23 #ifndef __PLUGINS_OPENRAVE_ROBOT_H 24 #define __PLUGINS_OPENRAVE_ROBOT_H 28 #include <openrave/openrave.h> 49 virtual void set_ready();
50 virtual void set_offset(
float trans_x,
float trans_y,
float trans_z);
51 virtual void calibrate(
float device_trans_x,
float device_trans_y,
float device_trans_z);
53 virtual void update_manipulator();
54 virtual void update_model();
56 virtual bool attach_object(OpenRAVE::KinBodyPtr
object,
const char* manip_name = NULL);
58 virtual bool release_object(OpenRAVE::KinBodyPtr
object);
60 virtual bool release_all_objects();
62 virtual bool set_target_rel(
float trans_x,
float trans_y,
float trans_z,
bool is_extension=
false);
63 virtual bool set_target_straight(
float trans_x,
float trans_y,
float trans_z);
64 virtual bool set_target_quat(
float trans_x,
float trans_y,
float trans_z,
65 float quat_w,
float quat_x,
float quat_y,
float quat_z,
66 OpenRAVE::IkFilterOptions filter = OpenRAVE::IKFO_CheckEnvCollisions,
bool no_offset =
false);
67 virtual bool set_target_axis_angle(
float trans_x,
float trans_y,
float trans_z,
68 float angle,
float axisX,
float axisY,
float axisZ,
69 OpenRAVE::IkFilterOptions filter = OpenRAVE::IKFO_CheckEnvCollisions,
bool no_offset =
false);
71 float trans_x,
float trans_y,
float trans_z,
72 float phi,
float theta,
float psi,
73 OpenRAVE::IkFilterOptions filter = OpenRAVE::IKFO_CheckEnvCollisions,
bool no_offset =
false);
74 virtual bool set_target_object_position(
float trans_x,
float trans_y,
float trans_z,
float rot_x, OpenRAVE::IkFilterOptions filter = OpenRAVE::IKFO_CheckEnvCollisions);
75 virtual bool set_target_ikparam(OpenRAVE::IkParameterization ik_param, OpenRAVE::IkFilterOptions filter = OpenRAVE::IKFO_CheckEnvCollisions);
76 virtual void set_target_plannerparams(std::string& params);
77 virtual void set_target_plannerparams(
const char* params);
78 virtual void set_target_raw(std::string& cmd);
79 virtual void set_target_raw(
const char* cmd);
80 virtual void set_target_angles( std::vector<float>& angles );
82 virtual void enable_ik_comparison(
bool enable);
84 virtual OpenRAVE::RobotBasePtr get_robot_ptr()
const;
87 virtual OpenRAVE::PlannerBase::PlannerParametersPtr get_planner_params()
const;
88 virtual std::vector< std::vector<OpenRAVE::dReal> >* get_trajectory()
const;
89 virtual std::vector< std::vector<float> >* get_trajectory_device()
const;
91 virtual bool display_planned_movements()
const;
93 virtual OpenRAVE::ModuleBasePtr get_basemanip()
const;
97 void build_name_str();
98 const char* name()
const;
100 bool set_target_transform(OpenRAVE::Vector& trans, OpenRAVE::Vector& rotQuat, OpenRAVE::IkFilterOptions filter,
bool no_offset =
false);
101 bool set_target_euler(OpenRAVE::Vector& trans, std::vector<float>& rotations, OpenRAVE::IkFilterOptions filter,
bool no_offset =
false);
102 OpenRAVE::IkParameterization get_5dof_ikparam(OpenRAVE::Transform& trans);
103 bool solve_ik(OpenRAVE::IkFilterOptions filter);
108 std::string __name_str;
109 OpenRAVE::RobotBasePtr __robot;
110 OpenRAVE::RobotBase::ManipulatorPtr __arm;
115 OpenRAVE::ModuleBasePtr __mod_basemanip;
117 OpenRAVE::PlannerBase::PlannerParametersPtr __planner_params;
118 std::vector< std::vector<OpenRAVE::dReal> >* __traj;
120 float __trans_offset_x;
121 float __trans_offset_y;
122 float __trans_offset_z;
124 bool __display_planned_movements;
Fawkes library namespace.
Struct containing information about the current target.
euler_rotation_t
Euler rotations.
RefPtr<> is a reference-counting shared smartpointer.