blmc_drivers::LegInterface Class Reference

This class defines an interface to control a leg. More...

#include <leg.hpp>

Inheritance diagram for blmc_drivers::LegInterface:

Collaboration diagram for blmc_drivers::LegInterface:

Public Types
enum	MotorMeasurementIndexing {   current, position, velocity, encoder_index,   motor_measurement_count }
	MotorMeasurementIndexing this enum allow to access the different kind of sensor measurements in an understandable way in the code.
enum	MotorIndexing { hip, knee, motor_count }
	This enum list the motors in the leg.
typedef real_time_tools::ThreadsafeTimeseries< 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. More...

Public Member Functions
virtual	~LegInterface ()
	Destroy the LegInterface object.
virtual Ptr< const ScalarTimeseries >	get_motor_measurement (const int &motor_index, const int &measurement_index) const =0
	Getters. More...
virtual Ptr< const ScalarTimeseries >	get_current_target (const int &motor_index) const =0
	Get the actual target current. More...
virtual Ptr< const ScalarTimeseries >	get_sent_current_target (const int &motor_index) const =0
	Get the last sent target current. More...
virtual void	set_current_target (const double &current_target, const int &motor_index)=0
	Setters. More...
virtual void	send_if_input_changed ()=0
	Sender. More...

Detailed Description

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.

Member Typedef Documentation

Ptr

template<typename Type >

using blmc_drivers::LegInterface::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.

Member Function Documentation

get_current_target()

virtual Ptr<const ScalarTimeseries> blmc_drivers::LegInterface::get_current_target ( const int &  motor_index ) const

pure virtual

Get the actual target current.

Parameters

[in]

motor_index

designate the motor from which we want the data from.

Returns

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

Implemented in blmc_drivers::Leg.

get_motor_measurement()

virtual Ptr<const ScalarTimeseries> blmc_drivers::LegInterface::get_motor_measurement ( const int &  motor_index, const int &  measurement_index  ) const

pure virtual

Getters.

Get the device output

Parameters

[in]	motor_index	designate the motor from which we want the data from.
[in]	measurement_index	is teh kind of data we are looking for.

Returns

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

Implemented in blmc_drivers::Leg.

get_sent_current_target()

virtual Ptr<const ScalarTimeseries> blmc_drivers::LegInterface::get_sent_current_target ( const int &  motor_index ) const

pure virtual

Get the last sent target current.

Parameters

[in]

motor_index

designate the motor from which we want the data from.

Returns

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

Implemented in blmc_drivers::Leg.

send_if_input_changed()

virtual void blmc_drivers::LegInterface::send_if_input_changed ( )

pure virtual

Sender.

Actually send the target current to the motor cards.

Implemented in blmc_drivers::Leg.

set_current_target()

virtual void blmc_drivers::LegInterface::set_current_target ( const double &  current_target, const int &  motor_index  )

pure virtual

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.

Implemented in blmc_drivers::Leg.

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The documentation for this class was generated from the following file:

• include/blmc_drivers/devices/leg.hpp