#include <unistd.h>
#include <iostream>
#include <cstdlib>
#include <cstring>
#include <vector>
#include "iob.h"

Include dependency graph for iob.cpp:

Macros
#define	CHECK_ACCELEROMETER_ID(id) if ((id) < 0 \|\| (id) >= number_of_accelerometers()) return E_ID

#define	CHECK_ATTITUDE_SENSOR_ID(id) if ((id) < 0 \|\| (id) >= number_of_attitude_sensors()) return E_ID

#define	CHECK_FORCE_SENSOR_ID(id) if ((id) < 0 \|\| (id) >= number_of_force_sensors()) return E_ID

#define	CHECK_GYRO_SENSOR_ID(id) if ((id) < 0 \|\| (id) >= number_of_gyro_sensors()) return E_ID

#define	CHECK_JOINT_ID(id) if ((id) < 0 \|\| (id) >= number_of_joints()) return E_ID

Functions
int	close_iob (void)
	close connection with joint servo process More...

long	get_signal_period ()
	get the period of signals issued by wait_for_iob_signal() More...

int	initializeJointAngle (const char name, const char option)
	initialize joint angle More...

int	joint_calibration (int id, double angle)

int	length_digital_input ()
	get_digital_input_length More...

int	length_digital_output ()
	get_digital_output_length More...

size_t	length_of_extra_servo_state (int id)
	get length of extra servo states More...

int	lock_iob ()
	lock access to iob More...

int	number_of_accelerometers ()
	get the number of accelerometers More...

int	number_of_attitude_sensors ()
	get the number of attitude sensors More...

int	number_of_force_sensors ()
	get the number of force sensors More...

int	number_of_gyro_sensors ()
	get the number of gyro sensors More...

int	number_of_joints ()
	get the number of joints More...

int	number_of_substeps ()

int	open_iob (void)
	open connection with joint servo process More...

int	read_accelerometer (int id, double *accels)
	read output of accelerometer More...

int	read_accelerometer_offset (int id, double *offset)
	read offset values for accelerometer output More...

int	read_actual_angle (int id, double *angle)
	read current joint angle[rad] More...

int	read_actual_angles (double *angles)
	read array of current joint angles[rad] More...

int	read_actual_torques (double *torques)
	read array of current joint torques[Nm] More...

int	read_actual_velocities (double *vels)
	read actual angular velocities[rad/s] More...

int	read_actual_velocity (int id, double *vel)
	read actual angular velocity[rad/s] More...

int	read_angle_offset (int id, double *angle)
	read offset value for joint[rad] More...

int	read_attitude_sensor (int id, double *att)
	read output of attitude sensor More...

int	read_calib_state (int id, int *s)
	read callibration state of joint More...

int	read_command_angle (int id, double *angle)
	read command angle[rad] More...

int	read_command_angles (double *angles)
	read array of command angles[rad] More...

int	read_command_torque (int id, double *torque)
	read command torque[Nm] More...

int	read_command_torques (double *torques)
	read array of command torques[Nm] More...

int	read_command_velocities (double *vels)
	read command angular velocities[rad/s] More...

int	read_command_velocity (int id, double *vel)
	read command angular velocity[rad/s] More...

int	read_control_mode (int id, joint_control_mode *s)
	read joint control mode More...

int	read_current (int id, double *mcurrent)

int	read_current_limit (int id, double *v)

int	read_currents (double *currents)

int	read_dgain (int id, double *gain)
	read D gain[Nm/(rad/s)] More...

int	read_digital_input (char *dinput)
	read_digital_input, non-applicable bits are nop More...

int	read_digital_output (char *doutput)
	read_digital_output, non-applicable bits are nop More...

int	read_driver_temperature (int id, unsigned char *v)
	read temperature of motor driver[Celsius] More...

int	read_encoder_pulse (int id, double *ec)

int	read_extra_servo_state (int id, int *state)
	read extra servo states More...

int	read_force_offset (int id, double *offsets)
	read offset values for force sensor output More...

int	read_force_sensor (int id, double *forces)
	read output of force sensor More...

int	read_gauges (double *gauges)

int	read_gear_ratio (int id, double *gr)

int	read_gyro_sensor (int id, double *rates)
	read output of gyro sensor More...

int	read_gyro_sensor_offset (int id, double *offset)
	read offset values for gyro sensor output More...

unsigned long long	read_iob_frame ()

int	read_limit_angle (int id, double *angle)

int	read_llimit_angle (int id, double *angle)

int	read_lock_owner (pid_t *pid)
	read id of the process whic is locking access to iob More...

int	read_pgain (int id, double *gain)
	read P gain[Nm/rad] More...

int	read_power (double voltage, double current)
	read status of power source More...

int	read_power_command (int id, int *com)
	turn on/off power supply for motor driver More...

int	read_power_state (int id, int *s)
	read power status of motor driver More...

int	read_servo_alarm (int id, int *a)
	read servo alarms More...

int	read_servo_state (int id, int *s)
	read servo status More...

int	read_temperature (int id, double *v)
	read thermometer More...

int	read_torque_const (int id, double *tc)

int	read_torque_limit (int id, double *limit)

int	read_touch_sensors (unsigned short *onoff)

int	read_ulimit_angle (int id, double *angle)

int	reset_body (void)

int	set_number_of_accelerometers (int num)
	set the number of accelerometers More...

int	set_number_of_attitude_sensors (int num)

int	set_number_of_force_sensors (int num)
	set the number of force sensors More...

int	set_number_of_gyro_sensors (int num)
	set the number of gyro sensors More...

int	set_number_of_joints (int num)
	set the number of joints More...

int	set_signal_period (long period_ns)
	set the period of signals issued by wait_for_iob_signal() More...

void	timespec_add_ns (timespec *ts, long ns)

double	timespec_compare (timespec ts1, timespec ts2)

int	unlock_iob ()
	unlock access to iob More...

int	wait_for_iob_signal ()
	wait until iob signal is issued More...

int	write_accelerometer_offset (int id, double *offset)
	write offset values for accelerometer output More...

int	write_angle_offset (int id, double angle)
	write offset value for joint[rad] More...

int	write_attitude_sensor_offset (int id, double *offset)

int	write_command_angle (int id, double angle)
	write command angle[rad] More...

int	write_command_angles (const double *angles)
	write array of command angles[rad] More...

int	write_command_torque (int id, double torque)
	write command torque[Nm] More...

int	write_command_torques (const double *torques)
	write array of command torques[Nm] More...

int	write_command_velocities (const double *vels)
	write command angular velocities[rad/s] More...

int	write_command_velocity (int id, double vel)
	write command angular velocity[rad/s] More...

int	write_control_mode (int id, joint_control_mode s)
	write joint control mode More...

int	write_dgain (int id, double gain)
	write D gain[Nm/(rad/s)] More...

int	write_digital_output (const char *doutput)
	write_digital_output, non-applicable bits are nop More...

int	write_digital_output_with_mask (const char doutput, const char mask)
	write_digital_output, non-applicable bits are nop More...

int	write_dio (unsigned short buf)

int	write_force_offset (int id, double *offsets)
	write offset values for force sensor output More...

int	write_gyro_sensor_offset (int id, double *offset)
	write offset values for gyro sensor output More...

int	write_pgain (int id, double gain)
	write P gain[Nm/rad] More...

int	write_power_command (int id, int com)
	turn on/off power supply for motor driver More...

int	write_servo (int id, int com)
	turn on/off joint servo More...

Variables
static std::vector< std::vector< double > >	accel_offset

static std::vector< std::vector< double > >	accelerometers

static std::vector< std::vector< double > >	attitude_sensors

static std::vector< double >	command

static std::vector< std::vector< double > >	force_offset

static std::vector< std::vector< double > >	forces

static int	frame = 0

static long	g_period_ns =5000000

static timespec	g_ts

static std::vector< std::vector< double > >	gyro_offset

static std::vector< std::vector< double > >	gyros

static bool	isLocked = false

static std::vector< int >	power

static std::vector< int >	servo

Macro Definition Documentation

◆ CHECK_ACCELEROMETER_ID

#define CHECK_ACCELEROMETER_ID ( id ) if ((id) < 0 || (id) >= number_of_accelerometers()) return E_ID

Definition at line 25 of file iob.cpp.

◆ CHECK_ATTITUDE_SENSOR_ID

#define CHECK_ATTITUDE_SENSOR_ID ( id ) if ((id) < 0 || (id) >= number_of_attitude_sensors()) return E_ID

Definition at line 27 of file iob.cpp.

◆ CHECK_FORCE_SENSOR_ID

#define CHECK_FORCE_SENSOR_ID ( id ) if ((id) < 0 || (id) >= number_of_force_sensors()) return E_ID

Definition at line 24 of file iob.cpp.

◆ CHECK_GYRO_SENSOR_ID

#define CHECK_GYRO_SENSOR_ID ( id ) if ((id) < 0 || (id) >= number_of_gyro_sensors()) return E_ID

Definition at line 26 of file iob.cpp.

◆ CHECK_JOINT_ID

#define CHECK_JOINT_ID ( id ) if ((id) < 0 || (id) >= number_of_joints()) return E_ID

Definition at line 23 of file iob.cpp.

Function Documentation

◆ close_iob()

int close_iob ( void )

close connection with joint servo process

Return values

TRUE	closed successfully
FALSE	otherwise

Definition at line 413 of file iob.cpp.

◆ get_signal_period()

long get_signal_period ( )

get the period of signals issued by wait_for_iob_signal()

Returns: the period of signals[ns]

Definition at line 703 of file iob.cpp.

◆ initializeJointAngle()

int initializeJointAngle	(	const char *	name,
		const char *	option
	)

initialize joint angle

Parameters

name	joint name, part name or "all"
option	string of joint angle initialization

Returns: TRUE if initialized successfully, FALSE otherwise

Definition at line 708 of file iob.cpp.

◆ joint_calibration()

int joint_calibration	(	int	id,
		double	angle
	)

Definition at line 427 of file iob.cpp.

◆ length_digital_input()

int length_digital_input ( )

get_digital_input_length

Returns: length of digital input in bytes

Definition at line 719 of file iob.cpp.

◆ length_digital_output()

int length_digital_output ( )

get_digital_output_length

Returns: length of digital output in bytes

Definition at line 734 of file iob.cpp.

◆ length_of_extra_servo_state()

size_t length_of_extra_servo_state ( int id )

get length of extra servo states

Parameters

id joint id

Returns: length of extra servo states

Definition at line 687 of file iob.cpp.

◆ lock_iob()

int lock_iob ( )

lock access to iob

Return values

TRUE	iob is locked successfully
FALSE	some other process is locking iob

Definition at line 493 of file iob.cpp.

◆ number_of_accelerometers()

int number_of_accelerometers ( )

get the number of accelerometers

Returns: the number of accelerometers

Definition at line 80 of file iob.cpp.

◆ number_of_attitude_sensors()

int number_of_attitude_sensors ( )

get the number of attitude sensors

Returns: the number of attitude sensors

Definition at line 85 of file iob.cpp.

◆ number_of_force_sensors()

int number_of_force_sensors ( )

get the number of force sensors

Returns: the number of force sensors

Definition at line 70 of file iob.cpp.

◆ number_of_gyro_sensors()

int number_of_gyro_sensors ( )

get the number of gyro sensors

Returns: the number of gyro sensors

Definition at line 75 of file iob.cpp.

◆ number_of_joints()

int number_of_joints ( )

get the number of joints

Returns: the number of joints

Definition at line 65 of file iob.cpp.

◆ number_of_substeps()

int number_of_substeps ( )

Returns: the number of substeps

Definition at line 558 of file iob.cpp.

◆ open_iob()

int open_iob ( void )

open connection with joint servo process

Return values

TRUE	opened successfully
FALSE	otherwise

Definition at line 401 of file iob.cpp.

◆ read_accelerometer()

int read_accelerometer	(	int	id,
		double *	accels
	)

read output of accelerometer

Parameters

id	accelerometer id
accels	accelerations [m/s^2], length of array must be 3

Returns: TRUE or E_ID

Definition at line 315 of file iob.cpp.

◆ read_accelerometer_offset()

int read_accelerometer_offset	(	int	id,
		double *	offset
	)

read offset values for accelerometer output

Parameters

id	accelerometer id
offset	offset values[rad/s^2], length of array must be 3.

Return values

TRUE	offset values are read successfully
E_ID	invalid id is specified
FALSE	this function is not supported

Definition at line 448 of file iob.cpp.

◆ read_actual_angle()

int read_actual_angle	(	int	id,
		double *	angle
	)

read current joint angle[rad]

Parameters

id	joint id
angle	actual joint angle[rad]

Return values

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

Definition at line 206 of file iob.cpp.

◆ read_actual_angles()

int read_actual_angles ( double * angles )

read array of current joint angles[rad]

Parameters

angles array of joint angle[rad], length of array must be equal to number_of_joints()

Return values

TRUE	this function is supported
FALSE	otherwise

Definition at line 213 of file iob.cpp.

◆ read_actual_torques()

int read_actual_torques ( double * torques )

read array of current joint torques[Nm]

Parameters

torques array of actual joint torque[Nm], length of array must be equal to number_of_joints()

Return values

TRUE	this function is supported
FALSE	otherwise

Definition at line 221 of file iob.cpp.

◆ read_actual_velocities()

int read_actual_velocities ( double * vels )

read actual angular velocities[rad/s]

Parameters

vels	array of angular velocity [rad/s]

Return values

TRUE	this function is supported
FALSE	otherwise

Definition at line 370 of file iob.cpp.

◆ read_actual_velocity()

int read_actual_velocity	(	int	id,
		double *	vel
	)

read actual angular velocity[rad/s]

Parameters

id	joint id
vel	angular velocity [rad/s]

Returns: TRUE or E_ID

Definition at line 355 of file iob.cpp.

◆ read_angle_offset()

int read_angle_offset	(	int	id,
		double *	offset
	)

read offset value for joint[rad]

Parameters

id	joint id
offset	offset value[rad]

Return values

TRUE	offset value is read successfully
E_ID	invalid id is specified
FALSE	this function is not supported

Definition at line 516 of file iob.cpp.

◆ read_attitude_sensor()

int read_attitude_sensor	(	int	id,
		double *	att
	)

read output of attitude sensor

Parameters

id	attitude sensor id
att	roll-pitch-yaw angle[rad], length of array must be 3

Return values

TRUE	sensor values are read successfully
E_ID	invalid id is specified
FALSE	this function is not supported

Definition at line 330 of file iob.cpp.

◆ read_calib_state()

int read_calib_state	(	int	id,
		int *	s
	)

read callibration state of joint

Parameters

id	joint id
s	TRUE if calibration is already done, FALSE otherwise

Return values

TRUE	calibration status is read successfully
E_ID	invalid joint id is specified
FALSE	this function is not supported

Definition at line 485 of file iob.cpp.

◆ read_command_angle()

int read_command_angle	(	int	id,
		double *	angle
	)

read command angle[rad]

Parameters

id	joint id
angle	command joint angle[rad]

Return values

TRUE	this function is supported
FALSE	otherwise

Definition at line 246 of file iob.cpp.

◆ read_command_angles()

int read_command_angles ( double * angles )

read array of command angles[rad]

Parameters

angles array of joint angles[rad], length of array must equal to DOF

Return values

TRUE	this function is supported
FALSE	otherwise

Definition at line 260 of file iob.cpp.

◆ read_command_torque()

int read_command_torque	(	int	id,
		double *	torque
	)

read command torque[Nm]

Parameters

id	joint id
torque	joint torque[Nm]

Return values

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

Definition at line 226 of file iob.cpp.

◆ read_command_torques()

int read_command_torques ( double * torques )

read array of command torques[Nm]

Parameters

torques array of command torques[Nm]

Return values

TRUE	this function is supported
FALSE	otherwise

Definition at line 236 of file iob.cpp.

◆ read_command_velocities()

int read_command_velocities ( double * vels )

read command angular velocities[rad/s]

Parameters

vels	array of angular velocity [rad/s]

Return values

TRUE	this function is supported
FALSE	otherwise

Definition at line 375 of file iob.cpp.

◆ read_command_velocity()

int read_command_velocity	(	int	id,
		double *	vel
	)

read command angular velocity[rad/s]

Parameters

id	joint id
vel	angular velocity [rad/s]

Returns: TRUE or E_ID

Definition at line 360 of file iob.cpp.

◆ read_control_mode()

int read_control_mode	(	int	id,
		joint_control_mode *	s
	)

read joint control mode

Parameters

id	joint id
s	joint control mode

Return values

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

Definition at line 193 of file iob.cpp.

◆ read_current()

int read_current	(	int	id,
		double *	mcurrent
	)

Definition at line 335 of file iob.cpp.

◆ read_current_limit()

int read_current_limit	(	int	id,
		double *	v
	)

Definition at line 340 of file iob.cpp.

◆ read_currents()

int read_currents ( double * currents )

Definition at line 345 of file iob.cpp.

◆ read_dgain()

int read_dgain	(	int	id,
		double *	gain
	)

read D gain[Nm/(rad/s)]

Parameters

id	joint id
gain	D gain[Nm/(rad/s)]

Returns: TRUE or E_ID

Definition at line 286 of file iob.cpp.

◆ read_digital_input()

int read_digital_input ( char * dinput )

read_digital_input, non-applicable bits are nop

Parameters

dinput digital input from environment

Returns: TRUE if applicable, FALSE otherwise

Definition at line 714 of file iob.cpp.

◆ read_digital_output()

int read_digital_output ( char * doutput )

read_digital_output, non-applicable bits are nop

Parameters

doutput digital output to environment

Returns: TRUE if applicable, FALSE otherwise

Definition at line 739 of file iob.cpp.

◆ read_driver_temperature()

int read_driver_temperature	(	int	id,
		unsigned char *	v
	)

read temperature of motor driver[Celsius]

Parameters

id	joint id
v	temperature[Celsius]

Return values

TRUE	temperature is read successfully
E_ID	invalid joint id is specified
FALSE	this function is not supported

Definition at line 649 of file iob.cpp.

◆ read_encoder_pulse()

int read_encoder_pulse	(	int	id,
		double *	ec
	)

Definition at line 534 of file iob.cpp.

◆ read_extra_servo_state()

int read_extra_servo_state	(	int	id,
		int *	state
	)

read extra servo states

Parameters

id	joint id
state	array of int where extra servo states are stored

Returns: TRUE if read successfully, FALSE otherwise

Definition at line 692 of file iob.cpp.

◆ read_force_offset()

int read_force_offset	(	int	id,
		double *	offsets
	)

read offset values for force sensor output

Parameters

id	force/torque sensor id
offsets	offset values[N][Nm], length of array must be 6.

Return values

TRUE	offset values are read successfully
E_ID	invalid id is specified
FALSE	this function is not supported

Definition at line 464 of file iob.cpp.

◆ read_force_sensor()

int read_force_sensor	(	int	id,
		double *	forces
	)

read output of force sensor

Parameters

id	Force Sensor id
forces	array of forces[N] and moments[Nm], length of array must be 6

Returns: TRUE or E_ID

Definition at line 296 of file iob.cpp.

◆ read_gauges()

int read_gauges ( double * gauges )

Definition at line 350 of file iob.cpp.

◆ read_gear_ratio()

int read_gear_ratio	(	int	id,
		double *	gr
	)

Definition at line 538 of file iob.cpp.

◆ read_gyro_sensor()

int read_gyro_sensor	(	int	id,
		double *	rates
	)

read output of gyro sensor

Parameters

id	gyro sensor id
rates	angular velocities [rad/s], length of array must be 3

Returns: TRUE or E_ID

Definition at line 305 of file iob.cpp.

◆ read_gyro_sensor_offset()

int read_gyro_sensor_offset	(	int	id,
		double *	offset
	)

read offset values for gyro sensor output

Parameters

id	gyro sensor id
offset	offset values[rad/s], length of array must be 3.

Return values

TRUE	offset values are read successfully
E_ID	invalid id is specified
FALSE	this function is not supported

Definition at line 432 of file iob.cpp.

◆ read_iob_frame()

unsigned long long read_iob_frame ( )

Definition at line 551 of file iob.cpp.

◆ read_limit_angle()

int read_limit_angle	(	int	id,
		double *	angle
	)

Definition at line 511 of file iob.cpp.

◆ read_llimit_angle()

int read_llimit_angle	(	int	id,
		double *	angle
	)

Definition at line 530 of file iob.cpp.

◆ read_lock_owner()

int read_lock_owner ( pid_t * pid )

read id of the process whic is locking access to iob

Definition at line 506 of file iob.cpp.

◆ read_pgain()

int read_pgain	(	int	id,
		double *	gain
	)

read P gain[Nm/rad]

Parameters

id	joint id
gain	P gain[Nm/rad]

Returns: TRUE or E_ID

Definition at line 276 of file iob.cpp.

◆ read_power()

int read_power	(	double *	v,
		double *	a
	)

read status of power source

Parameters

v	voltage[V]
a	current[A]

Returns: TRUE or FALSE

Definition at line 563 of file iob.cpp.

◆ read_power_command()

int read_power_command	(	int	id,
		int *	com
	)

turn on/off power supply for motor driver

Parameters

id	joint id
com	ON/OFF

Return values

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

Definition at line 172 of file iob.cpp.

◆ read_power_state()

int read_power_state	(	int	id,
		int *	s
	)

read power status of motor driver

Parameters

id	joint id
s	ON or OFF is returned

Return values

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

Definition at line 158 of file iob.cpp.

◆ read_servo_alarm()

int read_servo_alarm	(	int	id,
		int *	a
	)

read servo alarms

Parameters

id	joint id
a	servo alarms

Return values

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

Definition at line 186 of file iob.cpp.

◆ read_servo_state()

int read_servo_state	(	int	id,
		int *	s
	)

read servo status

Parameters

id	joint id
s	ON/OFF

Return values

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

Definition at line 179 of file iob.cpp.

◆ read_temperature()

int read_temperature	(	int	id,
		double *	v
	)

read thermometer

Parameters

id	id of thermometer
v	temperature[Celsius]

Return values

TRUE	temperature is read successfully
E_ID	invalid thermometer id is specified
FALSE	this function is not supported

Definition at line 385 of file iob.cpp.

◆ read_torque_const()

int read_torque_const	(	int	id,
		double *	tc
	)

Definition at line 542 of file iob.cpp.

◆ read_torque_limit()

int read_torque_limit	(	int	id,
		double *	limit
	)

Definition at line 546 of file iob.cpp.

◆ read_touch_sensors()

int read_touch_sensors ( unsigned short * onoff )

Definition at line 325 of file iob.cpp.

◆ read_ulimit_angle()

int read_ulimit_angle	(	int	id,
		double *	angle
	)

Definition at line 526 of file iob.cpp.

◆ reset_body()

int reset_body ( void )

Definition at line 419 of file iob.cpp.

◆ set_number_of_accelerometers()

int set_number_of_accelerometers ( int num )

set the number of accelerometers

Parameters

num	the number of accelerometers

Returns: TRUE if the number of accelerometers is set, FALSE otherwise

Definition at line 131 of file iob.cpp.

◆ set_number_of_attitude_sensors()

int set_number_of_attitude_sensors ( int num )

Definition at line 146 of file iob.cpp.

◆ set_number_of_force_sensors()

int set_number_of_force_sensors ( int num )

set the number of force sensors

Parameters

num	the number of force sensors

Returns: TRUE if the number of force sensors is set, FALSE otherwise

Definition at line 101 of file iob.cpp.

◆ set_number_of_gyro_sensors()

int set_number_of_gyro_sensors ( int num )

set the number of gyro sensors

Parameters

num	the number of gyro sensors

Returns: TRUE if the number of gyro sensors is set, FALSE otherwise

Definition at line 116 of file iob.cpp.

◆ set_number_of_joints()

int set_number_of_joints ( int num )

set the number of joints

Parameters

num	the number of joints

Returns: TRUE if the number of joints is set, FALSE otherwise

Definition at line 90 of file iob.cpp.

◆ set_signal_period()

int set_signal_period ( long period_ns )

set the period of signals issued by wait_for_iob_signal()

Parameters

period_ns the period of signals[ns]

Returns: TRUE if set successfully, FALSE otherwise

Definition at line 697 of file iob.cpp.

◆ timespec_add_ns()

void timespec_add_ns	(	timespec *	ts,
		long	ns
	)

Definition at line 655 of file iob.cpp.

◆ timespec_compare()

double timespec_compare	(	timespec *	ts1,
		timespec *	ts2
	)

Definition at line 664 of file iob.cpp.

◆ unlock_iob()

int unlock_iob ( )

unlock access to iob

Definition at line 500 of file iob.cpp.

◆ wait_for_iob_signal()

int wait_for_iob_signal ( )

wait until iob signal is issued

Returns: TRUE if signal is received successfully, FALSE otherwise

Definition at line 671 of file iob.cpp.

◆ write_accelerometer_offset()

int write_accelerometer_offset	(	int	id,
		double *	offset
	)

write offset values for accelerometer output

Parameters

id	accelerometer id
offset	offset values[rad/s^2], length of array must be 3.

Return values

TRUE	offset values are written successfully
E_ID	invalid id is specified
FALSE	this function is not supported

Definition at line 456 of file iob.cpp.

◆ write_angle_offset()

int write_angle_offset	(	int	id,
		double	offset
	)

write offset value for joint[rad]

Parameters

id	joint id
offset	offset value[rad]

Return values

TRUE	offset values are written successfully
E_ID	invalid id is specified
FALSE	this function is not supported

Definition at line 521 of file iob.cpp.

◆ write_attitude_sensor_offset()

int write_attitude_sensor_offset	(	int	id,
		double *	offset
	)

Definition at line 480 of file iob.cpp.

◆ write_command_angle()

int write_command_angle	(	int	id,
		double	angle
	)

write command angle[rad]

Parameters

id	joint id
angle	command joint angle[rad]

Returns: TRUE or E_ID

Definition at line 253 of file iob.cpp.

◆ write_command_angles()

int write_command_angles ( const double * angles )

write array of command angles[rad]

Parameters

angles array of joint angles[rad], length of array must equal to DOF

Return values

TRUE	this function is supported
FALSE	otherwise

Definition at line 268 of file iob.cpp.

◆ write_command_torque()

int write_command_torque	(	int	id,
		double	torque
	)

write command torque[Nm]

Parameters

id	joint id
torque	joint torque[Nm]

Returns: TRUE if this function is supported, FALSE otherwise

Definition at line 231 of file iob.cpp.

◆ write_command_torques()

int write_command_torques ( const double * torques )

write array of command torques[Nm]

Parameters

torques array of command torques[Nm]

Return values

TRUE	this function is supported
FALSE	otherwise

Definition at line 241 of file iob.cpp.

◆ write_command_velocities()

int write_command_velocities ( const double * vels )

write command angular velocities[rad/s]

Parameters

vels	array of angular velocity [rad/s]

Return values

TRUE	this function is supported
FALSE	otherwise

Definition at line 380 of file iob.cpp.

◆ write_command_velocity()

int write_command_velocity	(	int	id,
		double	vel
	)

write command angular velocity[rad/s]

Parameters

id	joint id
vel	angular velocity [rad/s]

Returns: TRUE or E_ID

Definition at line 365 of file iob.cpp.

◆ write_control_mode()

int write_control_mode	(	int	id,
		joint_control_mode	s
	)

write joint control mode

Parameters

id	joint id
s	joint control mode

Return values

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

Definition at line 200 of file iob.cpp.

◆ write_dgain()

int write_dgain	(	int	id,
		double	gain
	)

write D gain[Nm/(rad/s)]

Parameters

id	joint id
gain	D gain[Nm/(rad/s)]

Returns: TRUE or E_ID

Definition at line 291 of file iob.cpp.

◆ write_digital_output()

int write_digital_output ( const char * doutput )

write_digital_output, non-applicable bits are nop

Parameters

doutput set digital output to environment

Returns: TRUE if applicable, FALSE otherwise

Definition at line 724 of file iob.cpp.

◆ write_digital_output_with_mask()

int write_digital_output_with_mask	(	const char *	doutput,
		const char *	dmask
	)

write_digital_output, non-applicable bits are nop

Parameters

doutput	set digital output to environment
mask	binary vector which selects output to be set

Returns: TRUE if applicable, FALSE otherwise

Definition at line 729 of file iob.cpp.

◆ write_dio()

int write_dio ( unsigned short buf )

Definition at line 396 of file iob.cpp.

◆ write_force_offset()

int write_force_offset	(	int	id,
		double *	offsets
	)

write offset values for force sensor output

Parameters

id	force/torque id
offsets	offset values[N][Nm], length of array must be 6.

Return values

TRUE	offset values are written successfully
E_ID	invalid id is specified
FALSE	this function is not supported

Definition at line 472 of file iob.cpp.

◆ write_gyro_sensor_offset()

int write_gyro_sensor_offset	(	int	id,
		double *	offset
	)

write offset values for gyro sensor output

Parameters

id	gyro sensor id
offset	offset values[rad/s], length of array must be 3.

Return values

TRUE	offset values are written successfully
E_ID	invalid id is specified
FALSE	this function is not supported

Definition at line 440 of file iob.cpp.

◆ write_pgain()

int write_pgain	(	int	id,
		double	gain
	)

write P gain[Nm/rad]

Parameters

id	joint id
gain	P gain[Nm/rad]

Returns: TRUE or E_ID

Definition at line 281 of file iob.cpp.

