23 #ifndef __PLUGINS_JACO_ARM_DUMMY_H_ 24 #define __PLUGINS_JACO_ARM_DUMMY_H_ 48 virtual void get_joints(std::vector<float> &to)
const;
49 virtual void get_coords(std::vector<float> &to);
50 virtual void get_fingers(std::vector<float> &to)
const;
56 virtual void goto_trajec(std::vector< std::vector<float> >* trajec, std::vector<float> &fingers);
57 virtual void goto_joints(std::vector<float> &joints, std::vector<float> &fingers,
bool followup=
false);
58 virtual void goto_coords(std::vector<float> &coords, std::vector<float> &fingers);
64 std::vector<float> __coords;
65 std::vector<float> __joints;
66 std::vector<float> __fingers;
68 std::vector<float> __pos_ready;
69 std::vector<float> __pos_retract;
virtual bool initialized()
Check if arm is initialized.
virtual void goto_ready()
Move the arm to READY position.
JacoArmDummy(const char *name)
Constructor.
virtual ~JacoArmDummy()
Destructor.
virtual void release_joystick()
Simulate releasing the joystick of the Kinova Jaco arm.
Fawkes library namespace.
virtual void goto_retract()
Move the arm to RETRACT position.
virtual void goto_joints(std::vector< float > &joints, std::vector< float > &fingers, bool followup=false)
Move the arm to given configuration.
Class for simulating a dummy Kinova Jaco Arm.
virtual void get_coords(std::vector< float > &to)
Get the cartesian coordinates of the arm.
virtual void push_joystick(unsigned int button)
Simulate a push of a button on the joystick of the Kinova Jaco arm.
virtual void stop()
Stop the current movement.
virtual void goto_trajec(std::vector< std::vector< float > > *trajec, std::vector< float > &fingers)
Move the arm along the given trajectory.
virtual void get_fingers(std::vector< float > &to) const
Get the position values of the fingers.
virtual void goto_coords(std::vector< float > &coords, std::vector< float > &fingers)
Move the arm to given configuration.
virtual void get_joints(std::vector< float > &to) const
Get the joint angles of the arm.
Abstract class for a Kinova Jaco Arm that we want to control.
virtual void initialize()
Initialize the arm.