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| int | close_iob (void) |
| | close connection with joint servo process More...
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| long | get_signal_period () |
| | get the period of signals issued by wait_for_iob_signal() More...
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| int | initializeJointAngle (const char *name, const char *option) |
| | initialize joint angle More...
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| int | joint_calibration (int id, double angle) |
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| int | length_digital_input () |
| | get_digital_input_length More...
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| int | length_digital_output () |
| | get_digital_output_length More...
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| size_t | length_of_extra_servo_state (int id) |
| | get length of extra servo states More...
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| int | lock_iob () |
| | lock access to iob More...
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| int | number_of_accelerometers () |
| | get the number of accelerometers More...
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| int | number_of_attitude_sensors () |
| | get the number of attitude sensors More...
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| int | number_of_force_sensors () |
| | get the number of force sensors More...
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| int | number_of_gyro_sensors () |
| | get the number of gyro sensors More...
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| int | number_of_joints () |
| | get the number of joints More...
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| int | number_of_substeps () |
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| int | open_iob (void) |
| | open connection with joint servo process More...
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| int | read_accelerometer (int id, double *accels) |
| | read output of accelerometer More...
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| int | read_accelerometer_offset (int id, double *offset) |
| | read offset values for accelerometer output More...
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| int | read_actual_angle (int id, double *angle) |
| | read current joint angle[rad] More...
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| int | read_actual_angles (double *angles) |
| | read array of current joint angles[rad] More...
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| int | read_actual_torques (double *torques) |
| | read array of current joint torques[Nm] More...
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| int | read_actual_velocities (double *vels) |
| | read actual angular velocities[rad/s] More...
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| int | read_actual_velocity (int id, double *vel) |
| | read actual angular velocity[rad/s] More...
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| int | read_angle_offset (int id, double *angle) |
| | read offset value for joint[rad] More...
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| int | read_attitude_sensor (int id, double *att) |
| | read output of attitude sensor More...
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| int | read_calib_state (int id, int *s) |
| | read callibration state of joint More...
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| int | read_command_angle (int id, double *angle) |
| | read command angle[rad] More...
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| int | read_command_angles (double *angles) |
| | read array of command angles[rad] More...
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| int | read_command_torque (int id, double *torque) |
| | read command torque[Nm] More...
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| int | read_command_torques (double *torques) |
| | read array of command torques[Nm] More...
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| int | read_command_velocities (double *vels) |
| | read command angular velocities[rad/s] More...
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| int | read_command_velocity (int id, double *vel) |
| | read command angular velocity[rad/s] More...
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| int | read_control_mode (int id, joint_control_mode *s) |
| | read joint control mode More...
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| int | read_current (int id, double *mcurrent) |
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| int | read_current_limit (int id, double *v) |
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| int | read_currents (double *currents) |
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| int | read_dgain (int id, double *gain) |
| | read D gain[Nm/(rad/s)] More...
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| int | read_digital_input (char *dinput) |
| | read_digital_input, non-applicable bits are nop More...
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| int | read_digital_output (char *doutput) |
| | read_digital_output, non-applicable bits are nop More...
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| int | read_driver_temperature (int id, unsigned char *v) |
| | read temperature of motor driver[Celsius] More...
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| int | read_encoder_pulse (int id, double *ec) |
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| int | read_extra_servo_state (int id, int *state) |
| | read extra servo states More...
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| int | read_force_offset (int id, double *offsets) |
| | read offset values for force sensor output More...
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| int | read_force_sensor (int id, double *forces) |
| | read output of force sensor More...
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| int | read_gauges (double *gauges) |
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| int | read_gear_ratio (int id, double *gr) |
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| int | read_gyro_sensor (int id, double *rates) |
| | read output of gyro sensor More...
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| int | read_gyro_sensor_offset (int id, double *offset) |
| | read offset values for gyro sensor output More...
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| unsigned long long | read_iob_frame () |
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| int | read_limit_angle (int id, double *angle) |
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| int | read_llimit_angle (int id, double *angle) |
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| int | read_lock_owner (pid_t *pid) |
| | read id of the process whic is locking access to iob More...
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| int | read_pgain (int id, double *gain) |
| | read P gain[Nm/rad] More...
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| int | read_power (double *voltage, double *current) |
| | read status of power source More...
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| int | read_power_command (int id, int *com) |
| | turn on/off power supply for motor driver More...
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| int | read_power_state (int id, int *s) |
| | read power status of motor driver More...
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| int | read_servo_alarm (int id, int *a) |
| | read servo alarms More...
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| int | read_servo_state (int id, int *s) |
| | read servo status More...
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| int | read_temperature (int id, double *v) |
| | read thermometer More...
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| int | read_torque_const (int id, double *tc) |
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| int | read_torque_limit (int id, double *limit) |
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| int | read_touch_sensors (unsigned short *onoff) |
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| int | read_ulimit_angle (int id, double *angle) |
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| int | reset_body (void) |
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| int | set_number_of_accelerometers (int num) |
| | set the number of accelerometers More...
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| int | set_number_of_attitude_sensors (int num) |
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| int | set_number_of_force_sensors (int num) |
| | set the number of force sensors More...
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| int | set_number_of_gyro_sensors (int num) |
| | set the number of gyro sensors More...
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| int | set_number_of_joints (int num) |
| | set the number of joints More...
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| int | set_signal_period (long period_ns) |
| | set the period of signals issued by wait_for_iob_signal() More...
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| void | timespec_add_ns (timespec *ts, long ns) |
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| double | timespec_compare (timespec *ts1, timespec *ts2) |
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| int | unlock_iob () |
| | unlock access to iob More...
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| int | wait_for_iob_signal () |
| | wait until iob signal is issued More...
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| int | write_accelerometer_offset (int id, double *offset) |
| | write offset values for accelerometer output More...
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| int | write_angle_offset (int id, double angle) |
| | write offset value for joint[rad] More...
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| int | write_attitude_sensor_offset (int id, double *offset) |
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| int | write_command_angle (int id, double angle) |
| | write command angle[rad] More...
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| int | write_command_angles (const double *angles) |
| | write array of command angles[rad] More...
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| int | write_command_torque (int id, double torque) |
| | write command torque[Nm] More...
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| int | write_command_torques (const double *torques) |
| | write array of command torques[Nm] More...
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| int | write_command_velocities (const double *vels) |
| | write command angular velocities[rad/s] More...
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| int | write_command_velocity (int id, double vel) |
| | write command angular velocity[rad/s] More...
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| int | write_control_mode (int id, joint_control_mode s) |
| | write joint control mode More...
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| int | write_dgain (int id, double gain) |
| | write D gain[Nm/(rad/s)] More...
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| int | write_digital_output (const char *doutput) |
| | write_digital_output, non-applicable bits are nop More...
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| int | write_digital_output_with_mask (const char *doutput, const char *mask) |
| | write_digital_output, non-applicable bits are nop More...
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| int | write_dio (unsigned short buf) |
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| int | write_force_offset (int id, double *offsets) |
| | write offset values for force sensor output More...
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| int | write_gyro_sensor_offset (int id, double *offset) |
| | write offset values for gyro sensor output More...
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| int | write_pgain (int id, double gain) |
| | write P gain[Nm/rad] More...
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| int | write_power_command (int id, int com) |
| | turn on/off power supply for motor driver More...
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| int | write_servo (int id, int com) |
| | turn on/off joint servo More...
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