◆ write_power_command()

int write_power_command	(	int	id,
		int	com
	)

turn on/off power supply for motor driver

Parameters

id	joint id
com	ON/OFF

Return values

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

Definition at line 165 of file iob.cpp.

◆ write_servo()

int write_servo	(	int	id,
		int	com
	)

turn on/off joint servo

Parameters

id	joint id
com	ON/OFF

Returns: TRUE if this function is supported, FALSE otherwise

Definition at line 390 of file iob.cpp.

Variable Documentation

◆ accel_offset

std::vector<std::vector<double> > accel_offset

static

Definition at line 15 of file iob.cpp.

◆ accelerometers

std::vector<std::vector<double> > accelerometers

static

Definition at line 11 of file iob.cpp.

◆ attitude_sensors

std::vector<std::vector<double> > attitude_sensors

static

Definition at line 12 of file iob.cpp.

◆ command

std::vector<double> command

static

Definition at line 8 of file iob.cpp.

◆ force_offset

std::vector<std::vector<double> > force_offset

static

Definition at line 13 of file iob.cpp.

◆ forces

std::vector<std::vector<double> > forces

static

Definition at line 9 of file iob.cpp.

◆ frame

int frame = 0

static

Definition at line 19 of file iob.cpp.

◆ g_period_ns

long g_period_ns =5000000

static

Definition at line 21 of file iob.cpp.

◆ g_ts

timespec g_ts

static

Definition at line 20 of file iob.cpp.

◆ gyro_offset

std::vector<std::vector<double> > gyro_offset

static

Definition at line 14 of file iob.cpp.

◆ gyros

std::vector<std::vector<double> > gyros

static

Definition at line 10 of file iob.cpp.

◆ isLocked

bool isLocked = false

static

Definition at line 18 of file iob.cpp.

◆ power

std::vector<int> power

static

Definition at line 16 of file iob.cpp.

◆ servo

std::vector<int> servo

static

Definition at line 17 of file iob.cpp.

Macros

Functions

Variables

Macro Definition Documentation

◆ CHECK_ACCELEROMETER_ID

◆ CHECK_ATTITUDE_SENSOR_ID

◆ CHECK_FORCE_SENSOR_ID

◆ CHECK_GYRO_SENSOR_ID

◆ CHECK_JOINT_ID

Function Documentation

◆ close_iob()

◆ get_signal_period()

◆ initializeJointAngle()

◆ joint_calibration()

◆ length_digital_input()

◆ length_digital_output()

◆ length_of_extra_servo_state()

◆ lock_iob()

◆ number_of_accelerometers()

◆ number_of_attitude_sensors()

◆ number_of_force_sensors()

◆ number_of_gyro_sensors()

◆ number_of_joints()

◆ number_of_substeps()

◆ open_iob()

◆ read_accelerometer()

◆ read_accelerometer_offset()

◆ read_actual_angle()

◆ read_actual_angles()

◆ read_actual_torques()

◆ read_actual_velocities()

◆ read_actual_velocity()

◆ read_angle_offset()

◆ read_attitude_sensor()

◆ read_calib_state()

◆ read_command_angle()

◆ read_command_angles()

◆ read_command_torque()

◆ read_command_torques()

◆ read_command_velocities()

◆ read_command_velocity()

◆ read_control_mode()

◆ read_current()

◆ read_current_limit()

◆ read_currents()

◆ read_dgain()

◆ read_digital_input()

◆ read_digital_output()

◆ read_driver_temperature()

◆ read_encoder_pulse()

◆ read_extra_servo_state()

◆ read_force_offset()

◆ read_force_sensor()

◆ read_gauges()

◆ read_gear_ratio()

◆ read_gyro_sensor()

◆ read_gyro_sensor_offset()

◆ read_iob_frame()

◆ read_limit_angle()

◆ read_llimit_angle()

◆ read_lock_owner()

◆ read_pgain()

◆ read_power()

◆ read_power_command()

◆ read_power_state()

◆ read_servo_alarm()

◆ read_servo_state()

◆ read_temperature()

◆ read_torque_const()

◆ read_torque_limit()

◆ read_touch_sensors()

◆ read_ulimit_angle()

◆ reset_body()

◆ set_number_of_accelerometers()

◆ set_number_of_attitude_sensors()

◆ set_number_of_force_sensors()

◆ set_number_of_gyro_sensors()

◆ set_number_of_joints()

◆ set_signal_period()

◆ timespec_add_ns()