Classes | |
| class | AbstractKatana |
| class | JointMovementActionController |
| class | JointStatePublisher |
| class | JointTrajectoryActionController |
| class | Katana |
| Wrapper class around the KNI (Katana Native Library). More... | |
| class | Katana300 |
| class | KatanaGripperGraspController |
| class | KatanaNode |
| This is the node providing all publishers/services/actions relating to the Katana arm. More... | |
| class | KNIConverter |
| class | KNIKinematics |
| struct | Segment |
| class | SimulatedKatana |
| struct | Spline |
Typedefs | |
| typedef std::vector< Segment > | SpecifiedTrajectory |
Functions | |
| void | generatePowers (int n, double x, double *powers) |
| void | getCubicSplineCoefficients (double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients) |
| void | sampleCubicSpline (const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration) |
| Samples a cubic spline segment at a particular time. | |
| void | sampleSplineWithTimeBounds (const std::vector< double > &coefficients, double duration, double time, double &position, double &velocity, double &acceleration) |
| static bool | setsEqual (const std::vector< std::string > &a, const std::vector< std::string > &b) |
| void | splineCoefficients (int steps, double *timearray, double *encoderarray, double *arr_p1, double *arr_p2, double *arr_p3, double *arr_p4) |
Variables | |
| static const double | DEFAULT_GRIPPER_OBJECT_PRESENCE_THRESHOLD = -0.43 |
| A joint angle below this value indicates there is nothing inside the gripper. | |
| static const double | GRIPPER_CLOSED_ANGLE = -0.44 |
| Constants for gripper fully open or fully closed (should be equal to the value in the urdf description) | |
| const size_t | GRIPPER_INDEX = NUM_MOTORS - 1 |
| The motor index of the gripper (used in all vectors -- e.g., motor_angles_) | |
| static const double | GRIPPER_OPEN_ANGLE = 0.30 |
| Constants for gripper fully open or fully closed (should be equal to the value in the urdf description) | |
| static const double | GRIPPER_OPENING_CLOSING_DURATION = 3.0 |
| The maximum time it takes to open or close the gripper. | |
| static const double | KNI_GRIPPER_CLOSED_ANGLE = 0.21652991032554647 |
| constants for converting between the KNI gripper angle and the URDF gripper angle | |
| static const double | KNI_GRIPPER_OPEN_ANGLE = -2.057443 |
| static const int | KNI_MAX_ACCELERATION = 2 |
| acceleration limit = 1 or 2 [enc / (10 ms)^2] | |
| static const int | KNI_MAX_VELOCITY = 180 |
| velocity limit <= 180 [enc / 10 ms] | |
| static const double | KNI_TO_ROS_LENGTH = 0.001 |
| the conversion factor from KNI coordinates (in mm) to ROS coordinates (in m) | |
| static const double | KNI_TO_ROS_TIME = 100.0 |
| KNI time is in 10 milliseconds (most of the time), ROS time is in seconds. | |
| static const double | KNI_TO_URDF_GRIPPER_FACTOR |
| static const size_t | MOVE_BUFFER_SIZE = 16 |
| const size_t | NUM_GRIPPER_JOINTS = 2 |
| The number of gripper_joints in the katana (= the two gripper finger joints) | |
| const size_t | NUM_JOINTS = NUM_MOTORS - 1 |
| The number of joints in the katana (= only the 5 "real" joints) | |
| const size_t | NUM_MOTORS = 6 |
| The number of motors in the katana (= all 5 "real" joints + the gripper) | |
Definition at line 48 of file SpecifiedTrajectory.h.
| void katana::generatePowers | ( | int | n, |
| double | x, | ||
| double * | powers | ||
| ) | [inline] |
Definition at line 29 of file spline_functions.cpp.
| void katana::getCubicSplineCoefficients | ( | double | start_pos, |
| double | start_vel, | ||
| double | end_pos, | ||
| double | end_vel, | ||
| double | time, | ||
| std::vector< double > & | coefficients | ||
| ) |
Definition at line 50 of file spline_functions.cpp.
| void katana::sampleCubicSpline | ( | const std::vector< double > & | coefficients, |
| double | time, | ||
| double & | position, | ||
| double & | velocity, | ||
| double & | acceleration | ||
| ) |
Samples a cubic spline segment at a particular time.
Definition at line 38 of file spline_functions.cpp.
| void katana::sampleSplineWithTimeBounds | ( | const std::vector< double > & | coefficients, |
| double | duration, | ||
| double | time, | ||
| double & | position, | ||
| double & | velocity, | ||
| double & | acceleration | ||
| ) |
Samples, but handling time bounds. When the time is past the end of the spline duration, the position is the last valid position, and the derivatives are all 0.
