23 #ifndef __PLUGINS_KATANA_CONTROLLER_H_
24 #define __PLUGINS_KATANA_CONTROLLER_H_
45 virtual void init() = 0;
50 virtual void set_max_velocity(
unsigned int vel) = 0;
58 virtual bool final() = 0;
63 virtual bool joint_angles() = 0;
68 virtual bool joint_encoders() = 0;
74 virtual void calibrate() = 0;
77 virtual void turn_on() = 0;
80 virtual void turn_off() = 0;
83 virtual void stop() = 0;
89 virtual void read_coordinates(
bool refresh =
false) = 0;
92 virtual void read_motor_data() = 0;
95 virtual void read_sensor_data() = 0;
100 virtual void gripper_open(
bool blocking =
false) = 0;
105 virtual void gripper_close(
bool blocking =
false) = 0;
116 virtual void move_to(
float x,
float y,
float z,
float phi,
float theta,
float psi,
bool blocking =
false) = 0;
122 virtual void move_to(std::vector<int> encoders,
bool blocking =
false) = 0;
128 virtual void move_to(std::vector<float> angles,
bool blocking =
false) = 0;
135 virtual void move_motor_to(
unsigned short id,
int enc,
bool blocking =
false) = 0;
142 virtual void move_motor_to(
unsigned short id,
float angle,
bool blocking =
false) = 0;
149 virtual void move_motor_by(
unsigned short id,
int enc,
bool blocking =
false) = 0;
156 virtual void move_motor_by(
unsigned short id,
float angle,
bool blocking =
false) = 0;
166 virtual double x() = 0;
172 virtual double y() = 0;
178 virtual double z() = 0;
189 virtual double phi() = 0;
195 virtual double theta() = 0;
201 virtual double psi() = 0;
207 virtual void get_sensors(std::vector<int>& to,
bool refresh =
false) = 0;
213 virtual void get_encoders(std::vector<int>& to,
bool refresh =
false) = 0;
219 virtual void get_angles(std::vector<float>& to,
bool refresh =
false) = 0;