23 #ifndef __PLUGINS_JACO_ARM_H_ 24 #define __PLUGINS_JACO_ARM_H_ 53 virtual bool final() = 0;
66 virtual void get_joints(std::vector<float> &to)
const = 0;
71 virtual void get_coords(std::vector<float> &to) = 0;
76 virtual void get_fingers(std::vector<float> &to)
const = 0;
82 virtual void stop() = 0;
96 virtual void goto_trajec(std::vector< std::vector<float> >* trajec, std::vector<float> &fingers) = 0;
105 virtual void goto_joints(std::vector<float> &joints, std::vector<float> &fingers,
bool followup=
false) = 0;
111 virtual void goto_coords(std::vector<float> &coords, std::vector<float> &fingers) = 0;
Fawkes library namespace.
virtual void goto_retract()=0
Move the arm to RETRACT position.
std::string __name
the name of this arm
virtual void get_coords(std::vector< float > &to)=0
Get the cartesian coordinates of the arm.
bool __initialized
track if the arm has been initialized or not
virtual void initialize()=0
Initialize the arm.
virtual void release_joystick()=0
Simulate releasing the joystick of the Kinova Jaco arm.
virtual void get_joints(std::vector< float > &to) const =0
Get the joint angles of the arm.
virtual void goto_trajec(std::vector< std::vector< float > > *trajec, std::vector< float > &fingers)=0
Move the arm along the given trajectory.
virtual void goto_ready()=0
Move the arm to READY position.
virtual void goto_joints(std::vector< float > &joints, std::vector< float > &fingers, bool followup=false)=0
Move the arm to given configuration.
virtual void goto_coords(std::vector< float > &coords, std::vector< float > &fingers)=0
Move the arm to given configuration.
virtual ~JacoArm()
Virtual empty destructor.
virtual void push_joystick(unsigned int button)=0
Simulate a push of a button on the joystick of the Kinova Jaco arm.
virtual void get_fingers(std::vector< float > &to) const =0
Get the position values of the fingers.
virtual void stop()=0
Stop the current movement.
virtual bool initialized()=0
Check if arm is initialized.
Abstract class for a Kinova Jaco Arm that we want to control.
std::string get_name() const
Get the name of the arm.