The AxisInterface represents an axis from a control point of view.
More...
#include <rtt/extras/dev/AxisInterface.hpp>
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| | AxisInterface () |
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| virtual | ~AxisInterface () |
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| virtual bool | stop ()=0 |
| | Stop the Axis (electronically), brakes disabled, drive enabled and set to zero. More...
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| virtual bool | lock ()=0 |
| | Lock the Axis (mechanically), brakes enabled, drive disabled. More...
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| virtual bool | unlock ()=0 |
| | Unlock the Axis (mechanically), brakes enabled, drive enabled. More...
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| virtual bool | drive (double v)=0 |
| | Drive a certain 'physical unit' (eg velocity, torque,...). More...
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| virtual double | getDriveValue () const =0 |
| | Get the drive value (eg velocity, torque,...). More...
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| virtual bool | isLocked () const =0 |
| | Return true if the drive is disabled, and brakes are on. More...
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| virtual bool | isStopped () const =0 |
| | Return true if the drive is enabled but not moving, and brakes are off. More...
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| virtual bool | isDriven () const =0 |
| | Return true if the drive is enabled, and brakes are off. More...
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| virtual DigitalOutput * | getBrake ()=0 |
| | Get the brake signal of the Axis as a DigitalOutput. More...
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| virtual DigitalOutput * | getEnable ()=0 |
| | Get the enable signal of the Axis as a DigitalOutput. More...
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| virtual SensorInterface< double > * | getSensor (const std::string &name) const =0 |
| | Retrieve a sensor from the Axis. More...
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| virtual std::vector< std::string > | sensorList () const =0 |
| | Retrieve a list of the sensor from the Axis. More...
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| virtual DigitalInput * | getSwitch (const std::string &name) const =0 |
| | Retrieve a switch (digital input) from the Axis. More...
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| virtual std::vector< std::string > | switchList () const =0 |
| | Retrieve a list of the digital input switches from the Axis. More...
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| virtual SensorInterface< int > * | getCounter (const std::string &name) const =0 |
| | Retrieve a counter from the Axis. More...
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| virtual std::vector< std::string > | counterList () const =0 |
| | Retrieve a list of the counter from the Axis. More...
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The AxisInterface represents an axis from a control point of view.
Definition at line 45 of file AxisInterface.hpp.
| RTT::dev::AxisInterface::AxisInterface |
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inline |
| virtual RTT::dev::AxisInterface::~AxisInterface |
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inlinevirtual |
| virtual std::vector<std::string> RTT::dev::AxisInterface::counterList |
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const |
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pure virtual |
Retrieve a list of the counter from the Axis.
| virtual bool RTT::dev::AxisInterface::drive |
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double |
v | ) |
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pure virtual |
Drive a certain 'physical unit' (eg velocity, torque,...).
| virtual SensorInterface<int>* RTT::dev::AxisInterface::getCounter |
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const std::string & |
name | ) |
const |
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pure virtual |
Retrieve a counter from the Axis.
| virtual double RTT::dev::AxisInterface::getDriveValue |
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const |
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pure virtual |
Get the drive value (eg velocity, torque,...).
| virtual SensorInterface<double>* RTT::dev::AxisInterface::getSensor |
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const std::string & |
name | ) |
const |
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pure virtual |
Retrieve a sensor from the Axis.
| virtual DigitalInput* RTT::dev::AxisInterface::getSwitch |
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const std::string & |
name | ) |
const |
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pure virtual |
Retrieve a switch (digital input) from the Axis.
| virtual bool RTT::dev::AxisInterface::isDriven |
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const |
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pure virtual |
Return true if the drive is enabled, and brakes are off.
| virtual bool RTT::dev::AxisInterface::isLocked |
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const |
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pure virtual |
Return true if the drive is disabled, and brakes are on.
| virtual bool RTT::dev::AxisInterface::isStopped |
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const |
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pure virtual |
Return true if the drive is enabled but not moving, and brakes are off.
| virtual bool RTT::dev::AxisInterface::lock |
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pure virtual |
Lock the Axis (mechanically), brakes enabled, drive disabled.
| virtual std::vector<std::string> RTT::dev::AxisInterface::sensorList |
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const |
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pure virtual |
Retrieve a list of the sensor from the Axis.
| virtual bool RTT::dev::AxisInterface::stop |
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pure virtual |
Stop the Axis (electronically), brakes disabled, drive enabled and set to zero.
| virtual std::vector<std::string> RTT::dev::AxisInterface::switchList |
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const |
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pure virtual |
Retrieve a list of the digital input switches from the Axis.
| virtual bool RTT::dev::AxisInterface::unlock |
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pure virtual |
Unlock the Axis (mechanically), brakes enabled, drive enabled.
The documentation for this class was generated from the following file:
