fawkes::KatanaControllerOpenrave 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::KatanaControllerOpenrave:

List of all members.

Additional Inherited Members
Public Member Functions inherited from fawkes::KatanaController
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

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

Author:

Bahram Maleki-Fard

Definition at line 45 of file controller_openrave.h.

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

• src/plugins/katana/controller_openrave.h