dynamixel_const.h
/tmp/ws/src/dynamixel_interface/include/dynamixel_interface/
dynamixel__const_8h.html
dynamixel_interface
DynamixelControlMode
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UNKNOWN
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kModeTorqueControl
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kModeVelocityControl
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kModePositionControl
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kModeExtendedPositionControl
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kModeCurrentBasedPositionControl
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kModePWMControl
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DynamixelErrorCode
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kErrorNoError
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kErrorOverload
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kErrorElectricShock
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kErrorMotorEncoder
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kErrorOverheating
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kErrorMotorHall
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kErrorInputVoltage
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kErrorLegacyInstruction
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kErrorLegacyChecksum
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kErrorLegacyRange
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kErrorLegacyAngleLimit
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DynamixelInstruction
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kInstPing
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kInstReadData
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kInstWriteData
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kInstRegWrite
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kInstAction
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kInstReset
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kInstSyncWrite
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kInstBulkRead
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kInstBroadcast
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DynamixelLegacyProRegisterTable
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kRegLegacyPro_ModelNumber
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kRegLegacyPro_ModelInfo
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kRegLegacyPro_FirmwareVersion
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kRegLegacyPro_ID
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kRegLegacyPro_BaudRate
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kRegLegacyPro_ReturnDelayTime
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kRegLegacyPro_OperatingMode
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kRegLegacyPro_LimitTemperature
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kRegLegacyPro_DownLimitVoltage
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kRegLegacyPro_UpLimitVoltage
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kRegLegacyPro_LED
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kRegLegacyPro_AccelLimit
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kRegLegacyPro_VelocityLimit
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kRegLegacyPro_MaxTorque
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kRegLegacyPro_MaxAngleLimit
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kRegLegacyPro_MinAngleLimit
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kRegLegacyPro_DataPort1Mode
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kRegLegacyPro_DataPort2Mode
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kRegLegacyPro_DataPort3Mode
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kRegLegacyPro_DataPort4Mode
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kRegLegacyPro_VelocityIGain
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kRegLegacyPro_VelocityPGain
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kRegLegacyPro_PositionPGain
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kRegLegacyPro_TorqueEnable
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kRegLegacyPro_GoalPosition
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kRegLegacyPro_GoalVelocity
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kRegLegacyPro_GoalTorque
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kRegLegacyPro_PresentPosition
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kRegLegacyPro_PresentVelocity
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kRegLegacyPro_PresentCurrent
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kRegLegacyPro_PresentVoltage
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kRegLegacyPro_PresentTemperature
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kRegLegacyPro_DataPort1
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kRegLegacyPro_DataPort2
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kRegLegacyPro_RegisteredInstruction
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kRegLegacyPro_Moving
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kRegLegacyPro_ReturnLevel
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kRegLegacyPro_HardwareErrorStatus
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DynamixelLegacyRegisterTable
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kRegLegacy_ModelNumber
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kRegLegacy_FirmwareVersion
