Fawkes API
Fawkes Development Version
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Abstract class for a Kinova Jaco Arm that we want to control. More...
#include <>>
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... | |
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inlinevirtual |
Virtual empty destructor.
Definition at line 42 of file arm.h.
References get_coords(), get_fingers(), get_joints(), get_name(), goto_coords(), goto_joints(), goto_ready(), goto_retract(), goto_trajec(), initialize(), initialized(), push_joystick(), release_joystick(), and stop().
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pure virtual |
Check if movement is final.
Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.
Referenced by JacoGotoThread::loop().
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pure virtual |
Get the cartesian coordinates of the arm.
to | vector to be filled with coordinates. |
Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.
Referenced by JacoInfoThread::loop(), and ~JacoArm().
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pure virtual |
Get the position values of the fingers.
to | vector to be filled with finger positions. |
Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.
Referenced by JacoInfoThread::loop(), and ~JacoArm().
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pure virtual |
Get the joint angles of the arm.
to | vector to be filled with angle values for active joints. |
Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.
Referenced by JacoOpenraveThread::loop(), JacoInfoThread::loop(), and ~JacoArm().
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inline |
Get the name of the arm.
Definition at line 133 of file arm.h.
References __name.
Referenced by JacoActThread::loop(), and ~JacoArm().
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pure virtual |
Move the arm to given configuration.
coords | target fingertip coordinations |
fingers | target finger positions |
Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.
Referenced by JacoGotoThread::loop(), and ~JacoArm().
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pure virtual |
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. |
Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.
Referenced by JacoGotoThread::loop(), JacoBimanualGotoThread::move_gripper(), and ~JacoArm().
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pure virtual |
Move the arm to READY position.
Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.
Referenced by JacoGotoThread::loop(), and ~JacoArm().
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pure virtual |
Move the arm to RETRACT position.
Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.
Referenced by JacoGotoThread::loop(), and ~JacoArm().
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pure virtual |
Move the arm along the given trajectory.
trajec | the trajectory |
fingers | target finger positions |
Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.
Referenced by JacoGotoThread::loop(), and ~JacoArm().
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pure virtual |
Initialize the arm.
Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.
Referenced by JacoActThread::loop(), and ~JacoArm().
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pure virtual |
Check if arm is initialized.
Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.
Referenced by JacoActThread::loop(), and ~JacoArm().
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pure virtual |
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). |
Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.
Referenced by JacoActThread::loop(), and ~JacoArm().
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pure virtual |
Simulate releasing the joystick of the Kinova Jaco arm.
Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.
Referenced by JacoActThread::loop(), and ~JacoArm().
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pure virtual |
Stop the current movement.
Implemented in fawkes::JacoArmKindrv, and fawkes::JacoArmDummy.
Referenced by JacoGotoThread::loop(), JacoGotoThread::stop(), and ~JacoArm().
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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().
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protected |
the name of this arm
Definition at line 127 of file arm.h.
Referenced by get_name(), and fawkes::JacoArmDummy::JacoArmDummy().