#include <arm.hpp>

Classes
struct	Params

Public Member Functions
bool	atGoal () const

void	cancelGoal ()

void	clearJointLimits (const Eigen::VectorXd &min_positions, const Eigen::VectorXd &max_positions)

const EndEffectorBase *	endEffector () const

Eigen::Vector3d	FK (const Eigen::VectorXd &positions) const

void	FK (const Eigen::VectorXd &positions, Eigen::Vector3d &xyz_out, Eigen::Vector3d &tip_axis) const

void	FK (const Eigen::VectorXd &positions, Eigen::Vector3d &xyz_out, Eigen::Matrix3d &orientation) const

double	goalProgress () const

const Group &	group () const

const GroupFeedback &	lastFeedback () const

bool	loadGains (const std::string &gains_file)

GroupCommand &	pendingCommand ()

const GroupCommand &	pendingCommand () const

const robot_model::RobotModel &	robotModel () const

bool	send ()

template<typename T >
void	setAuxState (const T &aux_state)

void	setGoal (const Goal &goal)

void	setJointLimits (const Eigen::VectorXd &min_positions, const Eigen::VectorXd &max_positions)

size_t	size () const

Eigen::VectorXd	solveIK (const Eigen::VectorXd &initial_positions, const Eigen::Vector3d &target_xyz) const

Eigen::VectorXd	solveIK (const Eigen::VectorXd &initial_positions, const Eigen::Vector3d &target_xyz, const Eigen::Vector3d &end_tip) const

Eigen::VectorXd	solveIK (const Eigen::VectorXd &initial_positions, const Eigen::Vector3d &target_xyz, const Eigen::Matrix3d &orientation) const

const trajectory::Trajectory *	trajectory () const

bool	update ()

Static Public Member Functions
static std::unique_ptr< Arm >	create (const Params &params)

Private Member Functions
	Arm (std::function< double()> get_current_time_s, std::shared_ptr< Group > group, std::shared_ptr< robot_model::RobotModel > robot_model, std::shared_ptr< EndEffectorBase > end_effector=nullptr)

Eigen::VectorXd	getAux (double t) const

Private Attributes
Eigen::VectorXd	accel_

Eigen::MatrixXd	aux_

Eigen::VectorXd	aux_times_

hebi::GroupCommand	command_

std::shared_ptr< EndEffectorBase >	end_effector_

hebi::GroupFeedback	feedback_

std::function< double()>	get_current_time_s_

std::shared_ptr< Group >	group_

internal::KinematicsHelper	kinematics_helper_

double	last_time_

Eigen::VectorXd	masses_

Eigen::VectorXd	pos_

std::shared_ptr< robot_model::RobotModel >	robot_model_

std::shared_ptr< trajectory::Trajectory >	trajectory_

double	trajectory_start_time_ { std::numeric_limits<double>::quiet_NaN() }

Eigen::VectorXd	vel_

Detailed Description

Definition at line 41 of file arm.hpp.

Constructor & Destructor Documentation

◆ Arm()

hebi::experimental::arm::Arm::Arm	(	std::function< double()>	get_current_time_s,
		std::shared_ptr< Group >	group,
		std::shared_ptr< robot_model::RobotModel >	robot_model,
		std::shared_ptr< EndEffectorBase >	end_effector = `nullptr`
	)

inlineprivate

Definition at line 269 of file arm.hpp.

Member Function Documentation

◆ atGoal()

bool hebi::experimental::arm::Arm::atGoal ( ) const

inline

Definition at line 205 of file arm.hpp.

◆ cancelGoal()

void hebi::experimental::arm::Arm::cancelGoal ( )

Definition at line 221 of file arm.cpp.

◆ clearJointLimits()

void hebi::experimental::arm::Arm::clearJointLimits	(	const Eigen::VectorXd &	min_positions,
		const Eigen::VectorXd &	max_positions
	)

inline

Definition at line 223 of file arm.hpp.

◆ create()

std::unique_ptr< Arm > hebi::experimental::arm::Arm::create ( const Params & params )

static

Definition at line 9 of file arm.cpp.

◆ endEffector()

const EndEffectorBase* hebi::experimental::arm::Arm::endEffector ( ) const

inline

Definition at line 110 of file arm.hpp.

◆ FK() [1/3]

Eigen::Vector3d hebi::experimental::arm::Arm::FK ( const Eigen::VectorXd & positions ) const

inline

Definition at line 228 of file arm.hpp.

◆ FK() [2/3]

void hebi::experimental::arm::Arm::FK	(	const Eigen::VectorXd &	positions,
		Eigen::Vector3d &	xyz_out,
		Eigen::Vector3d &	tip_axis
	)		const

inline

Definition at line 233 of file arm.hpp.

◆ FK() [3/3]

void hebi::experimental::arm::Arm::FK	(	const Eigen::VectorXd &	positions,
		Eigen::Vector3d &	xyz_out,
		Eigen::Matrix3d &	orientation
	)		const

inline

Definition at line 238 of file arm.hpp.

◆ getAux()

Eigen::VectorXd hebi::experimental::arm::Arm::getAux ( double t ) const

private

Definition at line 226 of file arm.cpp.

◆ goalProgress()

double hebi::experimental::arm::Arm::goalProgress ( ) const

Definition at line 211 of file arm.cpp.

◆ group()

const Group& hebi::experimental::arm::Arm::group ( ) const

inline

Definition at line 97 of file arm.hpp.

◆ lastFeedback()

const GroupFeedback& hebi::experimental::arm::Arm::lastFeedback ( ) const

inline

Definition at line 120 of file arm.hpp.

◆ loadGains()

bool hebi::experimental::arm::Arm::loadGains ( const std::string & gains_file )

Definition at line 66 of file arm.cpp.

◆ pendingCommand() [1/2]

GroupCommand& hebi::experimental::arm::Arm::pendingCommand ( )

inline

Definition at line 115 of file arm.hpp.

◆ pendingCommand() [2/2]

const GroupCommand& hebi::experimental::arm::Arm::pendingCommand ( ) const

inline

Definition at line 116 of file arm.hpp.

◆ robotModel()

const robot_model::RobotModel& hebi::experimental::arm::Arm::robotModel ( ) const

inline

Definition at line 100 of file arm.hpp.

◆ send()

bool hebi::experimental::arm::Arm::send ( )

Definition at line 125 of file arm.cpp.

◆ setAuxState()

template<typename T >

void hebi::experimental::arm::Arm::setAuxState ( const T & aux_state )

inline

Definition at line 180 of file arm.hpp.

◆ setGoal()

void hebi::experimental::arm::Arm::setGoal ( const Goal & goal )

Definition at line 147 of file arm.cpp.

◆ setJointLimits()

void hebi::experimental::arm::Arm::setJointLimits	(	const Eigen::VectorXd &	min_positions,
		const Eigen::VectorXd &	max_positions
	)

inline

Definition at line 217 of file arm.hpp.

◆ size()

size_t hebi::experimental::arm::Arm::size ( ) const

inline

Definition at line 94 of file arm.hpp.

◆ solveIK() [1/3]

Eigen::VectorXd hebi::experimental::arm::Arm::solveIK	(	const Eigen::VectorXd &	initial_positions,
		const Eigen::Vector3d &	target_xyz
	)		const

inline

Definition at line 243 of file arm.hpp.

◆ solveIK() [2/3]

Eigen::VectorXd hebi::experimental::arm::Arm::solveIK	(	const Eigen::VectorXd &	initial_positions,
		const Eigen::Vector3d &	target_xyz,
		const Eigen::Vector3d &	end_tip
	)		const

inline

Definition at line 251 of file arm.hpp.

◆ solveIK() [3/3]

Eigen::VectorXd hebi::experimental::arm::Arm::solveIK	(	const Eigen::VectorXd &	initial_positions,
		const Eigen::Vector3d &	target_xyz,
		const Eigen::Matrix3d &	orientation
	)		const

inline

Definition at line 260 of file arm.hpp.

◆ trajectory()

const trajectory::Trajectory* hebi::experimental::arm::Arm::trajectory ( ) const

inline

Definition at line 105 of file arm.hpp.

◆ update()

bool hebi::experimental::arm::Arm::update ( )

Definition at line 75 of file arm.cpp.

Member Data Documentation

◆ accel_

Eigen::VectorXd hebi::experimental::arm::Arm::accel_

private

Definition at line 300 of file arm.hpp.

◆ aux_

Eigen::MatrixXd hebi::experimental::arm::Arm::aux_

private

Definition at line 308 of file arm.hpp.

◆ aux_times_

Eigen::VectorXd hebi::experimental::arm::Arm::aux_times_

private

Definition at line 307 of file arm.hpp.

◆ command_

hebi::GroupCommand hebi::experimental::arm::Arm::command_

private

Definition at line 314 of file arm.hpp.

◆ end_effector_

std::shared_ptr<EndEffectorBase> hebi::experimental::arm::Arm::end_effector_

private

Definition at line 291 of file arm.hpp.

◆ feedback_

hebi::GroupFeedback hebi::experimental::arm::Arm::feedback_

private

Definition at line 313 of file arm.hpp.

◆ get_current_time_s_

std::function<double()> hebi::experimental::arm::Arm::get_current_time_s_

private

Definition at line 287 of file arm.hpp.

◆ group_

std::shared_ptr<Group> hebi::experimental::arm::Arm::group_

private

Definition at line 289 of file arm.hpp.

◆ kinematics_helper_

internal::KinematicsHelper hebi::experimental::arm::Arm::kinematics_helper_

private

Definition at line 311 of file arm.hpp.

◆ last_time_

double hebi::experimental::arm::Arm::last_time_

private

Definition at line 288 of file arm.hpp.

◆ masses_

Eigen::VectorXd hebi::experimental::arm::Arm::masses_

private

Definition at line 303 of file arm.hpp.

◆ pos_

Eigen::VectorXd hebi::experimental::arm::Arm::pos_

private

Definition at line 298 of file arm.hpp.

◆ robot_model_

std::shared_ptr<robot_model::RobotModel> hebi::experimental::arm::Arm::robot_model_

private

Definition at line 290 of file arm.hpp.

◆ trajectory_

std::shared_ptr<trajectory::Trajectory> hebi::experimental::arm::Arm::trajectory_

private

Definition at line 294 of file arm.hpp.

◆ trajectory_start_time_

double hebi::experimental::arm::Arm::trajectory_start_time_ { std::numeric_limits<double>::quiet_NaN() }

private

Definition at line 295 of file arm.hpp.

◆ vel_

Eigen::VectorXd hebi::experimental::arm::Arm::vel_

private

Definition at line 299 of file arm.hpp.

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

Classes

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Arm()

Member Function Documentation

◆ atGoal()

◆ cancelGoal()

◆ clearJointLimits()

◆ create()

◆ endEffector()

◆ FK() [1/3]

◆ FK() [2/3]

◆ FK() [3/3]

◆ getAux()

◆ goalProgress()

◆ group()

◆ lastFeedback()

◆ loadGains()

◆ pendingCommand() [1/2]

◆ pendingCommand() [2/2]

◆ robotModel()

◆ send()

◆ setAuxState()

◆ setGoal()

◆ setJointLimits()

◆ size()

◆ solveIK() [1/3]

◆ solveIK() [2/3]

◆ solveIK() [3/3]

◆ trajectory()

◆ update()

Member Data Documentation

◆ accel_

◆ aux_

◆ aux_times_

◆ command_

◆ end_effector_

◆ feedback_

◆ get_current_time_s_

◆ group_

◆ kinematics_helper_

◆ last_time_

◆ masses_

◆ pos_

◆ robot_model_

◆ trajectory_

◆ trajectory_start_time_

◆ vel_