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kRegLegacy_ID
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kRegLegacy_BaudRate
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kRegLegacy_ReturnDelayTime
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kRegLegacy_CWAngleLimit
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kRegLegacy_TemperatureLimit
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kRegLegacy_MinVoltageLimit
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kRegLegacy_MaxVoltageLimit
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kRegLegacy_ReturnLevel
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kRegLegacy_MultiTurnOffset
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kRegLegacy_LED
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kRegLegacy_DGain
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kRegLegacy_IGain
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kRegLegacy_PGain
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kRegLegacy_CWComplianceMargin
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DynamixelProRegisterTable
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kRegP_OperatingMode
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kRegP_ShadowID
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kRegP_ProtocolType
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kRegP_HomingOffset
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kRegP_MovingThreshold
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kRegP_TemperatureLimit
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kRegP_MaxVoltageLimit
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kRegP_MinVoltageLimit
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kRegP_PWMLimit
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#define
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int
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int32_t
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dynamixel_interface::DynamixelInfo
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DynamixelControlMode
current_mode
structdynamixel__interface_1_1DynamixelInfo.html
abbca0da7c70a3475449a5188a344314f
uint8_t
hardware_status
structdynamixel__interface_1_1DynamixelInfo.html
a932836344eaa29f66199edba644608e8
int
id
structdynamixel__interface_1_1DynamixelInfo.html
ac1ef819765fb9f7eff97bf96156066c9
std::string
joint_name
structdynamixel__interface_1_1DynamixelInfo.html
a3a48ed284c54610e78df3e6f9338dee1
int
max_pos
structdynamixel__interface_1_1DynamixelInfo.html
a7d96edddae318d28ac47e8c9a9dabf14
double
max_vel
structdynamixel__interface_1_1DynamixelInfo.html
a9d2f643ff698fe23a9a07bf6e04bc36f
int
min_pos
structdynamixel__interface_1_1DynamixelInfo.html
a59bef66e9f862bd29e158469863ee444
const DynamixelSpec *
model_spec
structdynamixel__interface_1_1DynamixelInfo.html
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bool
torque_enabled
structdynamixel__interface_1_1DynamixelInfo.html
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double
torque_limit
structdynamixel__interface_1_1DynamixelInfo.html
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int
zero_pos
structdynamixel__interface_1_1DynamixelInfo.html
a0317f7a2a0c291cac08575a67231fd17
dynamixel_interface::DynamixelInterfaceController
classdynamixel__interface_1_1DynamixelInterfaceController.html
DynamixelInterfaceController
classdynamixel__interface_1_1DynamixelInterfaceController.html
ae2f8650da4b491195c8739a399a4674c
()
double
getLoopRate
classdynamixel__interface_1_1DynamixelInterfaceController.html
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(void)
bool
initialise
classdynamixel__interface_1_1DynamixelInterfaceController.html
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()
void
loop
classdynamixel__interface_1_1DynamixelInterfaceController.html
a06ca4815726d25514fa914a7c2eeba8a
(void)
bool
parseParameters
classdynamixel__interface_1_1DynamixelInterfaceController.html
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(void)
~DynamixelInterfaceController
classdynamixel__interface_1_1DynamixelInterfaceController.html
a28fb74a7efbcda69ead5eba95a3bf879
()
bool
initialiseDynamixel
classdynamixel__interface_1_1DynamixelInterfaceController.html
a43f3d7a561b77d06de0d6ff8004c1ad0
(PortInfo &port, DynamixelInfo &dynamixel)
bool
initialisePort
classdynamixel__interface_1_1DynamixelInterfaceController.html
a50d14075deb006d020c1c455322c9d04
(PortInfo &port)
void
jointStateCallback
classdynamixel__interface_1_1DynamixelInterfaceController.html
a80261c65b5616e486893ec339829fff9
(const sensor_msgs::JointState::ConstPtr &joint_commands)
void
multiThreadedIO
classdynamixel__interface_1_1DynamixelInterfaceController.html
a26100ca9aa762da05ac3a17c7b2ad896
(PortInfo &port, sensor_msgs::JointState &read_msg, dynamixel_interface::DataPorts &dataport_msg, dynamixel_interface::ServoDiags &status_msg, bool perform_write) const
void
multiThreadedRead
classdynamixel__interface_1_1DynamixelInterfaceController.html
af83cb916f129f5290da6576711085ff7
(PortInfo &port, sensor_msgs::JointState &read_msg, dynamixel_interface::DataPorts &dataports_msg, dynamixel_interface::ServoDiags &diags_msg) const
void
multiThreadedWrite
classdynamixel__interface_1_1DynamixelInterfaceController.html
a9a053f3a51dc44d7b5c3f3119f593afe
(PortInfo &port, sensor_msgs::JointState joint_commands) const
bool
parsePortInformation
classdynamixel__interface_1_1DynamixelInterfaceController.html
a14e4aeeb70a6bc0785c4f43ac6b2b1ba
(XmlRpc::XmlRpcValue ports)
bool
parseServoInformation
classdynamixel__interface_1_1DynamixelInterfaceController.html
