Fawkes API
Fawkes Development Version
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Class for commanding a Kinova Jaco Arm, using libkindrv. More...
#include <>>
Public Member Functions | |
JacoArmKindrv (const char *name=NULL) | |
Constructor. More... | |
virtual | ~JacoArmKindrv () |
Destructor. More... | |
virtual void | initialize () |
Initialize the arm. More... | |
virtual bool | final () |
Check if movement is final. More... | |
virtual bool | initialized () |
Check if arm is initialized. More... | |
virtual void | get_joints (std::vector< float > &to) const |
Get the joint angles of the arm. More... | |
virtual void | get_coords (std::vector< float > &to) |
Get the cartesian coordinates of the arm. More... | |
virtual void | get_fingers (std::vector< float > &to) const |
Get the position values of the fingers. More... | |
virtual void | stop () |
Stop the current movement. More... | |
virtual void | push_joystick (unsigned int button) |
Simulate a push of a button on the joystick of the Kinova Jaco arm. More... | |
virtual void | release_joystick () |
Simulate releasing the joystick of the Kinova Jaco arm. More... | |
virtual void | goto_trajec (std::vector< std::vector< float > > *trajec, std::vector< float > &fingers) |
Move the arm along the given trajectory. More... | |
virtual void | goto_joints (std::vector< float > &joints, std::vector< float > &fingers, bool followup=false) |
Move the arm to given configuration. More... | |
virtual void | goto_coords (std::vector< float > &coords, std::vector< float > &fingers) |
Move the arm to given configuration. More... | |
virtual void | goto_ready () |
Move the arm to READY position. More... | |
virtual void | goto_retract () |
Move the arm to RETRACT position. More... | |
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virtual | ~JacoArm () |
Virtual empty destructor. More... | |
std::string | get_name () const |
Get the name of the arm. More... | |
Additional Inherited Members | |
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std::string | __name |
the name of this arm More... | |
bool | __initialized |
track if the arm has been initialized or not More... | |
Class for commanding a Kinova Jaco Arm, using libkindrv.
Definition at line 40 of file arm_kindrv.h.
fawkes::JacoArmKindrv::JacoArmKindrv | ( | const char * | name = NULL | ) |
Constructor.
name | The name of the arm we want to connect to. |
Definition at line 47 of file arm_kindrv.cpp.
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Destructor.
Definition at line 91 of file arm_kindrv.cpp.
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Check if movement is final.
Implements fawkes::JacoArm.
Definition at line 106 of file arm_kindrv.cpp.
References fawkes::TARGET_READY, and fawkes::TARGET_RETRACT.
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Get the cartesian coordinates of the arm.
to | vector to be filled with coordinates. |
Implements fawkes::JacoArm.
Definition at line 169 of file arm_kindrv.cpp.
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Get the position values of the fingers.
to | vector to be filled with finger positions. |
Implements fawkes::JacoArm.
Definition at line 202 of file arm_kindrv.cpp.
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Get the joint angles of the arm.
to | vector to be filled with angle values for active joints. |
Implements fawkes::JacoArm.
Definition at line 188 of file arm_kindrv.cpp.
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Move the arm to given configuration.
coords | target fingertip coordinations |
fingers | target finger positions |
Implements fawkes::JacoArm.
Definition at line 271 of file arm_kindrv.cpp.
References fawkes::TARGET_CARTESIAN.
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Move the arm to given configuration.
joints | target joint angles |
fingers | target finger positions |
followup | defines if this is a singular trajectory-point, or a consecutive one. Setting to "false" acuires control of the arm and sets the mode to "angular" each time. Because of that, it needs to be "true" if it is a "followup" trajectory point. |
Implements fawkes::JacoArm.
Definition at line 254 of file arm_kindrv.cpp.
References fawkes::TARGET_ANGULAR.
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Move the arm to READY position.
Implements fawkes::JacoArm.
Definition at line 286 of file arm_kindrv.cpp.
References fawkes::TARGET_READY.
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Move the arm to RETRACT position.
Implements fawkes::JacoArm.
Definition at line 323 of file arm_kindrv.cpp.
References fawkes::TARGET_RETRACT.
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Move the arm along the given trajectory.
trajec | the trajectory |
fingers | target finger positions |
Implements fawkes::JacoArm.
Definition at line 240 of file arm_kindrv.cpp.
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Check if arm is initialized.
Implements fawkes::JacoArm.
Definition at line 155 of file arm_kindrv.cpp.
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Simulate a push of a button on the joystick of the Kinova Jaco arm.
button | the id of the joystick button (from 0 to 15). |
Implements fawkes::JacoArm.
Definition at line 223 of file arm_kindrv.cpp.
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Simulate releasing the joystick of the Kinova Jaco arm.
Implements fawkes::JacoArm.
Definition at line 231 of file arm_kindrv.cpp.
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Stop the current movement.
Implements fawkes::JacoArm.
Definition at line 216 of file arm_kindrv.cpp.