::measurement_count
    • MotorBoardInterface::ControlIndex
      • MotorBoardInterface::ControlIndex::current_target_0
      • MotorBoardInterface::ControlIndex::current_target_1
      • MotorBoardInterface::ControlIndex::control_count
    • MotorBoardInterface::ScalarTimeseries
    • MotorBoardInterface::Index
    • MotorBoardInterface::IndexTimeseries
    • MotorBoardInterface::StatusTimeseries
    • MotorBoardInterface::CommandTimeseries
    • MotorBoardInterface::Ptr
    • MotorBoardInterface::Vector
    • MotorBoardInterface::~MotorBoardInterface()
    • MotorBoardInterface::get_measurement()
    • MotorBoardInterface::get_status()
    • MotorBoardInterface::get_control()
    • MotorBoardInterface::get_command()
    • MotorBoardInterface::get_sent_control()
    • MotorBoardInterface::get_sent_command()
    • MotorBoardInterface::set_control()
    • MotorBoardInterface::set_command()
    • MotorBoardInterface::send_if_input_changed()
• Class blmc_drivers::MotorBoardStatus
  • MotorBoardStatus
    • MotorBoardStatus::ErrorCodes
      • MotorBoardStatus::ErrorCodes::NONE
      • MotorBoardStatus::ErrorCodes::ENCODER
      • MotorBoardStatus::ErrorCodes::CAN_RECV_TIMEOUT
      • MotorBoardStatus::ErrorCodes::CRIT_TEMP
      • MotorBoardStatus::ErrorCodes::POSCONV
      • MotorBoardStatus::ErrorCodes::POS_ROLLOVER
      • MotorBoardStatus::ErrorCodes::OTHER
    • MotorBoardStatus::print()
    • MotorBoardStatus::is_ready()
    • MotorBoardStatus::get_error_description()
    • MotorBoardStatus::system_enabled
    • MotorBoardStatus::motor1_enabled
    • MotorBoardStatus::motor1_ready
    • MotorBoardStatus::motor2_enabled
    • MotorBoardStatus::motor2_ready
    • MotorBoardStatus::error_code
    • MotorBoardStatus::get_error_description()
• Class blmc_drivers::MotorInterface
  • MotorInterface
    • MotorInterface::MeasurementIndex
      • MotorInterface::MeasurementIndex::current
      • MotorInterface::MeasurementIndex::position
      • MotorInterface::MeasurementIndex::velocity
      • MotorInterface::MeasurementIndex::encoder_index
      • MotorInterface::MeasurementIndex::measurement_count
    • MotorInterface::ScalarTimeseries
    • MotorInterface::Ptr
    • MotorInterface::~MotorInterface()
    • MotorInterface::send_if_input_changed()
    • MotorInterface::get_measurement()
    • MotorInterface::get_current_target()
    • MotorInterface::get_sent_current_target()
    • MotorInterface::set_current_target()
    • MotorInterface::set_command()
• Class blmc_drivers::PDController
  • PDController
    • PDController::PDController()
    • PDController::~PDController()
    • PDController::start_loop()
• Class blmc_drivers::Polynome
  • Polynome
    • Polynome::Polynome()
    • Polynome::~Polynome()
    • Polynome::compute()
    • Polynome::compute_derivative()
    • Polynome::compute_sec_derivative()
    • Polynome::get_coefficients()
    • Polynome::set_coefficients()
    • Polynome::degree()
    • Polynome::print()
• Class blmc_drivers::SafeMotor
  • SafeMotor
    • SafeMotor::SafeMotor()
    • SafeMotor::get_current_target()
    • SafeMotor::set_current_target()
    • SafeMotor::set_max_current()
    • SafeMotor::set_max_velocity()
• Class blmc_drivers::SinePositionControl
  • SinePositionControl
    • SinePositionControl::SinePositionControl()
    • SinePositionControl::~SinePositionControl()
    • SinePositionControl::start_loop()
    • SinePositionControl::stop_loop()
    • SinePositionControl::set_gains()
• Class blmc_drivers::SineTorqueControl
  • SineTorqueControl
    • SineTorqueControl::SineTorqueControl()
    • SineTorqueControl::~SineTorqueControl()
    • SineTorqueControl::start_loop()
    • SineTorqueControl::stop_loop()
• Class blmc_drivers::TimePolynome
  • TimePolynome
    • TimePolynome::TimePolynome()
    • TimePolynome::~TimePolynome()
    • TimePolynome::compute()
    • TimePolynome::compute_derivative()
    • TimePolynome::compute_sec_derivative()
    • TimePolynome::get_final_time()
    • TimePolynome::get_init_pose()
    • TimePolynome::get_init_speed()
    • TimePolynome::get_init_acc()
    • TimePolynome::get_final_pose()
    • TimePolynome::get_final_speed()
    • TimePolynome::get_final_acc()
    • TimePolynome::set_parameters()