Fawkes API  Fawkes Development Version
fawkes::JacoArm Class Referenceabstract

Abstract class for a Kinova Jaco Arm that we want to control. More...

#include <>>

Inheritance diagram for fawkes::JacoArm:

Public Member Functions

virtual ~JacoArm ()
 Virtual empty destructor. More...
 
virtual void initialize ()=0
 Initialize the arm. More...
 
virtual bool final ()=0
 Check if movement is final. More...
 
virtual bool initialized ()=0
 Check if arm is initialized. More...
 
virtual void get_joints (std::vector< float > &to) const =0
 Get the joint angles of the arm. More...
 
virtual void get_coords (std::vector< float > &to)=0
 Get the cartesian coordinates of the arm. More...
 
virtual void get_fingers (std::vector< float > &to) const =0
 Get the position values of the fingers. More...
 
virtual void stop ()=0
 Stop the current movement. More...
 
virtual void push_joystick (unsigned int button)=0
 Simulate a push of a button on the joystick of the Kinova Jaco arm. More...
 
virtual void release_joystick ()=0
 Simulate releasing the joystick of the Kinova Jaco arm. More...
 
virtual void goto_trajec (std::vector< std::vector< float > > *trajec, std::vector< float > &fingers)=0
 Move the arm along the given trajectory. More...
 
virtual void goto_joints (std::vector< float > &joints, std::vector< float > &fingers, bool followup=false)=0
 Move the arm to given configuration. More...
 
virtual void goto_coords (std::vector< float > &coords, std::vector< float > &fingers)=0
 Move the arm to given configuration. More...
 
virtual void goto_ready ()=0
 Move the arm to READY position. More...
 
virtual void goto_retract ()=0
 Move the arm to RETRACT position. More...
 
std::string get_name () const
 Get the name of the arm. More...
 

Protected Attributes

std::string __name
 the name of this arm More...
 
bool __initialized
 track if the arm has been initialized or not More...
 

Detailed Description

Abstract class for a Kinova Jaco Arm that we want to control.

Author
Bahram Maleki-Fard

Definition at line 38 of file arm.h.

Constructor & Destructor Documentation

◆ ~JacoArm()

virtual fawkes::JacoArm::~JacoArm ( )
inlinevirtual

Member Function Documentation

◆ final()

virtual bool fawkes::JacoArm::final ( )
pure virtual

Check if movement is final.

Returns
is movement final?

Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.

Referenced by JacoGotoThread::loop().

◆ get_coords()

virtual void fawkes::JacoArm::get_coords ( std::vector< float > &  to)
pure virtual

Get the cartesian coordinates of the arm.

Parameters
tovector to be filled with coordinates.

Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.

Referenced by JacoInfoThread::loop(), and ~JacoArm().

◆ get_fingers()

virtual void fawkes::JacoArm::get_fingers ( std::vector< float > &  to) const
pure virtual

Get the position values of the fingers.

Parameters
tovector to be filled with finger positions.

Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.

Referenced by JacoInfoThread::loop(), and ~JacoArm().

◆ get_joints()

virtual void fawkes::JacoArm::get_joints ( std::vector< float > &  to) const
pure virtual

Get the joint angles of the arm.

Parameters
tovector to be filled with angle values for active joints.

Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.

Referenced by JacoOpenraveThread::loop(), JacoInfoThread::loop(), and ~JacoArm().

◆ get_name()

std::string fawkes::JacoArm::get_name ( void  ) const
inline

Get the name of the arm.

Returns
the name

Definition at line 133 of file arm.h.

References __name.

Referenced by JacoActThread::loop(), and ~JacoArm().

◆ goto_coords()

virtual void fawkes::JacoArm::goto_coords ( std::vector< float > &  coords,
std::vector< float > &  fingers 
)
pure virtual

Move the arm to given configuration.

Parameters
coordstarget fingertip coordinations
fingerstarget finger positions

Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.

Referenced by JacoGotoThread::loop(), and ~JacoArm().

◆ goto_joints()

virtual void fawkes::JacoArm::goto_joints ( std::vector< float > &  joints,
std::vector< float > &  fingers,
bool  followup = false 
)
pure virtual

Move the arm to given configuration.

Parameters
jointstarget joint angles
fingerstarget finger positions
followupdefines 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.

Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.

Referenced by JacoGotoThread::loop(), JacoBimanualGotoThread::move_gripper(), and ~JacoArm().

◆ goto_ready()

virtual void fawkes::JacoArm::goto_ready ( )
pure virtual

Move the arm to READY position.

Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.

Referenced by JacoGotoThread::loop(), and ~JacoArm().

◆ goto_retract()

virtual void fawkes::JacoArm::goto_retract ( )
pure virtual

Move the arm to RETRACT position.

Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.

Referenced by JacoGotoThread::loop(), and ~JacoArm().

◆ goto_trajec()

virtual void fawkes::JacoArm::goto_trajec ( std::vector< std::vector< float > > *  trajec,
std::vector< float > &  fingers 
)
pure virtual

Move the arm along the given trajectory.

Parameters
trajecthe trajectory
fingerstarget finger positions

Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.

Referenced by JacoGotoThread::loop(), and ~JacoArm().

◆ initialize()

virtual void fawkes::JacoArm::initialize ( )
pure virtual

Initialize the arm.

Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.

Referenced by JacoActThread::loop(), and ~JacoArm().

◆ initialized()

virtual bool fawkes::JacoArm::initialized ( )
pure virtual

Check if arm is initialized.

Returns
is arm initialized?

Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.

Referenced by JacoActThread::loop(), and ~JacoArm().

◆ push_joystick()

virtual void fawkes::JacoArm::push_joystick ( unsigned int  button)
pure virtual

Simulate a push of a button on the joystick of the Kinova Jaco arm.

Parameters
buttonthe id of the joystick button (from 0 to 15).

Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.

Referenced by JacoActThread::loop(), and ~JacoArm().

◆ release_joystick()

virtual void fawkes::JacoArm::release_joystick ( )
pure virtual

Simulate releasing the joystick of the Kinova Jaco arm.

Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.

Referenced by JacoActThread::loop(), and ~JacoArm().

◆ stop()

virtual void fawkes::JacoArm::stop ( )
pure virtual

Stop the current movement.

Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.

Referenced by JacoGotoThread::loop(), JacoGotoThread::stop(), and ~JacoArm().

Member Data Documentation

◆ __initialized

bool fawkes::JacoArm::__initialized
protected

track if the arm has been initialized or not

Definition at line 128 of file arm.h.

Referenced by fawkes::JacoArmDummy::initialized(), and fawkes::JacoArmDummy::JacoArmDummy().

◆ __name

std::string fawkes::JacoArm::__name
protected

the name of this arm

Definition at line 127 of file arm.h.

Referenced by get_name(), and fawkes::JacoArmDummy::JacoArmDummy().


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