yarp
Class ITorqueControl

java.lang.Object
  extended by yarp.ITorqueControl

public class ITorqueControl
extends java.lang.Object


Field Summary
protected  boolean swigCMemOwn
           
 
Constructor Summary
ITorqueControl(long cPtr, boolean cMemoryOwn)
           
 
Method Summary
 void delete()
           
 boolean disableTorquePid(int j)
           
 boolean enableTorquePid(int j)
           
protected  void finalize()
           
 boolean getAxes(SWIGTYPE_p_int ax)
           
 boolean getBemfParam(int j, SWIGTYPE_p_double bemf)
           
static long getCPtr(ITorqueControl obj)
           
 boolean getMotorTorqueParams(int j, MotorTorqueParameters params)
           
 boolean getRefTorque(int j, SWIGTYPE_p_double t)
           
 boolean getRefTorques(SWIGTYPE_p_double t)
           
 boolean getTorque(int j, SWIGTYPE_p_double t)
           
 boolean getTorqueError(int j, SWIGTYPE_p_double err)
           
 boolean getTorqueErrorLimit(int j, SWIGTYPE_p_double limit)
           
 boolean getTorqueErrorLimits(SWIGTYPE_p_double limits)
           
 boolean getTorqueErrors(SWIGTYPE_p_double errs)
           
 boolean getTorquePid(int j, Pid pid)
           
 boolean getTorquePidOutput(int j, SWIGTYPE_p_double out)
           
 boolean getTorquePidOutputs(SWIGTYPE_p_double outs)
           
 boolean getTorquePids(Pid pids)
           
 boolean getTorqueRange(int j, SWIGTYPE_p_double min, SWIGTYPE_p_double max)
           
 boolean getTorqueRanges(SWIGTYPE_p_double min, SWIGTYPE_p_double max)
           
 boolean getTorques(SWIGTYPE_p_double t)
           
 boolean resetTorquePid(int j)
           
 boolean setBemfParam(int j, double bemf)
           
 boolean setMotorTorqueParams(int j, MotorTorqueParameters params)
           
 boolean setRefTorque(int j, double t)
           
 boolean setRefTorques(SWIGTYPE_p_double t)
           
 boolean setTorqueErrorLimit(int j, double limit)
           
 boolean setTorqueErrorLimits(SWIGTYPE_p_double limits)
           
 boolean setTorqueMode()
           
 boolean setTorqueOffset(int j, double v)
           
 boolean setTorquePid(int j, Pid pid)
           
 boolean setTorquePids(Pid pids)
           
 
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

ITorqueControl

public ITorqueControl(long cPtr,
                      boolean cMemoryOwn)
Method Detail

getCPtr

public static long getCPtr(ITorqueControl obj)

finalize

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

delete

public void delete()

getAxes

public boolean getAxes(SWIGTYPE_p_int ax)

setTorqueMode

public boolean setTorqueMode()

getRefTorques

public boolean getRefTorques(SWIGTYPE_p_double t)

getRefTorque

public boolean getRefTorque(int j,
                            SWIGTYPE_p_double t)

setRefTorques

public boolean setRefTorques(SWIGTYPE_p_double t)

setRefTorque

public boolean setRefTorque(int j,
                            double t)

getBemfParam

public boolean getBemfParam(int j,
                            SWIGTYPE_p_double bemf)

setBemfParam

public boolean setBemfParam(int j,
                            double bemf)

getMotorTorqueParams

public boolean getMotorTorqueParams(int j,
                                    MotorTorqueParameters params)

setMotorTorqueParams

public boolean setMotorTorqueParams(int j,
                                    MotorTorqueParameters params)

setTorquePid

public boolean setTorquePid(int j,
                            Pid pid)

getTorque

public boolean getTorque(int j,
                         SWIGTYPE_p_double t)

getTorques

public boolean getTorques(SWIGTYPE_p_double t)

getTorqueRange

public boolean getTorqueRange(int j,
                              SWIGTYPE_p_double min,
                              SWIGTYPE_p_double max)

getTorqueRanges

public boolean getTorqueRanges(SWIGTYPE_p_double min,
                               SWIGTYPE_p_double max)

setTorquePids

public boolean setTorquePids(Pid pids)

setTorqueErrorLimit

public boolean setTorqueErrorLimit(int j,
                                   double limit)

setTorqueErrorLimits

public boolean setTorqueErrorLimits(SWIGTYPE_p_double limits)

getTorqueError

public boolean getTorqueError(int j,
                              SWIGTYPE_p_double err)

getTorqueErrors

public boolean getTorqueErrors(SWIGTYPE_p_double errs)

getTorquePidOutput

public boolean getTorquePidOutput(int j,
                                  SWIGTYPE_p_double out)

getTorquePidOutputs

public boolean getTorquePidOutputs(SWIGTYPE_p_double outs)

getTorquePid

public boolean getTorquePid(int j,
                            Pid pid)

getTorquePids

public boolean getTorquePids(Pid pids)

getTorqueErrorLimit

public boolean getTorqueErrorLimit(int j,
                                   SWIGTYPE_p_double limit)

getTorqueErrorLimits

public boolean getTorqueErrorLimits(SWIGTYPE_p_double limits)

resetTorquePid

public boolean resetTorquePid(int j)

disableTorquePid

public boolean disableTorquePid(int j)

enableTorquePid

public boolean enableTorquePid(int j)

setTorqueOffset

public boolean setTorqueOffset(int j,
                               double v)