katana::Katana300 Class Reference

#include <Katana300.h>

Inheritance diagram for katana::Katana300:

List of all members.

Public Member Functions
virtual bool	allJointsReady ()
virtual bool	allMotorsReady ()
virtual void	freezeRobot ()
	Katana300 ()
virtual bool	moveJoint (int jointIndex, double turningAngle)
virtual void	refreshMotorStatus ()
virtual void	setLimits ()
virtual void	testSpeed ()
virtual	~Katana300 ()
Static Public Attributes
static const double	JOINTS_STOPPED_POS_TOLERANCE = 0.01
static const double	JOINTS_STOPPED_VEL_TOLERANCE = 0.01
Private Attributes
std::vector< double >	desired_angles_

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Detailed Description

Definition at line 44 of file Katana300.h.

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Constructor & Destructor Documentation

katana::Katana300::Katana300

(

)

Definition at line 32 of file Katana300.cpp.

katana::Katana300::~Katana300

(

)

[virtual]

Definition at line 39 of file Katana300.cpp.

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Member Function Documentation

bool katana::Katana300::allJointsReady

(

)

[virtual]

The Katana 300 never returns MSF_DESPOS or MSF_NLINMOV, so we have to check manually whether the arm stopped at the target position.

Reimplemented from katana::Katana.

Definition at line 100 of file Katana300.cpp.

bool katana::Katana300::allMotorsReady

(

)

[virtual]

The Katana 300 never returns MSF_DESPOS or MSF_NLINMOV, so we have to check manually whether the arm stopped at the target position.

Reimplemented from katana::Katana.

Definition at line 121 of file Katana300.cpp.

void katana::Katana300::freezeRobot

(

)

[virtual]

The Katana 300 moves to a weird configuration whenever flushMoveBuffers() is called. That's why we override freezeRobot() and skip this call.

Reimplemented from katana::Katana.

Definition at line 69 of file Katana300.cpp.

bool katana::Katana300::moveJoint	(	int	jointIndex,
		double	turningAngle
	)		[virtual]

Override to store desired_angles_.

Reimplemented from katana::Katana.

Definition at line 78 of file Katana300.cpp.

void katana::Katana300::refreshMotorStatus

(

)

[virtual]

We have to call refreshEncoders() because we're using the destination position instead of the motor status flags in allJointsReady/allMotorsReady.

Reimplemented from katana::Katana.

Definition at line 90 of file Katana300.cpp.

void katana::Katana300::setLimits

(

void

)

[virtual]

Reimplemented from katana::Katana.

Definition at line 43 of file Katana300.cpp.

void katana::Katana300::testSpeed

(

)

[virtual]

Reimplemented from katana::Katana.

Definition at line 138 of file Katana300.cpp.

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Member Data Documentation

std::vector<double> katana::Katana300::desired_angles_ [private]

Definition at line 65 of file Katana300.h.

const double katana::Katana300::JOINTS_STOPPED_POS_TOLERANCE = 0.01 [static]

Definition at line 61 of file Katana300.h.

const double katana::Katana300::JOINTS_STOPPED_VEL_TOLERANCE = 0.01 [static]

Definition at line 62 of file Katana300.h.

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

• Katana300.h
• Katana300.cpp