Fawkes API
Fawkes Development Version
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Class containing information about all manipulator motors. More...
#include <>>
Public Member Functions | |
OpenRaveManipulator (unsigned int count, unsigned int count_device) | |
Constructor. | |
virtual | ~OpenRaveManipulator () |
Destructor. | |
virtual void | add_motor (unsigned int number, unsigned int number_device) |
Adds a motor to the list(vector) of motors. | |
template<typename T_from , typename T_to > | |
void | angles_or_to_device (std::vector< T_from > &from, std::vector< T_to > &to) const |
Transform OpenRAVE motor angles to real device angles. | |
template<typename T > | |
void | get_angles (std::vector< T > &to) const |
Get motor angles of OpenRAVE model. | |
template<typename T > | |
void | get_angles_device (std::vector< T > &to) const |
Get motor angles of real device. | |
template<typename T > | |
void | set_angles (std::vector< T > &angles) |
Set motor angles of OpenRAVE model. | |
template<typename T > | |
void | set_angles_device (std::vector< T > &angles) |
Set motor angles of real device. | |
Protected Member Functions | |
virtual float | angle_OR_to_device (unsigned int number, float angle) const |
Transform single OpenRAVE motor angle to real device angle. | |
virtual float | angle_device_to_OR (unsigned int number, float angle) const |
Transform single device motor angle to OpenRAVE angle. | |
Protected Attributes | |
std::vector< motor_t > | __motors |
vector of motors | |
unsigned int | __cnt |
number of motors on OpenRAVE model | |
unsigned int | __cnt_device |
number of motors on real device |
Class containing information about all manipulator motors.
fawkes::OpenRaveManipulator::OpenRaveManipulator | ( | unsigned int | count, |
unsigned int | count_device | ||
) |
Constructor.
count | number of motors of OpenRAVE model |
count_device | number of motors of real device |
Definition at line 41 of file manipulator.cpp.
fawkes::OpenRaveManipulator::~OpenRaveManipulator | ( | ) | [virtual] |
Destructor.
Definition at line 48 of file manipulator.cpp.
void fawkes::OpenRaveManipulator::add_motor | ( | unsigned int | number, |
unsigned int | number_device | ||
) | [virtual] |
Adds a motor to the list(vector) of motors.
number | motor number in OpenRAVE |
number_device | motor number of real device |
Definition at line 58 of file manipulator.cpp.
References fawkes::motor_t::no, fawkes::motor_t::no_device, fawkes::motor_t::angle, and __motors.
float fawkes::OpenRaveManipulator::angle_device_to_OR | ( | unsigned int | number, |
float | angle | ||
) | const [protected, virtual] |
Transform single device motor angle to OpenRAVE angle.
number | motor number of real device |
angle | motor angle of real device |
Definition at line 95 of file manipulator.cpp.
float fawkes::OpenRaveManipulator::angle_OR_to_device | ( | unsigned int | number, |
float | angle | ||
) | const [protected, virtual] |
Transform single OpenRAVE motor angle to real device angle.
number | motor number of real device |
angle | motor angle of OpenRAVE model |
Definition at line 82 of file manipulator.cpp.
void fawkes::OpenRaveManipulator::angles_or_to_device | ( | std::vector< T_from > & | from, |
std::vector< T_to > & | to | ||
) | const |
Transform OpenRAVE motor angles to real device angles.
from | motor angles of OpenRAVE model |
to | motor angles of real device |
Definition at line 94 of file manipulator.h.
Referenced by fawkes::OpenRaveRobot::get_trajectory_device().
void fawkes::OpenRaveManipulator::get_angles | ( | std::vector< T > & | to | ) | const |
Get motor angles of OpenRAVE model.
to | target tvector of angles |
Definition at line 67 of file manipulator.h.
Referenced by fawkes::OpenRaveEnvironment::run_planner(), fawkes::OpenRaveRobot::calibrate(), fawkes::OpenRaveRobot::update_model(), and fawkes::OpenRaveRobot::get_planner_params().
void fawkes::OpenRaveManipulator::get_angles_device | ( | std::vector< T > & | to | ) | const |
Get motor angles of real device.
to | target vector of angles |
Definition at line 80 of file manipulator.h.
void fawkes::OpenRaveManipulator::set_angles | ( | std::vector< T > & | angles | ) |
Set motor angles of OpenRAVE model.
angles | motor angles |
Definition at line 110 of file manipulator.h.
Referenced by fawkes::OpenRaveRobot::update_manipulator(), fawkes::OpenRaveRobot::set_target_ikparam(), and fawkes::OpenRaveRobot::set_target_angles().
void fawkes::OpenRaveManipulator::set_angles_device | ( | std::vector< T > & | angles | ) |
Set motor angles of real device.
angles | motor angles |
Definition at line 122 of file manipulator.h.
unsigned int fawkes::OpenRaveManipulator::__cnt [protected] |
number of motors on OpenRAVE model
Definition at line 56 of file manipulator.h.
unsigned int fawkes::OpenRaveManipulator::__cnt_device [protected] |
number of motors on real device
Definition at line 57 of file manipulator.h.
std::vector<motor_t> fawkes::OpenRaveManipulator::__motors [protected] |