abstract interface for the robot hardware More...

Defines
#define	ON 1
#define	OFF 0
#define	MASK_ON 0
#define	MASK_OFF 1
#define	JID_ALL -1
#define	JID_INVALID -2
return value
#define	FALSE 0
#define	TRUE 1
#define	E_ID -1
	invalid joint(or sensor) id
servo alarm
#define	SS_OVER_VOLTAGE 0x001
#define	SS_OVER_LOAD 0x002
#define	SS_OVER_VELOCITY 0x004
#define	SS_OVER_CURRENT 0x008
#define	SS_OVER_HEAT 0x010
#define	SS_TORQUE_LIMIT 0x020
#define	SS_VELOCITY_LIMIT 0x040
#define	SS_FORWARD_LIMIT 0x080
#define	SS_REVERSE_LIMIT 0x100
#define	SS_POSITION_ERROR 0x200
#define	SS_ENCODER_ERROR 0x400
#define	SS_OTHER 0x800
#define	SS_RESERVED1 0x1000
#define	SS_RESERVED2 0x2000
#define	SS_RESERVED3 0x4000
#define	SS_EMERGENCY 0x8000
Enumerations
enum	joint_control_mode { JCM_FREE, JCM_POSITION, JCM_TORQUE, JCM_VELOCITY, JCM_NUM }
Functions
the number of joints and sensors
int	number_of_joints ()
	get the number of joints
int	set_number_of_joints (int num)
	set the number of joints
int	number_of_force_sensors ()
	get the number of force sensors
int	set_number_of_force_sensors (int num)
	set the number of force sensors
int	number_of_gyro_sensors ()
	get the number of gyro sensors
int	set_number_of_gyro_sensors (int num)
	set the number of gyro sensors
int	number_of_accelerometers ()
	get the number of accelerometers
int	set_number_of_accelerometers (int num)
	set the number of accelerometers
int	number_of_attitude_sensors ()
	get the number of attitude sensors
joint angle
int	read_actual_angle (int id, double *angle)
	read current joint angle[rad]
int	read_actual_angles (double *angles)
	read array of current joint angles[rad]
int	read_angle_offset (int id, double *offset)
	read offset value for joint[rad]
int	write_angle_offset (int id, double offset)
	write offset value for joint[rad]

int	read_power_state (int id, int *s)
	read power status of motor driver
int	write_power_command (int id, int com)
	turn on/off power supply for motor driver
int	read_power_command (int id, int *com)
	turn on/off power supply for motor driver
int	read_servo_state (int id, int *s)
	read servo status
int	read_servo_alarm (int id, int *a)
	read servo alarms
int	read_control_mode (int id, joint_control_mode *s)
	read joint control mode
int	write_control_mode (int id, joint_control_mode s)
	write joint control mode
int	read_actual_torques (double *torques)
	read array of current joint torques[Nm]
int	read_command_torque (int id, double *torque)
	read command torque[Nm]
int	write_command_torque (int id, double torque)
	write command torque[Nm]
int	read_command_torques (double *torques)
	read array of command torques[Nm]
int	write_command_torques (const double *torques)
	write array of command torques[Nm]
int	read_command_angle (int id, double *angle)
	read command angle[rad]
int	write_command_angle (int id, double angle)
	write command angle[rad]
int	read_command_angles (double *angles)
	read array of command angles[rad]
int	write_command_angles (const double *angles)
	write array of command angles[rad]
int	read_pgain (int id, double *gain)
	read P gain[Nm/rad]
int	write_pgain (int id, double gain)
	write P gain[Nm/rad]
int	read_dgain (int id, double *gain)
	read D gain[Nm/(rad/s)]
int	write_dgain (int id, double gain)
	write D gain[Nm/(rad/s)]
int	read_actual_velocity (int id, double *vel)
	read actual angular velocity[rad/s]
int	read_command_velocity (int id, double *vel)
	read command angular velocity[rad/s]
int	write_command_velocity (int id, double vel)
	write command angular velocity[rad/s]
int	read_actual_velocities (double *vels)
	read actual angular velocities[rad/s]
int	read_command_velocities (double *vels)
	read command angular velocities[rad/s]
int	write_command_velocities (const double *vels)
	write command angular velocities[rad/s]
int	write_servo (int id, int com)
	turn on/off joint servo
int	read_driver_temperature (int id, unsigned char *v)
	read temperature of motor driver[Celsius]
int	read_calib_state (int id, int *s)
	read callibration state of joint
size_t	length_of_extra_servo_state (int id)
	get length of extra servo states
int	read_extra_servo_state (int id, int *state)
	read extra servo states
force sensor
int	read_force_sensor (int id, double *forces)
	read output of force sensor
int	read_force_offset (int id, double *offsets)
	read offset values for force sensor output
int	write_force_offset (int id, double *offsets)
	write offset values for force sensor output
gyro sensor
int	read_gyro_sensor (int id, double *rates)
	read output of gyro sensor
int	read_gyro_sensor_offset (int id, double *offset)
	read offset values for gyro sensor output
int	write_gyro_sensor_offset (int id, double *offset)
	write offset values for gyro sensor output
acceleromter
int	read_accelerometer (int id, double *accels)
	read output of accelerometer
int	read_accelerometer_offset (int id, double *offset)
	read offset values for accelerometer output
int	write_accelerometer_offset (int id, double *offset)
	write offset values for accelerometer output
attitude sensor
int	read_attitude_sensor (int id, double *att)
	read output of attitude sensor
int	write_attitude_sensor_offset (int id, double *offset)
power supply
int	read_power (double v, double a)
	read status of power source
thermometer
int	read_temperature (int id, double *v)
	read thermometer
open/close
int	open_iob (void)
	open connection with joint servo process
int	close_iob (void)
	close connection with joint servo process
int	reset_body (void)
int	lock_iob ()
	lock access to iob
int	unlock_iob ()
	unlock access to iob
int	read_lock_owner (pid_t *pid)
	read id of the process whic is locking access to iob
unsigned long long	read_iob_frame ()
int	number_of_substeps ()
int	wait_for_iob_signal ()
	wait until iob signal is issued
int	set_signal_period (long period_ns)
	set the period of signals issued by wait_for_iob_signal()
long	get_signal_period ()
	get the period of signals issued by wait_for_iob_signal()
int	initializeJointAngle (const char name, const char option)
	initialize joint angle
int	read_digital_input (char *dinput)
	read_digital_input, non-applicable bits are nop
int	length_digital_input ()
	get_digital_input_length
int	write_digital_output (const char *doutput)
	write_digital_output, non-applicable bits are nop
int	write_digital_output_with_mask (const char doutput, const char dmask)
	write_digital_output, non-applicable bits are nop
int	length_digital_output ()
	get_digital_output_length
int	read_digital_output (char *doutput)
	read_digital_output, non-applicable bits are nop

Detailed Description

abstract interface for the robot hardware

Define Documentation

#define E_ID -1

invalid joint(or sensor) id

#define FALSE 0

#define JID_ALL -1

#define JID_INVALID -2

#define MASK_OFF 1

#define MASK_ON 0

#define OFF 0

#define ON 1

#define SS_EMERGENCY 0x8000

#define SS_ENCODER_ERROR 0x400

#define SS_FORWARD_LIMIT 0x080

#define SS_OTHER 0x800

#define SS_OVER_CURRENT 0x008

#define SS_OVER_HEAT 0x010

#define SS_OVER_LOAD 0x002

#define SS_OVER_VELOCITY 0x004

#define SS_OVER_VOLTAGE 0x001

#define SS_POSITION_ERROR 0x200

#define SS_RESERVED1 0x1000

#define SS_RESERVED2 0x2000

#define SS_RESERVED3 0x4000

#define SS_REVERSE_LIMIT 0x100

#define SS_TORQUE_LIMIT 0x020

#define SS_VELOCITY_LIMIT 0x040

#define TRUE 1

Enumeration Type Documentation

enum joint_control_mode

Enumerator:

JCM_FREE	free
JCM_POSITION	position control
JCM_TORQUE	torque control
JCM_VELOCITY	velocity control
JCM_NUM

Function Documentation

int close_iob ( void )

close connection with joint servo process

Return values:

TRUE	closed successfully
FALSE	otherwise

long get_signal_period ( )

get the period of signals issued by wait_for_iob_signal()

Returns:: the period of signals[ns]

int initializeJointAngle	(	const char *	name,
		const char *	option
	)

initialize joint angle

Parameters:

name	joint name, part name or "all"
option	string of joint angle initialization

Returns:: TRUE if initialized successfully, FALSE otherwise

int length_digital_input ( )

get_digital_input_length

Returns:: length of digital input in bytes

int length_digital_output ( )

get_digital_output_length

Returns:: length of digital output in bytes

size_t length_of_extra_servo_state ( int id )

get length of extra servo states

Parameters:

id joint id

Returns:: length of extra servo states

int lock_iob ( )

lock access to iob

Return values:

TRUE	iob is locked successfully
FALSE	some other process is locking iob

int number_of_accelerometers ( )

get the number of accelerometers

Returns:: the number of accelerometers

int number_of_attitude_sensors ( )

get the number of attitude sensors

Returns:: the number of attitude sensors

int number_of_force_sensors ( )

get the number of force sensors

Returns:: the number of force sensors

int number_of_gyro_sensors ( )

get the number of gyro sensors

Returns:: the number of gyro sensors

int number_of_joints ( )

get the number of joints

Returns:: the number of joints

int number_of_substeps ( )

Returns:: the number of substeps

int open_iob ( void )

open connection with joint servo process

Return values:

TRUE	opened successfully
FALSE	otherwise

int read_accelerometer	(	int	id,
		double *	accels
	)

read output of accelerometer

Parameters:

id	accelerometer id
accels	accelerations [m/s^2], length of array must be 3

Returns:: TRUE or E_ID

int read_accelerometer_offset	(	int	id,
		double *	offset
	)

read offset values for accelerometer output

Parameters:

id	accelerometer id
offset	offset values[rad/s^2], length of array must be 3.

Return values:

TRUE	offset values are read successfully
E_ID	invalid id is specified
FALSE	this function is not supported

int read_actual_angle	(	int	id,
		double *	angle
	)

read current joint angle[rad]

Parameters:

id	joint id
angle	actual joint angle[rad]

Return values:

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

int read_actual_angles ( double * angles )

read array of current joint angles[rad]

Parameters:

angles array of joint angle[rad], length of array must be equal to number_of_joints()

Return values:

TRUE	this function is supported
FALSE	otherwise

int read_actual_torques ( double * torques )

read array of current joint torques[Nm]

Parameters:

torques array of actual joint torque[Nm], length of array must be equal to number_of_joints()

Return values:

TRUE	this function is supported
FALSE	otherwise

int read_actual_velocities ( double * vels )

read actual angular velocities[rad/s]

Parameters:

vels	array of angular velocity [rad/s]

Return values:

TRUE	this function is supported
FALSE	otherwise

int read_actual_velocity	(	int	id,
		double *	vel
	)

read actual angular velocity[rad/s]

Parameters:

id	joint id
vel	angular velocity [rad/s]

Returns:: TRUE or E_ID

int read_angle_offset	(	int	id,
		double *	offset
	)

read offset value for joint[rad]

Parameters:

id	joint id
offset	offset value[rad]

Return values:

TRUE	offset value is read successfully
E_ID	invalid id is specified
FALSE	this function is not supported

int read_attitude_sensor	(	int	id,
		double *	att
	)

read output of attitude sensor

Parameters:

id	attitude sensor id
att	roll-pitch-yaw angle[rad], length of array must be 3

Return values:

TRUE	sensor values are read successfully
E_ID	invalid id is specified
FALSE	this function is not supported

int read_calib_state	(	int	id,
		int *	s
	)

read callibration state of joint

Parameters:

id	joint id
s	TRUE if calibration is already done, FALSE otherwise

Return values:

TRUE	calibration status is read successfully
E_ID	invalid joint id is specified
FALSE	this function is not supported

int read_command_angle	(	int	id,
		double *	angle
	)

read command angle[rad]

Parameters:

id	joint id
angle	command joint angle[rad]

Return values:

TRUE	this function is supported
FALSE	otherwise

int read_command_angles ( double * angles )

read array of command angles[rad]

Parameters:

angles array of joint angles[rad], length of array must equal to DOF

Return values:

TRUE	this function is supported
FALSE	otherwise

int read_command_torque	(	int	id,
		double *	torque
	)

read command torque[Nm]

Parameters:

id	joint id
torque	joint torque[Nm]

Return values:

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

int read_command_torques ( double * torques )

read array of command torques[Nm]

Parameters:

torques array of command torques[Nm]

Return values:

TRUE	this function is supported
FALSE	otherwise

int read_command_velocities ( double * vels )

read command angular velocities[rad/s]

Parameters:

vels	array of angular velocity [rad/s]

Return values:

TRUE	this function is supported
FALSE	otherwise

int read_command_velocity	(	int	id,
		double *	vel
	)

read command angular velocity[rad/s]

Parameters:

id	joint id
vel	angular velocity [rad/s]

