#include <AbstractKatana.h>
Public Member Functions | |
| AbstractKatana () | |
| virtual bool | allJointsReady ()=0 |
| virtual bool | allMotorsReady ()=0 |
| virtual bool | executeTrajectory (boost::shared_ptr< SpecifiedTrajectory > traj, boost::function< bool()> isPreemptRequested)=0 |
| virtual void | freezeRobot () |
| virtual std::vector< std::string > | getGripperJointNames () |
| virtual std::vector< int > | getGripperJointTypes () |
| virtual int | getJointIndex (std::string joint_name) |
| virtual std::vector< std::string > | getJointNames () |
| virtual std::vector< int > | getJointTypes () |
| virtual std::vector< double > | getMotorAngles () |
| virtual double | getMotorLimitMax (std::string joint_name) |
| virtual double | getMotorLimitMin (std::string joint_name) |
| virtual std::vector < moveit_msgs::JointLimits > | getMotorLimits () |
| virtual std::vector< double > | getMotorVelocities () |
| virtual bool | moveJoint (int jointIndex, double turningAngle)=0 |
| virtual void | refreshEncoders ()=0 |
| virtual void | refreshMotorStatus () |
| virtual bool | someMotorCrashed ()=0 |
| virtual | ~AbstractKatana () |
Protected Attributes | |
| std::vector< std::string > | gripper_joint_names_ |
| std::vector< int > | gripper_joint_types_ |
| std::vector< std::string > | joint_names_ |
| std::vector< int > | joint_types_ |
| std::vector< double > | motor_angles_ |
| std::vector < moveit_msgs::JointLimits > | motor_limits_ |
| std::vector< double > | motor_velocities_ |
Detailed Description
Definition at line 40 of file AbstractKatana.h.
Constructor & Destructor Documentation
Definition at line 30 of file AbstractKatana.cpp.
| katana::AbstractKatana::~AbstractKatana | ( | ) | [virtual] |
Definition at line 131 of file AbstractKatana.cpp.
Member Function Documentation
| virtual bool katana::AbstractKatana::allJointsReady | ( | ) | [pure virtual] |
Implemented in katana::Katana, katana::Katana300, and katana::SimulatedKatana.
| virtual bool katana::AbstractKatana::allMotorsReady | ( | ) | [pure virtual] |
Implemented in katana::Katana, katana::Katana300, and katana::SimulatedKatana.
| virtual bool katana::AbstractKatana::executeTrajectory | ( | boost::shared_ptr< SpecifiedTrajectory > | traj, |
| boost::function< bool()> | isPreemptRequested | ||
| ) | [pure virtual] |
Implemented in katana::Katana, katana::Katana300, and katana::SimulatedKatana.
| void katana::AbstractKatana::freezeRobot | ( | ) | [virtual] |
Reimplemented in katana::Katana, and katana::Katana300.
Definition at line 135 of file AbstractKatana.cpp.
| std::vector< std::string > katana::AbstractKatana::getGripperJointNames | ( | ) | [virtual] |
Definition at line 175 of file AbstractKatana.cpp.
| std::vector< int > katana::AbstractKatana::getGripperJointTypes | ( | ) | [virtual] |
Definition at line 180 of file AbstractKatana.cpp.
| int katana::AbstractKatana::getJointIndex | ( | std::string | joint_name | ) | [virtual] |
Definition at line 147 of file AbstractKatana.cpp.
| std::vector< std::string > katana::AbstractKatana::getJointNames | ( | ) | [virtual] |
Definition at line 165 of file AbstractKatana.cpp.
| std::vector< int > katana::AbstractKatana::getJointTypes | ( | ) | [virtual] |
Definition at line 170 of file AbstractKatana.cpp.
| std::vector< double > katana::AbstractKatana::getMotorAngles | ( | ) | [virtual] |
Definition at line 185 of file AbstractKatana.cpp.
| double katana::AbstractKatana::getMotorLimitMax | ( | std::string | joint_name | ) | [virtual] |
Definition at line 200 of file AbstractKatana.cpp.
| double katana::AbstractKatana::getMotorLimitMin | ( | std::string | joint_name | ) | [virtual] |
Definition at line 213 of file AbstractKatana.cpp.
| std::vector< moveit_msgs::JointLimits > katana::AbstractKatana::getMotorLimits | ( | ) | [virtual] |
Definition at line 195 of file AbstractKatana.cpp.
| std::vector< double > katana::AbstractKatana::getMotorVelocities | ( | ) | [virtual] |
Definition at line 190 of file AbstractKatana.cpp.
| virtual bool katana::AbstractKatana::moveJoint | ( | int | jointIndex, |
| double | turningAngle | ||
| ) | [pure 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
Implemented in katana::Katana, katana::Katana300, and katana::SimulatedKatana.
| virtual void katana::AbstractKatana::refreshEncoders | ( | ) | [pure virtual] |
Implemented in katana::Katana, and katana::SimulatedKatana.
| void katana::AbstractKatana::refreshMotorStatus | ( | ) | [virtual] |
Reimplemented in katana::Katana, and katana::Katana300.
Definition at line 140 of file AbstractKatana.cpp.
| virtual bool katana::AbstractKatana::someMotorCrashed | ( | ) | [pure virtual] |
Implemented in katana::Katana, and katana::SimulatedKatana.
Member Data Documentation
std::vector<std::string> katana::AbstractKatana::gripper_joint_names_ [protected] |
Definition at line 88 of file AbstractKatana.h.
std::vector<int> katana::AbstractKatana::gripper_joint_types_ [protected] |
Definition at line 89 of file AbstractKatana.h.
std::vector<std::string> katana::AbstractKatana::joint_names_ [protected] |
Definition at line 84 of file AbstractKatana.h.
std::vector<int> katana::AbstractKatana::joint_types_ [protected] |
Definition at line 85 of file AbstractKatana.h.
std::vector<double> katana::AbstractKatana::motor_angles_ [protected] |
Definition at line 93 of file AbstractKatana.h.
std::vector<moveit_msgs::JointLimits> katana::AbstractKatana::motor_limits_ [protected] |
Definition at line 98 of file AbstractKatana.h.
std::vector<double> katana::AbstractKatana::motor_velocities_ [protected] |
Definition at line 94 of file AbstractKatana.h.
The documentation for this class was generated from the following files: