Fawkes API
Fawkes Development Version
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Abstract class for a Neuronics Katana controller. More...
#include <>>
Public Member Functions | |
virtual | ~KatanaController () |
Virtual empty destructor. | |
virtual void | init ()=0 |
Initialize controller. | |
virtual void | set_max_velocity (unsigned int vel)=0 |
Set maximum velocity. | |
virtual bool | final ()=0 |
Check if movement is final. | |
virtual bool | joint_angles ()=0 |
Check if controller provides joint angle values. | |
virtual bool | joint_encoders ()=0 |
Check if controller provides joint encoder values. | |
virtual void | calibrate ()=0 |
Calibrate the arm. | |
virtual void | turn_on ()=0 |
Turn on arm/motors. | |
virtual void | turn_off ()=0 |
Turn off arm/motors. | |
virtual void | stop ()=0 |
Stop movement immediately. | |
virtual void | read_coordinates (bool refresh=false)=0 |
Store current coordinates of endeeffctor. | |
virtual void | read_motor_data ()=0 |
Read motor data of currently active joints from device into controller libray. | |
virtual void | read_sensor_data ()=0 |
Read all sensor data from device into controller libray. | |
virtual void | gripper_open (bool blocking=false)=0 |
Open Gripper. | |
virtual void | gripper_close (bool blocking=false)=0 |
Close Gripper. | |
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 void | move_to (std::vector< int > encoders, bool blocking=false)=0 |
Move joints to encoder values. | |
virtual void | move_to (std::vector< float > angles, bool blocking=false)=0 |
Move joints to angle values. | |
virtual void | move_motor_to (unsigned short id, int enc, bool blocking=false)=0 |
Move single joint/motor to encoder value. | |
virtual void | move_motor_to (unsigned short id, float angle, bool blocking=false)=0 |
Move single joint/motor to angle value. | |
virtual void | move_motor_by (unsigned short id, int enc, bool blocking=false)=0 |
Move single joint/motor by encoder value (i.e. | |
virtual void | move_motor_by (unsigned short id, float angle, bool blocking=false)=0 |
Move single joint/motor by angle value (i.e. | |
virtual double | x ()=0 |
Get x-coordinate of latest endeffector position. | |
virtual double | y ()=0 |
Get y-coordinate of latest endeffector position. | |
virtual double | z ()=0 |
Get z-coordinate of latest endeffector position. | |
virtual double | phi ()=0 |
Get x-coordinate of latest endeffector position. | |
virtual double | theta ()=0 |
Get theta-rotation of latest endeffector orientation. | |
virtual double | psi ()=0 |
Get psi-rotation of latest endeffector orientation. | |
virtual void | get_sensors (std::vector< int > &to, bool refresh=false)=0 |
Get sensor values. | |
virtual void | get_encoders (std::vector< int > &to, bool refresh=false)=0 |
Get encoder values of joints/motors. | |
virtual void | get_angles (std::vector< float > &to, bool refresh=false)=0 |
Get angle values of joints/motors. |
Abstract class for a Neuronics Katana controller.
virtual fawkes::KatanaController::~KatanaController | ( | ) | [inline, virtual] |
Virtual empty destructor.
Definition at line 41 of file controller.h.
virtual void fawkes::KatanaController::calibrate | ( | ) | [pure virtual] |
Calibrate the arm.
Implemented in fawkes::KatanaControllerKni.
virtual bool fawkes::KatanaController::final | ( | ) | [pure virtual] |
virtual void fawkes::KatanaController::get_angles | ( | std::vector< float > & | to, |
bool | refresh = false |
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) | [pure virtual] |
Get angle values of joints/motors.
to | vector to be filled with angle values for active joints. |
refresh | refresh joints/motors data (call 'read_motor_data')? |
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::get_encoders | ( | std::vector< int > & | to, |
bool | refresh = false |
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) | [pure virtual] |
Get encoder values of joints/motors.
to | vector to be filled with encoder values for active joints. |
refresh | refresh joints/motors data (call 'read_motor_data')? |
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::get_sensors | ( | std::vector< int > & | to, |
bool | refresh = false |
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) | [pure virtual] |
Get sensor values.
to | vector to be filled with all available sensor values. |
refresh | refresh sensor data (call 'read_sensor_data')? |
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::gripper_close | ( | bool | blocking = false | ) | [pure virtual] |
Close Gripper.
blocking | Is this a blocking call? |
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::gripper_open | ( | bool | blocking = false | ) | [pure virtual] |
Open Gripper.
blocking | Is this a blocking call? |
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::init | ( | ) | [pure virtual] |
Initialize controller.
Implemented in fawkes::KatanaControllerKni.
virtual bool fawkes::KatanaController::joint_angles | ( | ) | [pure virtual] |
Check if controller provides joint angle values.
Implemented in fawkes::KatanaControllerKni.
virtual bool fawkes::KatanaController::joint_encoders | ( | ) | [pure virtual] |
Check if controller provides joint encoder values.
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::move_motor_by | ( | unsigned short | id, |
int | enc, | ||
bool | blocking = false |
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) | [pure virtual] |
Move single joint/motor by encoder value (i.e.
increase/decrease).
id | id of the joint/motor. |
enc | increase/decrease by encoder value. |
blocking | Is this a blocking call? |
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::move_motor_by | ( | unsigned short | id, |
float | angle, | ||
bool | blocking = false |
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) | [pure virtual] |
Move single joint/motor by angle value (i.e.
increase/decrease).
id | id of the joint/motor. |
angle | increase/decrease by angle value. |
blocking | Is this a blocking call? |
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::move_motor_to | ( | unsigned short | id, |
int | enc, | ||
bool | blocking = false |
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) | [pure virtual] |
Move single joint/motor to encoder value.
id | id of the joint/motor. |
enc | target encoder value. |
blocking | Is this a blocking call? |
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::move_motor_to | ( | unsigned short | id, |
float | angle, | ||
bool | blocking = false |
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) | [pure virtual] |
Move single joint/motor to angle value.
id | id of the joint/motor. |
angle | target angle value. |
blocking | Is this a blocking call? |
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::move_to | ( | float | x, |
float | y, | ||
float | z, | ||
float | phi, | ||
float | theta, | ||
float | psi, | ||
bool | blocking = false |
||
) | [pure virtual] |
Move endeffctor to given coordinates.
x | translation on x-axis. |
y | translation on y-axis. |
z | translation on z-axis. |
phi | 1st rotation of euler-ZXZ-rotation |
theta | 2nd rotation of euler-ZXZ-rotation |
psi | 3rd rotation of euler-ZXZ-rotation |
blocking | Is this a blocking call? |
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::move_to | ( | std::vector< int > | encoders, |
bool | blocking = false |
||
) | [pure virtual] |
Move joints to encoder values.
encoders | vector containing encoder values for all joints. |
blocking | Is this a blocking call? |
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::move_to | ( | std::vector< float > | angles, |
bool | blocking = false |
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) | [pure virtual] |
Move joints to angle values.
angles | vector containing angle values for all joints. |
blocking | Is this a blocking call? |
Implemented in fawkes::KatanaControllerKni.
virtual double fawkes::KatanaController::phi | ( | ) | [pure virtual] |
Get x-coordinate of latest endeffector position.
Call 'read_coordinates()' to read latest position.
Implemented in fawkes::KatanaControllerKni.
virtual double fawkes::KatanaController::psi | ( | ) | [pure virtual] |
Get psi-rotation of latest endeffector orientation.
Call 'read_coordinates()' to read latest orientation.
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::read_coordinates | ( | bool | refresh = false | ) | [pure virtual] |
Store current coordinates of endeeffctor.
refresh | fetch new joint data from device (update data in controller library). No need to set to 'true' if 'read_motor_data()' is being called regularly. |
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::read_motor_data | ( | ) | [pure virtual] |
Read motor data of currently active joints from device into controller libray.
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::read_sensor_data | ( | ) | [pure virtual] |
Read all sensor data from device into controller libray.
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::set_max_velocity | ( | unsigned int | vel | ) | [pure virtual] |
virtual void fawkes::KatanaController::stop | ( | ) | [pure virtual] |
Stop movement immediately.
Implemented in fawkes::KatanaControllerKni.
virtual double fawkes::KatanaController::theta | ( | ) | [pure virtual] |
Get theta-rotation of latest endeffector orientation.
Call 'read_coordinates()' to read latest orientation.
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::turn_off | ( | ) | [pure virtual] |
Turn off arm/motors.
Implemented in fawkes::KatanaControllerKni.
virtual void fawkes::KatanaController::turn_on | ( | ) | [pure virtual] |
Turn on arm/motors.
Implemented in fawkes::KatanaControllerKni.
virtual double fawkes::KatanaController::x | ( | ) | [pure virtual] |
Get x-coordinate of latest endeffector position.
Call 'read_coordinates()' to read latest position.
Implemented in fawkes::KatanaControllerKni.
virtual double fawkes::KatanaController::y | ( | ) | [pure virtual] |
Get y-coordinate of latest endeffector position.
Call 'read_coordinates()' to read latest position.
Implemented in fawkes::KatanaControllerKni.
virtual double fawkes::KatanaController::z | ( | ) | [pure virtual] |
Get z-coordinate of latest endeffector position.
Call 'read_coordinates()' to read latest position.
Implemented in fawkes::KatanaControllerKni.