Package yarp
Class ITorqueControl
- java.lang.Object
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- yarp.ITorqueControl
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public class ITorqueControl extends java.lang.Object
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Field Summary
Fields Modifier and Type Field Description protected boolean
swigCMemOwn
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Constructor Summary
Constructors Modifier Constructor Description protected
ITorqueControl(long cPtr, boolean cMemoryOwn)
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Method Summary
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Method Detail
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getCPtr
protected static long getCPtr(ITorqueControl obj)
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finalize
protected void finalize()
- Overrides:
finalize
in classjava.lang.Object
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delete
public void delete()
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getAxes
public boolean getAxes(SWIGTYPE_p_int ax)
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setTorqueMode
public boolean setTorqueMode()
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getRefTorques
public boolean getRefTorques(SWIGTYPE_p_double t)
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getRefTorque
public boolean getRefTorque(int j, SWIGTYPE_p_double t)
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setRefTorques
public boolean setRefTorques(SWIGTYPE_p_double t)
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setRefTorque
public boolean setRefTorque(int j, double t)
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getBemfParam
public boolean getBemfParam(int j, SWIGTYPE_p_double bemf)
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setBemfParam
public boolean setBemfParam(int j, double bemf)
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getMotorTorqueParams
public boolean getMotorTorqueParams(int j, MotorTorqueParameters params)
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setMotorTorqueParams
public boolean setMotorTorqueParams(int j, MotorTorqueParameters params)
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setTorquePid
public boolean setTorquePid(int j, Pid pid)
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getTorque
public boolean getTorque(int j, SWIGTYPE_p_double t)
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getTorques
public boolean getTorques(SWIGTYPE_p_double t)
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getTorqueRange
public boolean getTorqueRange(int j, SWIGTYPE_p_double min, SWIGTYPE_p_double max)
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getTorqueRanges
public boolean getTorqueRanges(SWIGTYPE_p_double min, SWIGTYPE_p_double max)
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setTorquePids
public boolean setTorquePids(Pid pids)
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setTorqueErrorLimit
public boolean setTorqueErrorLimit(int j, double limit)
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setTorqueErrorLimits
public boolean setTorqueErrorLimits(SWIGTYPE_p_double limits)
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getTorqueError
public boolean getTorqueError(int j, SWIGTYPE_p_double err)
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getTorqueErrors
public boolean getTorqueErrors(SWIGTYPE_p_double errs)
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getTorquePidOutput
public boolean getTorquePidOutput(int j, SWIGTYPE_p_double out)
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getTorquePidOutputs
public boolean getTorquePidOutputs(SWIGTYPE_p_double outs)
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getTorquePid
public boolean getTorquePid(int j, Pid pid)
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getTorquePids
public boolean getTorquePids(Pid pids)
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getTorqueErrorLimit
public boolean getTorqueErrorLimit(int j, SWIGTYPE_p_double limit)
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getTorqueErrorLimits
public boolean getTorqueErrorLimits(SWIGTYPE_p_double limits)
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resetTorquePid
public boolean resetTorquePid(int j)
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disableTorquePid
public boolean disableTorquePid(int j)
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enableTorquePid
public boolean enableTorquePid(int j)
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setTorqueOffset
public boolean setTorqueOffset(int j, double v)
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