Returns:: TRUE or E_ID

int read_control_mode	(	int	id,
		joint_control_mode *	s
	)

read joint control mode

Parameters:

id	joint id
s	joint control mode

Return values:

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

int read_dgain	(	int	id,
		double *	gain
	)

read D gain[Nm/(rad/s)]

Parameters:

id	joint id
gain	D gain[Nm/(rad/s)]

Returns:: TRUE or E_ID

int read_digital_input ( char * dinput )

read_digital_input, non-applicable bits are nop

Parameters:

dinput digital input from environment

Returns:: TRUE if applicable, FALSE otherwise

int read_digital_output ( char * doutput )

read_digital_output, non-applicable bits are nop

Parameters:

doutput digital output to environment

Returns:: TRUE if applicable, FALSE otherwise

int read_driver_temperature	(	int	id,
		unsigned char *	v
	)

read temperature of motor driver[Celsius]

Parameters:

id	joint id
v	temperature[Celsius]

Return values:

TRUE	temperature is read successfully
E_ID	invalid joint id is specified
FALSE	this function is not supported

int read_extra_servo_state	(	int	id,
		int *	state
	)

read extra servo states

Parameters:

id	joint id
state	array of int where extra servo states are stored

Returns:: TRUE if read successfully, FALSE otherwise

int read_force_offset	(	int	id,
		double *	offsets
	)

read offset values for force sensor output

Parameters:

id	force/torque sensor id
offsets	offset values[N][Nm], length of array must be 6.

Return values:

TRUE	offset values are read successfully
E_ID	invalid id is specified
FALSE	this function is not supported

int read_force_sensor	(	int	id,
		double *	forces
	)

read output of force sensor

Parameters:

id	Force Sensor id
forces	array of forces[N] and moments[Nm], length of array must be 6

Returns:: TRUE or E_ID

int read_gyro_sensor	(	int	id,
		double *	rates
	)

read output of gyro sensor

Parameters:

id	gyro sensor id
rates	angular velocities [rad/s], length of array must be 3

Returns:: TRUE or E_ID

int read_gyro_sensor_offset	(	int	id,
		double *	offset
	)

read offset values for gyro sensor output

Parameters:

id	gyro sensor id
offset	offset values[rad/s], length of array must be 3.

Return values:

TRUE	offset values are read successfully
E_ID	invalid id is specified
FALSE	this function is not supported

unsigned long long read_iob_frame ( )

int read_lock_owner ( pid_t * pid )

read id of the process whic is locking access to iob

int read_pgain	(	int	id,
		double *	gain
	)

read P gain[Nm/rad]

Parameters:

id	joint id
gain	P gain[Nm/rad]

Returns:: TRUE or E_ID

int read_power	(	double *	v,
		double *	a
	)

read status of power source

Parameters:

v	voltage[V]
a	current[A]

Returns:: TRUE or FALSE

int read_power_command	(	int	id,
		int *	com
	)

turn on/off power supply for motor driver

Parameters:

id	joint id
com	ON/OFF

Return values:

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

int read_power_state	(	int	id,
		int *	s
	)

read power status of motor driver

Parameters:

id	joint id
s	ON or OFF is returned

Return values:

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

int read_servo_alarm	(	int	id,
		int *	a
	)

read servo alarms

Parameters:

id	joint id
a	servo alarms

Return values:

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

int read_servo_state	(	int	id,
		int *	s
	)

read servo status

Parameters:

id	joint id
s	ON/OFF

Return values:

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

int read_temperature	(	int	id,
		double *	v
	)

read thermometer

Parameters:

id	id of thermometer
v	temperature[Celsius]

Return values:

TRUE	temperature is read successfully
E_ID	invalid thermometer id is specified
FALSE	this function is not supported

int reset_body ( void )

int set_number_of_accelerometers ( int num )

set the number of accelerometers

Parameters:

num	the number of accelerometers

Returns:: TRUE if the number of accelerometers is set, FALSE otherwise

int set_number_of_force_sensors ( int num )

set the number of force sensors

Parameters:

num	the number of force sensors

Returns:: TRUE if the number of force sensors is set, FALSE otherwise

int set_number_of_gyro_sensors ( int num )

set the number of gyro sensors

Parameters:

num	the number of gyro sensors

Returns:: TRUE if the number of gyro sensors is set, FALSE otherwise

int set_number_of_joints ( int num )

set the number of joints

Parameters:

num	the number of joints

Returns:: TRUE if the number of joints is set, FALSE otherwise

int set_signal_period ( long period_ns )

set the period of signals issued by wait_for_iob_signal()

Parameters:

period_ns the period of signals[ns]

Returns:: TRUE if set successfully, FALSE otherwise

int unlock_iob ( )

unlock access to iob

int wait_for_iob_signal ( )

wait until iob signal is issued

Returns:: TRUE if signal is received successfully, FALSE otherwise

int write_accelerometer_offset	(	int	id,
		double *	offset
	)

write offset values for accelerometer output

Parameters:

id	accelerometer id
offset	offset values[rad/s^2], length of array must be 3.

Return values:

TRUE	offset values are written successfully
E_ID	invalid id is specified
FALSE	this function is not supported

int write_angle_offset	(	int	id,
		double	offset
	)

write offset value for joint[rad]

Parameters:

id	joint id
offset	offset value[rad]

Return values:

TRUE	offset values are written successfully
E_ID	invalid id is specified
FALSE	this function is not supported

int write_attitude_sensor_offset	(	int	id,
		double *	offset
	)

int write_command_angle	(	int	id,
		double	angle
	)

write command angle[rad]

Parameters:

id	joint id
angle	command joint angle[rad]

Returns:: TRUE or E_ID

int write_command_angles ( const double * angles )

write array of command angles[rad]

Parameters:

angles array of joint angles[rad], length of array must equal to DOF

Return values:

TRUE	this function is supported
FALSE	otherwise

int write_command_torque	(	int	id,
		double	torque
	)

write command torque[Nm]

Parameters:

id	joint id
torque	joint torque[Nm]

Returns:: TRUE if this function is supported, FALSE otherwise

int write_command_torques ( const double * torques )

write array of command torques[Nm]

Parameters:

torques array of command torques[Nm]

Return values:

TRUE	this function is supported
FALSE	otherwise

int write_command_velocities ( const double * vels )

write command angular velocities[rad/s]

Parameters:

vels	array of angular velocity [rad/s]

Return values:

TRUE	this function is supported
FALSE	otherwise

int write_command_velocity	(	int	id,
		double	vel
	)

write command angular velocity[rad/s]

Parameters:

id	joint id
vel	angular velocity [rad/s]

Returns:: TRUE or E_ID

int write_control_mode	(	int	id,
		joint_control_mode	s
	)

write joint control mode

Parameters:

id	joint id
s	joint control mode

Return values:

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

int write_dgain	(	int	id,
		double	gain
	)

write D gain[Nm/(rad/s)]

Parameters:

id	joint id
gain	D gain[Nm/(rad/s)]

Returns:: TRUE or E_ID

int write_digital_output ( const char * doutput )

write_digital_output, non-applicable bits are nop

Parameters:

doutput set digital output to environment

Returns:: TRUE if applicable, FALSE otherwise

int write_digital_output_with_mask	(	const char *	doutput,
		const char *	dmask
	)

write_digital_output, non-applicable bits are nop

Parameters:

doutput	set digital output to environment
mask	binary vector which selects output to be set

Returns:: TRUE if applicable, FALSE otherwise

int write_force_offset	(	int	id,
		double *	offsets
	)

write offset values for force sensor output

Parameters:

id	force/torque id
offsets	offset values[N][Nm], length of array must be 6.

Return values:

TRUE	offset values are written successfully
E_ID	invalid id is specified
FALSE	this function is not supported

int write_gyro_sensor_offset	(	int	id,
		double *	offset
	)

write offset values for gyro sensor output

Parameters:

id	gyro sensor id
offset	offset values[rad/s], length of array must be 3.

Return values:

TRUE	offset values are written successfully
E_ID	invalid id is specified
FALSE	this function is not supported

int write_pgain	(	int	id,
		double	gain
	)

write P gain[Nm/rad]

Parameters:

id	joint id
gain	P gain[Nm/rad]

Returns:: TRUE or E_ID

int write_power_command	(	int	id,
		int	com
	)

turn on/off power supply for motor driver

Parameters:

id	joint id
com	ON/OFF

Return values:

TRUE	this function is supported
E_ID	invalid joint id is specified
FALSE	otherwise

int write_servo	(	int	id,
		int	com
	)

turn on/off joint servo

Parameters:

id	joint id
com	ON/OFF

Returns:: TRUE if this function is supported, FALSE otherwise

Defines

Enumerations

Functions

Detailed Description

Define Documentation

Enumeration Type Documentation

Function Documentation