19 #include "../include/open_manipulator_libs/open_manipulator.h" 43 math::vector3(0.012, 0.0, 0.017),
44 math::convertRPYToRotationMatrix(0.0, 0.0, 0.0),
53 math::vector3(0.0, 0.0, 0.0595),
54 math::convertRPYToRotationMatrix(0.0, 0.0, 0.0),
63 math::vector3(0.024, 0.0, 0.128),
64 math::convertRPYToRotationMatrix(0.0, 0.0, 0.0),
73 math::vector3(0.124, 0.0, 0.0),
74 math::convertRPYToRotationMatrix(0.0, 0.0, 0.0),
82 math::vector3(0.126, 0.0, 0.0),
83 math::convertRPYToRotationMatrix(0.0, 0.0, 0.0),
97 if(using_actual_robot_state)
106 STRING dxl_comm_arg[2] = {usb_port, baud_rate};
107 void *p_dxl_comm_arg = &dxl_comm_arg;
110 std::vector<uint8_t> jointDxlId;
111 jointDxlId.push_back(11);
112 jointDxlId.push_back(12);
113 jointDxlId.push_back(13);
114 jointDxlId.push_back(14);
118 STRING joint_dxl_mode_arg =
"position_mode";
119 void *p_joint_dxl_mode_arg = &joint_dxl_mode_arg;
128 uint8_t gripperDxlId = 15;
132 STRING gripper_dxl_mode_arg =
"current_based_position_mode";
133 void *p_gripper_dxl_mode_arg = &gripper_dxl_mode_arg;
137 STRING gripper_dxl_opt_arg[2];
138 void *p_gripper_dxl_opt_arg = &gripper_dxl_opt_arg;
139 gripper_dxl_opt_arg[0] =
"Profile_Acceleration";
140 gripper_dxl_opt_arg[1] =
"20";
143 gripper_dxl_opt_arg[0] =
"Profile_Velocity";
144 gripper_dxl_opt_arg[1] =
"200";
std::vector< JointValue > getToolGoalValue()
std::vector< JointValue > receiveAllToolActuatorValue()
#define CUSTOM_TRAJECTORY_CIRCLE
void addJoint(Name my_name, Name parent_name, Name child_name, Eigen::Vector3d relative_position, Eigen::Matrix3d relative_orientation, Eigen::Vector3d axis_of_rotation=Eigen::Vector3d::Zero(), int8_t joint_actuator_id=-1, double max_position_limit=M_PI, double min_position_limit=-M_PI, double coefficient=1.0, double mass=0.0, Eigen::Matrix3d inertia_tensor=Eigen::Matrix3d::Identity(), Eigen::Vector3d center_of_mass=Eigen::Vector3d::Zero())
void processOpenManipulator(double present_time)
robotis_manipulator::ToolActuator * tool_
robotis_manipulator::JointActuator * actuator_
std::vector< JointValue > JointWaypoint
void addTool(Name my_name, Name parent_name, Eigen::Vector3d relative_position, Eigen::Matrix3d relative_orientation, int8_t tool_id=-1, double max_position_limit=M_PI, double min_position_limit=-M_PI, double coefficient=1.0, double mass=0.0, Eigen::Matrix3d inertia_tensor=Eigen::Matrix3d::Identity(), Eigen::Vector3d center_of_mass=Eigen::Vector3d::Zero())
std::vector< JointValue > receiveAllJointActuatorValue()
void setToolActuatorMode(Name actuator_name, const void *arg)
#define CUSTOM_TRAJECTORY_HEART
void solveForwardKinematics()
virtual ~OpenManipulator()
robotis_manipulator::Kinematics * kinematics_
bool sendAllToolActuatorValue(std::vector< JointValue > value_vector)
bool sendAllJointActuatorValue(std::vector< JointValue > value_vector)
std::vector< JointValue > getJointGoalValueFromTrajectory(double present_time)
void initOpenManipulator(bool using_actual_robot_state, STRING usb_port="/dev/ttyUSB0", STRING baud_rate="1000000", float control_loop_time=0.010)
#define CUSTOM_TRAJECTORY_LINE
#define CUSTOM_TRAJECTORY_SIZE
#define CUSTOM_TRAJECTORY_RHOMBUS
void addCustomTrajectory(Name trajectory_name, CustomJointTrajectory *custom_trajectory)
void addKinematics(Kinematics *kinematics)
void addJointActuator(Name actuator_name, JointActuator *joint_actuator, std::vector< uint8_t > id_array, const void *arg)
void setJointActuatorMode(Name actuator_name, std::vector< uint8_t > id_array, const void *arg)
robotis_manipulator::CustomTaskTrajectory * custom_trajectory_[CUSTOM_TRAJECTORY_SIZE]
void addWorld(Name world_name, Name child_name, Eigen::Vector3d world_position=Eigen::Vector3d::Zero(), Eigen::Matrix3d world_orientation=Eigen::Matrix3d::Identity())
void addToolActuator(Name tool_name, ToolActuator *tool_actuator, uint8_t id, const void *arg)