Definition at line 185 of file spline_functions.cpp.
| static bool katana::setsEqual | ( | const std::vector< std::string > & | a, |
| const std::vector< std::string > & | b | ||
| ) | [static] |
Compares two vectors if they are set-equal (contain same elements in any order)
Definition at line 403 of file joint_trajectory_action_controller.cpp.
| void katana::splineCoefficients | ( | int | steps, |
| double * | timearray, | ||
| double * | encoderarray, | ||
| double * | arr_p1, | ||
| double * | arr_p2, | ||
| double * | arr_p3, | ||
| double * | arr_p4 | ||
| ) |
copied from KNI: lmBase.cpp
Calculates the spline coefficients for a single motor. Assumptions: velocity and acceleration at start and end of trajectory = 0.
| steps | number of segments (input) |
| timearray | timearray[0]: start time of trajectory, timearray[i+1]: end time of segment i. Only the differences are important for the result, so if timearray[0] is set to 0.0, then timearray[i+1] = duration of segment i (input, size [steps + 1], unit: seconds!) |
| encoderarray | encoderarray[0]: starting position of encoders, encoderarray[i+1]: target position after segment i (input, size [steps + 1], unit: motor encoders) |
| arr_p1 | arr_p1[i]: segment i's spline coefficients for t^0 (= position) (output, size [steps]) |
| arr_p2 | arr_p2[i]: segment i's spline coefficients for t^1 (= velocity) (output, size [steps]) |
| arr_p3 | arr_p3[i]: segment i's spline coefficients for t^2 (= acceleration) (output, size [steps]) |
| arr_p4 | arr_p4[i]: segment i's spline coefficients for t^3 (= jerk) (output, size [steps]) |
Definition at line 75 of file spline_functions.cpp.
const double katana::DEFAULT_GRIPPER_OBJECT_PRESENCE_THRESHOLD = -0.43 [static] |
A joint angle below this value indicates there is nothing inside the gripper.
Definition at line 49 of file katana_constants.h.
const double katana::GRIPPER_CLOSED_ANGLE = -0.44 [static] |
Constants for gripper fully open or fully closed (should be equal to the value in the urdf description)
Definition at line 46 of file katana_constants.h.
| const size_t katana::GRIPPER_INDEX = NUM_MOTORS - 1 |
The motor index of the gripper (used in all vectors -- e.g., motor_angles_)
Definition at line 40 of file katana_constants.h.
const double katana::GRIPPER_OPEN_ANGLE = 0.30 [static] |
Constants for gripper fully open or fully closed (should be equal to the value in the urdf description)
Definition at line 43 of file katana_constants.h.
const double katana::GRIPPER_OPENING_CLOSING_DURATION = 3.0 [static] |
The maximum time it takes to open or close the gripper.
Definition at line 52 of file katana_constants.h.
const double katana::KNI_GRIPPER_CLOSED_ANGLE = 0.21652991032554647 [static] |
constants for converting between the KNI gripper angle and the URDF gripper angle
Definition at line 56 of file katana_constants.h.
const double katana::KNI_GRIPPER_OPEN_ANGLE = -2.057443 [static] |
Definition at line 57 of file katana_constants.h.
const int katana::KNI_MAX_ACCELERATION = 2 [static] |
acceleration limit = 1 or 2 [enc / (10 ms)^2]
Definition at line 72 of file katana_constants.h.
const int katana::KNI_MAX_VELOCITY = 180 [static] |
velocity limit <= 180 [enc / 10 ms]
Definition at line 69 of file katana_constants.h.
const double katana::KNI_TO_ROS_LENGTH = 0.001 [static] |
the conversion factor from KNI coordinates (in mm) to ROS coordinates (in m)
Definition at line 66 of file katana_constants.h.
const double katana::KNI_TO_ROS_TIME = 100.0 [static] |
KNI time is in 10 milliseconds (most of the time), ROS time is in seconds.
Definition at line 63 of file katana_constants.h.
const double katana::KNI_TO_URDF_GRIPPER_FACTOR [static] |
Definition at line 59 of file katana_constants.h.
const size_t katana::MOVE_BUFFER_SIZE = 16 [static] |
Definition at line 74 of file katana_constants.h.
| const size_t katana::NUM_GRIPPER_JOINTS = 2 |
The number of gripper_joints in the katana (= the two gripper finger joints)
Definition at line 37 of file katana_constants.h.
| const size_t katana::NUM_JOINTS = NUM_MOTORS - 1 |
The number of joints in the katana (= only the 5 "real" joints)
Definition at line 34 of file katana_constants.h.
| const size_t katana::NUM_MOTORS = 6 |
The number of motors in the katana (= all 5 "real" joints + the gripper)
Definition at line 31 of file katana_constants.h.
