#include <AbstractKatana.h>

Inheritance diagram for katana::AbstractKatana:

Public Member Functions
	AbstractKatana ()

virtual bool	allJointsReady ()=0

virtual bool	allMotorsReady ()=0

virtual bool	executeTrajectory (boost::shared_ptr< SpecifiedTrajectory > traj, boost::function< bool()> isPreemptRequested)=0

virtual void	freezeRobot ()

virtual std::vector< std::string >	getGripperJointNames ()

virtual std::vector< int >	getGripperJointTypes ()

virtual int	getJointIndex (std::string joint_name)

virtual std::vector< std::string >	getJointNames ()

virtual std::vector< int >	getJointTypes ()

virtual std::vector< double >	getMotorAngles ()

virtual double	getMotorLimitMax (std::string joint_name)

virtual double	getMotorLimitMin (std::string joint_name)

virtual std::vector< moveit_msgs::JointLimits >	getMotorLimits ()

virtual std::vector< double >	getMotorVelocities ()

virtual bool	moveJoint (int jointIndex, double turningAngle)=0

virtual void	refreshEncoders ()=0

virtual void	refreshMotorStatus ()

virtual bool	someMotorCrashed ()=0

virtual	~AbstractKatana ()

Protected Attributes
std::vector< std::string >	gripper_joint_names_

std::vector< int >	gripper_joint_types_

std::vector< std::string >	joint_names_

std::vector< int >	joint_types_

std::vector< double >	motor_angles_

std::vector< moveit_msgs::JointLimits >	motor_limits_

std::vector< double >	motor_velocities_

Detailed Description

Definition at line 40 of file AbstractKatana.h.

Constructor & Destructor Documentation

katana::AbstractKatana::AbstractKatana ( )

Definition at line 30 of file AbstractKatana.cpp.

katana::AbstractKatana::~AbstractKatana ( )

virtual

Definition at line 131 of file AbstractKatana.cpp.

Member Function Documentation

virtual bool katana::AbstractKatana::allJointsReady ( )

pure virtual

Implemented in katana::Katana, katana::Katana300, and katana::SimulatedKatana.

virtual bool katana::AbstractKatana::allMotorsReady ( )

pure virtual

Implemented in katana::Katana, katana::Katana300, and katana::SimulatedKatana.

virtual bool katana::AbstractKatana::executeTrajectory	(	boost::shared_ptr< SpecifiedTrajectory >	traj,
		boost::function< bool()>	isPreemptRequested
	)

pure virtual

Implemented in katana::Katana, katana::Katana300, and katana::SimulatedKatana.

void katana::AbstractKatana::freezeRobot ( )

virtual

Reimplemented in katana::Katana, and katana::Katana300.

Definition at line 135 of file AbstractKatana.cpp.

std::vector< std::string > katana::AbstractKatana::getGripperJointNames ( )

virtual

Definition at line 175 of file AbstractKatana.cpp.

std::vector< int > katana::AbstractKatana::getGripperJointTypes ( )

virtual

Definition at line 180 of file AbstractKatana.cpp.

int katana::AbstractKatana::getJointIndex ( std::string joint_name )

virtual

Definition at line 147 of file AbstractKatana.cpp.

std::vector< std::string > katana::AbstractKatana::getJointNames ( )

virtual

Definition at line 165 of file AbstractKatana.cpp.

std::vector< int > katana::AbstractKatana::getJointTypes ( )

virtual

Definition at line 170 of file AbstractKatana.cpp.

std::vector< double > katana::AbstractKatana::getMotorAngles ( )

virtual

Definition at line 185 of file AbstractKatana.cpp.

double katana::AbstractKatana::getMotorLimitMax ( std::string joint_name )

virtual

Definition at line 200 of file AbstractKatana.cpp.

double katana::AbstractKatana::getMotorLimitMin ( std::string joint_name )

virtual

Definition at line 213 of file AbstractKatana.cpp.

std::vector< moveit_msgs::JointLimits > katana::AbstractKatana::getMotorLimits ( )

virtual

Definition at line 195 of file AbstractKatana.cpp.

std::vector< double > katana::AbstractKatana::getMotorVelocities ( )

virtual

Definition at line 190 of file AbstractKatana.cpp.

virtual bool katana::AbstractKatana::moveJoint	(	int	jointIndex,
		double	turningAngle
	)

pure virtual

Move the joint to the desired angle. Do not wait for result, but return immediately.

Parameters

jointIndex	the joint to move
turningAngle	the target angle

Returns: true iff command was successfully sent to Katana

Implemented in katana::Katana, katana::Katana300, and katana::SimulatedKatana.

virtual void katana::AbstractKatana::refreshEncoders ( )

pure virtual

Implemented in katana::Katana, and katana::SimulatedKatana.

void katana::AbstractKatana::refreshMotorStatus ( )

virtual

Reimplemented in katana::Katana, and katana::Katana300.

Definition at line 140 of file AbstractKatana.cpp.

virtual bool katana::AbstractKatana::someMotorCrashed ( )

pure virtual

Implemented in katana::Katana, and katana::SimulatedKatana.

Member Data Documentation

std::vector<std::string> katana::AbstractKatana::gripper_joint_names_

protected

Definition at line 88 of file AbstractKatana.h.

std::vector<int> katana::AbstractKatana::gripper_joint_types_

protected

Definition at line 89 of file AbstractKatana.h.

std::vector<std::string> katana::AbstractKatana::joint_names_

protected

Definition at line 84 of file AbstractKatana.h.

std::vector<int> katana::AbstractKatana::joint_types_

protected

Definition at line 85 of file AbstractKatana.h.

std::vector<double> katana::AbstractKatana::motor_angles_

protected

Definition at line 93 of file AbstractKatana.h.

std::vector<moveit_msgs::JointLimits> katana::AbstractKatana::motor_limits_

protected

Definition at line 98 of file AbstractKatana.h.

std::vector<double> katana::AbstractKatana::motor_velocities_

protected

Definition at line 94 of file AbstractKatana.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation