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fawkes::OpenRaveManipulator Class Reference

Class containing information about all manipulator motors. More...

#include <>>

Inheritance diagram for fawkes::OpenRaveManipulator:

List of all members.

Public Member Functions

 OpenRaveManipulator (unsigned int count, unsigned int count_device)
 Constructor.
virtual ~OpenRaveManipulator ()
 Destructor.
virtual void add_motor (unsigned int number, unsigned int number_device)
 Adds a motor to the list(vector) of motors.
template<typename T_from , typename T_to >
void angles_or_to_device (std::vector< T_from > &from, std::vector< T_to > &to) const
 Transform OpenRAVE motor angles to real device angles.
template<typename T >
void get_angles (std::vector< T > &to) const
 Get motor angles of OpenRAVE model.
template<typename T >
void get_angles_device (std::vector< T > &to) const
 Get motor angles of real device.
template<typename T >
void set_angles (std::vector< T > &angles)
 Set motor angles of OpenRAVE model.
template<typename T >
void set_angles_device (std::vector< T > &angles)
 Set motor angles of real device.

Protected Member Functions

virtual float angle_OR_to_device (unsigned int number, float angle) const
 Transform single OpenRAVE motor angle to real device angle.
virtual float angle_device_to_OR (unsigned int number, float angle) const
 Transform single device motor angle to OpenRAVE angle.

Protected Attributes

std::vector< motor_t__motors
 vector of motors
unsigned int __cnt
 number of motors on OpenRAVE model
unsigned int __cnt_device
 number of motors on real device

Detailed Description

Class containing information about all manipulator motors.

Author:
Bahram Maleki-Fard

Definition at line 35 of file manipulator.h.


Constructor & Destructor Documentation

fawkes::OpenRaveManipulator::OpenRaveManipulator ( unsigned int  count,
unsigned int  count_device 
)

Constructor.

Parameters:
countnumber of motors of OpenRAVE model
count_devicenumber of motors of real device

Definition at line 41 of file manipulator.cpp.

fawkes::OpenRaveManipulator::~OpenRaveManipulator ( )
virtual

Destructor.

Definition at line 48 of file manipulator.cpp.


Member Function Documentation

void fawkes::OpenRaveManipulator::add_motor ( unsigned int  number,
unsigned int  number_device 
)
virtual

Adds a motor to the list(vector) of motors.

Parameters:
numbermotor number in OpenRAVE
number_devicemotor number of real device

Definition at line 58 of file manipulator.cpp.

References __motors, fawkes::motor_t::angle, fawkes::motor_t::no, and fawkes::motor_t::no_device.

float fawkes::OpenRaveManipulator::angle_device_to_OR ( unsigned int  number,
float  angle 
) const
protectedvirtual

Transform single device motor angle to OpenRAVE angle.

Parameters:
numbermotor number of real device
anglemotor angle of real device
Returns:
transformed angle

Definition at line 95 of file manipulator.cpp.

float fawkes::OpenRaveManipulator::angle_OR_to_device ( unsigned int  number,
float  angle 
) const
protectedvirtual

Transform single OpenRAVE motor angle to real device angle.

Parameters:
numbermotor number of real device
anglemotor angle of OpenRAVE model
Returns:
transformed angle

Definition at line 82 of file manipulator.cpp.

template<typename T_from , typename T_to >
void fawkes::OpenRaveManipulator::angles_or_to_device ( std::vector< T_from > &  from,
std::vector< T_to > &  to 
) const

Transform OpenRAVE motor angles to real device angles.

Parameters:
frommotor angles of OpenRAVE model
tomotor angles of real device

Definition at line 94 of file manipulator.h.

Referenced by fawkes::OpenRaveRobot::get_trajectory_device().

template<typename T >
void fawkes::OpenRaveManipulator::get_angles ( std::vector< T > &  to) const

Get motor angles of OpenRAVE model.

Parameters:
totarget tvector of angles

Definition at line 67 of file manipulator.h.

Referenced by fawkes::OpenRaveRobot::calibrate(), fawkes::OpenRaveRobot::get_planner_params(), fawkes::OpenRaveEnvironment::run_planner(), and fawkes::OpenRaveRobot::update_model().

template<typename T >
void fawkes::OpenRaveManipulator::get_angles_device ( std::vector< T > &  to) const

Get motor angles of real device.

Parameters:
totarget vector of angles

Definition at line 80 of file manipulator.h.

template<typename T >
void fawkes::OpenRaveManipulator::set_angles ( std::vector< T > &  angles)

Set motor angles of OpenRAVE model.

Parameters:
anglesmotor angles

Definition at line 110 of file manipulator.h.

Referenced by fawkes::OpenRaveRobot::set_target_angles(), fawkes::OpenRaveRobot::set_target_ikparam(), and fawkes::OpenRaveRobot::update_manipulator().

template<typename T >
void fawkes::OpenRaveManipulator::set_angles_device ( std::vector< T > &  angles)

Set motor angles of real device.

Parameters:
anglesmotor angles

Definition at line 122 of file manipulator.h.


Member Data Documentation

unsigned int fawkes::OpenRaveManipulator::__cnt
protected

number of motors on OpenRAVE model

Definition at line 56 of file manipulator.h.

unsigned int fawkes::OpenRaveManipulator::__cnt_device
protected

number of motors on real device

Definition at line 57 of file manipulator.h.

std::vector<motor_t> fawkes::OpenRaveManipulator::__motors
protected

vector of motors

Definition at line 55 of file manipulator.h.

Referenced by add_motor().


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