#include <jaco_comm.h>

Public Member Functions
void	getCartesianPosition (JacoPose &position)
	API call to obtain the current cartesian position of the arm.
void	getConfig (ClientConfigurations &config)
	API call to obtain the current client configuration.
void	getFingerPositions (FingerAngles &fingers)
	API call to obtain the current finger positions.
void	getJointAngles (JacoAngles &angles)
	API call to obtain the current angular position of all the joints.
void	getQuickStatus (QuickStatus &quick_status)
	API call to obtain the current "quick status".
void	homeArm (void)
	Send the arm to the "home" position.
void	initFingers (void)
	Initialize finger actuators.
bool	isHomed (void)
	Determines whether the arm has returned to its "Home" state.
bool	isStopped ()
	JacoComm (const ros::NodeHandle &node_handle, boost::recursive_mutex &api_mutex, const bool is_movement_on_start)
int	numFingers ()
void	printAngles (const JacoAngles &angles)
	Dumps the current joint angles onto the screen.
void	printConfig (const ClientConfigurations &config)
	Dumps the client configuration onto the screen.
void	printFingers (const FingersPosition &fingers)
	Dumps the current finger positions onto the screen.
void	printPosition (const JacoPose &position)
	Dumps the current cartesian positions onto the screen.
void	setCartesianPosition (const JacoPose &position, int timeout=0, bool push=true)
	Sends a cartesian coordinate trajectory to the Jaco arm.
void	setCartesianVelocities (const CartesianInfo &velocities)
	Set the cartesian velocity of the tool tip.
void	setConfig (const ClientConfigurations &config)
	Obtains the current arm configuration.
void	setFingerPositions (const FingerAngles &fingers, int timeout=0, bool push=true)
	Sets the finger positions.
void	setJointAngles (const JacoAngles &angles, int timeout=0, bool push=true)
	Sends a joint angle command to the Jaco arm.
void	setJointVelocities (const AngularInfo &joint_vel)
	Set the angular velocity of the joints.
void	startAPI ()
void	stopAPI ()
	~JacoComm ()
Private Attributes
boost::recursive_mutex &	api_mutex_
bool	is_software_stop_
jaco::JacoAPI	jaco_api_
int	num_fingers_

Detailed Description

Definition at line 60 of file jaco_comm.h.

Constructor & Destructor Documentation

jaco::JacoComm::JacoComm	(	const ros::NodeHandle &	node_handle,
		boost::recursive_mutex &	api_mutex,
		const bool	is_movement_on_start
	)

Definition at line 55 of file jaco_comm.cpp.

jaco::JacoComm::~JacoComm ( )

Definition at line 166 of file jaco_comm.cpp.

Member Function Documentation

void jaco::JacoComm::getCartesianPosition ( JacoPose & position )

API call to obtain the current cartesian position of the arm.

Definition at line 525 of file jaco_comm.cpp.

void jaco::JacoComm::getConfig ( ClientConfigurations & config )

API call to obtain the current client configuration.

Definition at line 568 of file jaco_comm.cpp.

void jaco::JacoComm::getFingerPositions ( FingerAngles & fingers )

API call to obtain the current finger positions.

Definition at line 544 of file jaco_comm.cpp.

void jaco::JacoComm::getJointAngles ( JacoAngles & angles )

API call to obtain the current angular position of all the joints.

Definition at line 506 of file jaco_comm.cpp.

void jaco::JacoComm::getQuickStatus ( QuickStatus & quick_status )

API call to obtain the current "quick status".

Definition at line 584 of file jaco_comm.cpp.

void jaco::JacoComm::homeArm ( void )

Send the arm to the "home" position.

The code replicates the function of the "home" button on the user controller by "pressing" the home button long enough for the arm to return to the home position.

Fingers are homed by manually opening them fully, then returning them to a half-open position.

Definition at line 205 of file jaco_comm.cpp.

void jaco::JacoComm::initFingers ( void )

Initialize finger actuators.

Move fingers to the full-open position to initialize them for use. Note, The this routine requires firmware version 5.05.x (or higher?).

Definition at line 239 of file jaco_comm.cpp.

bool jaco::JacoComm::isHomed ( void )

Determines whether the arm has returned to its "Home" state.

Checks the current joint angles, then compares them to the known "Home" joint angles.

Definition at line 179 of file jaco_comm.cpp.

bool jaco::JacoComm::isStopped ( )

Definition at line 700 of file jaco_comm.cpp.

int jaco::JacoComm::numFingers ( )

Definition at line 633 of file jaco_comm.cpp.

void jaco::JacoComm::printAngles ( const JacoAngles & angles )

Dumps the current joint angles onto the screen.

Definition at line 642 of file jaco_comm.cpp.

void jaco::JacoComm::printConfig ( const ClientConfigurations & config )

Dumps the client configuration onto the screen.

Definition at line 676 of file jaco_comm.cpp.

void jaco::JacoComm::printFingers ( const FingersPosition & fingers )

Dumps the current finger positions onto the screen.

Definition at line 666 of file jaco_comm.cpp.

void jaco::JacoComm::printPosition ( const JacoPose & position )

Dumps the current cartesian positions onto the screen.

Definition at line 653 of file jaco_comm.cpp.

void jaco::JacoComm::setCartesianPosition	(	const JacoPose &	position,
		int	timeout = `0`,
		bool	push = `true`
	)

Sends a cartesian coordinate trajectory to the Jaco arm.

Waits until the arm has stopped moving before releasing control of the API.

Definition at line 306 of file jaco_comm.cpp.

void jaco::JacoComm::setCartesianVelocities ( const CartesianInfo & velocities )

Set the cartesian velocity of the tool tip.

Definition at line 456 of file jaco_comm.cpp.

void jaco::JacoComm::setConfig ( const ClientConfigurations & config )

Obtains the current arm configuration.

This is the configuration which are stored on the arm itself. Many of these configurations may be set using the Windows interface.

Definition at line 492 of file jaco_comm.cpp.

void jaco::JacoComm::setFingerPositions	(	const FingerAngles &	fingers,
		int	timeout = `0`,
		bool	push = `true`
	)

Sets the finger positions.

Definition at line 363 of file jaco_comm.cpp.

void jaco::JacoComm::setJointAngles	(	const JacoAngles &	angles,
		int	timeout = `0`,
		bool	push = `true`
	)

Sends a joint angle command to the Jaco arm.

Waits until the arm has stopped moving before releasing control of the API.

Definition at line 257 of file jaco_comm.cpp.

void jaco::JacoComm::setJointVelocities ( const AngularInfo & joint_vel )

Set the angular velocity of the joints.

Definition at line 424 of file jaco_comm.cpp.

void jaco::JacoComm::startAPI ( )

Definition at line 615 of file jaco_comm.cpp.

void jaco::JacoComm::stopAPI ( )

Definition at line 596 of file jaco_comm.cpp.

Member Data Documentation

boost::recursive_mutex& jaco::JacoComm::api_mutex_ [private]

Definition at line 92 of file jaco_comm.h.

bool jaco::JacoComm::is_software_stop_ [private]

Definition at line 94 of file jaco_comm.h.

jaco::JacoAPI jaco::JacoComm::jaco_api_ [private]

Definition at line 93 of file jaco_comm.h.

int jaco::JacoComm::num_fingers_ [private]

Definition at line 95 of file jaco_comm.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation