#include <simulatedArm.h>
Public Member Functions | |
| bool | Close () |
| bool | dontWaitForSync () |
| Execute move commands immediately from now on: | |
| bool | getConfig (std::vector< double > &result) |
| Returns the current Joint Angles. | |
| std::string | getErrorMessage () const |
| bool | getJointVelocities (std::vector< double > &result) |
| Returns the current Angular velocities (Rad/s) | |
| bool | Init (PowerCubeCtrlParams *params) |
| bool | isInitialized () const |
| bool | MoveJointSpaceSync (const std::vector< double > &Angle) |
| same as MoveJointSpace, but final angles should by reached simultaniously! Returns the time that the movement will take | |
| bool | MovePos (const std::vector< double > &) |
| moves all cubes to the given position | |
| bool | MoveVel (const std::vector< double > &) |
| Moves all cubes by the given velocities. | |
| bool | setMaxAcceleration (double radPerSecSquared) |
| Sets the maximum angular acceleration (rad/s^2) for the Joints, use with care! A Value of 0.5 is already pretty fast, you probably don't want anything more than one... | |
| bool | setMaxAcceleration (const std::vector< double > &radPerSecSquared) |
| bool | setMaxVelocity (double radpersec) |
| Sets the maximum angular velocity (rad/s) for the Joints, use with care! A Value of 0.5 is already pretty fast, you probably don't want anything more than one... | |
| bool | setMaxVelocity (const std::vector< double > &radpersec) |
| simulatedArm () | |
| bool | statusAcc () |
| Returs true if any of the Joints are accelerating. | |
| bool | statusDec () |
| Returns true if any of the Joints are decelerating. | |
| bool | statusMoving () |
| Returns true if any of the Joints are still moving Should also return true if Joints are accelerating or decelerating. | |
| bool | Stop () |
| current movement currently not supported in simulation | |
| bool | waitForSync () |
| Waits until all Modules are homed, writes status comments to out. | |
| virtual | ~simulatedArm () |
Protected Attributes | |
| int | m_DOF |
| std::string | m_ErrorMessage |
| bool | m_Initialized |
| std::vector< double > | m_maxAcc |
| std::vector< double > | m_maxVel |
| std::vector< simulatedMotor > | m_motors |
Definition at line 69 of file simulatedArm.h.
Definition at line 71 of file simulatedArm.cpp.
| simulatedArm::~simulatedArm | ( | ) | [virtual] |
Definition at line 80 of file simulatedArm.cpp.
| bool simulatedArm::Close | ( | ) | [inline] |
Definition at line 82 of file simulatedArm.h.
| bool simulatedArm::dontWaitForSync | ( | ) | [inline] |
Execute move commands immediately from now on:
Definition at line 145 of file simulatedArm.h.
| bool simulatedArm::getConfig | ( | std::vector< double > & | result | ) |
Returns the current Joint Angles.
Definition at line 308 of file simulatedArm.cpp.
| std::string simulatedArm::getErrorMessage | ( | ) | const [inline] |
Definition at line 80 of file simulatedArm.h.
| bool simulatedArm::getJointVelocities | ( | std::vector< double > & | result | ) |
Returns the current Angular velocities (Rad/s)
Definition at line 322 of file simulatedArm.cpp.
| bool simulatedArm::Init | ( | PowerCubeCtrlParams * | params | ) |
Definition at line 86 of file simulatedArm.cpp.
| bool simulatedArm::isInitialized | ( | ) | const [inline] |
Definition at line 78 of file simulatedArm.h.
| bool simulatedArm::MoveJointSpaceSync | ( | const std::vector< double > & | Angle | ) |
same as MoveJointSpace, but final angles should by reached simultaniously! Returns the time that the movement will take
Definition at line 123 of file simulatedArm.cpp.
| bool simulatedArm::MovePos | ( | const std::vector< double > & | Pos | ) |
moves all cubes to the given position
Definition at line 237 of file simulatedArm.cpp.
| bool simulatedArm::MoveVel | ( | const std::vector< double > & | Vel | ) |
Moves all cubes by the given velocities.
Definition at line 221 of file simulatedArm.cpp.
| bool simulatedArm::setMaxAcceleration | ( | double | radPerSecSquared | ) |
Sets the maximum angular acceleration (rad/s^2) for the Joints, use with care! A Value of 0.5 is already pretty fast, you probably don't want anything more than one...
Sets the maximum angular acceleration (rad/s^2) all the Joints, use with care!
Definition at line 281 of file simulatedArm.cpp.
| bool simulatedArm::setMaxAcceleration | ( | const std::vector< double > & | radPerSecSquared | ) |
Definition at line 291 of file simulatedArm.cpp.
| bool simulatedArm::setMaxVelocity | ( | double | radpersec | ) |
Sets the maximum angular velocity (rad/s) for the Joints, use with care! A Value of 0.5 is already pretty fast, you probably don't want anything more than one...
Sets the maximum angular velocity (rad/s) for all Joints, use with care!
Definition at line 253 of file simulatedArm.cpp.
| bool simulatedArm::setMaxVelocity | ( | const std::vector< double > & | radpersec | ) |
Definition at line 268 of file simulatedArm.cpp.
| bool simulatedArm::statusAcc | ( | ) |
Returs true if any of the Joints are accelerating.
Definition at line 364 of file simulatedArm.cpp.
| bool simulatedArm::statusDec | ( | ) |
Returns true if any of the Joints are decelerating.
Definition at line 351 of file simulatedArm.cpp.
| bool simulatedArm::statusMoving | ( | ) |
Returns true if any of the Joints are still moving Should also return true if Joints are accelerating or decelerating.
Definition at line 337 of file simulatedArm.cpp.
| bool simulatedArm::Stop | ( | ) |
current movement currently not supported in simulation
Stops the Manipulator immediately.
Stops the Manipulator immediately
Definition at line 116 of file simulatedArm.cpp.
| bool simulatedArm::waitForSync | ( | ) | [inline] |
Waits until all Modules are homed, writes status comments to out.
Tells the Modules not to start moving until PCubel_startMotionAll is called
Definition at line 143 of file simulatedArm.h.
int simulatedArm::m_DOF [protected] |
Definition at line 149 of file simulatedArm.h.
std::string simulatedArm::m_ErrorMessage [protected] |
Definition at line 151 of file simulatedArm.h.
bool simulatedArm::m_Initialized [protected] |
Definition at line 150 of file simulatedArm.h.
std::vector<double> simulatedArm::m_maxAcc [protected] |
Definition at line 156 of file simulatedArm.h.
std::vector<double> simulatedArm::m_maxVel [protected] |
Definition at line 155 of file simulatedArm.h.
std::vector<simulatedMotor> simulatedArm::m_motors [protected] |
Definition at line 153 of file simulatedArm.h.