#include <Katana300.h>
Public Member Functions | |
| virtual bool | allJointsReady () |
| virtual bool | allMotorsReady () |
| virtual bool | executeTrajectory (boost::shared_ptr< SpecifiedTrajectory > traj, boost::function< bool()> isPreemptRequested) |
| virtual void | freezeRobot () |
| Katana300 () | |
| virtual bool | moveJoint (int jointIndex, double turningAngle) |
| virtual void | refreshMotorStatus () |
| virtual void | setLimits () |
| virtual void | testSpeed () |
| virtual | ~Katana300 () |
Public Attributes | |
| const double | JOINTS_STOPPED_POS_TOLERANCE = 0.01 |
| const double | JOINTS_STOPPED_VEL_TOLERANCE = 0.01 |
Private Attributes | |
| std::vector< double > | desired_angles_ |
Detailed Description
Definition at line 44 of file Katana300.h.
Constructor & Destructor Documentation
Definition at line 33 of file Katana300.cpp.
| katana::Katana300::~Katana300 | ( | ) | [virtual] |
Definition at line 40 of file Katana300.cpp.
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 103 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 124 of file Katana300.cpp.
| bool katana::Katana300::executeTrajectory | ( | boost::shared_ptr< SpecifiedTrajectory > | traj, |
| boost::function< bool()> | isPreemptRequested | ||
| ) | [virtual] |
The Katana 300 is not able to perform a trajectory the same the newer Katana versions do. Every point of the trajectory has to be send individually.
Reimplemented from katana::Katana.
Definition at line 223 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 72 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 81 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 93 of file Katana300.cpp.
| void katana::Katana300::setLimits | ( | void | ) | [virtual] |
Reimplemented from katana::Katana.
Definition at line 44 of file Katana300.cpp.
| void katana::Katana300::testSpeed | ( | ) | [virtual] |
Reimplemented from katana::Katana.
Definition at line 140 of file Katana300.cpp.
Member Data Documentation
std::vector<double> katana::Katana300::desired_angles_ [private] |
Definition at line 68 of file Katana300.h.
| const double katana::Katana300::JOINTS_STOPPED_POS_TOLERANCE = 0.01 |
Definition at line 64 of file Katana300.h.
| const double katana::Katana300::JOINTS_STOPPED_VEL_TOLERANCE = 0.01 |
Definition at line 65 of file Katana300.h.
The documentation for this class was generated from the following files: