DarwinKinematicsAlgorithm Class Reference

IRI ROS Specific Driver Class. More...

#include <darwin_kinematics_alg.h>

List of all members.

Public Types
typedef iri_darwin_kinematics::DarwinKinematicsConfig	Config
	define config type
Public Member Functions
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
	DarwinKinematicsAlgorithm (void)
	constructor
std::vector< double >	get_left_arm_fk (std::vector< double > &angles)
bool	get_left_arm_ik (std::vector< double > &position, std::vector< double > &init_angles, std::vector< double > &solution)
void	get_left_arm_lower_limits (std::vector< double > &lower)
void	get_left_arm_upper_limits (std::vector< double > &upper)
std::vector< double >	get_right_arm_fk (std::vector< double > &angles)
bool	get_right_arm_ik (std::vector< double > &position, std::vector< double > &init_angles, std::vector< double > &solution)
void	get_right_arm_lower_limits (std::vector< double > &lower)
void	get_right_arm_upper_limits (std::vector< double > &upper)
void	lock (void)
	Lock Algorithm.
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	~DarwinKinematicsAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Attributes
CMutex	alg_mutex_
	define config type
CDarwinArmKinematics	left_arm
CDarwinArmKinematics	right_arm

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Detailed Description

IRI ROS Specific Driver Class.

Definition at line 39 of file darwin_kinematics_alg.h.

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Member Typedef Documentation

typedef iri_darwin_kinematics::DarwinKinematicsConfig DarwinKinematicsAlgorithm::Config

define config type

Define a Config type with the DarwinKinematicsConfig. All driver implementations will then use the same variable type Config.

Definition at line 61 of file darwin_kinematics_alg.h.

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Constructor & Destructor Documentation

DarwinKinematicsAlgorithm::DarwinKinematicsAlgorithm

(

void

)

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 3 of file darwin_kinematics_alg.cpp.

DarwinKinematicsAlgorithm::~DarwinKinematicsAlgorithm

(

void

)

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 9 of file darwin_kinematics_alg.cpp.

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Member Function Documentation

void DarwinKinematicsAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = 0
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 13 of file darwin_kinematics_alg.cpp.

std::vector< double > DarwinKinematicsAlgorithm::get_left_arm_fk

(

std::vector< double > &

angles

)

Definition at line 24 of file darwin_kinematics_alg.cpp.

bool DarwinKinematicsAlgorithm::get_left_arm_ik	(	std::vector< double > &	position,
		std::vector< double > &	init_angles,
		std::vector< double > &	solution
	)

Definition at line 29 of file darwin_kinematics_alg.cpp.

void DarwinKinematicsAlgorithm::get_left_arm_lower_limits

(

std::vector< double > &

lower

)

Definition at line 39 of file darwin_kinematics_alg.cpp.

void DarwinKinematicsAlgorithm::get_left_arm_upper_limits

(

std::vector< double > &

upper

)

Definition at line 34 of file darwin_kinematics_alg.cpp.

std::vector< double > DarwinKinematicsAlgorithm::get_right_arm_fk

(

std::vector< double > &

angles

)

Definition at line 44 of file darwin_kinematics_alg.cpp.

bool DarwinKinematicsAlgorithm::get_right_arm_ik	(	std::vector< double > &	position,
		std::vector< double > &	init_angles,
		std::vector< double > &	solution
	)

Definition at line 49 of file darwin_kinematics_alg.cpp.

void DarwinKinematicsAlgorithm::get_right_arm_lower_limits

(

std::vector< double > &

lower

)

Definition at line 59 of file darwin_kinematics_alg.cpp.

void DarwinKinematicsAlgorithm::get_right_arm_upper_limits

(

std::vector< double > &

upper

)

Definition at line 54 of file darwin_kinematics_alg.cpp.

void DarwinKinematicsAlgorithm::lock

(

void

)

[inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 86 of file darwin_kinematics_alg.h.

bool DarwinKinematicsAlgorithm::try_enter

(

void

)

[inline]

Tries Access to Algorithm.

Tries access to Algorithm

Returns:

true if the lock was adquired, false otherwise

Definition at line 102 of file darwin_kinematics_alg.h.

void DarwinKinematicsAlgorithm::unlock

(

void

)

[inline]

Unlock Algorithm.

Unlocks access to the Algorithm class

Definition at line 93 of file darwin_kinematics_alg.h.

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Member Data Documentation

CMutex DarwinKinematicsAlgorithm::alg_mutex_ [protected]

define config type

Define a Config type with the DarwinKinematicsConfig. All driver implementations will then use the same variable type Config.

Definition at line 48 of file darwin_kinematics_alg.h.

Config DarwinKinematicsAlgorithm::config_

config variable

This variable has all the driver parameters defined in the cfg config file. Is updated everytime function config_update() is called.

Definition at line 69 of file darwin_kinematics_alg.h.

CDarwinArmKinematics DarwinKinematicsAlgorithm::left_arm [protected]

Definition at line 51 of file darwin_kinematics_alg.h.

CDarwinArmKinematics DarwinKinematicsAlgorithm::right_arm [protected]

Definition at line 52 of file darwin_kinematics_alg.h.

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

• darwin_kinematics_alg.h
• darwin_kinematics_alg.cpp