yarp
Class ICartesianControl

java.lang.Object
  extended by yarp.ICartesianControl

public class ICartesianControl
extends java.lang.Object


Field Summary
protected  boolean swigCMemOwn
           
 
Constructor Summary
ICartesianControl(long cPtr, boolean cMemoryOwn)
           
 
Method Summary
 boolean askForPose(Vector xd, Vector od, Vector xdhat, Vector odhat, Vector qdhat)
           
 boolean askForPose(Vector q0, Vector xd, Vector od, Vector xdhat, Vector odhat, Vector qdhat)
           
 boolean askForPosition(Vector xd, Vector xdhat, Vector odhat, Vector qdhat)
           
 boolean askForPosition(Vector q0, Vector xd, Vector xdhat, Vector odhat, Vector qdhat)
           
 boolean attachTipFrame(Vector x, Vector o)
           
 boolean checkMotionDone()
           
 boolean checkMotionDone(BVector flag)
           
 boolean checkMotionDone(SWIGTYPE_p_bool f)
           
 void delete()
           
 boolean deleteContext(int id)
           
protected  void finalize()
           
static long getCPtr(ICartesianControl obj)
           
 boolean getDesired(Vector xdhat, Vector odhat, Vector qdhat)
           
 boolean getDOF(Vector curDof)
           
 boolean getInfo(Bottle info)
           
 boolean getInTargetTol(SWIGTYPE_p_double tol)
           
 boolean getJointsVelocities(Vector qdot)
           
 boolean getLimits(int axis, SWIGTYPE_p_double min, SWIGTYPE_p_double max)
           
 boolean getPose(int axis, Vector x, Vector o)
           
 boolean getPose(int axis, Vector x, Vector o, Stamp stamp)
           
 boolean getPose(Vector x, Vector o)
           
 boolean getPose(Vector x, Vector o, Stamp stamp)
           
 boolean getPosePriority(SWIGTYPE_p_std__string p)
           
 boolean getReferenceMode(SWIGTYPE_p_bool f)
           
 boolean getRestPos(Vector curRestPos)
           
 boolean getRestWeights(Vector curRestWeights)
           
 boolean getTaskVelocities(Vector xdot, Vector odot)
           
 boolean getTipFrame(Vector x, Vector o)
           
 boolean getTrackingMode(SWIGTYPE_p_bool f)
           
 boolean getTrajTime(SWIGTYPE_p_double t)
           
 boolean goToPose(Vector xd, Vector od)
           
 boolean goToPose(Vector xd, Vector od, double t)
           
 boolean goToPoseSync(Vector xd, Vector od)
           
 boolean goToPoseSync(Vector xd, Vector od, double t)
           
 boolean goToPosition(Vector xd)
           
 boolean goToPosition(Vector xd, double t)
           
 boolean goToPositionSync(Vector xd)
           
 boolean goToPositionSync(Vector xd, double t)
           
 boolean isMotionDone()
           
 boolean registerEvent(CartesianEvent event)
           
 boolean removeTipFrame()
           
 boolean restoreContext(int id)
           
 boolean setDOF(Vector newDof, Vector curDof)
           
 boolean setInTargetTol(double tol)
           
 boolean setLimits(int axis, double min, double max)
           
 boolean setPosePriority(java.lang.String p)
           
 boolean setReferenceMode(boolean f)
           
 boolean setRestPos(Vector newRestPos, Vector curRestPos)
           
 boolean setRestWeights(Vector newRestWeights, Vector curRestWeights)
           
 boolean setTaskVelocities(Vector xdot, Vector odot)
           
 boolean setTrackingMode(boolean f)
           
 boolean setTrajTime(double t)
           
 boolean stopControl()
           
 boolean storeContext(SWIGTYPE_p_int id)
           
 boolean tweakGet(Bottle options)
           
 boolean tweakSet(Bottle options)
           
 boolean unregisterEvent(CartesianEvent event)
           
 boolean waitMotionDone()
           
 boolean waitMotionDone(double period)
           
 boolean waitMotionDone(double period, double timeout)
           
 
Methods inherited from class java.lang.Object
clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

swigCMemOwn

protected boolean swigCMemOwn
Constructor Detail

ICartesianControl

public ICartesianControl(long cPtr,
                         boolean cMemoryOwn)
Method Detail

getCPtr

public static long getCPtr(ICartesianControl obj)

finalize

protected void finalize()
Overrides:
finalize in class java.lang.Object

delete

public void delete()

setTrackingMode

public boolean setTrackingMode(boolean f)

getTrackingMode

public boolean getTrackingMode(SWIGTYPE_p_bool f)

setReferenceMode

public boolean setReferenceMode(boolean f)

getReferenceMode

public boolean getReferenceMode(SWIGTYPE_p_bool f)

setPosePriority

public boolean setPosePriority(java.lang.String p)

getPosePriority

public boolean getPosePriority(SWIGTYPE_p_std__string p)

getPose

public boolean getPose(Vector x,
                       Vector o,
                       Stamp stamp)

getPose

public boolean getPose(Vector x,
                       Vector o)

getPose

public boolean getPose(int axis,
                       Vector x,
                       Vector o,
                       Stamp stamp)

getPose

public boolean getPose(int axis,
                       Vector x,
                       Vector o)

goToPose

public boolean goToPose(Vector xd,
                        Vector od,
                        double t)

goToPose

public boolean goToPose(Vector xd,
                        Vector od)

goToPosition

public boolean goToPosition(Vector xd,
                            double t)

goToPosition

public boolean goToPosition(Vector xd)

goToPoseSync

public boolean goToPoseSync(Vector xd,
                            Vector od,
                            double t)

goToPoseSync

public boolean goToPoseSync(Vector xd,
                            Vector od)

goToPositionSync

public boolean goToPositionSync(Vector xd,
                                double t)

goToPositionSync

public boolean goToPositionSync(Vector xd)

getDesired

public boolean getDesired(Vector xdhat,
                          Vector odhat,
                          Vector qdhat)

askForPose

public boolean askForPose(Vector xd,
                          Vector od,
                          Vector xdhat,
                          Vector odhat,
                          Vector qdhat)

askForPose

public boolean askForPose(Vector q0,
                          Vector xd,
                          Vector od,
                          Vector xdhat,
                          Vector odhat,
                          Vector qdhat)

askForPosition

public boolean askForPosition(Vector xd,
                              Vector xdhat,
                              Vector odhat,
                              Vector qdhat)

askForPosition

public boolean askForPosition(Vector q0,
                              Vector xd,
                              Vector xdhat,
                              Vector odhat,
                              Vector qdhat)

getDOF

public boolean getDOF(Vector curDof)

setDOF

public boolean setDOF(Vector newDof,
                      Vector curDof)

getRestPos

public boolean getRestPos(Vector curRestPos)

setRestPos

public boolean setRestPos(Vector newRestPos,
                          Vector curRestPos)

getRestWeights

public boolean getRestWeights(Vector curRestWeights)

setRestWeights

public boolean setRestWeights(Vector newRestWeights,
                              Vector curRestWeights)

getLimits

public boolean getLimits(int axis,
                         SWIGTYPE_p_double min,
                         SWIGTYPE_p_double max)

setLimits

public boolean setLimits(int axis,
                         double min,
                         double max)

getTrajTime

public boolean getTrajTime(SWIGTYPE_p_double t)

setTrajTime

public boolean setTrajTime(double t)

getInTargetTol

public boolean getInTargetTol(SWIGTYPE_p_double tol)

setInTargetTol

public boolean setInTargetTol(double tol)

getJointsVelocities

public boolean getJointsVelocities(Vector qdot)

getTaskVelocities

public boolean getTaskVelocities(Vector xdot,
                                 Vector odot)

setTaskVelocities

public boolean setTaskVelocities(Vector xdot,
                                 Vector odot)

attachTipFrame

public boolean attachTipFrame(Vector x,
                              Vector o)

getTipFrame

public boolean getTipFrame(Vector x,
                           Vector o)

removeTipFrame

public boolean removeTipFrame()

checkMotionDone

public boolean checkMotionDone(SWIGTYPE_p_bool f)

waitMotionDone

public boolean waitMotionDone(double period,
                              double timeout)

waitMotionDone

public boolean waitMotionDone(double period)

waitMotionDone

public boolean waitMotionDone()

stopControl

public boolean stopControl()

storeContext

public boolean storeContext(SWIGTYPE_p_int id)

restoreContext

public boolean restoreContext(int id)

deleteContext

public boolean deleteContext(int id)

getInfo

public boolean getInfo(Bottle info)

registerEvent

public boolean registerEvent(CartesianEvent event)

unregisterEvent

public boolean unregisterEvent(CartesianEvent event)

tweakSet

public boolean tweakSet(Bottle options)

tweakGet

public boolean tweakGet(Bottle options)

checkMotionDone

public boolean checkMotionDone(BVector flag)

checkMotionDone

public boolean checkMotionDone()

isMotionDone

public boolean isMotionDone()