#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 Member Functions inherited from katana::Katana | |
| Katana () | |
| void | refreshEncoders () |
| virtual bool | someMotorCrashed () |
| virtual | ~Katana () |
| Public Member Functions inherited from katana::AbstractKatana | |
| AbstractKatana () | |
| 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 | ~AbstractKatana () |
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_ |
Additional Inherited Members | |
| Protected Member Functions inherited from katana::Katana | |
| short | round (const double x) |
| Protected Attributes inherited from katana::Katana | |
| KNIConverter * | converter |
| boost::shared_ptr< CLMBase > | kni |
| boost::recursive_mutex | kni_mutex |
| std::vector< TMotStsFlg > | motor_status_ |
| Protected Attributes inherited from katana::AbstractKatana | |
| 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 44 of file Katana300.h.
Constructor & Destructor Documentation
| katana::Katana300::Katana300 | ( | ) |
Definition at line 33 of file Katana300.cpp.
|
virtual |
Definition at line 40 of file Katana300.cpp.
Member Function Documentation
|
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.
|
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.
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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.
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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.
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virtual |
Override to store desired_angles_.
Reimplemented from katana::Katana.
Definition at line 81 of file Katana300.cpp.
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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.
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virtual |
Reimplemented from katana::Katana.
Definition at line 44 of file Katana300.cpp.
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virtual |
Reimplemented from katana::Katana.
Definition at line 140 of file Katana300.cpp.
Member Data Documentation
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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: