#include <open_manipulator_p.h>

Inheritance diagram for OpenManipulator:

Public Member Functions
JointWaypoint	angleToDistance (JointWaypoint angle)

JointWaypoint	distanceToAngle (JointWaypoint distance)

void	initOpenManipulator (bool using_actual_robot_state, STRING usb_port="/dev/ttyUSB0", STRING baud_rate="1000000", float control_loop_time=0.010, bool with_gripper=false)

	OpenManipulator ()

void	processOpenManipulator (double present_time, bool using_actual_robot_state, bool with_gripper=false)

virtual	~OpenManipulator ()

Public Member Functions inherited from robotis_manipulator::RobotisManipulator
void	addComponentChild (Name my_name, Name child_name)

void	addCustomTrajectory (Name trajectory_name, CustomJointTrajectory *custom_trajectory)

void	addCustomTrajectory (Name trajectory_name, CustomTaskTrajectory *custom_trajectory)

void	addDynamics (Dynamics *dynamics)

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(), double torque_coefficient=1.0)

void	addJointActuator (Name actuator_name, JointActuator joint_actuator, std::vector< uint8_t > id_array, const void arg)

void	addKinematics (Kinematics *kinematics)

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 object_mass=0.0, Eigen::Matrix3d object_inertia_tensor=Eigen::Matrix3d::Identity(), Eigen::Vector3d object_center_of_mass=Eigen::Vector3d::Zero())

void	addToolActuator (Name tool_name, ToolActuator tool_actuator, uint8_t id, const void arg)

void	addWorld (Name world_name, Name child_name, Eigen::Vector3d world_position=Eigen::Vector3d::Zero(), Eigen::Matrix3d world_orientation=Eigen::Matrix3d::Identity())

bool	checkJointLimit (Name component_name, double position)

bool	checkJointLimit (Name component_name, JointValue value)

bool	checkJointLimit (std::vector< Name > component_name, std::vector< double > position_vector)

bool	checkJointLimit (std::vector< Name > component_name, std::vector< JointValue > value_vector)

void	disableActuator (Name actuator_name)

void	disableAllActuator ()

void	disableAllJointActuator ()

void	disableAllToolActuator ()

void	enableActuator (Name actuator_name)

void	enableAllActuator ()

void	enableAllJointActuator ()

void	enableAllToolActuator ()

bool	getActuatorEnabledState (Name actuator_name)

std::vector< JointValue >	getAllActiveJointValue ()

std::vector< JointValue >	getAllJointValue ()

std::vector< double >	getAllToolPosition ()

std::vector< JointValue >	getAllToolValue ()

DynamicPose	getDynamicPose (Name component_name)

Dynamics *	getDynamics ()

JointActuator *	getJointActuator (Name actuator_name)

std::vector< uint8_t >	getJointActuatorId (Name actuator_name)

std::vector< JointValue >	getJointGoalValueFromTrajectory (double present_time, int option=DYNAMICS_ALL_SOVING)

std::vector< JointValue >	getJointGoalValueFromTrajectoryTickTime (double tick_time)

JointValue	getJointValue (Name joint_name)

KinematicPose	getKinematicPose (Name component_name)

Kinematics *	getKinematics ()

Manipulator *	getManipulator ()

bool	getMovingFailState ()

bool	getMovingState ()

Pose	getPose (Name component_name)

ToolActuator *	getToolActuator (Name actuator_name)

uint8_t	getToolActuatorId (Name actuator_name)

std::vector< JointValue >	getToolGoalValue ()

JointValue	getToolValue (Name tool_name)

Trajectory *	getTrajectory ()

double	getTrajectoryMoveTime ()

Eigen::MatrixXd	jacobian (Name tool_name)

bool	makeCustomTrajectory (Name trajectory_name, Name tool_name, const void *arg, double move_time, std::vector< JointValue > present_joint_value={})

bool	makeCustomTrajectory (Name trajectory_name, const void *arg, double move_time, std::vector< JointValue > present_joint_value={})

bool	makeJointTrajectory (std::vector< double > goal_joint_position, double move_time, std::vector< JointValue > present_joint_value={})

bool	makeJointTrajectory (std::vector< JointValue > goal_joint_value, double move_time, std::vector< JointValue > present_joint_value={})

bool	makeJointTrajectory (Name tool_name, Eigen::Vector3d goal_position, double move_time, std::vector< JointValue > present_joint_value={})

bool	makeJointTrajectory (Name tool_name, Eigen::Matrix3d goal_orientation, double move_time, std::vector< JointValue > present_joint_value={})

bool	makeJointTrajectory (Name tool_name, KinematicPose goal_pose, double move_time, std::vector< JointValue > present_joint_value={})

bool	makeJointTrajectoryFromPresentPosition (std::vector< double > delta_goal_joint_position, double move_time, std::vector< JointValue > present_joint_value={})

bool	makeTaskTrajectory (Name tool_name, Eigen::Vector3d goal_position, double move_time, std::vector< JointValue > present_joint_value={})

bool	makeTaskTrajectory (Name tool_name, Eigen::Matrix3d goal_orientation, double move_time, std::vector< JointValue > present_joint_value={})

bool	makeTaskTrajectory (Name tool_name, KinematicPose goal_pose, double move_time, std::vector< JointValue > present_joint_value={})

bool	makeTaskTrajectoryFromPresentPose (Name tool_name, Eigen::Vector3d position_meter, double move_time, std::vector< JointValue > present_joint_value={})

bool	makeTaskTrajectoryFromPresentPose (Name tool_name, Eigen::Matrix3d orientation_meter, double move_time, std::vector< JointValue > present_joint_value={})

bool	makeTaskTrajectoryFromPresentPose (Name tool_name, KinematicPose goal_pose_delta, double move_time, std::vector< JointValue > present_joint_value={})

bool	makeToolTrajectory (Name tool_name, double tool_goal_position)

void	printManipulatorSetting ()

std::vector< JointValue >	receiveAllJointActuatorValue ()

std::vector< JointValue >	receiveAllToolActuatorValue ()

JointValue	receiveJointActuatorValue (Name joint_component_name)

std::vector< JointValue >	receiveMultipleJointActuatorValue (std::vector< Name > joint_component_name)

std::vector< JointValue >	receiveMultipleToolActuatorValue (std::vector< Name > tool_component_name)

JointValue	receiveToolActuatorValue (Name tool_component_name)

void	resetMovingFailState ()

	RobotisManipulator ()

bool	sendAllJointActuatorValue (std::vector< JointValue > value_vector)

bool	sendAllToolActuatorValue (std::vector< JointValue > value_vector)

bool	sendJointActuatorValue (Name joint_component_name, JointValue value)

bool	sendMultipleJointActuatorValue (std::vector< Name > joint_component_name, std::vector< JointValue > value_vector)

bool	sendMultipleToolActuatorValue (std::vector< Name > tool_component_name, std::vector< JointValue > value_vector)

bool	sendToolActuatorValue (Name tool_component_name, JointValue value)

void	setCustomTrajectoryOption (Name trajectory_name, const void *arg)

void	setDynamicsEnvironments (STRING param_name, const void *arg)

void	setDynamicsOption (STRING param_name, const void *arg)

void	setJointActuatorMode (Name actuator_name, std::vector< uint8_t > id_array, const void *arg)

void	setKinematicsOption (const void *arg)

void	setToolActuatorMode (Name actuator_name, const void *arg)

void	setTorqueCoefficient (Name component_name, double torque_coefficient)

bool	sleepTrajectory (double wait_time, std::vector< JointValue > present_joint_value={})

void	solveForwardDynamics (std::map< Name, double > joint_torque)

void	solveForwardKinematics ()

void	solveForwardKinematics (std::vector< JointValue > *goal_joint_value)

bool	solveGravityTerm (std::map< Name, double > *joint_torque)

bool	solveInverseDynamics (std::map< Name, double > *joint_torque)

bool	solveInverseKinematics (Name tool_name, Pose goal_pose, std::vector< JointValue > *goal_joint_value)

void	stopMoving ()

virtual	~RobotisManipulator ()

Private Attributes
robotis_manipulator::JointActuator *	actuator_

robotis_manipulator::CustomTaskTrajectory *	custom_trajectory_ [CUSTOM_TRAJECTORY_SIZE]

robotis_manipulator::Kinematics *	kinematics_

robotis_manipulator::ToolActuator *	tool_

Detailed Description

Definition at line 39 of file open_manipulator_p.h.

Constructor & Destructor Documentation

OpenManipulator::OpenManipulator ( )

Definition at line 21 of file open_manipulator_p.cpp.

OpenManipulator::~OpenManipulator ( )

virtual

Definition at line 23 of file open_manipulator_p.cpp.

Member Function Documentation

JointWaypoint OpenManipulator::angleToDistance ( JointWaypoint angle )

Definition at line 309 of file open_manipulator_p.cpp.

JointWaypoint OpenManipulator::distanceToAngle ( JointWaypoint distance )

Definition at line 294 of file open_manipulator_p.cpp.

void OpenManipulator::initOpenManipulator	(	bool	using_actual_robot_state,
		STRING	usb_port = `"/dev/ttyUSB0"`,
		STRING	baud_rate = `"1000000"`,
		float	control_loop_time = `0.010`,
		bool	with_gripper = `false`
	)