fawkes::KatanaController Class Reference

Abstract class for a Neuronics Katana controller. More...

#include <>>

Inheritance diagram for fawkes::KatanaController:

List of all members.

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.

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Detailed Description

Abstract class for a Neuronics Katana controller.

Author:

Bahram Maleki-Fard

Definition at line 37 of file controller.h.

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Constructor & Destructor Documentation

virtual fawkes::KatanaController::~KatanaController ( )

inlinevirtual

Virtual empty destructor.

Definition at line 41 of file controller.h.

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Member Function Documentation

virtual void fawkes::KatanaController::calibrate ( )

pure virtual

Calibrate the arm.

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaCalibrationThread::once().

virtual bool fawkes::KatanaController::final ( )

pure virtual

Check if movement is final.

Returns:

movement is final

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaMotorControlThread::once(), KatanaGotoThread::once(), and KatanaGripperThread::once().

virtual void fawkes::KatanaController::get_angles ( std::vector< float > &  to, bool  refresh = false  )

pure virtual

Get angle values of joints/motors.

Parameters:

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  )

pure virtual

Get encoder values of joints/motors.

Parameters:

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  )

pure virtual

Get sensor values.

Parameters:

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.

Parameters:

blocking

Is this a blocking call?

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaGripperThread::once().

virtual void fawkes::KatanaController::gripper_open ( bool  blocking = false )

pure virtual

Open Gripper.

Parameters:

blocking

Is this a blocking call?

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaGripperThread::once().

virtual void fawkes::KatanaController::init ( )

pure virtual

Initialize controller.

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaActThread::init().

virtual bool fawkes::KatanaController::joint_angles ( )

pure virtual

Check if controller provides joint angle values.

Returns:

can get angle values

Implemented in fawkes::KatanaControllerKni.

virtual bool fawkes::KatanaController::joint_encoders ( )

pure virtual

Check if controller provides joint encoder values.

Returns:

can get encoder values

Implemented in fawkes::KatanaControllerKni.

virtual void fawkes::KatanaController::move_motor_by ( unsigned short  id, int  enc, bool  blocking = false  )

pure virtual

Move single joint/motor by encoder value (i.e.

increase/decrease).

Parameters:

id	id of the joint/motor.
enc	increase/decrease by encoder value.
blocking	Is this a blocking call?

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaMotorControlThread::once().

virtual void fawkes::KatanaController::move_motor_by ( unsigned short  id, float  angle, bool  blocking = false  )

pure virtual

Move single joint/motor by angle value (i.e.

increase/decrease).

Parameters:

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  )

pure virtual

Move single joint/motor to encoder value.

Parameters:

id	id of the joint/motor.
enc	target encoder value.
blocking	Is this a blocking call?

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaMotorControlThread::once().

virtual void fawkes::KatanaController::move_motor_to ( unsigned short  id, float  angle, bool  blocking = false  )

pure virtual

Move single joint/motor to angle value.

Parameters:

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.

Parameters:

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.

Referenced by KatanaGotoThread::once().

virtual void fawkes::KatanaController::move_to ( std::vector< int >  encoders, bool  blocking = false  )

pure virtual

Move joints to encoder values.

Parameters:

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  )

pure virtual

Move joints to angle values.

Parameters:

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.

Returns:

x-coordinate Get phi-rotation of latest endeffector orientation. Call 'read_coordinates()' to read latest orientation.

phi-rotation (1st rotation of euler-ZXZ-rotation)

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.

Returns:

psi-rotation (3rd rotation of euler-ZXZ-rotation)

Implemented in fawkes::KatanaControllerKni.

virtual void fawkes::KatanaController::read_coordinates ( bool  refresh = false )

pure virtual

Store current coordinates of endeeffctor.

Parameters:

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.

Referenced by KatanaMotorControlThread::once(), KatanaGotoThread::once(), and KatanaGripperThread::once().

virtual void fawkes::KatanaController::read_sensor_data ( )

pure virtual

Read all sensor data from device into controller libray.

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaSensorAcquisitionThread::loop(), KatanaMotorControlThread::once(), KatanaGotoThread::once(), and KatanaGripperThread::once().

virtual void fawkes::KatanaController::set_max_velocity ( unsigned int  vel )

pure virtual

Set maximum velocity.

Parameters:

vel

velocity

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaActThread::init(), and KatanaActThread::loop().

virtual void fawkes::KatanaController::stop ( )

pure virtual

Stop movement immediately.

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaActThread::finalize().

virtual double fawkes::KatanaController::theta ( )

pure virtual

Get theta-rotation of latest endeffector orientation.

Call 'read_coordinates()' to read latest orientation.

Returns:

theta-rotation (2nd rotation of euler-ZXZ-rotation)

Implemented in fawkes::KatanaControllerKni.

virtual void fawkes::KatanaController::turn_off ( )

pure virtual

Turn off arm/motors.

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaActThread::loop().

virtual void fawkes::KatanaController::turn_on ( )

pure virtual

Turn on arm/motors.

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaActThread::loop().

virtual double fawkes::KatanaController::x ( )

pure virtual

Get x-coordinate of latest endeffector position.

Call 'read_coordinates()' to read latest position.

Returns:

x-coordinate

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.

Returns:

y-coordinate

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.

Returns:

z-coordinate

Implemented in fawkes::KatanaControllerKni.

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The documentation for this class was generated from the following file:

• src/plugins/katana/controller.h