23 #include "arm_dummy.h" 27 #define READY_J0 (282.522400) 28 #define READY_J1 (154.470856) 29 #define READY_J2 (44.191490) 30 #define READY_J3 (230.081223) 31 #define READY_J4 (83.242500) 32 #define READY_J5 (77.796173) 34 #define RETRACT_J0 (270.527344) 35 #define RETRACT_J1 (150.205078) 36 #define RETRACT_J2 (25.042963) 37 #define RETRACT_J3 (267.451172) 38 #define RETRACT_J4 (5.800781) 39 #define RETRACT_J5 (99.448242) 64 __pos_ready.push_back(READY_J0);
65 __pos_ready.push_back(READY_J1);
66 __pos_ready.push_back(READY_J2);
67 __pos_ready.push_back(READY_J3);
68 __pos_ready.push_back(READY_J4);
69 __pos_ready.push_back(READY_J5);
70 __pos_retract.push_back(RETRACT_J0);
71 __pos_retract.push_back(RETRACT_J1);
72 __pos_retract.push_back(RETRACT_J2);
73 __pos_retract.push_back(RETRACT_J3);
74 __pos_retract.push_back(RETRACT_J4);
75 __pos_retract.push_back(RETRACT_J5);
78 __coords.assign(6, 0.f);
79 __joints.assign(6, 0.f);
80 __fingers.assign(3, 0.f);
152 for(
unsigned int i=0; i<trajec->size(); ++i ) {
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.
std::string __name
the name of this arm
virtual void goto_joints(std::vector< float > &joints, std::vector< float > &fingers, bool followup=false)
Move the arm to given configuration.
virtual void get_coords(std::vector< float > &to)
Get the cartesian coordinates of the arm.
virtual bool final()
Check if movement is final.
bool __initialized
track if the arm has been initialized or not
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.
virtual void initialize()
Initialize the arm.