99 void line_com(
int cs,
double *data, SpurUserParamsPtr
spur);
102 void spin_com(
int cs,
double *data, SpurUserParamsPtr
spur);
107 void vel_com(
double *data, SpurUserParamsPtr
spur);
125 void get_pos_com(
int cs,
double *data,
double *resdata, SpurUserParamsPtr
spur);
126 void get_vel_com(
int cs,
double *data,
double *resdata, SpurUserParamsPtr
spur);
127 void get_vref_com(
int cs,
double *data,
double *resdata, SpurUserParamsPtr
spur);
129 int near_pos_com(
int cs,
double *data,
double *resdata, SpurUserParamsPtr
spur);
130 int near_ang_com(
int cs,
double *data,
double *resdata, SpurUserParamsPtr
spur);
131 int over_line_com(
int cs,
double *data,
double *resdata, SpurUserParamsPtr
spur);
134 void get_force_com(
int cs,
double *data,
double *resdata, SpurUserParamsPtr
spur);
143 void get_ad_com(
double *data,
double *resdata);
void free_com(double *data, SpurUserParamsPtr spur)
void set_io_data_com(double *data, double *resdata)
MotorControlMode wheel_mode_prev[YP_PARAM_MAX_MOTOR_NUM]
double wheel_vel_end[YP_PARAM_MAX_MOTOR_NUM]
void set_ang_accel_com(double *data, SpurUserParamsPtr spur)
void set_wheel_accel_com(double *data, SpurUserParamsPtr spur)
void param_state_com(int cs, double *data, SpurUserParamsPtr spur)
void get_joint_torque_com(int id, double *data, SpurUserParamsPtr spur)
double wvelref[YP_PARAM_MAX_MOTOR_NUM]
void set_joint_accel_com(int id, double *data, SpurUserParamsPtr spur)
void set_torque_com(double *data, SpurUserParamsPtr spur)
double torque[YP_PARAM_MAX_MOTOR_NUM]
void init_command_thread(pthread_t *thread)
void get_wheel_vel_com(double *data, double *resdata, SpurUserParamsPtr spur)
double wheel_accel[YP_PARAM_MAX_MOTOR_NUM]
void set_adjust_com(int cs, double *data, SpurUserParamsPtr spur)
void get_wheel_vref_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
struct _spur_user_params SpurUserParams
void param_set_com(int cs, double *data, SpurUserParamsPtr spur)
void set_GL_on_GL_com(double *data, SpurUserParamsPtr spur)
void set_pos_com(int cs, double *data, SpurUserParamsPtr spur)
MotorControlMode wheel_mode[YP_PARAM_MAX_MOTOR_NUM]
void set_tilt_com(int cs, double *data, SpurUserParamsPtr spur)
void joint_vel_com(int id, double *data, SpurUserParamsPtr spur)
void init_spur_command(void)
void wheel_vel_com(double *data, SpurUserParamsPtr spur)
int near_pos_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
double wheel_angle[YP_PARAM_MAX_MOTOR_NUM]
void get_error_state_com(double *data, double *resdata)
void get_vref_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void get_pos_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
int over_line_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
int near_ang_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
double wheel_vel[YP_PARAM_MAX_MOTOR_NUM]
void get_wheel_ang_com(double *data, double *resdata, SpurUserParamsPtr spur)
void spin_com(int cs, double *data, SpurUserParamsPtr spur)
void get_ad_com(double *data, double *resdata)
void line_com(int cs, double *data, SpurUserParamsPtr spur)
SpurUserParamsPtr get_spur_user_param_ptr()
void set_accel_com(double *data, SpurUserParamsPtr spur)
void get_vel_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
#define YP_PARAM_MAX_MOTOR_NUM
void wheel_angle_com(double *data, SpurUserParamsPtr spur)
SpurRunMode before_run_mode
double grav_torque[YP_PARAM_MAX_MOTOR_NUM]
int param_get_com(int cs, double *resdata, SpurUserParamsPtr spur)
void set_io_dir_com(double *data, double *resdata)
void set_vel_com(double *data, SpurUserParamsPtr spur)
void joint_ang_vel_com(int id, double *data, SpurUserParamsPtr spur)
void dump_device_com(double *data, double *resdata)
void set_joint_vel_com(int id, double *data, SpurUserParamsPtr spur)
void get_force_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void message_return(struct ipcmd_t *ipcmd, long retpid, YPSpur_msg *res_msg)
void circle_com(int cs, double *data, SpurUserParamsPtr spur)
void get_joint_ang_com(int id, double *data, SpurUserParamsPtr spur)
void stop_line_com(int cs, double *data, SpurUserParamsPtr spur)
void set_ang_vel_com(double *data, SpurUserParamsPtr spur)
double torque_prev[YP_PARAM_MAX_MOTOR_NUM]
void joint_ang_com(int id, double *data, SpurUserParamsPtr spur)
void vel_com(double *data, SpurUserParamsPtr spur)
void joint_torque_com(int id, double *data, SpurUserParamsPtr spur)
void stop_com(double *data, SpurUserParamsPtr spur)
void get_joint_vref_com(int id, double *data, SpurUserParamsPtr spur)
struct _spur_user_params * SpurUserParamsPtr
void get_joint_vel_com(int id, double *data, SpurUserParamsPtr spur)
void get_wheel_torque_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void set_wheel_vel_com(double *data, SpurUserParamsPtr spur)
double wheel_vel_smooth[YP_PARAM_MAX_MOTOR_NUM]
void orient_com(int cs, double *data, SpurUserParamsPtr spur)
void openfree_com(double *data, SpurUserParamsPtr spur)