It groups the manipulator joints and the gripper together. More...

#include <YouBotManipulator.hpp>

Public Member Functions
void	calibrateGripper (const bool forceCalibration=false)

void	calibrateManipulator (const bool forceCalibration=false)
	calibrate the reference position of the arm joints More...

void	doJointCommutation ()
	does the sine commutation of the arm joints More...

YouBotGripper &	getArmGripper ()

YouBotJoint &	getArmJoint (const unsigned int armJointNumber)

virtual void	getJointData (std::vector< JointSensedAngle > &data)

virtual void	getJointData (std::vector< JointSensedVelocity > &data)

virtual void	getJointData (std::vector< JointSensedCurrent > &data)

virtual void	getJointData (std::vector< JointSensedTorque > &data)

int	getNumberJoints ()
	return the number of joints More...

bool	hasGripper ()

virtual void	setJointData (const std::vector< JointAngleSetpoint > &JointData)

virtual void	setJointData (const std::vector< JointVelocitySetpoint > &JointData)

virtual void	setJointData (const std::vector< JointCurrentSetpoint > &JointData)

virtual void	setJointData (const std::vector< JointTorqueSetpoint > &JointData)

	YouBotManipulator (const std::string name, const std::string configFilePath="../config/")

virtual	~YouBotManipulator ()

Private Member Functions
void	commutationFirmware148 ()
	does the commutation of the arm joints with firmware 1.48 and below More...

void	commutationFirmware200 ()
	does the commutation of the arm joints with firmware 2.0 More...

void	initializeJoints ()

YouBotManipulator &	operator= (const YouBotManipulator &source)

	YouBotManipulator (const YouBotManipulator &source)

Private Attributes
std::string	actualFirmwareVersionAllJoints

int	alternativeControllerType

boost::scoped_ptr< ConfigFile >	configfile
	The number of manipulator joints. More...

int	controllerType

EthercatMasterInterface &	ethercatMaster

EthercatMasterWithThread *	ethercatMasterWithThread

boost::scoped_ptr< YouBotGripper >	gripper

bool	isGripperInitialized

boost::ptr_vector< YouBotJoint >	joints

unsigned int	numberArmJoints

std::vector< std::string >	supportedFirmwareVersions

bool	useGripper

Detailed Description

It groups the manipulator joints and the gripper together.

Definition at line 68 of file YouBotManipulator.hpp.

Constructor & Destructor Documentation

youbot::YouBotManipulator::YouBotManipulator	(	const std::string	name,
		const std::string	configFilePath = `"../config/"`
	)

Definition at line 56 of file YouBotManipulator.cpp.

youbot::YouBotManipulator::~YouBotManipulator ( )

virtual

Definition at line 87 of file YouBotManipulator.cpp.

youbot::YouBotManipulator::YouBotManipulator ( const YouBotManipulator & source )

private

Member Function Documentation

void youbot::YouBotManipulator::calibrateGripper ( const bool forceCalibration = false )

Definition at line 279 of file YouBotManipulator.cpp.

void youbot::YouBotManipulator::calibrateManipulator ( const bool forceCalibration = false )

calibrate the reference position of the arm joints

Definition at line 112 of file YouBotManipulator.cpp.

void youbot::YouBotManipulator::commutationFirmware148 ( )

private

does the commutation of the arm joints with firmware 1.48 and below

Definition at line 517 of file YouBotManipulator.cpp.

void youbot::YouBotManipulator::commutationFirmware200 ( )

private

does the commutation of the arm joints with firmware 2.0

Definition at line 436 of file YouBotManipulator.cpp.

void youbot::YouBotManipulator::doJointCommutation ( )

does the sine commutation of the arm joints

Definition at line 98 of file YouBotManipulator.cpp.

YouBotGripper & youbot::YouBotManipulator::getArmGripper ( )

Definition at line 313 of file YouBotManipulator.cpp.

YouBotJoint & youbot::YouBotManipulator::getArmJoint ( const unsigned int armJointNumber )

return a joint form the arm1

Parameters

armJointNumber 1-5 for the arm joints

Definition at line 303 of file YouBotManipulator.cpp.

void youbot::YouBotManipulator::getJointData ( std::vector< JointSensedAngle > & data )

virtual

gets the position or angle of all manipulator joints which have been calculated from the actual encoder value These values are all read at the same time from the different joints

Parameters

data	returns the angles by reference

Definition at line 341 of file YouBotManipulator.cpp.

void youbot::YouBotManipulator::getJointData ( std::vector< JointSensedVelocity > & data )

virtual

gets the velocities of all manipulator joints which have been calculated from the actual encoder values These values are all read at the same time from the different joints

Parameters

data	returns the velocities by reference

Definition at line 369 of file YouBotManipulator.cpp.

void youbot::YouBotManipulator::getJointData ( std::vector< JointSensedCurrent > & data )

virtual

gets the motor currents of all manipulator joints which have been measured by a hal sensor These values are all read at the same time from the different joints

Parameters

data	returns the actual motor currents by reference

Definition at line 397 of file YouBotManipulator.cpp.

void youbot::YouBotManipulator::getJointData ( std::vector< JointSensedTorque > & data )

virtual

gets the joint torque of all manipulator joints which have been calculated from the current These values are all read at the same time from the different joints

Parameters

data	returns the actual joint torque by reference

Definition at line 425 of file YouBotManipulator.cpp.

int youbot::YouBotManipulator::getNumberJoints ( )

return the number of joints

Definition at line 293 of file YouBotManipulator.cpp.

bool youbot::YouBotManipulator::hasGripper ( )

Definition at line 297 of file YouBotManipulator.cpp.

void youbot::YouBotManipulator::initializeJoints ( )

private

Definition at line 591 of file YouBotManipulator.cpp.

YouBotManipulator& youbot::YouBotManipulator::operator= ( const YouBotManipulator & source )

private

void youbot::YouBotManipulator::setJointData ( const std::vector< JointAngleSetpoint > & JointData )

virtual

commands positions or angles to all manipulator joints all positions will be set at the same time

Parameters

JointData the to command positions

Definition at line 325 of file YouBotManipulator.cpp.

void youbot::YouBotManipulator::setJointData ( const std::vector< JointVelocitySetpoint > & JointData )

virtual

commands velocities to all manipulator joints all velocities will be set at the same time

Parameters

JointData the to command velocities

Definition at line 354 of file YouBotManipulator.cpp.

void youbot::YouBotManipulator::setJointData ( const std::vector< JointCurrentSetpoint > & JointData )

virtual

commands current to all manipulator joints all current values will be set at the same time

Parameters

JointData the to command current

Definition at line 382 of file YouBotManipulator.cpp.

void youbot::YouBotManipulator::setJointData ( const std::vector< JointTorqueSetpoint > & JointData )

virtual

commands torque to all manipulator joints all torque values will be set at the same time

Parameters

JointData the to command torque

Definition at line 410 of file YouBotManipulator.cpp.

Member Data Documentation

std::string youbot::YouBotManipulator::actualFirmwareVersionAllJoints

private

Definition at line 167 of file YouBotManipulator.hpp.

int youbot::YouBotManipulator::alternativeControllerType

private

Definition at line 163 of file YouBotManipulator.hpp.

boost::scoped_ptr<ConfigFile> youbot::YouBotManipulator::configfile

private

The number of manipulator joints.

Definition at line 148 of file YouBotManipulator.hpp.

int youbot::YouBotManipulator::controllerType

private

Definition at line 154 of file YouBotManipulator.hpp.

EthercatMasterInterface& youbot::YouBotManipulator::ethercatMaster

private

Definition at line 156 of file YouBotManipulator.hpp.

EthercatMasterWithThread* youbot::YouBotManipulator::ethercatMasterWithThread

private

Definition at line 161 of file YouBotManipulator.hpp.

boost::scoped_ptr<YouBotGripper> youbot::YouBotManipulator::gripper

private

Definition at line 152 of file YouBotManipulator.hpp.

bool youbot::YouBotManipulator::isGripperInitialized

private

Definition at line 159 of file YouBotManipulator.hpp.

boost::ptr_vector<YouBotJoint> youbot::YouBotManipulator::joints

private

Definition at line 150 of file YouBotManipulator.hpp.

unsigned int youbot::YouBotManipulator::numberArmJoints

private

Definition at line 146 of file YouBotManipulator.hpp.

std::vector<std::string> youbot::YouBotManipulator::supportedFirmwareVersions

private

Definition at line 165 of file YouBotManipulator.hpp.

bool youbot::YouBotManipulator::useGripper

private

Definition at line 158 of file YouBotManipulator.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation