Classes | Macros | Functions
ypspur-md.h File Reference
#include <ypparam.h>
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Classes

struct  YPSpur
 

Macros

#define Spur_md_adjust_pos_BL(dev, x, y, th)   YPSpur_md_adjust_pos(dev, CS_BL, x, y, th)
 
#define Spur_md_adjust_pos_BS(dev, x, y, th)   YPSpur_md_adjust_pos(dev, CS_BS, x, y, th)
 
#define Spur_md_adjust_pos_FS(dev, x, y, th)   YPSpur_md_adjust_pos(dev, CS_FS, x, y, th)
 
#define Spur_md_adjust_pos_GL(dev, x, y, th)   YPSpur_md_adjust_pos(dev, CS_GL, x, y, th)
 
#define Spur_md_adjust_pos_LC(dev, x, y, th)   YPSpur_md_adjust_pos(dev, CS_LC, x, y, th)
 
#define Spur_md_circle_BL(dev, x, y, d)   YPSpur_md_circle(dev, CS_BL, x, y, d)
 
#define Spur_md_circle_BS(dev, x, y, d)   YPSpur_md_circle(dev, CS_BS, x, y, d)
 
#define Spur_md_circle_FS(dev, x, y, d)   YPSpur_md_circle(dev, CS_FS, x, y, d)
 
#define Spur_md_circle_GL(dev, x, y, d)   YPSpur_md_circle(dev, CS_GL, x, y, d)
 
#define Spur_md_circle_LC(dev, x, y, d)   YPSpur_md_circle(dev, CS_LC, x, y, d)
 
#define Spur_md_free(dev)   YPSpur_md_free(dev)
 
#define Spur_md_freeze(dev)   YPSpur_md_freeze(dev)
 
#define Spur_md_get_force(dev, trans, angular)   YPSpur_md_get_force(dev, trans, angular)
 
#define Spur_md_get_pos_BL(dev, x, y, th)   YPSpur_md_get_pos(dev, CS_BL, x, y, th)
 
#define Spur_md_get_pos_BS(dev, x, y, th)   YPSpur_md_get_pos(dev, CS_BS, x, y, th)
 
#define Spur_md_get_pos_GL(dev, x, y, th)   YPSpur_md_get_pos(dev, CS_GL, x, y, th)
 
#define Spur_md_get_pos_LC(dev, x, y, th)   YPSpur_md_get_pos(dev, CS_LC, x, y, th)
 
#define Spur_md_get_vel(dev, v, w)   YPSpur_md_get_vel(dev, v, w)
 
#define Spur_md_init(dev)   YPSpur_md_init(dev)
 
#define Spur_md_init_socket(dev, ip, port)   YPSpur_md_init_socket(dev, ip, port)
 
#define Spur_md_initex(dev, msq)   YPSpur_md_initex(dev, msq)
 
#define Spur_md_isfreeze(dev)   YPSpur_md_isfreeze(dev)
 
#define Spur_md_line_BL(dev, x, y, th)   YPSpur_md_line(dev, CS_BL, x, y, th)
 
#define Spur_md_line_BS(dev, x, y, th)   YPSpur_md_line(dev, CS_BS, x, y, th)
 
#define Spur_md_line_FS(dev, x, y, th)   YPSpur_md_line(dev, CS_FS, x, y, th)
 
#define Spur_md_line_GL(dev, x, y, th)   YPSpur_md_line(dev, CS_GL, x, y, th)
 
#define Spur_md_line_LC(dev, x, y, th)   YPSpur_md_line(dev, CS_LC, x, y, th)
 
#define Spur_md_near_ang_BL(dev, th, d)   YPSpur_md_near_ang(dev, CS_BL, th, d)
 
#define Spur_md_near_ang_BS(dev, th, d)   YPSpur_md_near_ang(dev, CS_BS, th, d)
 
#define Spur_md_near_ang_GL(dev, th, d)   YPSpur_md_near_ang(dev, CS_GL, th, d)
 
#define Spur_md_near_ang_LC(dev, th, d)   YPSpur_md_near_ang(dev, CS_LC, th, d)
 
#define Spur_md_near_pos_BL(dev, x, y, r)   YPSpur_md_near_pos(dev, CS_BL, x, y, r)
 
#define Spur_md_near_pos_BS(dev, x, y, r)   YPSpur_md_near_pos(dev, CS_BS, x, y, r)
 
#define Spur_md_near_pos_GL(dev, x, y, r)   YPSpur_md_near_pos(dev, CS_GL, x, y, r)
 
#define Spur_md_near_pos_LC(dev, x, y, r)   YPSpur_md_near_pos(dev, CS_LC, x, y, r)
 
#define Spur_md_orient_BL(dev, th)   YPSpur_md_orient(dev, CS_BL, th)
 
#define Spur_md_orient_BS(dev, th)   YPSpur_md_orient(dev, CS_BS, th)
 
#define Spur_md_orient_FS(dev, th)   YPSpur_md_orient(dev, CS_FS, th)
 
#define Spur_md_orient_GL(dev, th)   YPSpur_md_orient(dev, CS_GL, th)
 
#define Spur_md_orient_LC(dev, th)   YPSpur_md_orient(dev, CS_LC, th)
 
#define Spur_md_over_line_BL(dev, x, y, th)   YPSpur_md_over_line(dev, CS_BL, x, y, th)
 
#define Spur_md_over_line_BS(dev, x, y, th)   YPSpur_md_over_line(dev, CS_BS, x, y, th)
 
#define Spur_md_over_line_GL(dev, x, y, th)   YPSpur_md_over_line(dev, CS_GL, x, y, th)
 
#define Spur_md_over_line_LC(dev, x, y, th)   YPSpur_md_over_line(dev, CS_LC, x, y, th)
 
#define Spur_md_set_accel(dev, v)   YPSpur_md_set_accel(dev, v)
 
#define Spur_md_set_angaccel(dev, w)   YPSpur_md_set_angaccel(dev, w)
 
#define Spur_md_set_angvel(dev, w)   YPSpur_md_set_angvel(dev, w)
 
#define Spur_md_set_pos_BL(dev, x, y, th)   YPSpur_md_set_pos(dev, CS_BL, x, y, th)
 
#define Spur_md_set_pos_GL(dev, x, y, th)   YPSpur_md_set_pos(dev, CS_GL, x, y, th)
 
#define Spur_md_set_pos_LC(dev, x, y, th)   YPSpur_md_set_pos(dev, CS_LC, x, y, th)
 
#define Spur_md_set_vel(dev, v)   YPSpur_md_set_vel(dev, v)
 
#define Spur_md_spin_BL(dev, th)   YPSpur_md_spin(dev, CS_BL, th)
 
#define Spur_md_spin_BS(dev, th)   YPSpur_md_spin(dev, CS_BS, th)
 
#define Spur_md_spin_FS(dev, th)   YPSpur_md_spin(dev, CS_FS, th)
 
#define Spur_md_spin_GL(dev, th)   YPSpur_md_spin(dev, CS_GL, th)
 
#define Spur_md_spin_LC(dev, th)   YPSpur_md_spin(dev, CS_LC, th)
 
#define Spur_md_stop(dev)   YPSpur_md_stop(dev)
 
#define Spur_md_stop_line_BL(dev, x, y, th)   YPSpur_md_stop_line(dev, CS_BL, x, y, th)
 
#define Spur_md_stop_line_BS(dev, x, y, th)   YPSpur_md_stop_line(dev, CS_BS, x, y, th)
 
#define Spur_md_stop_line_FS(dev, x, y, th)   YPSpur_md_stop_line(dev, CS_FS, x, y, th)
 
#define Spur_md_stop_line_GL(dev, x, y, th)   YPSpur_md_stop_line(dev, CS_GL, x, y, th)
 
#define Spur_md_stop_line_LC(dev, x, y, th)   YPSpur_md_stop_line(dev, CS_LC, x, y, th)
 
#define Spur_md_tilt_BL(dev, d, t)   YPSpur_md_tilt(dev, CS_BL, d, t)
 
#define Spur_md_tilt_BS(dev, d, t)   YPSpur_md_tilt(dev, CS_BS, d, t)
 
#define Spur_md_tilt_FS(dev, d, t)   YPSpur_md_tilt(dev, CS_FS, d, t)
 
#define Spur_md_tilt_GL(dev, d, t)   YPSpur_md_tilt(dev, CS_GL, d, t)
 
#define Spur_md_tilt_LC(dev, d, t)   YPSpur_md_tilt(dev, CS_LC, d, t)
 
#define Spur_md_unfreeze(dev)   YPSpur_md_unfreeze(dev)
 
#define Spur_md_vel(dev, v, w)   YPSpur_md_vel(dev, v, w)
 
#define YPSPUR_GET_DEVICE_ERROR_STATE_SUPPORT   1
 
#define YPSPUR_JOINT_ANG_VEL_SUPPORT   1
 
#define YPSPUR_JOINT_SUPPORT   1
 

Functions

int YP_md_get_ad_value (YPSpur *dev, int num)
 
double YP_md_get_device_error_state (YPSpur *dev, int id, int *err)
 
int YP_md_get_error_state (YPSpur *dev)
 
double YP_md_get_joint_ang (YPSpur *spur, int id, double *a)
 
double YP_md_get_joint_torque (YPSpur *spur, int id, double *t)
 
double YP_md_get_joint_vel (YPSpur *spur, int id, double *v)
 
double YP_md_get_joint_vref (YPSpur *spur, int id, double *v)
 
int YP_md_get_parameter (YPSpur *dev, int param_id, double *value)
 
int YP_md_get_parameter_array (YPSpur *dev, int param_id, double *value)
 
double YP_md_get_vref (YPSpur *dev, double *vref, double *wref)
 
double YP_md_get_wheel_ang (YPSpur *dev, double *theta_r, double *theta_l)
 
double YP_md_get_wheel_torque (YPSpur *dev, double *torque_r, double *torque_l)
 
double YP_md_get_wheel_vel (YPSpur *dev, double *wr, double *wl)
 
double YP_md_get_wheel_vref (YPSpur *dev, double *wrref, double *wlref)
 
int YP_md_joint_ang (YPSpur *spur, int id, double a)
 
int YP_md_joint_ang_vel (YPSpur *spur, int id, double a, double v)
 
int YP_md_joint_torque (YPSpur *spur, int id, double t)
 
int YP_md_joint_vel (YPSpur *spur, int id, double v)
 
int YP_md_openfree (YPSpur *dev)
 
void YP_md_request_device_dump (YPSpur *dev, int id, int block)
 
int YP_md_set_control_state (YPSpur *dev, int control_id, int state)
 
int YP_md_set_io_data (YPSpur *dev, unsigned char data)
 
int YP_md_set_io_dir (YPSpur *dev, unsigned char dir)
 
int YP_md_set_joint_accel (YPSpur *spur, int id, double a)
 
int YP_md_set_joint_vel (YPSpur *spur, int id, double v)
 
int YP_md_set_parameter (YPSpur *dev, int param_id, double value)
 
int YP_md_set_parameter_array (YPSpur *dev, int param_id, double *value)
 
int YP_md_set_wheel_accel (YPSpur *dev, double r, double l)
 
int YP_md_set_wheel_vel (YPSpur *dev, double r, double l)
 
int YP_md_wheel_ang (YPSpur *dev, double r, double l)
 
int YP_md_wheel_torque (YPSpur *dev, double r, double l)
 
int YP_md_wheel_vel (YPSpur *dev, double r, double l)
 
int YPSpur_md_adjust_pos (YPSpur *dev, int cs, double x, double y, double theta)
 
int YPSpur_md_circle (YPSpur *dev, int cs, double x, double y, double r)
 
int YPSpur_md_free (YPSpur *dev)
 
int YPSpur_md_freeze (YPSpur *dev)
 
double YPSpur_md_get_force (YPSpur *dev, double *trans, double *angular)
 
double YPSpur_md_get_pos (YPSpur *dev, int cs, double *x, double *y, double *theta)
 
double YPSpur_md_get_vel (YPSpur *dev, double *v, double *w)
 
int YPSpur_md_init (YPSpur *dev)
 
int YPSpur_md_init_socket (YPSpur *dev, char *ip, int port)
 
int YPSpur_md_initex (YPSpur *dev, int msq_key)
 
int YPSpur_md_isfreeze (YPSpur *dev)
 
int YPSpur_md_line (YPSpur *dev, int cs, double x, double y, double theta)
 
int YPSpur_md_near_ang (YPSpur *dev, int cs, double th, double d)
 
int YPSpur_md_near_pos (YPSpur *dev, int cs, double x, double y, double r)
 
int YPSpur_md_orient (YPSpur *dev, int cs, double theta)
 
int YPSpur_md_over_line (YPSpur *dev, int cs, double x, double y, double theta)
 
int YPSpur_md_set_accel (YPSpur *dev, double v)
 
int YPSpur_md_set_angaccel (YPSpur *dev, double w)
 
int YPSpur_md_set_angvel (YPSpur *dev, double w)
 
int YPSpur_md_set_pos (YPSpur *dev, int cs, double x, double y, double theta)
 
int YPSpur_md_set_vel (YPSpur *dev, double v)
 
int YPSpur_md_spin (YPSpur *dev, int cs, double theta)
 
int YPSpur_md_stop (YPSpur *dev)
 
int YPSpur_md_stop_line (YPSpur *dev, int cs, double x, double y, double theta)
 
int YPSpur_md_tilt (YPSpur *dev, int cs, double dir, double tilt)
 
int YPSpur_md_unfreeze (YPSpur *dev)
 
int YPSpur_md_vel (YPSpur *dev, double v, double w)
 

Macro Definition Documentation

#define Spur_md_adjust_pos_BL (   dev,
  x,
  y,
  th 
)    YPSpur_md_adjust_pos(dev, CS_BL, x, y, th)

Definition at line 83 of file ypspur-md.h.

#define Spur_md_adjust_pos_BS (   dev,
  x,
  y,
  th 
)    YPSpur_md_adjust_pos(dev, CS_BS, x, y, th)

Definition at line 82 of file ypspur-md.h.

#define Spur_md_adjust_pos_FS (   dev,
  x,
  y,
  th 
)    YPSpur_md_adjust_pos(dev, CS_FS, x, y, th)

Definition at line 81 of file ypspur-md.h.

#define Spur_md_adjust_pos_GL (   dev,
  x,
  y,
  th 
)    YPSpur_md_adjust_pos(dev, CS_GL, x, y, th)

Definition at line 79 of file ypspur-md.h.

#define Spur_md_adjust_pos_LC (   dev,
  x,
  y,
  th 
)    YPSpur_md_adjust_pos(dev, CS_LC, x, y, th)

Definition at line 80 of file ypspur-md.h.

#define Spur_md_circle_BL (   dev,
  x,
  y,
  d 
)    YPSpur_md_circle(dev, CS_BL, x, y, d)

Definition at line 56 of file ypspur-md.h.

#define Spur_md_circle_BS (   dev,
  x,
  y,
  d 
)    YPSpur_md_circle(dev, CS_BS, x, y, d)

Definition at line 55 of file ypspur-md.h.

#define Spur_md_circle_FS (   dev,
  x,
  y,
  d 
)    YPSpur_md_circle(dev, CS_FS, x, y, d)

Definition at line 54 of file ypspur-md.h.

#define Spur_md_circle_GL (   dev,
  x,
  y,
  d 
)    YPSpur_md_circle(dev, CS_GL, x, y, d)

Definition at line 52 of file ypspur-md.h.

#define Spur_md_circle_LC (   dev,
  x,
  y,
  d 
)    YPSpur_md_circle(dev, CS_LC, x, y, d)

Definition at line 53 of file ypspur-md.h.

#define Spur_md_free (   dev)    YPSpur_md_free(dev)

Definition at line 34 of file ypspur-md.h.

#define Spur_md_freeze (   dev)    YPSpur_md_freeze(dev)

Definition at line 36 of file ypspur-md.h.

#define Spur_md_get_force (   dev,
  trans,
  angular 
)    YPSpur_md_get_force(dev, trans, angular)

Definition at line 91 of file ypspur-md.h.

#define Spur_md_get_pos_BL (   dev,
  x,
  y,
  th 
)    YPSpur_md_get_pos(dev, CS_BL, x, y, th)

Definition at line 88 of file ypspur-md.h.

#define Spur_md_get_pos_BS (   dev,
  x,
  y,
  th 
)    YPSpur_md_get_pos(dev, CS_BS, x, y, th)

Definition at line 87 of file ypspur-md.h.

#define Spur_md_get_pos_GL (   dev,
  x,
  y,
  th 
)    YPSpur_md_get_pos(dev, CS_GL, x, y, th)

Definition at line 85 of file ypspur-md.h.

#define Spur_md_get_pos_LC (   dev,
  x,
  y,
  th 
)    YPSpur_md_get_pos(dev, CS_LC, x, y, th)

Definition at line 86 of file ypspur-md.h.

#define Spur_md_get_vel (   dev,
  v,
  w 
)    YPSpur_md_get_vel(dev, v, w)

Definition at line 90 of file ypspur-md.h.

#define Spur_md_init (   dev)    YPSpur_md_init(dev)

Definition at line 30 of file ypspur-md.h.

#define Spur_md_init_socket (   dev,
  ip,
  port 
)    YPSpur_md_init_socket(dev, ip, port)

Definition at line 32 of file ypspur-md.h.

#define Spur_md_initex (   dev,
  msq 
)    YPSpur_md_initex(dev, msq)

Definition at line 31 of file ypspur-md.h.

#define Spur_md_isfreeze (   dev)    YPSpur_md_isfreeze(dev)

Definition at line 37 of file ypspur-md.h.

#define Spur_md_line_BL (   dev,
  x,
  y,
  th 
)    YPSpur_md_line(dev, CS_BL, x, y, th)

Definition at line 44 of file ypspur-md.h.

#define Spur_md_line_BS (   dev,
  x,
  y,
  th 
)    YPSpur_md_line(dev, CS_BS, x, y, th)

Definition at line 43 of file ypspur-md.h.

#define Spur_md_line_FS (   dev,
  x,
  y,
  th 
)    YPSpur_md_line(dev, CS_FS, x, y, th)

Definition at line 42 of file ypspur-md.h.

#define Spur_md_line_GL (   dev,
  x,
  y,
  th 
)    YPSpur_md_line(dev, CS_GL, x, y, th)

Definition at line 40 of file ypspur-md.h.

#define Spur_md_line_LC (   dev,
  x,
  y,
  th 
)    YPSpur_md_line(dev, CS_LC, x, y, th)

Definition at line 41 of file ypspur-md.h.

#define Spur_md_near_ang_BL (   dev,
  th,
  d 
)    YPSpur_md_near_ang(dev, CS_BL, th, d)

Definition at line 101 of file ypspur-md.h.

#define Spur_md_near_ang_BS (   dev,
  th,
  d 
)    YPSpur_md_near_ang(dev, CS_BS, th, d)

Definition at line 100 of file ypspur-md.h.

#define Spur_md_near_ang_GL (   dev,
  th,
  d 
)    YPSpur_md_near_ang(dev, CS_GL, th, d)

Definition at line 98 of file ypspur-md.h.

#define Spur_md_near_ang_LC (   dev,
  th,
  d 
)    YPSpur_md_near_ang(dev, CS_LC, th, d)

Definition at line 99 of file ypspur-md.h.

#define Spur_md_near_pos_BL (   dev,
  x,
  y,
  r 
)    YPSpur_md_near_pos(dev, CS_BL, x, y, r)

Definition at line 96 of file ypspur-md.h.

#define Spur_md_near_pos_BS (   dev,
  x,
  y,
  r 
)    YPSpur_md_near_pos(dev, CS_BS, x, y, r)

Definition at line 95 of file ypspur-md.h.

#define Spur_md_near_pos_GL (   dev,
  x,
  y,
  r 
)    YPSpur_md_near_pos(dev, CS_GL, x, y, r)

Definition at line 93 of file ypspur-md.h.

#define Spur_md_near_pos_LC (   dev,
  x,
  y,
  r 
)    YPSpur_md_near_pos(dev, CS_LC, x, y, r)

Definition at line 94 of file ypspur-md.h.

#define Spur_md_orient_BL (   dev,
  th 
)    YPSpur_md_orient(dev, CS_BL, th)

Definition at line 68 of file ypspur-md.h.

#define Spur_md_orient_BS (   dev,
  th 
)    YPSpur_md_orient(dev, CS_BS, th)

Definition at line 67 of file ypspur-md.h.

#define Spur_md_orient_FS (   dev,
  th 
)    YPSpur_md_orient(dev, CS_FS, th)

Definition at line 66 of file ypspur-md.h.

#define Spur_md_orient_GL (   dev,
  th 
)    YPSpur_md_orient(dev, CS_GL, th)

Definition at line 64 of file ypspur-md.h.

#define Spur_md_orient_LC (   dev,
  th 
)    YPSpur_md_orient(dev, CS_LC, th)

Definition at line 65 of file ypspur-md.h.

#define Spur_md_over_line_BL (   dev,
  x,
  y,
  th 
)    YPSpur_md_over_line(dev, CS_BL, x, y, th)

Definition at line 106 of file ypspur-md.h.

#define Spur_md_over_line_BS (   dev,
  x,
  y,
  th 
)    YPSpur_md_over_line(dev, CS_BS, x, y, th)

Definition at line 105 of file ypspur-md.h.

#define Spur_md_over_line_GL (   dev,
  x,
  y,
  th 
)    YPSpur_md_over_line(dev, CS_GL, x, y, th)

Definition at line 103 of file ypspur-md.h.

#define Spur_md_over_line_LC (   dev,
  x,
  y,
  th 
)    YPSpur_md_over_line(dev, CS_LC, x, y, th)

Definition at line 104 of file ypspur-md.h.

#define Spur_md_set_accel (   dev,
  v 
)    YPSpur_md_set_accel(dev, v)

Definition at line 76 of file ypspur-md.h.

#define Spur_md_set_angaccel (   dev,
  w 
)    YPSpur_md_set_angaccel(dev, w)

Definition at line 77 of file ypspur-md.h.

#define Spur_md_set_angvel (   dev,
  w 
)    YPSpur_md_set_angvel(dev, w)

Definition at line 75 of file ypspur-md.h.

#define Spur_md_set_pos_BL (   dev,
  x,
  y,
  th 
)    YPSpur_md_set_pos(dev, CS_BL, x, y, th)

Definition at line 72 of file ypspur-md.h.

#define Spur_md_set_pos_GL (   dev,
  x,
  y,
  th 
)    YPSpur_md_set_pos(dev, CS_GL, x, y, th)

Definition at line 70 of file ypspur-md.h.

#define Spur_md_set_pos_LC (   dev,
  x,
  y,
  th 
)    YPSpur_md_set_pos(dev, CS_LC, x, y, th)

Definition at line 71 of file ypspur-md.h.

#define Spur_md_set_vel (   dev,
  v 
)    YPSpur_md_set_vel(dev, v)

Definition at line 74 of file ypspur-md.h.

#define Spur_md_spin_BL (   dev,
  th 
)    YPSpur_md_spin(dev, CS_BL, th)

Definition at line 62 of file ypspur-md.h.

#define Spur_md_spin_BS (   dev,
  th 
)    YPSpur_md_spin(dev, CS_BS, th)

Definition at line 61 of file ypspur-md.h.

#define Spur_md_spin_FS (   dev,
  th 
)    YPSpur_md_spin(dev, CS_FS, th)

Definition at line 60 of file ypspur-md.h.

#define Spur_md_spin_GL (   dev,
  th 
)    YPSpur_md_spin(dev, CS_GL, th)

Definition at line 58 of file ypspur-md.h.

#define Spur_md_spin_LC (   dev,
  th 
)    YPSpur_md_spin(dev, CS_LC, th)

Definition at line 59 of file ypspur-md.h.

#define Spur_md_stop (   dev)    YPSpur_md_stop(dev)

Definition at line 33 of file ypspur-md.h.

#define Spur_md_stop_line_BL (   dev,
  x,
  y,
  th 
)    YPSpur_md_stop_line(dev, CS_BL, x, y, th)

Definition at line 50 of file ypspur-md.h.

#define Spur_md_stop_line_BS (   dev,
  x,
  y,
  th 
)    YPSpur_md_stop_line(dev, CS_BS, x, y, th)

Definition at line 49 of file ypspur-md.h.

#define Spur_md_stop_line_FS (   dev,
  x,
  y,
  th 
)    YPSpur_md_stop_line(dev, CS_FS, x, y, th)

Definition at line 48 of file ypspur-md.h.

#define Spur_md_stop_line_GL (   dev,
  x,
  y,
  th 
)    YPSpur_md_stop_line(dev, CS_GL, x, y, th)

Definition at line 46 of file ypspur-md.h.

#define Spur_md_stop_line_LC (   dev,
  x,
  y,
  th 
)    YPSpur_md_stop_line(dev, CS_LC, x, y, th)

Definition at line 47 of file ypspur-md.h.

#define Spur_md_tilt_BL (   dev,
  d,
  t 
)    YPSpur_md_tilt(dev, CS_BL, d, t)

Definition at line 114 of file ypspur-md.h.

#define Spur_md_tilt_BS (   dev,
  d,
  t 
)    YPSpur_md_tilt(dev, CS_BS, d, t)

Definition at line 113 of file ypspur-md.h.

#define Spur_md_tilt_FS (   dev,
  d,
  t 
)    YPSpur_md_tilt(dev, CS_FS, d, t)

Definition at line 112 of file ypspur-md.h.

#define Spur_md_tilt_GL (   dev,
  d,
  t 
)    YPSpur_md_tilt(dev, CS_GL, d, t)

Definition at line 110 of file ypspur-md.h.

#define Spur_md_tilt_LC (   dev,
  d,
  t 
)    YPSpur_md_tilt(dev, CS_LC, d, t)

Definition at line 111 of file ypspur-md.h.

#define Spur_md_unfreeze (   dev)    YPSpur_md_unfreeze(dev)

Definition at line 38 of file ypspur-md.h.

#define Spur_md_vel (   dev,
  v,
  w 
)    YPSpur_md_vel(dev, v, w)

Definition at line 108 of file ypspur-md.h.

#define YPSPUR_GET_DEVICE_ERROR_STATE_SUPPORT   1

Definition at line 207 of file ypspur-md.h.

#define YPSPUR_JOINT_ANG_VEL_SUPPORT   1

Definition at line 206 of file ypspur-md.h.

#define YPSPUR_JOINT_SUPPORT   1

Definition at line 205 of file ypspur-md.h.

Function Documentation

int YP_md_get_ad_value ( YPSpur *  dev,
int  num 
)

Definition at line 998 of file libypspur-md.c.

double YP_md_get_device_error_state ( YPSpur *  dev,
int  id,
int *  err 
)

Definition at line 48 of file libypspur-md.c.

int YP_md_get_error_state ( YPSpur *  dev)

Definition at line 43 of file libypspur-md.c.

double YP_md_get_joint_ang ( YPSpur *  spur,
int  id,
double *  a 
)

Definition at line 1351 of file libypspur-md.c.

double YP_md_get_joint_torque ( YPSpur *  spur,
int  id,
double *  t 
)

Definition at line 1382 of file libypspur-md.c.

double YP_md_get_joint_vel ( YPSpur *  spur,
int  id,
double *  v 
)

Definition at line 1289 of file libypspur-md.c.

double YP_md_get_joint_vref ( YPSpur *  spur,
int  id,
double *  v 
)

Definition at line 1320 of file libypspur-md.c.

int YP_md_get_parameter ( YPSpur *  dev,
int  param_id,
double *  value 
)

Definition at line 800 of file libypspur-md.c.

int YP_md_get_parameter_array ( YPSpur *  dev,
int  param_id,
double *  value 
)

Definition at line 829 of file libypspur-md.c.

double YP_md_get_vref ( YPSpur *  dev,
double *  vref,
double *  wref 
)

Definition at line 506 of file libypspur-md.c.

double YP_md_get_wheel_ang ( YPSpur *  dev,
double *  theta_r,
double *  theta_l 
)

Definition at line 605 of file libypspur-md.c.

double YP_md_get_wheel_torque ( YPSpur *  dev,
double *  torque_r,
double *  torque_l 
)

Definition at line 638 of file libypspur-md.c.

double YP_md_get_wheel_vel ( YPSpur *  dev,
double *  wr,
double *  wl 
)

Definition at line 572 of file libypspur-md.c.

double YP_md_get_wheel_vref ( YPSpur *  dev,
double *  wrref,
double *  wlref 
)

Definition at line 539 of file libypspur-md.c.

int YP_md_joint_ang ( YPSpur *  spur,
int  id,
double  a 
)

Definition at line 1208 of file libypspur-md.c.

int YP_md_joint_ang_vel ( YPSpur *  spur,
int  id,
double  a,
double  v 
)

Definition at line 1228 of file libypspur-md.c.

int YP_md_joint_torque ( YPSpur *  spur,
int  id,
double  t 
)

Definition at line 1168 of file libypspur-md.c.

int YP_md_joint_vel ( YPSpur *  spur,
int  id,
double  v 
)

Definition at line 1188 of file libypspur-md.c.

int YP_md_openfree ( YPSpur *  dev)

Definition at line 296 of file libypspur-md.c.

void YP_md_request_device_dump ( YPSpur *  dev,
int  id,
int  block 
)

Definition at line 1413 of file libypspur-md.c.

int YP_md_set_control_state ( YPSpur *  dev,
int  control_id,
int  state 
)

Definition at line 860 of file libypspur-md.c.

int YP_md_set_io_data ( YPSpur *  dev,
unsigned char  data 
)

Definition at line 1048 of file libypspur-md.c.

int YP_md_set_io_dir ( YPSpur *  dev,
unsigned char  dir 
)

Definition at line 1029 of file libypspur-md.c.

int YP_md_set_joint_accel ( YPSpur *  spur,
int  id,
double  a 
)

Definition at line 1249 of file libypspur-md.c.

int YP_md_set_joint_vel ( YPSpur *  spur,
int  id,
double  v 
)

Definition at line 1269 of file libypspur-md.c.

int YP_md_set_parameter ( YPSpur *  dev,
int  param_id,
double  value 
)

Definition at line 756 of file libypspur-md.c.

int YP_md_set_parameter_array ( YPSpur *  dev,
int  param_id,
double *  value 
)

Definition at line 778 of file libypspur-md.c.

int YP_md_set_wheel_accel ( YPSpur *  dev,
double  r,
double  l 
)

Definition at line 1128 of file libypspur-md.c.

int YP_md_set_wheel_vel ( YPSpur *  dev,
double  r,
double  l 
)

Definition at line 1108 of file libypspur-md.c.

int YP_md_wheel_ang ( YPSpur *  dev,
double  r,
double  l 
)

Definition at line 1148 of file libypspur-md.c.

int YP_md_wheel_torque ( YPSpur *  dev,
double  r,
double  l 
)

Definition at line 1088 of file libypspur-md.c.

int YP_md_wheel_vel ( YPSpur *  dev,
double  r,
double  l 
)

Definition at line 1068 of file libypspur-md.c.

int YPSpur_md_adjust_pos ( YPSpur *  dev,
int  cs,
double  x,
double  y,
double  theta 
)

Definition at line 337 of file libypspur-md.c.

int YPSpur_md_circle ( YPSpur *  dev,
int  cs,
double  x,
double  y,
double  r 
)

Definition at line 158 of file libypspur-md.c.

int YPSpur_md_free ( YPSpur *  dev)

Definition at line 277 of file libypspur-md.c.

int YPSpur_md_freeze ( YPSpur *  dev)

Definition at line 239 of file libypspur-md.c.

double YPSpur_md_get_force ( YPSpur *  dev,
double *  trans,
double *  angular 
)

Definition at line 671 of file libypspur-md.c.

double YPSpur_md_get_pos ( YPSpur *  dev,
int  cs,
double *  x,
double *  y,
double *  theta 
)

getter

Definition at line 439 of file libypspur-md.c.

double YPSpur_md_get_vel ( YPSpur *  dev,
double *  v,
double *  w 
)

Definition at line 473 of file libypspur-md.c.

int YPSpur_md_init ( YPSpur *  dev)

init

Definition at line 108 of file libypspur-md.c.

int YPSpur_md_init_socket ( YPSpur *  dev,
char *  ip,
int  port 
)

Definition at line 94 of file libypspur-md.c.

int YPSpur_md_initex ( YPSpur *  dev,
int  msq_key 
)

Definition at line 81 of file libypspur-md.c.

int YPSpur_md_isfreeze ( YPSpur *  dev)

freeze

Definition at line 704 of file libypspur-md.c.

int YPSpur_md_line ( YPSpur *  dev,
int  cs,
double  x,
double  y,
double  theta 
)

Spur_md

Definition at line 114 of file libypspur-md.c.

int YPSpur_md_near_ang ( YPSpur *  dev,
int  cs,
double  th,
double  d 
)

Definition at line 935 of file libypspur-md.c.

int YPSpur_md_near_pos ( YPSpur *  dev,
int  cs,
double  x,
double  y,
double  r 
)

check position

Definition at line 903 of file libypspur-md.c.

int YPSpur_md_orient ( YPSpur *  dev,
int  cs,
double  theta 
)

Definition at line 200 of file libypspur-md.c.

int YPSpur_md_over_line ( YPSpur *  dev,
int  cs,
double  x,
double  y,
double  theta 
)

Definition at line 966 of file libypspur-md.c.

int YPSpur_md_set_accel ( YPSpur *  dev,
double  v 
)

Definition at line 399 of file libypspur-md.c.

int YPSpur_md_set_angaccel ( YPSpur *  dev,
double  w 
)

Definition at line 419 of file libypspur-md.c.

int YPSpur_md_set_angvel ( YPSpur *  dev,
double  w 
)

Definition at line 379 of file libypspur-md.c.

int YPSpur_md_set_pos ( YPSpur *  dev,
int  cs,
double  x,
double  y,
double  theta 
)

setter

Definition at line 315 of file libypspur-md.c.

int YPSpur_md_set_vel ( YPSpur *  dev,
double  v 
)

Definition at line 359 of file libypspur-md.c.

int YPSpur_md_spin ( YPSpur *  dev,
int  cs,
double  theta 
)

Definition at line 180 of file libypspur-md.c.

int YPSpur_md_stop ( YPSpur *  dev)

motor servo

Definition at line 220 of file libypspur-md.c.

int YPSpur_md_stop_line ( YPSpur *  dev,
int  cs,
double  x,
double  y,
double  theta 
)

Definition at line 136 of file libypspur-md.c.

int YPSpur_md_tilt ( YPSpur *  dev,
int  cs,
double  dir,
double  tilt 
)

tilt

Definition at line 881 of file libypspur-md.c.

int YPSpur_md_unfreeze ( YPSpur *  dev)

Definition at line 258 of file libypspur-md.c.

int YPSpur_md_vel ( YPSpur *  dev,
double  v,
double  w 
)

direct

Definition at line 735 of file libypspur-md.c.


yp-spur
Author(s):
autogenerated on Fri May 7 2021 02:12:17