sdurw_control module

class sdurw_control.Controller(*args, **kwargs)

Bases: object

interface that defines functionality for control of devices and actuators

getName()

get the unique name of this controller

Return type

string

Returns

name of the controller.

setName(name)

set the name of the controller

Parameters

name (string) – [in] the name

property thisown

The membership flag

class sdurw_control.ControllerPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref()

The pointer stored in the object.

getDeref()

Member access operator.

getName()

get the unique name of this controller

Return type

string

Returns

name of the controller.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setName(name)

set the name of the controller

Parameters

name (string) – [in] the name

property thisown

The membership flag

class sdurw_control.JointController(*args, **kwargs)

Bases: object

the joint controller interface describe how to input to a joint controller. The output Force, Vel, Pos… must be available in the class implementing JointController interface

CNT_POSITION = 2
CURRENT = 16
FORCE = 8
POSITION = 1
VELOCITY = 4
getControlModes()

gets the control mode mask. Defines which types of control the JointController supports

getModel()

get kinematic model of device that is controlled

getQ()

return the current position of the controlled robot

getQd()

return the current velocity

setControlMode(mode)

sets the control mode of this JointController. If the mode is unsupported an exception is thrown

setTargetAcc(vals)

sets the target acceleration

Parameters

vals (Q) – [in] in m/s^2

setTargetPos(vals)

sets the target joint value for the current control mode.

setTargetVel(vals)

sets the target velocity

Parameters

vals (Q) – [in] in m/s

property thisown

The membership flag

class sdurw_control.JointControllerPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref()

The pointer stored in the object.

getControlModes()

gets the control mode mask. Defines which types of control the JointController supports

getDeref()

Member access operator.

getModel()

get kinematic model of device that is controlled

getQ()

return the current position of the controlled robot

getQd()

return the current velocity

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setControlMode(mode)

sets the control mode of this JointController. If the mode is unsupported an exception is thrown

setTargetAcc(vals)

sets the target acceleration

Parameters

vals (Q) – [in] in m/s^2

setTargetPos(vals)

sets the target joint value for the current control mode.

setTargetVel(vals)

sets the target velocity

Parameters

vals (Q) – [in] in m/s

property thisown

The membership flag