Defines |
| #define | CHECK_JOINT_ID(id) if((id) < 0 || (id) >= number_of_joints()) return E_ID |
| #define | CHECK_JOINT_ID_DOF(id) if((id) < 0 || (id) >= DOF) return E_ID |
| #define | JID_INVALID -2 |
Functions |
| int | close_iob (void) |
| long | get_signal_period () |
| | get the period of signals issued by wait_for_iob_signal()
|
| int | initializeJointAngle (const char *name, const char *option) |
| int | length_digital_input () |
| int | length_digital_output () |
| size_t | length_of_extra_servo_state (int id) |
| int | lock_iob () |
| int | number_of_accelerometers () |
| int | number_of_attitude_sensors () |
| int | number_of_force_sensors () |
| int | number_of_gyro_sensors () |
| int | number_of_joints () |
| int | number_of_substeps () |
| int | open_iob (void) |
| int | read_accelerometer (int id, double *accels) |
| int | read_accelerometer_offset (int id, double *offset) |
| int | read_actual_angle (int id, double *angle) |
| int | read_actual_angles (double *angles) |
| int | read_actual_torque (int id, double *angle) |
| int | read_actual_torques (double *torques) |
| int | read_actual_velocities (double *vels) |
| int | read_actual_velocity (int id, double *vel) |
| int | read_angle_offset (int id, double *angle) |
| int | read_attitude_sensor (int id, double *att) |
| int | read_calib_state (int id, int *s) |
| int | read_command_angle (int id, double *angle) |
| int | read_command_angles (double *angles) |
| int | read_command_torque (int id, double *torque) |
| int | read_command_torques (double *torques) |
| int | read_command_velocities (double *vels) |
| int | read_command_velocity (int id, double *vel) |
| int | read_control_mode (int id, joint_control_mode *s) |
| int | read_dgain (int id, double *gain) |
| int | read_digital_input (char *dIn) |
| int | read_digital_output (char *doutput) |
| int | read_driver_temperature (int id, unsigned char *v) |
| int | read_extra_servo_state (int id, int *state) |
| int | read_force_offset (int id, double *offsets) |
| int | read_force_sensor (int id, double *forces) |
| int | read_gyro_sensor (int id, double *rates) |
| int | read_gyro_sensor_offset (int id, double *offset) |
| unsigned long long | read_iob_frame () |
| int | read_lock_owner (pid_t *pid) |
| int | read_pgain (int id, double *gain) |
| int | read_power (double *voltage, double *current) |
| int | read_power_command (int id, int *com) |
| int | read_power_state (int id, int *s) |
| int | read_servo_alarm (int id, int *a) |
| int | read_servo_state (int id, int *s) |
| int | read_temperature (int id, double *v) |
| int | reset_body (void) |
| int | set_number_of_accelerometers (int num) |
| int | set_number_of_force_sensors (int num) |
| int | set_number_of_gyro_sensors (int num) |
| int | set_number_of_joints (int num) |
| int | set_signal_period (long period_ns) |
| | set the period of signals issued by wait_for_iob_signal()
|
| int | unlock_iob () |
| int | wait_for_iob_signal () |
| int | write_accelerometer_offset (int id, double *offset) |
| int | write_angle_offset (int id, double angle) |
| int | write_attitude_sensor_offset (int id, double *offset) |
| int | write_command_angle (int id, double angle) |
| int | write_command_angles (const double *angles) |
| int | write_command_torque (int id, double torque) |
| int | write_command_torques (const double *torques) |
| int | write_command_velocities (const double *vels) |
| int | write_command_velocity (int id, double vel) |
| int | write_control_mode (int id, joint_control_mode s) |
| int | write_dgain (int id, double gain) |
| int | write_digital_output (const char *doutput) |
| int | write_digital_output_with_mask (const char *doutput, const char *mask) |
| int | write_force_offset (int id, double *offsets) |
| int | write_gyro_sensor_offset (int id, double *offset) |
| int | write_pgain (int id, double gain) |
| int | write_power_command (int id, int com) |
| int | write_servo (int id, int com) |
Variables |
| static NEXTAGE_OPEN::OpenIFv10 * | nxifv1 = NULL |
| static pthread_mutex_t | openLock = PTHREAD_MUTEX_INITIALIZER |
