src/libYARP_dev/esdcan/linux/yarp/YARPEsdCanDeviceDriver.cpp
int YARPEsdCanDeviceDriver::setAcceleration (void *cmd)
{
	SingleAxisParameters *tmp = (SingleAxisParameters *) cmd;
	const int axis = tmp->axis;
	ACE_ASSERT (axis >= 0 && axis <= (ESD_MAX_CARDS-1)*2);

	_ref_accs[axis] = *((double *)tmp->parameters);
	const short s = S_16(_ref_accs[axis]);
	
	return _writeWord16 (CAN_SET_DESIRED_ACCELER, axis, s);
}
/// cmd is a SingleAxis pointer with a double arg
cmd is a SingleAxis pointer with a double arg
cmd is a SingleAxis pointer with a double arg
int YARPEsdCanDeviceDriver::setAcceleration (void *cmd)
{
	SingleAxisParameters *tmp = (SingleAxisParameters *) cmd;
	const int axis = tmp->axis;
	ACE_ASSERT (axis >= 0 && axis <= (ESD_MAX_CARDS-1)*2);
	_ref_accs[axis] = *((double *)tmp->parameters);
	const short s = S_16(_ref_accs[axis]);
	return _writeWord16 (CAN_SET_DESIRED_ACCELER, axis, s);
}
int YARPEsdCanDeviceDriver :: setAcceleration ( void * cmd ) { SingleAxisParameters * tmp = ( SingleAxisParameters * ) cmd ; const int axis = tmp -> axis ; ACE_ASSERT ( axis >= 0 && axis <= ( ESD_MAX_CARDS - 1 ) * 2 ) ; _ref_accs [ axis ] = * ( ( double * ) tmp -> parameters ) ; const short s = S_16 ( _ref_accs [ axis ] ) ; return _writeWord16 ( CAN_SET_DESIRED_ACCELER , axis , s ) ; }
cmd is a SingleAxis pointer with a double arg
cmd is a SingleAxis pointer with a double arg