katana_gazebo_plugins Namespace Reference

Classes
struct	GRKAPoint
class	IGazeboRosKatanaGripperAction
class	KatanaGripperGraspController
class	KatanaGripperJointTrajectoryController
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_ANGLE_THRESHOLD = 0.005
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)
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 = 6.0
	The maximum time it takes to open or close the gripper.

---

Variable Documentation

const double katana_gazebo_plugins::DEFAULT_GRIPPER_OBJECT_PRESENCE_THRESHOLD = -0.43 [static]

A joint angle below this value indicates there is nothing inside the gripper.

Definition at line 42 of file katana_gripper_grasp_controller.cpp.

const double katana_gazebo_plugins::GRIPPER_ANGLE_THRESHOLD = 0.005 [static]

allowed difference between desired and actual position

Definition at line 47 of file katana_gripper_joint_trajectory_controller.h.

const double katana_gazebo_plugins::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 39 of file katana_gripper_grasp_controller.cpp.

const double katana_gazebo_plugins::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 36 of file katana_gripper_grasp_controller.cpp.

const double katana_gazebo_plugins::GRIPPER_OPENING_CLOSING_DURATION = 6.0 [static]

The maximum time it takes to open or close the gripper.

Definition at line 45 of file katana_gripper_grasp_controller.cpp.