katana::SimulatedKatana Class Reference

#include <SimulatedKatana.h>

Inheritance diagram for katana::SimulatedKatana:

Public Member Functions
virtual bool	allJointsReady ()
virtual bool	allMotorsReady ()
virtual bool	executeTrajectory (boost::shared_ptr< SpecifiedTrajectory > traj, boost::function< bool()> isPreemptRequested)
virtual void	moveGripper (double openingAngle)
virtual bool	moveJoint (int jointIndex, double turningAngle)
virtual void	refreshEncoders ()
	SimulatedKatana ()
virtual bool	someMotorCrashed ()
virtual	~SimulatedKatana ()
Public Member Functions inherited from katana::AbstractKatana
	AbstractKatana ()
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 void	refreshMotorStatus ()
virtual	~AbstractKatana ()

Private Attributes
boost::shared_ptr< SpecifiedTrajectory >	current_trajectory_

Additional Inherited Members
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 34 of file SimulatedKatana.h.

Constructor & Destructor Documentation

katana::SimulatedKatana::SimulatedKatana

(

)

Definition at line 30 of file SimulatedKatana.cpp.

katana::SimulatedKatana::~SimulatedKatana ( )

virtual

Definition at line 50 of file SimulatedKatana.cpp.

Member Function Documentation

bool katana::SimulatedKatana::allJointsReady ( )

virtual

Implements katana::AbstractKatana.

Definition at line 124 of file SimulatedKatana.cpp.

bool katana::SimulatedKatana::allMotorsReady ( )

virtual

Implements katana::AbstractKatana.

Definition at line 128 of file SimulatedKatana.cpp.

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

virtual

Implements katana::AbstractKatana.

Definition at line 76 of file SimulatedKatana.cpp.

void katana::SimulatedKatana::moveGripper ( double  openingAngle )

virtual

Definition at line 85 of file SimulatedKatana.cpp.

bool katana::SimulatedKatana::moveJoint ( int  jointIndex, double  turningAngle  )

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

Implements katana::AbstractKatana.

Definition at line 115 of file SimulatedKatana.cpp.

void katana::SimulatedKatana::refreshEncoders ( )

virtual

Implements katana::AbstractKatana.

Definition at line 54 of file SimulatedKatana.cpp.

bool katana::SimulatedKatana::someMotorCrashed ( )

virtual

Implements katana::AbstractKatana.

Definition at line 120 of file SimulatedKatana.cpp.

Member Data Documentation

boost::shared_ptr<SpecifiedTrajectory> katana::SimulatedKatana::current_trajectory_

private

Definition at line 51 of file SimulatedKatana.h.

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

• SimulatedKatana.h
• SimulatedKatana.cpp