#include <ypparam.h>
Go to the source code of this file.
Classes | |
| struct | YPSpur |
Defines | |
| #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) |
| 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) |
Define 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 206 of file ypspur-md.h.
| #define YPSPUR_JOINT_ANG_VEL_SUPPORT 1 |
Definition at line 205 of file ypspur-md.h.
| #define YPSPUR_JOINT_SUPPORT 1 |
Definition at line 204 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.
| 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.