23 #ifndef __PLUGINS_OPENRAVE_ROBOT_H
24 #define __PLUGINS_OPENRAVE_ROBOT_H
28 #include <openrave/openrave.h>
37 class OpenRaveManipulator;
38 class OpenRaveEnvironment;
50 virtual void set_ready();
51 virtual void set_offset(
float trans_x,
float trans_y,
float trans_z);
52 virtual void calibrate(
float device_trans_x,
float device_trans_y,
float device_trans_z);
54 virtual void update_manipulator();
55 virtual void update_model();
57 virtual bool attach_object(OpenRAVE::KinBodyPtr
object);
59 virtual bool release_object(OpenRAVE::KinBodyPtr
object);
61 virtual bool release_all_objects();
63 virtual bool set_target_rel(
float trans_x,
float trans_y,
float trans_z,
bool is_extension=
false);
64 virtual bool set_target_straight(
float trans_x,
float trans_y,
float trans_z);
65 virtual bool set_target_quat(
float trans_x,
float trans_y,
float trans_z,
float quat_w,
float quat_x,
float quat_y,
float quat_z,
bool no_offset =
false);
66 virtual bool set_target_axis_angle(
float trans_x,
float trans_y,
float trans_z,
float angle,
float axisX,
float axisY,
float axisZ,
bool no_offset =
false);
67 virtual bool set_target_euler(
euler_rotation_t type,
float trans_x,
float trans_y,
float trans_z,
float phi,
float theta,
float psi,
bool no_offset =
false);
68 virtual bool set_target_ikparam(OpenRAVE::IkParameterization ik_param);
69 virtual void set_target_plannerparams(std::string& params);
70 virtual void set_target_angles( std::vector<float>& angles );
72 virtual bool set_target_object_position(
float trans_x,
float trans_y,
float trans_z,
float rot_x);
74 virtual OpenRAVE::RobotBasePtr get_robot_ptr()
const;
77 virtual OpenRAVE::PlannerBase::PlannerParametersPtr get_planner_params()
const;
78 virtual std::vector< std::vector<OpenRAVE::dReal> >* get_trajectory()
const;
79 virtual std::vector< std::vector<float> >* get_trajectory_device()
const;
81 virtual bool display_planned_movements()
const;
83 virtual OpenRAVE::ModuleBasePtr get_basemanip()
const;
87 bool set_target_transform(OpenRAVE::Vector& trans, OpenRAVE::Vector& rotQuat,
bool no_offset =
false);
88 bool set_target_euler(OpenRAVE::Vector& trans, std::vector<float>& rotations,
bool no_offset =
false);
89 OpenRAVE::IkParameterization get_5dof_ikparam(OpenRAVE::Transform& trans);
94 OpenRAVE::RobotBasePtr __robot;
95 OpenRAVE::RobotBase::ManipulatorPtr __arm;
100 OpenRAVE::ModuleBasePtr __mod_basemanip;
102 OpenRAVE::PlannerBase::PlannerParametersPtr __planner_params;
103 std::vector< std::vector<OpenRAVE::dReal> >* __traj;
105 float __trans_offset_x;
106 float __trans_offset_y;
107 float __trans_offset_z;
109 bool __display_planned_movements;
Fawkes library namespace.
OpenRaveEnvironment class.
Struct containing information about the current target.
Class containing information about all manipulator motors.
euler_rotation_t
Euler rotations.