#include <simulatedArm.h>
Public Member Functions | |
| bool | Close () |
| bool | dontWaitForSync () |
| Execute move commands immediately from now on: More... | |
| bool | getConfig (std::vector< double > &result) |
| Returns the current Joint Angles. More... | |
| std::string | getErrorMessage () const |
| bool | getJointVelocities (std::vector< double > &result) |
| Returns the current Angular velocities (Rad/s) More... | |
| bool | Init (PowerCubeCtrlParams *params) |
| bool | isInitialized () const |
| bool | MoveJointSpaceSync (const std::vector< double > &Angle) |
| same as MoveJointSpace, but final angles should by reached simultaniously! Returns the time that the movement will take More... | |
| bool | MovePos (const std::vector< double > &) |
| moves all cubes to the given position More... | |
| bool | MoveVel (const std::vector< double > &) |
| Moves all cubes by the given velocities. More... | |
| bool | setMaxAcceleration (double radPerSecSquared) |
| Sets the maximum angular acceleration (rad/s^2) for the Joints, use with care! A Value of 0.5 is already pretty fast, you probably don't want anything more than one... More... | |
| bool | setMaxAcceleration (const std::vector< double > &radPerSecSquared) |
| bool | setMaxVelocity (double radpersec) |
| Sets the maximum angular velocity (rad/s) for the Joints, use with care! A Value of 0.5 is already pretty fast, you probably don't want anything more than one... More... | |
| bool | setMaxVelocity (const std::vector< double > &radpersec) |
| simulatedArm () | |
| bool | statusAcc () |
| Returs true if any of the Joints are accelerating. More... | |
| bool | statusDec () |
| Returns true if any of the Joints are decelerating. More... | |
| bool | statusMoving () |
| Returns true if any of the Joints are still moving Should also return true if Joints are accelerating or decelerating. More... | |
| bool | Stop () |
| current movement currently not supported in simulation More... | |
| bool | waitForSync () |
| Waits until all Modules are homed, writes status comments to out. More... | |
| virtual | ~simulatedArm () |
Protected Attributes | |
| int | m_DOF |
| std::string | m_ErrorMessage |
| bool | m_Initialized |
| std::vector< double > | m_maxAcc |
| std::vector< double > | m_maxVel |
| std::vector< simulatedMotor > | m_motors |
Definition at line 27 of file simulatedArm.h.
| simulatedArm::simulatedArm | ( | ) |
Definition at line 29 of file simulatedArm.cpp.
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virtual |
Definition at line 37 of file simulatedArm.cpp.
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inline |
Definition at line 45 of file simulatedArm.h.
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inline |
Execute move commands immediately from now on:
Definition at line 114 of file simulatedArm.h.
| bool simulatedArm::getConfig | ( | std::vector< double > & | result | ) |
Returns the current Joint Angles.
Definition at line 253 of file simulatedArm.cpp.
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inline |
Definition at line 40 of file simulatedArm.h.
| bool simulatedArm::getJointVelocities | ( | std::vector< double > & | result | ) |
Returns the current Angular velocities (Rad/s)
Definition at line 267 of file simulatedArm.cpp.
| bool simulatedArm::Init | ( | PowerCubeCtrlParams * | params | ) |
Definition at line 43 of file simulatedArm.cpp.
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inline |
Definition at line 35 of file simulatedArm.h.
| bool simulatedArm::MoveJointSpaceSync | ( | const std::vector< double > & | Angle | ) |
same as MoveJointSpace, but final angles should by reached simultaniously! Returns the time that the movement will take
Definition at line 80 of file simulatedArm.cpp.
| bool simulatedArm::MovePos | ( | const std::vector< double > & | Pos | ) |
moves all cubes to the given position
Definition at line 185 of file simulatedArm.cpp.
| bool simulatedArm::MoveVel | ( | const std::vector< double > & | Vel | ) |
Moves all cubes by the given velocities.
Definition at line 170 of file simulatedArm.cpp.
| bool simulatedArm::setMaxAcceleration | ( | double | radPerSecSquared | ) |
Sets the maximum angular acceleration (rad/s^2) for the Joints, use with care! A Value of 0.5 is already pretty fast, you probably don't want anything more than one...
Sets the maximum angular acceleration (rad/s^2) all the Joints, use with care!
Definition at line 228 of file simulatedArm.cpp.
| bool simulatedArm::setMaxAcceleration | ( | const std::vector< double > & | radPerSecSquared | ) |
Definition at line 238 of file simulatedArm.cpp.
| bool simulatedArm::setMaxVelocity | ( | double | radpersec | ) |
Sets the maximum angular velocity (rad/s) for the Joints, use with care! A Value of 0.5 is already pretty fast, you probably don't want anything more than one...
Sets the maximum angular velocity (rad/s) for all Joints, use with care!
Definition at line 200 of file simulatedArm.cpp.
| bool simulatedArm::setMaxVelocity | ( | const std::vector< double > & | radpersec | ) |
Definition at line 215 of file simulatedArm.cpp.
| bool simulatedArm::statusAcc | ( | ) |
Returs true if any of the Joints are accelerating.
Definition at line 308 of file simulatedArm.cpp.
| bool simulatedArm::statusDec | ( | ) |
Returns true if any of the Joints are decelerating.
Definition at line 295 of file simulatedArm.cpp.
| bool simulatedArm::statusMoving | ( | ) |
Returns true if any of the Joints are still moving Should also return true if Joints are accelerating or decelerating.
Definition at line 282 of file simulatedArm.cpp.
| bool simulatedArm::Stop | ( | ) |
current movement currently not supported in simulation
Stops the Manipulator immediately.
Stops the Manipulator immediately
Definition at line 73 of file simulatedArm.cpp.
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inline |
Waits until all Modules are homed, writes status comments to out.
Tells the Modules not to start moving until PCubel_startMotionAll is called
Definition at line 109 of file simulatedArm.h.
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protected |
Definition at line 120 of file simulatedArm.h.
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protected |
Definition at line 122 of file simulatedArm.h.
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protected |
Definition at line 121 of file simulatedArm.h.
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protected |
Definition at line 127 of file simulatedArm.h.
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protected |
Definition at line 126 of file simulatedArm.h.
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protected |
Definition at line 124 of file simulatedArm.h.