open_manipulator.h
Go to the documentation of this file.
1 /*******************************************************************************
2 * Copyright 2018 ROBOTIS CO., LTD.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *******************************************************************************/
16 
17 /* Authors: Darby Lim, Hye-Jong KIM, Ryan Shim, Yong-Ho Na */
18 
19 #ifndef OPEN_MANIPULTOR_H_
20 #define OPEN_MANIPULTOR_H_
21 
22 #include "dynamixel.h"
23 #include "custom_trajectory.h"
24 #include "kinematics.h"
25 
26 #define CUSTOM_TRAJECTORY_SIZE 4
27 #define CUSTOM_TRAJECTORY_LINE "custom_trajectory_line"
28 #define CUSTOM_TRAJECTORY_CIRCLE "custom_trajectory_circle"
29 #define CUSTOM_TRAJECTORY_RHOMBUS "custom_trajectory_rhombus"
30 #define CUSTOM_TRAJECTORY_HEART "custom_trajectory_heart"
31 
32 #define JOINT_DYNAMIXEL "joint_dxl"
33 #define TOOL_DYNAMIXEL "tool_dxl"
34 
35 #define X_AXIS robotis_manipulator::math::vector3(1.0, 0.0, 0.0)
36 #define Y_AXIS robotis_manipulator::math::vector3(0.0, 1.0, 0.0)
37 #define Z_AXIS robotis_manipulator::math::vector3(0.0, 0.0, 1.0)
38 
40 {
41 
42 private:
47 
48 public:
50  virtual ~OpenManipulator();
51 
52  void initOpenManipulator(bool using_actual_robot_state, STRING usb_port = "/dev/ttyUSB0", STRING baud_rate = "1000000", float control_loop_time = 0.010);
53  void processOpenManipulator(double present_time);
54 };
55 
56 #endif // OPEN_MANIPULTOR_H_
void processOpenManipulator(double present_time)
robotis_manipulator::ToolActuator * tool_
robotis_manipulator::JointActuator * actuator_
virtual ~OpenManipulator()
robotis_manipulator::Kinematics * kinematics_
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_SIZE
robotis_manipulator::CustomTaskTrajectory * custom_trajectory_[CUSTOM_TRAJECTORY_SIZE]
std::string STRING


open_manipulator_libs
Author(s): Darby Lim , Hye-Jong KIM , Ryan Shim , Yong-Ho Na
autogenerated on Mon Jun 10 2019 14:12:00