Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * manipulator.cpp - Fawkes to OpenRAVE Manipulator Data 00004 * 00005 * Created: Thu Sep 16 14:50:34 2010 00006 * Copyright 2010 Bahram Maleki-Fard, AllemaniACs RoboCup Team 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU Library General Public License for more details. 00019 * 00020 * Read the full text in the LICENSE.GPL file in the doc directory. 00021 */ 00022 00023 #include "manipulator.h" 00024 00025 #include <vector> 00026 00027 namespace fawkes { 00028 #if 0 /* just to make Emacs auto-indent happy */ 00029 } 00030 #endif 00031 00032 /** @class OpenRaveManipulator <plugins/openrave/manipulator.h> 00033 * Class containing information about all manipulator motors. 00034 * @author Bahram Maleki-Fard 00035 */ 00036 00037 /** Constructor 00038 * @param count number of motors of OpenRAVE model 00039 * @param count_device number of motors of real device 00040 */ 00041 OpenRaveManipulator::OpenRaveManipulator(unsigned int count, unsigned int count_device) : 00042 __cnt( count ), 00043 __cnt_device( count_device ) 00044 { 00045 } 00046 00047 /** Destructor. */ 00048 OpenRaveManipulator::~OpenRaveManipulator() 00049 { 00050 } 00051 00052 00053 /** Adds a motor to the list(vector) of motors 00054 * @param number motor number in OpenRAVE 00055 * @param number_device motor number of real device 00056 */ 00057 void 00058 OpenRaveManipulator::add_motor(unsigned int number, unsigned int number_device) 00059 { 00060 motor_t motor; 00061 motor.no = number; 00062 motor.no_device = number_device; 00063 motor.angle = 0.f; 00064 00065 __motors.push_back(motor); 00066 } 00067 00068 00069 00070 00071 00072 00073 00074 00075 /* ########## various ########## */ 00076 /** Transform single OpenRAVE motor angle to real device angle 00077 * @param number motor number of real device 00078 * @param angle motor angle of OpenRAVE model 00079 * @return transformed angle 00080 */ 00081 float 00082 OpenRaveManipulator::angle_OR_to_device(unsigned int number, float angle) const 00083 { 00084 // Transformations should be implemented in subclasses, as these depend on 00085 // the attached manipulator device. 00086 return angle; 00087 } 00088 00089 /** Transform single device motor angle to OpenRAVE angle 00090 * @param number motor number of real device 00091 * @param angle motor angle of real device 00092 * @return transformed angle 00093 */ 00094 float 00095 OpenRaveManipulator::angle_device_to_OR(unsigned int number, float angle) const 00096 { 00097 // Transformations should be implemented in subclasses, as these depend on 00098 // the attached manipulator device. 00099 return angle; 00100 } 00101 00102 } // end of namespace fawkes