fawkes::OpenRaveManipulator Class Reference

Class containing information about all manipulator motors. More...

#include <>>

Inheritance diagram for fawkes::OpenRaveManipulator:

List of all members.

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

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Detailed Description

Class containing information about all manipulator motors.

Author:

Bahram Maleki-Fard

Definition at line 35 of file manipulator.h.

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Constructor & Destructor Documentation

fawkes::OpenRaveManipulator::OpenRaveManipulator	(	unsigned int	count,
		unsigned int	count_device
	)

Constructor.

Parameters:

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.

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Member Function Documentation

void fawkes::OpenRaveManipulator::add_motor ( unsigned int  number, unsigned int  number_device  )

virtual

Adds a motor to the list(vector) of motors.

Parameters:

number	motor number in OpenRAVE
number_device	motor number of real device

Definition at line 58 of file manipulator.cpp.

References __motors, fawkes::motor_t::angle, fawkes::motor_t::no, and fawkes::motor_t::no_device.

float fawkes::OpenRaveManipulator::angle_device_to_OR ( unsigned int  number, float  angle  ) const

protectedvirtual

Transform single device motor angle to OpenRAVE angle.

Parameters:

number	motor number of real device
angle	motor angle of real device

Returns:

transformed angle

Definition at line 95 of file manipulator.cpp.

float fawkes::OpenRaveManipulator::angle_OR_to_device ( unsigned int  number, float  angle  ) const

protectedvirtual

Transform single OpenRAVE motor angle to real device angle.

Parameters:

number	motor number of real device
angle	motor angle of OpenRAVE model

Returns:

transformed angle

Definition at line 82 of file manipulator.cpp.

template<typename T_from , typename T_to >

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.

Parameters:

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().

template<typename T >

void fawkes::OpenRaveManipulator::get_angles

(

std::vector< T > &

to

)

const

Get motor angles of OpenRAVE model.

Parameters:

to	target tvector of angles

Definition at line 67 of file manipulator.h.

Referenced by fawkes::OpenRaveRobot::calibrate(), fawkes::OpenRaveRobot::get_planner_params(), fawkes::OpenRaveEnvironment::run_planner(), and fawkes::OpenRaveRobot::update_model().

template<typename T >

void fawkes::OpenRaveManipulator::get_angles_device

(

std::vector< T > &

to

)

const

Get motor angles of real device.

Parameters:

to	target vector of angles

Definition at line 80 of file manipulator.h.

template<typename T >

void fawkes::OpenRaveManipulator::set_angles

(

std::vector< T > &

angles

)

Set motor angles of OpenRAVE model.

Parameters:

angles

motor angles

Definition at line 110 of file manipulator.h.

Referenced by fawkes::OpenRaveRobot::set_target_angles(), fawkes::OpenRaveRobot::set_target_ikparam(), and fawkes::OpenRaveRobot::update_manipulator().

template<typename T >

void fawkes::OpenRaveManipulator::set_angles_device

(

std::vector< T > &

angles

)

Set motor angles of real device.

Parameters:

angles

motor angles

Definition at line 122 of file manipulator.h.

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Member Data Documentation

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

vector of motors

Definition at line 55 of file manipulator.h.

Referenced by add_motor().

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

• src/plugins/openrave/manipulator.h
• src/plugins/openrave/manipulator.cpp