simulatedArm.h
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00001 
00060 #ifndef _SIMULATED_ARM_H_
00061 #define _SIMULATED_ARM_H_
00062 
00063 #include <schunk_powercube_chain/PowerCubeCtrl.h>
00064 #include <vector>
00065 #include <string>
00066 
00067 class simulatedMotor;
00068 
00069 class simulatedArm
00070 {
00071         public:
00072                 
00073                 simulatedArm();
00074                 virtual ~simulatedArm();
00075                 
00076                 bool Init(PowerCubeCtrlParams * params);
00077 
00078                 bool isInitialized() const { return m_Initialized; }
00079 
00080                 std::string getErrorMessage() const { return m_ErrorMessage; }
00081 
00082                 bool Close() { m_Initialized = false; return true; }
00083 
00085                 // Funktionen Arm-Ansteuerung: //
00087                 
00090                 bool MoveJointSpaceSync(const std::vector<double>& Angle);
00091                 
00093                 bool MovePos(const std::vector<double>&);
00095                 bool MoveVel(const std::vector<double>&);
00096                 
00098                 //  bool MoveCur(const std::vector<double>&);
00099                 
00101                 bool Stop();
00102                 
00104                 // Funktionen zum setzen von Parametern: //
00106                 
00109                 bool setMaxVelocity(double radpersec);
00110                 bool setMaxVelocity(const std::vector<double>& radpersec);
00111                 
00114                 bool setMaxAcceleration(double radPerSecSquared);
00115                 bool setMaxAcceleration(const std::vector<double>& radPerSecSquared);
00116                 
00118                 // hier die Funktionen zur Statusabfrage: //
00120         
00121 
00123                 bool getConfig(std::vector<double>& result);
00124                 
00126                 bool getJointVelocities(std::vector<double> & result);
00127                 
00130                 bool statusMoving();
00131                 
00133                 bool statusDec();
00134                 
00136                 bool statusAcc();
00137 
00139                 // bool doHoming();
00140                 // bool HomingDone();
00141                 
00143                 bool waitForSync() { return true; } // makes no difference in simulation
00145                 bool dontWaitForSync() { return true; } // makes no difference in simulation
00146                 
00147         protected:
00148                 
00149                 int m_DOF;
00150                 bool m_Initialized;
00151                 std::string m_ErrorMessage;
00152                 
00153                 std::vector<simulatedMotor> m_motors;
00154                 
00155                 std::vector<double> m_maxVel;
00156                 std::vector<double> m_maxAcc;
00157 
00158 };
00159 
00160 
00161 #endif


schunk_powercube_chain
Author(s): Florian Weisshardt
autogenerated on Thu Aug 27 2015 15:06:58