16 #ifndef _NEXTAGE_OPEN_HPP_ 17 #define _NEXTAGE_OPEN_HPP_ 53 virtual int read_power(
double *voltage,
double *current) = 0;
75 #endif // _NEXTAGE_OPEN_HPP_ virtual int read_driver_temperature(int id, unsigned char *v)=0
virtual int read_lock_owner(pid_t *pid)=0
virtual int read_power_state(int id, int *s)=0
OpenIFv10 * nextage_open_getIFv10(void)
virtual int length_digital_input(void)=0
virtual int read_power_command(int id, int *com)=0
virtual int read_servo_alarm(int id, int *a)=0
virtual int unlock_iob(void)=0
virtual int write_digital_output(const char *doutput)=0
virtual int open_iob(void)=0
virtual int number_of_substeps(void)=0
virtual int initializeJointAngle(const char *name, const char *option)=0
virtual int write_servo(int id, int com)=0
virtual int read_command_angles(double *angles)=0
virtual int read_actual_angle(int id, double *angle)=0
virtual int read_calib_state(int id, int *s)=0
virtual int write_command_angles(const double *angles)=0
virtual int read_digital_input(char *dIn)=0
png_infop int png_uint_32 mask
virtual int lock_iob(void)=0
virtual int close_iob(void)=0
virtual int read_command_angle(int id, double *angle)=0
virtual unsigned long long read_iob_frame(void)=0
virtual int write_power_command(int id, int com)=0
virtual int read_digital_output(char *doutput)=0
bool nextage_open_supported(const char *version)
virtual int read_power(double *voltage, double *current)=0
virtual int wait_for_iob_signal(void)=0
virtual long get_signal_period(void)=0
virtual int length_digital_output(void)=0
virtual int write_command_angle(int id, double angle)=0
virtual int read_servo_state(int id, int *s)=0
virtual int reset_body(void)=0
virtual int read_actual_angles(double *angles)=0
virtual int write_digital_output_with_mask(const char *doutput, const char *mask)=0