23 #include "arm_dummy.h" 27 #define READY_J0 (282.522400) 28 #define READY_J1 (154.470856) 29 #define READY_J2 (44.191490) 30 #define READY_J3 (230.081223) 31 #define READY_J4 (83.242500) 32 #define READY_J5 (77.796173) 34 #define RETRACT_J0 (270.527344) 35 #define RETRACT_J1 (150.205078) 36 #define RETRACT_J2 (25.042963) 37 #define RETRACT_J3 (267.451172) 38 #define RETRACT_J4 (5.800781) 39 #define RETRACT_J5 (99.448242) 58 JacoArmDummy::JacoArmDummy(
const char *name)
64 __pos_ready.push_back(READY_J0);
65 __pos_ready.push_back(READY_J1);
66 __pos_ready.push_back(READY_J2);
67 __pos_ready.push_back(READY_J3);
68 __pos_ready.push_back(READY_J4);
69 __pos_ready.push_back(READY_J5);
70 __pos_retract.push_back(RETRACT_J0);
71 __pos_retract.push_back(RETRACT_J1);
72 __pos_retract.push_back(RETRACT_J2);
73 __pos_retract.push_back(RETRACT_J3);
74 __pos_retract.push_back(RETRACT_J4);
75 __pos_retract.push_back(RETRACT_J5);
78 __coords.assign(6, 0.f);
79 __joints.assign(6, 0.f);
80 __fingers.assign(3, 0.f);
84 JacoArmDummy::~JacoArmDummy()
89 JacoArmDummy::initialize()
102 JacoArmDummy::initialized()
104 return __initialized;
109 JacoArmDummy::get_coords(std::vector<float> &to)
115 JacoArmDummy::get_joints(std::vector<float> &to)
const 121 JacoArmDummy::get_fingers(std::vector<float> &to)
const 133 JacoArmDummy::push_joystick(
unsigned int button)
138 JacoArmDummy::release_joystick()
150 JacoArmDummy::goto_trajec(std::vector< std::vector<float> >* trajec, std::vector<float> &fingers)
152 for(
unsigned int i=0; i<trajec->size(); ++i ) {
153 goto_joints(trajec->at(i), fingers);
169 JacoArmDummy::goto_joints(std::vector<float> &joints, std::vector<float> &fingers,
bool followup)
186 JacoArmDummy::goto_coords(std::vector<float> &coords, std::vector<float> &fingers)
193 JacoArmDummy::goto_ready()
195 goto_joints(__pos_ready, __fingers);
199 JacoArmDummy::goto_retract()
201 goto_joints(__pos_retract, __fingers);
Fawkes library namespace.