23 #ifndef __PLUGINS_KATANA_CONTROLLER_KNI_H_ 24 #define __PLUGINS_KATANA_CONTROLLER_KNI_H_ 26 #include "controller.h" 28 #include <core/utils/refptr.h> 55 virtual void setup(std::string& device, std::string& kni_conffile,
56 unsigned int read_timeout,
unsigned int write_timeout);
58 virtual void set_max_velocity(
unsigned int vel);
63 virtual bool joint_angles();
64 virtual bool joint_encoders();
67 virtual void calibrate();
69 virtual void turn_on();
70 virtual void turn_off();
71 virtual void read_coordinates(
bool refresh =
false);
72 virtual void read_motor_data();
73 virtual void read_sensor_data();
74 virtual void gripper_open(
bool blocking =
false);
75 virtual void gripper_close(
bool blocking =
false);
76 virtual void move_to(
float x,
float y,
float z,
float phi,
float theta,
float psi,
bool blocking =
false);
77 virtual void move_to(std::vector<int> encoders,
bool blocking =
false);
78 virtual void move_to(std::vector<float> angles,
bool blocking =
false);
79 virtual void move_motor_to(
unsigned short id,
int enc,
bool blocking =
false);
80 virtual void move_motor_to(
unsigned short id,
float angle,
bool blocking =
false);
81 virtual void move_motor_by(
unsigned short id,
int enc,
bool blocking =
false);
82 virtual void move_motor_by(
unsigned short id,
float angle,
bool blocking =
false);
89 virtual double theta();
91 virtual void get_sensors(std::vector<int>& to,
bool refresh =
false);
92 virtual void get_encoders(std::vector<int>& to,
bool refresh =
false);
93 virtual void get_angles(std::vector<float>& to,
bool refresh =
false);
97 double __phi, __theta, __psi;
99 std::string __cfg_device;
100 std::string __cfg_kni_conffile;
101 unsigned int __cfg_read_timeout;
102 unsigned int __cfg_write_timeout;
105 #if __cplusplus >= 201103L 106 std::unique_ptr<CCdlCOM> __device;
107 std::unique_ptr<CCplSerialCRC> __protocol;
109 std::auto_ptr<CCdlCOM> __device;
110 std::auto_ptr<CCplSerialCRC> __protocol;
113 CSctBase *__sensor_ctrl;
114 std::vector<TMotInit> __motor_init;
116 std::vector<short> __active_motors;
117 std::vector<int> __gripper_last_pos;
119 bool motor_oor(
unsigned short id);
120 bool motor_final(
unsigned short id);
121 void cleanup_active_motors();
122 void add_active_motor(
unsigned short id);
Fawkes library namespace.
Controller class for a Neuronics Katana, using libkni to interact with the real Katana arm...
Abstract class for a Neuronics Katana controller.