Fawkes API  Fawkes Development Version
fawkes::OpenRaveManipulator Class Reference

Class containing information about all manipulator motors. More...

#include <>>

Inheritance diagram for fawkes::OpenRaveManipulator:

Public Member Functions

 OpenRaveManipulator (unsigned int count, unsigned int count_device)
 Constructor. More...
 
virtual ~OpenRaveManipulator ()
 Destructor. More...
 
virtual void add_motor (unsigned int number, unsigned int number_device)
 Adds a motor to the list(vector) of motors. More...
 
template<typename T_from , typename T_to >
void angles_or_to_device (std::vector< T_from > &from, std::vector< T_to > &to) const
 Transform OpenRAVE motor angles to real device angles. More...
 
template<typename T >
void get_angles (std::vector< T > &to) const
 Get motor angles of OpenRAVE model. More...
 
template<typename T >
void get_angles_device (std::vector< T > &to) const
 Get motor angles of real device. More...
 
template<typename T >
void set_angles (std::vector< T > &angles)
 Set motor angles of OpenRAVE model. More...
 
template<typename T >
void set_angles_device (std::vector< T > &angles)
 Set motor angles of real device. More...
 

Protected Member Functions

virtual float angle_OR_to_device (unsigned int number, float angle) const
 Transform single OpenRAVE motor angle to real device angle. More...
 
virtual float angle_device_to_OR (unsigned int number, float angle) const
 Transform single device motor angle to OpenRAVE angle. More...
 

Protected Attributes

std::vector< motor_t__motors
 vector of motors More...
 
unsigned int __cnt
 number of motors on OpenRAVE model More...
 
unsigned int __cnt_device
 number of motors on real device More...
 

Detailed Description

Class containing information about all manipulator motors.

Author
Bahram Maleki-Fard

Definition at line 35 of file manipulator.h.

Constructor & Destructor Documentation

fawkes::OpenRaveManipulator::OpenRaveManipulator ( unsigned int  count,
unsigned int  count_device 
)

Constructor.

Parameters
countnumber of motors of OpenRAVE model
count_devicenumber of motors of real device

Definition at line 41 of file manipulator.cpp.

fawkes::OpenRaveManipulator::~OpenRaveManipulator ( )
virtual

Destructor.

Definition at line 48 of file manipulator.cpp.

Member Function Documentation

void fawkes::OpenRaveManipulator::add_motor ( unsigned int  number,
unsigned int  number_device 
)
virtual

Adds a motor to the list(vector) of motors.

Parameters
numbermotor number in OpenRAVE
number_devicemotor number of real device

Definition at line 58 of file manipulator.cpp.

References __motors, fawkes::motor_t::angle, fawkes::motor_t::no, and fawkes::motor_t::no_device.

float fawkes::OpenRaveManipulator::angle_device_to_OR ( unsigned int  number,
float  angle 
) const
protectedvirtual

Transform single device motor angle to OpenRAVE angle.

Parameters
numbermotor number of real device
anglemotor angle of real device
Returns
transformed angle

Definition at line 95 of file manipulator.cpp.

float fawkes::OpenRaveManipulator::angle_OR_to_device ( unsigned int  number,
float  angle 
) const
protectedvirtual

Transform single OpenRAVE motor angle to real device angle.

Parameters
numbermotor number of real device
anglemotor angle of OpenRAVE model
Returns
transformed angle

Definition at line 82 of file manipulator.cpp.

template<typename T_from , typename T_to >
void fawkes::OpenRaveManipulator::angles_or_to_device ( std::vector< T_from > &  from,
std::vector< T_to > &  to 
) const

Transform OpenRAVE motor angles to real device angles.

Parameters
frommotor angles of OpenRAVE model
tomotor angles of real device

Definition at line 94 of file manipulator.h.

Referenced by fawkes::OpenRaveRobot::get_trajectory_device().

template<typename T >
void fawkes::OpenRaveManipulator::get_angles ( std::vector< T > &  to) const

Get motor angles of OpenRAVE model.

Parameters
totarget tvector of angles

Definition at line 67 of file manipulator.h.

Referenced by fawkes::OpenRaveRobot::calibrate(), fawkes::OpenRaveRobot::get_planner_params(), fawkes::OpenRaveEnvironment::run_planner(), and fawkes::OpenRaveRobot::update_model().

template<typename T >
void fawkes::OpenRaveManipulator::get_angles_device ( std::vector< T > &  to) const

Get motor angles of real device.

Parameters
totarget vector of angles

Definition at line 80 of file manipulator.h.

template<typename T >
void fawkes::OpenRaveManipulator::set_angles ( std::vector< T > &  angles)

Set motor angles of OpenRAVE model.

Parameters
anglesmotor angles

Definition at line 110 of file manipulator.h.

Referenced by fawkes::OpenRaveRobot::set_target_angles(), fawkes::OpenRaveRobot::set_target_ikparam(), and fawkes::OpenRaveRobot::update_manipulator().

template<typename T >
void fawkes::OpenRaveManipulator::set_angles_device ( std::vector< T > &  angles)

Set motor angles of real device.

Parameters
anglesmotor angles

Definition at line 122 of file manipulator.h.

Member Data Documentation

unsigned int fawkes::OpenRaveManipulator::__cnt
protected

number of motors on OpenRAVE model

Definition at line 56 of file manipulator.h.

unsigned int fawkes::OpenRaveManipulator::__cnt_device
protected

number of motors on real device

Definition at line 57 of file manipulator.h.

std::vector<motor_t> fawkes::OpenRaveManipulator::__motors
protected

vector of motors

Definition at line 55 of file manipulator.h.

Referenced by add_motor().


The documentation for this class was generated from the following files: