Fawkes API
Fawkes Development Version
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Controller class for a Neuronics Katana, using libkni to interact with the real Katana arm. More...
#include <>>
Additional Inherited Members | |
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virtual | ~KatanaController () |
Virtual empty destructor. More... | |
virtual void | init ()=0 |
Initialize controller. More... | |
virtual void | set_max_velocity (unsigned int vel)=0 |
Set maximum velocity. More... | |
virtual bool | final ()=0 |
Check if movement is final. More... | |
virtual bool | joint_angles ()=0 |
Check if controller provides joint angle values. More... | |
virtual bool | joint_encoders ()=0 |
Check if controller provides joint encoder values. More... | |
virtual void | calibrate ()=0 |
Calibrate the arm. More... | |
virtual void | turn_on ()=0 |
Turn on arm/motors. More... | |
virtual void | turn_off ()=0 |
Turn off arm/motors. More... | |
virtual void | stop ()=0 |
Stop movement immediately. More... | |
virtual void | read_coordinates (bool refresh=false)=0 |
Store current coordinates of endeeffctor. More... | |
virtual void | read_motor_data ()=0 |
Read motor data of currently active joints from device into controller libray. More... | |
virtual void | read_sensor_data ()=0 |
Read all sensor data from device into controller libray. More... | |
virtual void | gripper_open (bool blocking=false)=0 |
Open Gripper. More... | |
virtual void | gripper_close (bool blocking=false)=0 |
Close Gripper. More... | |
virtual void | move_to (float x, float y, float z, float phi, float theta, float psi, bool blocking=false)=0 |
Move endeffctor to given coordinates. More... | |
virtual void | move_to (std::vector< int > encoders, bool blocking=false)=0 |
Move joints to encoder values. More... | |
virtual void | move_to (std::vector< float > angles, bool blocking=false)=0 |
Move joints to angle values. More... | |
virtual void | move_motor_to (unsigned short id, int enc, bool blocking=false)=0 |
Move single joint/motor to encoder value. More... | |
virtual void | move_motor_to (unsigned short id, float angle, bool blocking=false)=0 |
Move single joint/motor to angle value. More... | |
virtual void | move_motor_by (unsigned short id, int enc, bool blocking=false)=0 |
Move single joint/motor by encoder value (i.e. More... | |
virtual void | move_motor_by (unsigned short id, float angle, bool blocking=false)=0 |
Move single joint/motor by angle value (i.e. More... | |
virtual double | x ()=0 |
Get x-coordinate of latest endeffector position. More... | |
virtual double | y ()=0 |
Get y-coordinate of latest endeffector position. More... | |
virtual double | z ()=0 |
Get z-coordinate of latest endeffector position. More... | |
virtual double | phi ()=0 |
Get x-coordinate of latest endeffector position. More... | |
virtual double | theta ()=0 |
Get theta-rotation of latest endeffector orientation. More... | |
virtual double | psi ()=0 |
Get psi-rotation of latest endeffector orientation. More... | |
virtual void | get_sensors (std::vector< int > &to, bool refresh=false)=0 |
Get sensor values. More... | |
virtual void | get_encoders (std::vector< int > &to, bool refresh=false)=0 |
Get encoder values of joints/motors. More... | |
virtual void | get_angles (std::vector< float > &to, bool refresh=false)=0 |
Get angle values of joints/motors. More... | |
Controller class for a Neuronics Katana, using libkni to interact with the real Katana arm.
Definition at line 47 of file controller_openrave.h.