Public Member Functions | List of all members
RTT::dev::AxisInterface Class Referenceabstract

#include <AxisInterface.hpp>

Public Member Functions

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

RTT::dev::AxisInterface::AxisInterface ( )
inline

Definition at line 49 of file AxisInterface.hpp.

virtual RTT::dev::AxisInterface::~AxisInterface ( )
inlinevirtual

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,...).

virtual DigitalOutput* RTT::dev::AxisInterface::getEnable ( )
pure virtual

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 Fri Oct 25 2019 03:59:46