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fawkes::KatanaControllerOpenrave Class Reference

Controller class for a Neuronics Katana, using libkni to interact with the real Katana arm. More...

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Inheritance diagram for fawkes::KatanaControllerOpenrave:

List of all members.

Additional Inherited Members

- Public Member Functions inherited from fawkes::KatanaController
virtual ~KatanaController ()
 Virtual empty destructor.
virtual void init ()=0
 Initialize controller.
virtual void set_max_velocity (unsigned int vel)=0
 Set maximum velocity.
virtual bool final ()=0
 Check if movement is final.
virtual bool joint_angles ()=0
 Check if controller provides joint angle values.
virtual bool joint_encoders ()=0
 Check if controller provides joint encoder values.
virtual void calibrate ()=0
 Calibrate the arm.
virtual void turn_on ()=0
 Turn on arm/motors.
virtual void turn_off ()=0
 Turn off arm/motors.
virtual void stop ()=0
 Stop movement immediately.
virtual void read_coordinates (bool refresh=false)=0
 Store current coordinates of endeeffctor.
virtual void read_motor_data ()=0
 Read motor data of currently active joints from device into controller libray.
virtual void read_sensor_data ()=0
 Read all sensor data from device into controller libray.
virtual void gripper_open (bool blocking=false)=0
 Open Gripper.
virtual void gripper_close (bool blocking=false)=0
 Close Gripper.
virtual void move_to (float x, float y, float z, float phi, float theta, float psi, bool blocking=false)=0
 Move endeffctor to given coordinates.
virtual void move_to (std::vector< int > encoders, bool blocking=false)=0
 Move joints to encoder values.
virtual void move_to (std::vector< float > angles, bool blocking=false)=0
 Move joints to angle values.
virtual void move_motor_to (unsigned short id, int enc, bool blocking=false)=0
 Move single joint/motor to encoder value.
virtual void move_motor_to (unsigned short id, float angle, bool blocking=false)=0
 Move single joint/motor to angle value.
virtual void move_motor_by (unsigned short id, int enc, bool blocking=false)=0
 Move single joint/motor by encoder value (i.e.
virtual void move_motor_by (unsigned short id, float angle, bool blocking=false)=0
 Move single joint/motor by angle value (i.e.
virtual double x ()=0
 Get x-coordinate of latest endeffector position.
virtual double y ()=0
 Get y-coordinate of latest endeffector position.
virtual double z ()=0
 Get z-coordinate of latest endeffector position.
virtual double phi ()=0
 Get x-coordinate of latest endeffector position.
virtual double theta ()=0
 Get theta-rotation of latest endeffector orientation.
virtual double psi ()=0
 Get psi-rotation of latest endeffector orientation.
virtual void get_sensors (std::vector< int > &to, bool refresh=false)=0
 Get sensor values.
virtual void get_encoders (std::vector< int > &to, bool refresh=false)=0
 Get encoder values of joints/motors.
virtual void get_angles (std::vector< float > &to, bool refresh=false)=0
 Get angle values of joints/motors.

Detailed Description

Controller class for a Neuronics Katana, using libkni to interact with the real Katana arm.

Author:
Bahram Maleki-Fard

Definition at line 45 of file controller_openrave.h.


The documentation for this class was generated from the following file: