23 #ifndef __PLUGINS_KATANA_CONTROLLER_OPENRAVE_H_ 24 #define __PLUGINS_KATANA_CONTROLLER_OPENRAVE_H_ 26 #include "controller.h" 28 #include <core/utils/refptr.h> 31 #include <plugins/openrave/types.h> 32 #include <openrave/openrave.h> 45 class OpenRaveConnector;
73 virtual void move_to(
float x,
float y,
float z,
float phi,
float theta,
float psi,
bool blocking =
false);
74 virtual void move_to(std::vector<int> encoders,
bool blocking =
false);
75 virtual void move_to(std::vector<float> angles,
bool blocking =
false);
76 virtual void move_motor_to(
unsigned short id,
int enc,
bool blocking =
false);
77 virtual void move_motor_to(
unsigned short id,
float angle,
bool blocking =
false);
78 virtual void move_motor_by(
unsigned short id,
int enc,
bool blocking =
false);
79 virtual void move_motor_by(
unsigned short id,
float angle,
bool blocking =
false);
86 virtual double theta();
88 virtual void get_sensors(std::vector<int>& to,
bool refresh =
false);
89 virtual void get_encoders(std::vector<int>& to,
bool refresh =
false);
90 virtual void get_angles(std::vector<float>& to,
bool refresh =
false);
94 double __phi, __theta, __psi;
100 OpenRAVE::EnvironmentBasePtr __env;
101 OpenRAVE::RobotBasePtr __robot;
102 OpenRAVE::RobotBase::ManipulatorPtr __manip;
106 std::vector<short> __active_motors;
108 void update_manipulator();
109 void wait_finished();
112 bool motor_oor(
unsigned short id);
113 #endif //HAVE_OPENRAVE virtual void init()=0
Initialize controller.
virtual void read_motor_data()=0
Read motor data of currently active joints from device into controller libray.
virtual double y()=0
Get y-coordinate of latest endeffector position.
virtual void move_motor_to(unsigned short id, int enc, bool blocking=false)=0
Move single joint/motor to encoder value.
virtual void gripper_close(bool blocking=false)=0
Close Gripper.
virtual void get_angles(std::vector< float > &to, bool refresh=false)=0
Get angle values of joints/motors.
Fawkes library namespace.
virtual double theta()=0
Get theta-rotation of latest endeffector orientation.
virtual void read_sensor_data()=0
Read all sensor data from device into controller libray.
virtual double z()=0
Get z-coordinate of latest endeffector position.
Abstract class for a Neuronics Katana controller.
virtual void read_coordinates(bool refresh=false)=0
Store current coordinates of endeeffctor.
virtual void turn_on()=0
Turn on arm/motors.
virtual bool joint_angles()=0
Check if controller provides joint angle values.
Controller class for a Neuronics Katana, using libkni to interact with the real Katana arm...
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.
virtual double x()=0
Get x-coordinate of latest endeffector position.
virtual void get_sensors(std::vector< int > &to, bool refresh=false)=0
Get sensor values.
virtual void calibrate()=0
Calibrate the arm.
virtual void turn_off()=0
Turn off arm/motors.
virtual void move_motor_by(unsigned short id, int enc, bool blocking=false)=0
Move single joint/motor by encoder value (i.e.
Interface for a OpenRave connection creator.
RefPtr<> is a reference-counting shared smartpointer.
virtual double psi()=0
Get psi-rotation of latest endeffector orientation.
virtual bool joint_encoders()=0
Check if controller provides joint encoder values.
virtual void set_max_velocity(unsigned int vel)=0
Set maximum velocity.
virtual double phi()=0
Get x-coordinate of latest endeffector position.
virtual void gripper_open(bool blocking=false)=0
Open Gripper.
virtual void stop()=0
Stop movement immediately.
virtual void get_encoders(std::vector< int > &to, bool refresh=false)=0
Get encoder values of joints/motors.