19 #ifndef OPEN_MANIPULTOR_H_ 20 #define OPEN_MANIPULTOR_H_ 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" 32 #define JOINT_DYNAMIXEL "joint_dxl" 33 #define TOOL_DYNAMIXEL "tool_dxl" 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) 52 void initOpenManipulator(
bool using_actual_robot_state,
STRING usb_port =
"/dev/ttyUSB0",
STRING baud_rate =
"1000000",
float control_loop_time = 0.010);
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]