23 #ifndef __PLUGINS_JACO_ARM_H_ 24 #define __PLUGINS_JACO_ARM_H_ 45 virtual void initialize() = 0;
53 virtual bool final() = 0;
58 virtual bool initialized() = 0;
66 virtual void get_joints(std::vector<float> &to)
const = 0;
71 virtual void get_coords(std::vector<float> &to) = 0;
76 virtual void get_fingers(std::vector<float> &to)
const = 0;
82 virtual void stop() = 0;
87 virtual void push_joystick(
unsigned int button) = 0;
90 virtual void release_joystick() = 0;
96 virtual void goto_trajec(std::vector< std::vector<float> >* trajec, std::vector<float> &fingers) = 0;
105 virtual void goto_joints(std::vector<float> &joints, std::vector<float> &fingers,
bool followup=
false) = 0;
111 virtual void goto_coords(std::vector<float> &coords, std::vector<float> &fingers) = 0;
114 virtual void goto_ready() = 0;
117 virtual void goto_retract() = 0;
124 std::string get_name()
const;
133 JacoArm::get_name()
const Fawkes library namespace.
std::string __name
the name of this arm
bool __initialized
track if the arm has been initialized or not
virtual ~JacoArm()
Virtual empty destructor.
Abstract class for a Kinova Jaco Arm that we want to control.