#include <robotis_manipulator_common.h>

Public Member Functions
void	addComponentChild (Name my_name, Name child_name)

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	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(), double torque_coefficient=1.0)

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

bool	checkComponentType (Name component_name, ComponentType component_type)

bool	checkJointLimit (Name Component_name, double value)

Name	findComponentNameUsingId (int8_t id)

std::vector< Name >	getAllActiveJointComponentName ()

std::vector< uint8_t >	getAllActiveJointID ()

std::vector< double >	getAllActiveJointPosition ()

std::vector< JointValue >	getAllActiveJointValue ()

std::map< Name, Component >	getAllComponent ()

std::vector< uint8_t >	getAllJointID ()

std::vector< double >	getAllJointPosition ()

std::vector< JointValue >	getAllJointValue ()

std::vector< Name >	getAllToolComponentName ()

std::vector< double >	getAllToolPosition ()

std::vector< JointValue >	getAllToolValue ()

Eigen::Vector3d	getAxis (Name component_name)

double	getCoefficient (Name component_name)

Component	getComponent (Name component_name)

Name	getComponentActuatorName (Name component_name)

Eigen::Vector3d	getComponentCenterOfMass (Name component_name)

std::vector< Name >	getComponentChildName (Name component_name)

DynamicPose	getComponentDynamicPoseFromWorld (Name component_name)

Eigen::Matrix3d	getComponentInertiaTensor (Name component_name)

KinematicPose	getComponentKinematicPoseFromWorld (Name component_name)

double	getComponentMass (Name component_name)

Eigen::Matrix3d	getComponentOrientationFromWorld (Name component_name)

Name	getComponentParentName (Name component_name)

Pose	getComponentPoseFromWorld (Name component_name)

Eigen::Vector3d	getComponentPositionFromWorld (Name component_name)

Eigen::Matrix3d	getComponentRelativeOrientationFromParent (Name component_name)

KinematicPose	getComponentRelativePoseFromParent (Name component_name)

Eigen::Vector3d	getComponentRelativePositionFromParent (Name component_name)

int8_t	getComponentSize ()

int8_t	getDOF ()

int8_t	getId (Name component_name)

std::map< Name, Component >::iterator	getIteratorBegin ()

std::map< Name, Component >::iterator	getIteratorEnd ()

double	getJointAcceleration (Name component_name)

double	getJointEffort (Name component_name)

double	getJointPosition (Name component_name)

JointValue	getJointValue (Name component_name)

double	getJointVelocity (Name component_name)

double	getTorqueCoefficient (Name component_name)

Name	getWorldChildName ()

DynamicPose	getWorldDynamicPose ()

KinematicPose	getWorldKinematicPose ()

Name	getWorldName ()

Eigen::Matrix3d	getWorldOrientation ()

Pose	getWorldPose ()

Eigen::Vector3d	getWorldPosition ()

	Manipulator ()

void	printManipulatorSetting ()

void	setAllActiveJointPosition (std::vector< double > joint_position_vector)

void	setAllActiveJointValue (std::vector< JointValue > joint_value_vector)

void	setAllJointPosition (std::vector< double > joint_position_vector)

void	setAllJointValue (std::vector< JointValue > joint_value_vector)

void	setAllToolPosition (std::vector< double > tool_position_vector)

void	setAllToolValue (std::vector< JointValue > tool_value_vector)

void	setComponent (Name component_name, Component component)

void	setComponentActuatorName (Name component_name, Name actuator_name)

void	setComponentDynamicPoseFromWorld (Name component_name, DynamicPose dynamic_pose)

void	setComponentKinematicPoseFromWorld (Name component_name, KinematicPose pose_to_world)

void	setComponentOrientationFromWorld (Name component_name, Eigen::Matrix3d orientation_to_wolrd)

void	setComponentPoseFromWorld (Name component_name, Pose pose_to_world)

void	setComponentPositionFromWorld (Name component_name, Eigen::Vector3d position_to_world)

void	setJointAcceleration (Name name, double acceleration)

void	setJointEffort (Name name, double effort)

void	setJointPosition (Name name, double position)

void	setJointValue (Name name, JointValue joint_value)

void	setJointVelocity (Name name, double velocity)

void	setTorqueCoefficient (Name component_name, double torque_coefficient)

void	setWorldAngularAcceleration (Eigen::Vector3d world_angular_acceleration)

void	setWorldAngularVelocity (Eigen::Vector3d world_angular_velocity)

void	setWorldDynamicPose (DynamicPose world_dynamic_pose)

void	setWorldKinematicPose (KinematicPose world_kinematic_pose)

void	setWorldLinearAcceleration (Eigen::Vector3d world_linear_acceleration)

void	setWorldLinearVelocity (Eigen::Vector3d world_linear_velocity)

void	setWorldOrientation (Eigen::Matrix3d world_orientation)

void	setWorldPose (Pose world_pose)

void	setWorldPosition (Eigen::Vector3d world_position)