a9f9608cdcc8d9223d862f71e34e950bb
(PortInfo &port, XmlRpc::XmlRpcValue servos)
ros::Timer
broadcast_timer_
classdynamixel__interface_1_1DynamixelInterfaceController.html
aa25f358c3e70d66a2ee8c2972caafa36
DynamixelControlMode
control_type_
classdynamixel__interface_1_1DynamixelInterfaceController.html
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uint
dataport_counter_
classdynamixel__interface_1_1DynamixelInterfaceController.html
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uint
dataport_iters_
classdynamixel__interface_1_1DynamixelInterfaceController.html
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ros::Publisher
dataport_publisher_
classdynamixel__interface_1_1DynamixelInterfaceController.html
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double
dataport_rate_
classdynamixel__interface_1_1DynamixelInterfaceController.html
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ros::Publisher
debug_publisher_
classdynamixel__interface_1_1DynamixelInterfaceController.html
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uint
diagnostics_counter_
classdynamixel__interface_1_1DynamixelInterfaceController.html
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uint
diagnostics_iters_
classdynamixel__interface_1_1DynamixelInterfaceController.html
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ros::Publisher
diagnostics_publisher_
classdynamixel__interface_1_1DynamixelInterfaceController.html
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double
diagnostics_rate_
classdynamixel__interface_1_1DynamixelInterfaceController.html
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std::vector< PortInfo >
dynamixel_ports_
classdynamixel__interface_1_1DynamixelInterfaceController.html
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double
global_max_vel_
classdynamixel__interface_1_1DynamixelInterfaceController.html
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double
global_torque_limit_
classdynamixel__interface_1_1DynamixelInterfaceController.html
a8a67bc98619c02b4d4baa15f5d47763f
bool
ignore_input_velocity_
classdynamixel__interface_1_1DynamixelInterfaceController.html
acb33ce02147c3312024399ac6130a452
bool
initialised_
classdynamixel__interface_1_1DynamixelInterfaceController.html
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ros::Publisher
joint_state_publisher_
classdynamixel__interface_1_1DynamixelInterfaceController.html
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ros::Subscriber
joint_state_subscriber_
classdynamixel__interface_1_1DynamixelInterfaceController.html
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double
loop_rate_
classdynamixel__interface_1_1DynamixelInterfaceController.html
aee56345c670074ce36b8f123ed16c78d
std::unique_ptr< ros::NodeHandle >
nh_
classdynamixel__interface_1_1DynamixelInterfaceController.html
a6bdcb7d46f974b51961b343831a79628
bool
parameters_parsed_
classdynamixel__interface_1_1DynamixelInterfaceController.html
afc6920bc3d1c04f58d77c241c4ff5aea
bool
read_dataport_
classdynamixel__interface_1_1DynamixelInterfaceController.html
a0d7e054eb9bcccb4c734e4c91ab325f4
bool
read_diagnostics_
classdynamixel__interface_1_1DynamixelInterfaceController.html
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int
recv_queue_size_
classdynamixel__interface_1_1DynamixelInterfaceController.html
a078d8e0900c1a43939065e87b22e3d1a
bool
stop_motors_on_shutdown_
classdynamixel__interface_1_1DynamixelInterfaceController.html
adcafbee959259c76721b16ddcac88bac
sensor_msgs::JointState
write_msg_
classdynamixel__interface_1_1DynamixelInterfaceController.html
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std::mutex
write_mutex_
classdynamixel__interface_1_1DynamixelInterfaceController.html
a22ce9663c51437d99b4df9a9ce27a548
bool
write_ready_
classdynamixel__interface_1_1DynamixelInterfaceController.html
ae595996eb3e6755bd7e5ebff6dc68a17
dynamixel_interface::DynamixelInterfaceDriver
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
DynamixelInterfaceDriver
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
adc88d6ba5a371e4056eeee83c4df06ed
(const std::string &device="/dev/ttyUSB0", int baud=1000000, bool use_legacy_protocol=false, bool use_group_read=true, bool use_group_write=true)
bool
getBulkDataportInfo
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
a61b36f6748129c256926eaa855fb6020
(std::unordered_map< int, DynamixelDataport > &data_map) const
bool
getBulkDiagnosticInfo
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
a76339e85db3359b6036116ae5c0c04b3
(std::unordered_map< int, DynamixelDiagnostic > &diag_map) const
bool
getBulkState
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
aed38e4cb2b65094d3e2b926adea3534b
(std::unordered_map< int, DynamixelState > &state_map) const
bool
getErrorStatus
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
af6922d86a9e5c8f8a0aaaf39b62d200b
(int servo_id, DynamixelSeriesType type, uint8_t *error) const
bool
getMaxTorque
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
a326c56252233efd1decce3670e056f02
(int servo_id, DynamixelSeriesType type, uint16_t *max_torque) const
bool
getModelNumber
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
a0726670154d3d3abc739b2c504c516ee
(int servo_id, uint16_t *model_number) const
const DynamixelSpec *
getModelSpec
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
a2402b74ea0bd5d7d18efb931fd45746a
(uint model_number) const
std::string
getSeriesName
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
a3fafe0a97dd2758a375dd39fc262f0d7
(DynamixelSeriesType type) const
bool
getTargetTorque
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
a729d726bc35e24b627fc933938a0a4c6
(int servo_id, DynamixelSeriesType type, int16_t *target_torque) const
bool
getTorqueEnabled
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
a174c52ceede72863b0a4dbdfe88a5273
(int servo_id, DynamixelSeriesType type, bool *torque_enabled) const
bool
initialise
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
a2a13b4d8c9c3a08bbbbed2de8a846ed6
(void)
bool
ping
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
a1d98277afc9763683a63d3f513019819
(int servo_id) const
bool
readRegisters
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
ac4fd7117e7043beec3b2b94af0d83133
(int servo_id, uint16_t address, uint16_t length, std::vector< uint8_t > *response) const
bool
setAngleLimits
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
a640586a487698c7e947b6294baa5419d
(int servo_id, DynamixelSeriesType type, int32_t min_angle, int32_t max_angle) const
bool
setMaxAngleLimit
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
a7e3870c0e6d1d22c6ab17383dccb375c
(int servo_id, DynamixelSeriesType type, int32_t angle) const
bool
setMaxTorque
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
af8178dd9ac23c39aa1eac8a5877d53c3
(int servo_id, DynamixelSeriesType type, uint16_t max_torque) const
bool
setMaxVelocity
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
a8ffcad0044cdab5e5e0eed619065ea0f
(int servo_id, DynamixelSeriesType type, uint32_t max_vel) const
bool
setMinAngleLimit
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
a882a6e073cedf534e48bfe7d3749a253
(int servo_id, DynamixelSeriesType type, int32_t angle) const
bool
setMultiPosition
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
a5d44bc4553fba2e345fc025f7740c640
(std::unordered_map< int, SyncData > &position_data) const
bool
setMultiProfileVelocity
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
a74587c6def9cbbba0217fdd4b2a91148
(std::unordered_map< int, SyncData > &velocity_data) const
bool
setMultiTorque
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
ab6acecc8d33451f4429614ca26dd6017
(std::unordered_map< int, SyncData > &torque_data) const
bool
setMultiVelocity
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
af82f63162b7af5a879a907d58082e74d
(std::unordered_map< int, SyncData > &velocity_data) const
bool
setOperatingMode
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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(int servo_id, DynamixelSeriesType type, DynamixelControlMode operating_mode) const
bool
setPositionDerivativeGain
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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(int servo_id, DynamixelSeriesType type, uint16_t gain) const
bool
setPositionIntegralGain
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
ab249c2a0a80ab8a2a42a049646fb9a5d
(int servo_id, DynamixelSeriesType type, uint16_t gain) const
bool
setPositionPIDGains
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
ae2f8a7c751177e90c1aa2b1fa47cd2a5
(int servo_id, DynamixelSeriesType type, double p_gain, double i_gain, double d_gain) const
bool
setPositionProportionalGain
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
a2096da0b4ba16342c8eda58b452c7df6
(int servo_id, DynamixelSeriesType type, uint16_t gain) const
bool
setProfileVelocity
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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(int servo_id, DynamixelSeriesType type, int32_t velocity) const
bool
setTorque
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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(int servo_id, DynamixelSeriesType type, int16_t torque) const
bool
setTorqueControlEnabled
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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(int servo_id, DynamixelSeriesType type, bool on) const
bool
setTorqueEnabled
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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(int servo_id, DynamixelSeriesType type, bool on) const
bool
setVelocityIntegralGain
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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(int servo_id, DynamixelSeriesType type, uint16_t gain) const
bool
setVelocityPIDGains
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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(int servo_id, DynamixelSeriesType type, double p_gain, double i_gain) const
bool
setVelocityProportionalGain
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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(int servo_id, DynamixelSeriesType type, uint16_t gain) const
bool
writeRegisters
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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(int servo_id, uint16_t address, uint16_t length, uint8_t *data) const
~DynamixelInterfaceDriver
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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()
bool
bulkRead
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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(std::unordered_map< int, SyncData * > &read_data, uint16_t address, uint16_t length) const
bool
loadMotorData
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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(void)
bool
syncRead
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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(std::unordered_map< int, SyncData * > &read_data, uint16_t address, uint16_t length) const
bool
syncWrite
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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(std::unordered_map< int, SyncData > &write_data, uint16_t address, uint16_t length) const
int
baud_rate_
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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std::string
device_
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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bool
initialised_
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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std::unordered_map< uint16_t, const DynamixelSpec >
model_specs_
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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std::unique_ptr< dynamixel::PacketHandler >
packetHandler_
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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std::unique_ptr< dynamixel::PortHandler >
portHandler_
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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std::unordered_map< int, std::vector< uint8_t > >
raw_read_map_
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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uint8_t
single_read_fallback_counter_
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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bool
use_group_read_
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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bool
use_group_write_
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
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bool
use_legacy_protocol_
classdynamixel__interface_1_1DynamixelInterfaceDriver.html
ae0f74840a274602c57494cbbdd1ad975
dynamixel_interface::DynamixelSpec
structdynamixel__interface_1_1DynamixelSpec.html
double
effort_reg_max
structdynamixel__interface_1_1DynamixelSpec.html
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double
effort_reg_to_mA
structdynamixel__interface_1_1DynamixelSpec.html
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int
encoder_cpr
structdynamixel__interface_1_1DynamixelSpec.html
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double
encoder_range_deg
structdynamixel__interface_1_1DynamixelSpec.html
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bool
external_ports
structdynamixel__interface_1_1DynamixelSpec.html
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uint16_t
model_number
structdynamixel__interface_1_1DynamixelSpec.html
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std::string
name
structdynamixel__interface_1_1DynamixelSpec.html
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DynamixelSeriesType
type
structdynamixel__interface_1_1DynamixelSpec.html
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double
velocity_radps_to_reg
structdynamixel__interface_1_1DynamixelSpec.html
aee2b235e5a169c2c11189879defaa942
dynamixel_interface::DynamixelState
structdynamixel__interface_1_1DynamixelState.html
dynamixel_interface::SyncData
int32_t
effort
structdynamixel__interface_1_1DynamixelState.html
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int32_t
position
structdynamixel__interface_1_1DynamixelState.html
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int32_t
velocity
structdynamixel__interface_1_1DynamixelState.html
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dynamixel_interface::PortInfo
structdynamixel__interface_1_1PortInfo.html
int
baudrate
structdynamixel__interface_1_1PortInfo.html
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std::string
device
structdynamixel__interface_1_1PortInfo.html
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std::unique_ptr< DynamixelInterfaceDriver >
driver
structdynamixel__interface_1_1PortInfo.html
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std::unordered_map< std::string, DynamixelInfo >
joints
structdynamixel__interface_1_1PortInfo.html
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std::string
port_name
structdynamixel__interface_1_1PortInfo.html
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bool
use_legacy_protocol
structdynamixel__interface_1_1PortInfo.html
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dynamixel_interface::SyncData
structdynamixel__interface_1_1SyncData.html
std::vector< uint8_t >
data
structdynamixel__interface_1_1SyncData.html
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uint8_t
error
structdynamixel__interface_1_1SyncData.html
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int
id
structdynamixel__interface_1_1SyncData.html
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bool
success
structdynamixel__interface_1_1SyncData.html
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DynamixelSeriesType
type
structdynamixel__interface_1_1SyncData.html
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dynamixel_interface
namespacedynamixel__interface.html
dynamixel_interface::DynamixelDataport
dynamixel_interface::DynamixelDiagnostic
dynamixel_interface::DynamixelInfo
dynamixel_interface::DynamixelInterfaceController
dynamixel_interface::DynamixelInterfaceDriver
dynamixel_interface::DynamixelSpec
dynamixel_interface::DynamixelState
dynamixel_interface::PortInfo
dynamixel_interface::SyncData
DynamixelControlMode
namespacedynamixel__interface.html
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UNKNOWN
namespacedynamixel__interface.html
a2aa21f6f60878ea0f4140be5b44f65e9a646ce0b3ebf56337820ee59b30d067a7
kModeTorqueControl
namespacedynamixel__interface.html
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