fawkes::KatanaControllerKni Class Reference

Controller class for a Neuronics Katana, using libkni to interact with the real Katana arm. More...

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Inheritance diagram for fawkes::KatanaControllerKni:

List of all members.

Public Member Functions
	KatanaControllerKni ()
	Constructor.
virtual	~KatanaControllerKni ()
	Destructor.
virtual void	setup (std::string &device, std::string &kni_conffile, unsigned int read_timeout, unsigned int write_timeout)
	Setup parameters needed to initialize Katana arm with libkni.
virtual void	init ()
	Initialize controller.
virtual void	set_max_velocity (unsigned int vel)
	Set maximum velocity.
virtual bool	final ()
	Check if movement is final.
virtual bool	joint_angles ()
	Check if controller provides joint angle values.
virtual bool	joint_encoders ()
	Check if controller provides joint encoder values.
virtual void	calibrate ()
	Calibrate the arm.
virtual void	stop ()
	Stop movement immediately.
virtual void	turn_on ()
	Turn on arm/motors.
virtual void	turn_off ()
	Turn off arm/motors.
virtual void	read_coordinates (bool refresh=false)
	Store current coordinates of endeeffctor.
virtual void	read_motor_data ()
	Read motor data of currently active joints from device into controller libray.
virtual void	read_sensor_data ()
	Read all sensor data from device into controller libray.
virtual void	gripper_open (bool blocking=false)
	Open Gripper.
virtual void	gripper_close (bool blocking=false)
	Close Gripper.
virtual void	move_to (float x, float y, float z, float phi, float theta, float psi, bool blocking=false)
	Move endeffctor to given coordinates.
virtual void	move_to (std::vector< int > encoders, bool blocking=false)
	Move joints to encoder values.
virtual void	move_to (std::vector< float > angles, bool blocking=false)
	Move joints to angle values.
virtual void	move_motor_to (unsigned short id, int enc, bool blocking=false)
	Move single joint/motor to encoder value.
virtual void	move_motor_to (unsigned short id, float angle, bool blocking=false)
	Move single joint/motor to angle value.
virtual void	move_motor_by (unsigned short id, int enc, bool blocking=false)
	Move single joint/motor by encoder value (i.e.
virtual void	move_motor_by (unsigned short id, float angle, bool blocking=false)
	Move single joint/motor by angle value (i.e.
virtual double	x ()
	Get x-coordinate of latest endeffector position.
virtual double	y ()
	Get y-coordinate of latest endeffector position.
virtual double	z ()
	Get z-coordinate of latest endeffector position.
virtual double	phi ()
	Get x-coordinate of latest endeffector position.
virtual double	theta ()
	Get theta-rotation of latest endeffector orientation.
virtual double	psi ()
	Get psi-rotation of latest endeffector orientation.
virtual void	get_sensors (std::vector< int > &to, bool refresh=false)
	Get sensor values.
virtual void	get_encoders (std::vector< int > &to, bool refresh=false)
	Get encoder values of joints/motors.
virtual void	get_angles (std::vector< float > &to, bool refresh=false)
	Get angle values of joints/motors.
Public Member Functions inherited from fawkes::KatanaController
virtual	~KatanaController ()
	Virtual empty destructor.

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Detailed Description

Controller class for a Neuronics Katana, using libkni to interact with the real Katana arm.

Author:

Bahram Maleki-Fard

Definition at line 48 of file controller_kni.h.

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Constructor & Destructor Documentation

fawkes::KatanaControllerKni::KatanaControllerKni

(

)

Constructor.

Definition at line 43 of file controller_kni.cpp.

fawkes::KatanaControllerKni::~KatanaControllerKni ( )

virtual

Destructor.

Definition at line 56 of file controller_kni.cpp.

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Member Function Documentation

void fawkes::KatanaControllerKni::calibrate ( )

virtual

Calibrate the arm.

Implements fawkes::KatanaController.

Definition at line 148 of file controller_kni.cpp.

References fawkes::Exception::what().

bool fawkes::KatanaControllerKni::final ( )

virtual

Check if movement is final.

Returns:

movement is final

Implements fawkes::KatanaController.

Definition at line 123 of file controller_kni.cpp.

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

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')?

Implements fawkes::KatanaController.

Definition at line 455 of file controller_kni.cpp.

References fawkes::Exception::what().

void fawkes::KatanaControllerKni::get_encoders ( std::vector< int > &  to, bool  refresh = false  )

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')?

Implements fawkes::KatanaController.

Definition at line 442 of file controller_kni.cpp.

References fawkes::Exception::what().

void fawkes::KatanaControllerKni::get_sensors ( std::vector< int > &  to, bool  refresh = false  )

virtual

Get sensor values.

Parameters:

to	vector to be filled with all available sensor values.
refresh	refresh sensor data (call 'read_sensor_data')?

Implements fawkes::KatanaController.

Definition at line 421 of file controller_kni.cpp.

References fawkes::Exception::what().

void fawkes::KatanaControllerKni::gripper_close ( bool  blocking = false )

virtual

Close Gripper.

Parameters:

blocking

Is this a blocking call?

Implements fawkes::KatanaController.

Definition at line 246 of file controller_kni.cpp.

References fawkes::Exception::what().

void fawkes::KatanaControllerKni::gripper_open ( bool  blocking = false )

virtual

Open Gripper.

Parameters:

blocking

Is this a blocking call?

Implements fawkes::KatanaController.

Definition at line 228 of file controller_kni.cpp.

References fawkes::Exception::what().

void fawkes::KatanaControllerKni::init ( )

virtual

Initialize controller.

Implements fawkes::KatanaController.

Definition at line 82 of file controller_kni.cpp.

References fawkes::Exception::what().

bool fawkes::KatanaControllerKni::joint_angles ( )

virtual

Check if controller provides joint angle values.

Returns:

can get angle values

Implements fawkes::KatanaController.

Definition at line 137 of file controller_kni.cpp.

bool fawkes::KatanaControllerKni::joint_encoders ( )

virtual

Check if controller provides joint encoder values.

Returns:

can get encoder values

Implements fawkes::KatanaController.

Definition at line 142 of file controller_kni.cpp.

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

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?

Implements fawkes::KatanaController.

Definition at line 349 of file controller_kni.cpp.

References fawkes::Exception::what().

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

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?

Implements fawkes::KatanaController.

Definition at line 366 of file controller_kni.cpp.

References fawkes::Exception::what().

void fawkes::KatanaControllerKni::move_motor_to ( unsigned short  id, int  enc, bool  blocking = false  )

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?

Implements fawkes::KatanaController.

Definition at line 315 of file controller_kni.cpp.

References fawkes::Exception::what().

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

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?

Implements fawkes::KatanaController.

Definition at line 332 of file controller_kni.cpp.

References fawkes::Exception::what().

void fawkes::KatanaControllerKni::move_to ( float  x, float  y, float  z, float  phi, float  theta, float  psi, bool  blocking = false  )

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?

Implements fawkes::KatanaController.

Definition at line 264 of file controller_kni.cpp.

References fawkes::Exception::what().

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

virtual

Move joints to encoder values.

Parameters:

encoders	vector containing encoder values for all joints.
blocking	Is this a blocking call?

Implements fawkes::KatanaController.

Definition at line 283 of file controller_kni.cpp.

References fawkes::Exception::what().

void fawkes::KatanaControllerKni::move_to ( std::vector< float >  angles, bool  blocking = false  )

virtual

Move joints to angle values.

Parameters:

angles	vector containing angle values for all joints.
blocking	Is this a blocking call?

Implements fawkes::KatanaController.

Definition at line 299 of file controller_kni.cpp.

References fawkes::Exception::what().

double fawkes::KatanaControllerKni::phi ( )

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)

Implements fawkes::KatanaController.

Definition at line 403 of file controller_kni.cpp.

double fawkes::KatanaControllerKni::psi ( )

virtual

Get psi-rotation of latest endeffector orientation.

Call 'read_coordinates()' to read latest orientation.

Returns:

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

Implements fawkes::KatanaController.

Definition at line 415 of file controller_kni.cpp.

void fawkes::KatanaControllerKni::read_coordinates ( bool  refresh = false )

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.

Implements fawkes::KatanaController.

Definition at line 188 of file controller_kni.cpp.

References fawkes::Exception::what().

void fawkes::KatanaControllerKni::read_motor_data ( )

virtual

Read motor data of currently active joints from device into controller libray.

Implements fawkes::KatanaController.

Definition at line 198 of file controller_kni.cpp.

References fawkes::Exception::what().

void fawkes::KatanaControllerKni::read_sensor_data ( )

virtual

Read all sensor data from device into controller libray.

Implements fawkes::KatanaController.

Definition at line 216 of file controller_kni.cpp.

References fawkes::Exception::what().

void fawkes::KatanaControllerKni::set_max_velocity ( unsigned int  vel )

virtual

Set maximum velocity.

Parameters:

vel

velocity

Implements fawkes::KatanaController.

Definition at line 112 of file controller_kni.cpp.

References fawkes::Exception::what().

void fawkes::KatanaControllerKni::setup ( std::string &  device, std::string &  kni_conffile, unsigned int  read_timeout, unsigned int  write_timeout  )

virtual

Setup parameters needed to initialize Katana arm with libkni.

Parameters:

device	device string, e.g. "/dev/ttyS0"
kni_conffile	path to kni configfile, e.g. "/etc/kni3/hd300/katana6M180.cfg"
read_timeout	timeout for read operations, in ms
write_timeout	timeout for write operations, in ms

Definition at line 72 of file controller_kni.cpp.

Referenced by KatanaActThread::init().

void fawkes::KatanaControllerKni::stop ( )

virtual

Stop movement immediately.

Implements fawkes::KatanaController.

Definition at line 158 of file controller_kni.cpp.

References fawkes::Exception::what().

double fawkes::KatanaControllerKni::theta ( )

virtual

Get theta-rotation of latest endeffector orientation.

Call 'read_coordinates()' to read latest orientation.

Returns:

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

Implements fawkes::KatanaController.

Definition at line 409 of file controller_kni.cpp.

void fawkes::KatanaControllerKni::turn_off ( )

virtual

Turn off arm/motors.

Implements fawkes::KatanaController.

Definition at line 178 of file controller_kni.cpp.

References fawkes::Exception::what().

void fawkes::KatanaControllerKni::turn_on ( )

virtual

Turn on arm/motors.

Implements fawkes::KatanaController.

Definition at line 168 of file controller_kni.cpp.

References fawkes::Exception::what().

double fawkes::KatanaControllerKni::x ( )

virtual

Get x-coordinate of latest endeffector position.

Call 'read_coordinates()' to read latest position.

Returns:

x-coordinate

Implements fawkes::KatanaController.

Definition at line 385 of file controller_kni.cpp.

double fawkes::KatanaControllerKni::y ( )

virtual

Get y-coordinate of latest endeffector position.

Call 'read_coordinates()' to read latest position.

Returns:

y-coordinate

Implements fawkes::KatanaController.

Definition at line 391 of file controller_kni.cpp.

double fawkes::KatanaControllerKni::z ( )

virtual

Get z-coordinate of latest endeffector position.

Call 'read_coordinates()' to read latest position.

Returns:

z-coordinate

Implements fawkes::KatanaController.

Definition at line 397 of file controller_kni.cpp.

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

• src/plugins/katana/controller_kni.h
• src/plugins/katana/controller_kni.cpp