	~Manipulator ()

Private Attributes
std::map< Name, Component >	component_

int8_t	dof_

World	world_

Detailed Description

Definition at line 203 of file robotis_manipulator_common.h.

Constructor & Destructor Documentation

Manipulator::Manipulator ( )

Definition at line 49 of file robotis_manipulator_common.cpp.

robotis_manipulator::Manipulator::~Manipulator ( )

inline

Definition at line 212 of file robotis_manipulator_common.h.

Member Function Documentation

void Manipulator::addComponentChild	(	Name	my_name,
		Name	child_name
	)

Definition at line 167 of file robotis_manipulator_common.cpp.

void Manipulator::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`
	)

Definition at line 69 of file robotis_manipulator_common.cpp.

void Manipulator::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()`,
		double	torque_coefficient = `1.0`
	)

Definition at line 123 of file robotis_manipulator_common.cpp.

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

Definition at line 54 of file robotis_manipulator_common.cpp.

bool Manipulator::checkComponentType	(	Name	component_name,
		ComponentType	component_type
	)

Definition at line 858 of file robotis_manipulator_common.cpp.

bool Manipulator::checkJointLimit	(	Name	Component_name,
		double	value
	)

Definition at line 848 of file robotis_manipulator_common.cpp.

Name Manipulator::findComponentNameUsingId ( int8_t id )

Definition at line 870 of file robotis_manipulator_common.cpp.

std::vector< Name > Manipulator::getAllActiveJointComponentName ( )

Definition at line 829 of file robotis_manipulator_common.cpp.

std::vector< uint8_t > Manipulator::getAllActiveJointID ( )

Definition at line 798 of file robotis_manipulator_common.cpp.

std::vector< double > Manipulator::getAllActiveJointPosition ( )

Definition at line 722 of file robotis_manipulator_common.cpp.

std::vector< JointValue > Manipulator::getAllActiveJointValue ( )

Definition at line 737 of file robotis_manipulator_common.cpp.

std::map< Name, Component > Manipulator::getAllComponent ( )

Definition at line 557 of file robotis_manipulator_common.cpp.

std::vector< uint8_t > Manipulator::getAllJointID ( )

Definition at line 783 of file robotis_manipulator_common.cpp.

std::vector< double > Manipulator::getAllJointPosition ( )

Definition at line 692 of file robotis_manipulator_common.cpp.

std::vector< JointValue > Manipulator::getAllJointValue ( )

Definition at line 707 of file robotis_manipulator_common.cpp.

std::vector< Name > Manipulator::getAllToolComponentName ( )

Definition at line 814 of file robotis_manipulator_common.cpp.

std::vector< double > Manipulator::getAllToolPosition ( )

Definition at line 752 of file robotis_manipulator_common.cpp.

std::vector< JointValue > Manipulator::getAllToolValue ( )

Definition at line 768 of file robotis_manipulator_common.cpp.

Eigen::Vector3d Manipulator::getAxis ( Name component_name )

Definition at line 647 of file robotis_manipulator_common.cpp.

double Manipulator::getCoefficient ( Name component_name )

Definition at line 637 of file robotis_manipulator_common.cpp.

Component Manipulator::getComponent ( Name component_name )

Definition at line 572 of file robotis_manipulator_common.cpp.

Name Manipulator::getComponentActuatorName ( Name component_name )

Definition at line 577 of file robotis_manipulator_common.cpp.

Eigen::Vector3d Manipulator::getComponentCenterOfMass ( Name component_name )

Definition at line 687 of file robotis_manipulator_common.cpp.

std::vector< Name > Manipulator::getComponentChildName ( Name component_name )

Definition at line 587 of file robotis_manipulator_common.cpp.

DynamicPose Manipulator::getComponentDynamicPoseFromWorld ( Name component_name )

Definition at line 612 of file robotis_manipulator_common.cpp.

Eigen::Matrix3d Manipulator::getComponentInertiaTensor ( Name component_name )

Definition at line 682 of file robotis_manipulator_common.cpp.

KinematicPose Manipulator::getComponentKinematicPoseFromWorld ( Name component_name )

Definition at line 597 of file robotis_manipulator_common.cpp.

double Manipulator::getComponentMass ( Name component_name )

Definition at line 677 of file robotis_manipulator_common.cpp.

Eigen::Matrix3d Manipulator::getComponentOrientationFromWorld ( Name component_name )

Definition at line 607 of file robotis_manipulator_common.cpp.

Name Manipulator::getComponentParentName ( Name component_name )

Definition at line 582 of file robotis_manipulator_common.cpp.

Pose Manipulator::getComponentPoseFromWorld ( Name component_name )

Definition at line 592 of file robotis_manipulator_common.cpp.

Eigen::Vector3d Manipulator::getComponentPositionFromWorld ( Name component_name )

Definition at line 602 of file robotis_manipulator_common.cpp.

Eigen::Matrix3d Manipulator::getComponentRelativeOrientationFromParent ( Name component_name )

Definition at line 627 of file robotis_manipulator_common.cpp.

KinematicPose Manipulator::getComponentRelativePoseFromParent ( Name component_name )

Definition at line 617 of file robotis_manipulator_common.cpp.

Eigen::Vector3d Manipulator::getComponentRelativePositionFromParent ( Name component_name )

Definition at line 622 of file robotis_manipulator_common.cpp.

int8_t Manipulator::getComponentSize ( )

Definition at line 552 of file robotis_manipulator_common.cpp.

int8_t Manipulator::getDOF ( )

Definition at line 512 of file robotis_manipulator_common.cpp.

int8_t Manipulator::getId ( Name component_name )

Definition at line 632 of file robotis_manipulator_common.cpp.

std::map< Name, Component >::iterator Manipulator::getIteratorBegin ( )

Definition at line 562 of file robotis_manipulator_common.cpp.

std::map< Name, Component >::iterator Manipulator::getIteratorEnd ( )

Definition at line 567 of file robotis_manipulator_common.cpp.

double Manipulator::getJointAcceleration ( Name component_name )

Definition at line 662 of file robotis_manipulator_common.cpp.

double Manipulator::getJointEffort ( Name component_name )

Definition at line 667 of file robotis_manipulator_common.cpp.

double Manipulator::getJointPosition ( Name component_name )

Definition at line 652 of file robotis_manipulator_common.cpp.

JointValue Manipulator::getJointValue ( Name component_name )

Definition at line 672 of file robotis_manipulator_common.cpp.

double Manipulator::getJointVelocity ( Name component_name )

Definition at line 657 of file robotis_manipulator_common.cpp.

double Manipulator::getTorqueCoefficient ( Name component_name )

Definition at line 642 of file robotis_manipulator_common.cpp.

Name Manipulator::getWorldChildName ( )

Definition at line 522 of file robotis_manipulator_common.cpp.

DynamicPose Manipulator::getWorldDynamicPose ( )

Definition at line 547 of file robotis_manipulator_common.cpp.

KinematicPose Manipulator::getWorldKinematicPose ( )

Definition at line 532 of file robotis_manipulator_common.cpp.

Name Manipulator::getWorldName ( )

Definition at line 517 of file robotis_manipulator_common.cpp.

Eigen::Matrix3d Manipulator::getWorldOrientation ( )

Definition at line 542 of file robotis_manipulator_common.cpp.

Pose Manipulator::getWorldPose ( )

Definition at line 527 of file robotis_manipulator_common.cpp.

Eigen::Vector3d Manipulator::getWorldPosition ( )

Definition at line 537 of file robotis_manipulator_common.cpp.

void Manipulator::printManipulatorSetting ( )

Definition at line 172 of file robotis_manipulator_common.cpp.

void Manipulator::setAllActiveJointPosition ( std::vector< double > joint_position_vector )

Definition at line 415 of file robotis_manipulator_common.cpp.

void Manipulator::setAllActiveJointValue ( std::vector< JointValue > joint_value_vector )

Definition at line 430 of file robotis_manipulator_common.cpp.

void Manipulator::setAllJointPosition ( std::vector< double > joint_position_vector )

Definition at line 448 of file robotis_manipulator_common.cpp.

void Manipulator::setAllJointValue ( std::vector< JointValue > joint_value_vector )

Definition at line 463 of file robotis_manipulator_common.cpp.

void Manipulator::setAllToolPosition ( std::vector< double > tool_position_vector )

Definition at line 478 of file robotis_manipulator_common.cpp.

void Manipulator::setAllToolValue ( std::vector< JointValue > tool_value_vector )

Definition at line 493 of file robotis_manipulator_common.cpp.

void Manipulator::setComponent	(	Name	component_name,
		Component	component
	)

Definition at line 320 of file robotis_manipulator_common.cpp.

void Manipulator::setComponentActuatorName	(	Name	component_name,
		Name	actuator_name
	)

Definition at line 325 of file robotis_manipulator_common.cpp.

void Manipulator::setComponentDynamicPoseFromWorld	(	Name	component_name,
		DynamicPose	dynamic_pose
	)

Definition at line 378 of file robotis_manipulator_common.cpp.

void Manipulator::setComponentKinematicPoseFromWorld	(	Name	component_name,
		KinematicPose	pose_to_world
	)

Definition at line 342 of file robotis_manipulator_common.cpp.

void Manipulator::setComponentOrientationFromWorld	(	Name	component_name,
		Eigen::Matrix3d	orientation_to_wolrd
	)

Definition at line 366 of file robotis_manipulator_common.cpp.

void Manipulator::setComponentPoseFromWorld	(	Name	component_name,
		Pose	pose_to_world
	)

Definition at line 330 of file robotis_manipulator_common.cpp.

void Manipulator::setComponentPositionFromWorld	(	Name	component_name,
		Eigen::Vector3d	position_to_world
	)

Definition at line 354 of file robotis_manipulator_common.cpp.

void Manipulator::setJointAcceleration	(	Name	name,
		double	acceleration
	)

Definition at line 400 of file robotis_manipulator_common.cpp.

void Manipulator::setJointEffort	(	Name	name,
		double	effort
	)

Definition at line 405 of file robotis_manipulator_common.cpp.

void Manipulator::setJointPosition	(	Name	name,
		double	position
	)

Definition at line 390 of file robotis_manipulator_common.cpp.

void Manipulator::setJointValue	(	Name	name,
		JointValue	joint_value
	)

Definition at line 410 of file robotis_manipulator_common.cpp.

void Manipulator::setJointVelocity	(	Name	name,
		double	velocity
	)

Definition at line 395 of file robotis_manipulator_common.cpp.

void Manipulator::setTorqueCoefficient	(	Name	component_name,
		double	torque_coefficient
	)

Definition at line 270 of file robotis_manipulator_common.cpp.

void Manipulator::setWorldAngularAcceleration ( Eigen::Vector3d world_angular_acceleration )

Definition at line 315 of file robotis_manipulator_common.cpp.

void Manipulator::setWorldAngularVelocity ( Eigen::Vector3d world_angular_velocity )

Definition at line 305 of file robotis_manipulator_common.cpp.

void Manipulator::setWorldDynamicPose ( DynamicPose world_dynamic_pose )

Definition at line 295 of file robotis_manipulator_common.cpp.

void Manipulator::setWorldKinematicPose ( KinematicPose world_kinematic_pose )

Definition at line 280 of file robotis_manipulator_common.cpp.

void Manipulator::setWorldLinearAcceleration ( Eigen::Vector3d world_linear_acceleration )

Definition at line 310 of file robotis_manipulator_common.cpp.

void Manipulator::setWorldLinearVelocity ( Eigen::Vector3d world_linear_velocity )

Definition at line 300 of file robotis_manipulator_common.cpp.

void Manipulator::setWorldOrientation ( Eigen::Matrix3d world_orientation )

Definition at line 290 of file robotis_manipulator_common.cpp.

void Manipulator::setWorldPose ( Pose world_pose )

Definition at line 275 of file robotis_manipulator_common.cpp.

void Manipulator::setWorldPosition ( Eigen::Vector3d world_position )

Definition at line 285 of file robotis_manipulator_common.cpp.

Member Data Documentation

std::map<Name, Component> robotis_manipulator::Manipulator::component_

private

Definition at line 208 of file robotis_manipulator_common.h.

int8_t robotis_manipulator::Manipulator::dof_

private

Definition at line 206 of file robotis_manipulator_common.h.

World robotis_manipulator::Manipulator::world_

private

Definition at line 207 of file robotis_manipulator_common.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation