23 #include "manipulator.h"
41 OpenRaveManipulator::OpenRaveManipulator(
unsigned int count,
unsigned int count_device) :
43 __cnt_device( count_device )
virtual float angle_OR_to_device(unsigned int number, float angle) const
Transform single OpenRAVE motor angle to real device angle.
unsigned int no_device
motor number of real device
unsigned int no
motor number in OpenRAVE
Struct containing angle of current motor, its number in OpenRAVE and corresponding motor number of re...
virtual float angle_device_to_OR(unsigned int number, float angle) const
Transform single device motor angle to OpenRAVE angle.
virtual ~OpenRaveManipulator()
Destructor.
virtual void add_motor(unsigned int number, unsigned int number_device)
Adds a motor to the list(vector) of motors.
std::vector< motor_t > __motors
vector of motors