Public Member Functions
RTT::dev::AxisInterface Class Reference

#include <AxisInterface.hpp>

List of all members.

Public Member Functions

 AxisInterface ()
virtual std::vector< std::string > counterList () const =0
 Retrieve a list of the counter from the Axis.
virtual bool drive (double v)=0
 Drive a certain 'physical unit' (eg velocity, torque,...).
virtual DigitalOutputgetBrake ()=0
 Get the brake signal of the Axis as a DigitalOutput.
virtual SensorInterface< int > * getCounter (const std::string &name) const =0
 Retrieve a counter from the Axis.
virtual double getDriveValue () const =0
 Get the drive value (eg velocity, torque,...).
virtual DigitalOutputgetEnable ()=0
 Get the enable signal of the Axis as a DigitalOutput.
virtual SensorInterface< double > * getSensor (const std::string &name) const =0
 Retrieve a sensor from the Axis.
virtual DigitalInputgetSwitch (const std::string &name) const =0
 Retrieve a switch (digital input) from the Axis.
virtual bool isDriven () const =0
 Return true if the drive is enabled, and brakes are off.
virtual bool isLocked () const =0
 Return true if the drive is disabled, and brakes are on.
virtual bool isStopped () const =0
 Return true if the drive is enabled but not moving, and brakes are off.
virtual bool lock ()=0
 Lock the Axis (mechanically), brakes enabled, drive disabled.
virtual std::vector< std::string > sensorList () const =0
 Retrieve a list of the sensor from the Axis.
virtual bool stop ()=0
 Stop the Axis (electronically), brakes disabled, drive enabled and set to zero.
virtual std::vector< std::string > switchList () const =0
 Retrieve a list of the digital input switches from the Axis.
virtual bool unlock ()=0
 Unlock the Axis (mechanically), brakes enabled, drive enabled.
virtual ~AxisInterface ()

Detailed Description

The AxisInterface represents an axis from a control point of view

Definition at line 45 of file AxisInterface.hpp.


Constructor & Destructor Documentation

Definition at line 49 of file AxisInterface.hpp.

virtual RTT::dev::AxisInterface::~AxisInterface ( ) [inline, virtual]

Definition at line 50 of file AxisInterface.hpp.


Member Function Documentation

virtual std::vector<std::string> RTT::dev::AxisInterface::counterList ( ) const [pure virtual]

Retrieve a list of the counter from the Axis.

virtual bool RTT::dev::AxisInterface::drive ( double  v) [pure virtual]

Drive a certain 'physical unit' (eg velocity, torque,...).

virtual DigitalOutput* RTT::dev::AxisInterface::getBrake ( ) [pure virtual]

Get the brake signal of the Axis as a DigitalOutput.

virtual SensorInterface<int>* RTT::dev::AxisInterface::getCounter ( const std::string &  name) const [pure virtual]

Retrieve a counter from the Axis.

virtual double RTT::dev::AxisInterface::getDriveValue ( ) const [pure virtual]

Get the drive value (eg velocity, torque,...).

Get the enable signal of the Axis as a DigitalOutput.

virtual SensorInterface<double>* RTT::dev::AxisInterface::getSensor ( const std::string &  name) const [pure virtual]

Retrieve a sensor from the Axis.

virtual DigitalInput* RTT::dev::AxisInterface::getSwitch ( const std::string &  name) const [pure virtual]

Retrieve a switch (digital input) from the Axis.

virtual bool RTT::dev::AxisInterface::isDriven ( ) const [pure virtual]

Return true if the drive is enabled, and brakes are off.

virtual bool RTT::dev::AxisInterface::isLocked ( ) const [pure virtual]

Return true if the drive is disabled, and brakes are on.

virtual bool RTT::dev::AxisInterface::isStopped ( ) const [pure virtual]

Return true if the drive is enabled but not moving, and brakes are off.

virtual bool RTT::dev::AxisInterface::lock ( ) [pure virtual]

Lock the Axis (mechanically), brakes enabled, drive disabled.

virtual std::vector<std::string> RTT::dev::AxisInterface::sensorList ( ) const [pure virtual]

Retrieve a list of the sensor from the Axis.

virtual bool RTT::dev::AxisInterface::stop ( ) [pure virtual]

Stop the Axis (electronically), brakes disabled, drive enabled and set to zero.

virtual std::vector<std::string> RTT::dev::AxisInterface::switchList ( ) const [pure virtual]

Retrieve a list of the digital input switches from the Axis.

virtual bool RTT::dev::AxisInterface::unlock ( ) [pure virtual]

Unlock the Axis (mechanically), brakes enabled, drive enabled.


The documentation for this class was generated from the following file:


rtt
Author(s): RTT Developers
autogenerated on Sat Jun 8 2019 18:46:38