23 #ifndef __PLUGINS_JACO_ARM_DUMMY_H_ 24 #define __PLUGINS_JACO_ARM_DUMMY_H_ 43 virtual void initialize();
46 virtual bool initialized();
48 virtual void get_joints(std::vector<float> &to)
const;
49 virtual void get_coords(std::vector<float> &to);
50 virtual void get_fingers(std::vector<float> &to)
const;
53 virtual void push_joystick(
unsigned int button);
54 virtual void release_joystick();
56 virtual void goto_trajec(std::vector< std::vector<float> >* trajec, std::vector<float> &fingers);
57 virtual void goto_joints(std::vector<float> &joints, std::vector<float> &fingers,
bool followup=
false);
58 virtual void goto_coords(std::vector<float> &coords, std::vector<float> &fingers);
59 virtual void goto_ready();
60 virtual void goto_retract();
64 std::vector<float> __coords;
65 std::vector<float> __joints;
66 std::vector<float> __fingers;
68 std::vector<float> __pos_ready;
69 std::vector<float> __pos_retract;
Fawkes library namespace.
Class for simulating a dummy Kinova Jaco Arm.
Abstract class for a Kinova Jaco Arm that we want to control.