katana_constants.h
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1 /*
2  * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
3  * Copyright (C) 2010 University of Osnabrück
4  *
5  * This program is free software; you can redistribute it and/or
6  * modify it under the terms of the GNU General Public License
7  * as published by the Free Software Foundation; either version 2
8  * of the License, or (at your option) any later version.
9  *
10  * This program is distributed in the hope that it will be useful,
11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program; if not, write to the Free Software
17  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
18  *
19  * katana_constants.h
20  *
21  * Created on: 29.01.2011
22  * Author: Martin Günther <mguenthe@uos.de>
23  */
24 
25 #ifndef KATANA_CONSTANTS_H_
26 #define KATANA_CONSTANTS_H_
27 
28 namespace katana
29 {
31 const size_t NUM_MOTORS = 6;
32 
34 const size_t NUM_JOINTS = NUM_MOTORS - 1;
35 
37 const size_t NUM_GRIPPER_JOINTS = 2;
38 
40 const size_t GRIPPER_INDEX = NUM_MOTORS - 1;
41 
43 static const double GRIPPER_OPEN_ANGLE = 0.30;
44 
46 static const double GRIPPER_CLOSED_ANGLE = -0.44;
47 
49 static const double GRIPPER_OPENING_CLOSING_DURATION = 3.0;
50 
52 static const double KNI_GRIPPER_CLOSED_ANGLE = 0.21652991032554647;
53 static const double KNI_GRIPPER_OPEN_ANGLE = -2.057443;
54 
55 static const double KNI_TO_URDF_GRIPPER_FACTOR = (GRIPPER_OPEN_ANGLE - GRIPPER_CLOSED_ANGLE) / (KNI_GRIPPER_OPEN_ANGLE
56  - KNI_GRIPPER_CLOSED_ANGLE);
57 
59 static const double KNI_TO_ROS_TIME = 100.0;
60 
62 static const double KNI_TO_ROS_LENGTH = 0.001;
63 
65 static const int KNI_MAX_VELOCITY = 180;
66 
68 static const int KNI_MAX_ACCELERATION = 2;
69 
70 static const size_t MOVE_BUFFER_SIZE = 16; // TODO: find out exact value
71 
72 } // namespace katana
73 
74 
75 #endif /* KATANA_CONSTANTS_H_ */
static const double GRIPPER_OPENING_CLOSING_DURATION
The maximum time it takes to open or close the gripper.
static const double KNI_TO_ROS_TIME
KNI time is in 10 milliseconds (most of the time), ROS time is in seconds.
static const double KNI_GRIPPER_OPEN_ANGLE
const size_t NUM_MOTORS
The number of motors in the katana (= all 5 "real" joints + the gripper)
static const int KNI_MAX_ACCELERATION
acceleration limit = 1 or 2 [enc / (10 ms)^2]
const size_t NUM_GRIPPER_JOINTS
The number of gripper_joints in the katana (= the two gripper finger joints)
static const int KNI_MAX_VELOCITY
velocity limit <= 180 [enc / 10 ms]
static const size_t MOVE_BUFFER_SIZE
static const double KNI_TO_URDF_GRIPPER_FACTOR
static const double GRIPPER_OPEN_ANGLE
Constants for gripper fully open or fully closed (should be equal to the value in the urdf descriptio...
const size_t NUM_JOINTS
The number of joints in the katana (= only the 5 "real" joints)
const size_t GRIPPER_INDEX
The motor index of the gripper (used in all vectors – e.g., motor_angles_)
static const double KNI_TO_ROS_LENGTH
the conversion factor from KNI coordinates (in mm) to ROS coordinates (in m)
static const double KNI_GRIPPER_CLOSED_ANGLE
constants for converting between the KNI gripper angle and the URDF gripper angle ...
static const double GRIPPER_CLOSED_ANGLE
Constants for gripper fully open or fully closed (should be equal to the value in the urdf descriptio...


katana
Author(s): Martin Günther
autogenerated on Fri Jan 3 2020 04:01:25