katana::SimulatedKatana Class Reference

#include <SimulatedKatana.h>

Inheritance diagram for katana::SimulatedKatana:

[legend]

List of all members.

Public Member Functions
virtual bool	allJointsReady ()
virtual bool	allMotorsReady ()
virtual bool	executeTrajectory (boost::shared_ptr< SpecifiedTrajectory > traj)
virtual void	moveGripper (double openingAngle)
virtual bool	moveJoint (int jointIndex, double turningAngle)
virtual void	refreshEncoders ()
	SimulatedKatana ()
virtual bool	someMotorCrashed ()
virtual	~SimulatedKatana ()
Private Attributes
boost::shared_ptr < SpecifiedTrajectory >	current_trajectory_

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Detailed Description

Definition at line 32 of file SimulatedKatana.h.

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Constructor & Destructor Documentation

katana::SimulatedKatana::SimulatedKatana

(

)

Definition at line 28 of file SimulatedKatana.cpp.

katana::SimulatedKatana::~SimulatedKatana

(

)

[virtual]

Definition at line 48 of file SimulatedKatana.cpp.

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Member Function Documentation

bool katana::SimulatedKatana::allJointsReady

(

)

[virtual]

Implements katana::AbstractKatana.

Definition at line 122 of file SimulatedKatana.cpp.

bool katana::SimulatedKatana::allMotorsReady

(

)

[virtual]

Implements katana::AbstractKatana.

Definition at line 126 of file SimulatedKatana.cpp.

bool katana::SimulatedKatana::executeTrajectory

(

boost::shared_ptr< SpecifiedTrajectory >

traj

)

[virtual]

Implements katana::AbstractKatana.

Definition at line 74 of file SimulatedKatana.cpp.

void katana::SimulatedKatana::moveGripper

(

double

openingAngle

)

[virtual]

Definition at line 83 of file SimulatedKatana.cpp.

bool katana::SimulatedKatana::moveJoint	(	int	jointIndex,
		double	turningAngle
	)			[virtual]

Move the joint to the desired angle. Do not wait for result, but return immediately.

Parameters:

	jointIndex	the joint to move
	turningAngle	the target angle

Returns:

true iff command was successfully sent to Katana

Implements katana::AbstractKatana.

Definition at line 113 of file SimulatedKatana.cpp.

void katana::SimulatedKatana::refreshEncoders

(

)

[virtual]

Implements katana::AbstractKatana.

Definition at line 52 of file SimulatedKatana.cpp.

bool katana::SimulatedKatana::someMotorCrashed

(

)

[virtual]

Implements katana::AbstractKatana.

Definition at line 118 of file SimulatedKatana.cpp.

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Member Data Documentation

boost::shared_ptr<SpecifiedTrajectory> katana::SimulatedKatana::current_trajectory_ [private]

Definition at line 45 of file SimulatedKatana.h.

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

• SimulatedKatana.h
• SimulatedKatana.cpp