Classes
class	AbstractKatana

class	JointMovementActionController

class	JointStatePublisher

class	JointTrajectoryActionController

class	Katana
	Wrapper class around the KNI (Katana Native Library). More...

class	Katana300

class	KatanaGripperGraspController

class	KatanaNode
	This is the node providing all publishers/services/actions relating to the Katana arm. More...

class	KNIConverter

class	KNIKinematics

struct	Segment

class	SimulatedKatana

struct	Spline

Typedefs
typedef std::vector< Segment >	SpecifiedTrajectory

Functions
void	generatePowers (int n, double x, double *powers)

void	getCubicSplineCoefficients (double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients)

void	sampleCubicSpline (const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
	Samples a cubic spline segment at a particular time. More...

void	sampleSplineWithTimeBounds (const std::vector< double > &coefficients, double duration, double time, double &position, double &velocity, double &acceleration)

static bool	setsEqual (const std::vector< std::string > &a, const std::vector< std::string > &b)

void	splineCoefficients (int steps, double timearray, double encoderarray, double arr_p1, double arr_p2, double arr_p3, double arr_p4)

Variables
static const double	GRIPPER_CLOSED_ANGLE = -0.44
	Constants for gripper fully open or fully closed (should be equal to the value in the urdf description) More...

const size_t	GRIPPER_INDEX = NUM_MOTORS - 1
	The motor index of the gripper (used in all vectors – e.g., motor_angles_) More...

static const double	GRIPPER_OPEN_ANGLE = 0.30
	Constants for gripper fully open or fully closed (should be equal to the value in the urdf description) More...

static const double	GRIPPER_OPENING_CLOSING_DURATION = 3.0
	The maximum time it takes to open or close the gripper. More...

static const double	KNI_GRIPPER_CLOSED_ANGLE = 0.21652991032554647
	constants for converting between the KNI gripper angle and the URDF gripper angle More...

static const double	KNI_GRIPPER_OPEN_ANGLE = -2.057443

static const int	KNI_MAX_ACCELERATION = 2
	acceleration limit = 1 or 2 [enc / (10 ms)^2] More...

static const int	KNI_MAX_VELOCITY = 180
	velocity limit <= 180 [enc / 10 ms] More...

static const double	KNI_TO_ROS_LENGTH = 0.001
	the conversion factor from KNI coordinates (in mm) to ROS coordinates (in m) More...

static const double	KNI_TO_ROS_TIME = 100.0
	KNI time is in 10 milliseconds (most of the time), ROS time is in seconds. More...

static const double	KNI_TO_URDF_GRIPPER_FACTOR

static const size_t	MOVE_BUFFER_SIZE = 16

const size_t	NUM_GRIPPER_JOINTS = 2
	The number of gripper_joints in the katana (= the two gripper finger joints) More...

const size_t	NUM_JOINTS = NUM_MOTORS - 1
	The number of joints in the katana (= only the 5 "real" joints) More...

const size_t	NUM_MOTORS = 6
	The number of motors in the katana (= all 5 "real" joints + the gripper) More...

Typedef Documentation

typedef std::vector<Segment> katana::SpecifiedTrajectory

Definition at line 48 of file SpecifiedTrajectory.h.

Function Documentation

void katana::generatePowers	(	int	n,
		double	x,
		double *	powers
	)

inline

Definition at line 29 of file spline_functions.cpp.

void katana::getCubicSplineCoefficients	(	double	start_pos,
		double	start_vel,
		double	end_pos,
		double	end_vel,
		double	time,
		std::vector< double > &	coefficients
	)

Definition at line 50 of file spline_functions.cpp.

void katana::sampleCubicSpline	(	const std::vector< double > &	coefficients,
		double	time,
		double &	position,
		double &	velocity,
		double &	acceleration
	)

Samples a cubic spline segment at a particular time.

Definition at line 38 of file spline_functions.cpp.

void katana::sampleSplineWithTimeBounds	(	const std::vector< double > &	coefficients,
		double	duration,
		double	time,
		double &	position,
		double &	velocity,
		double &	acceleration
	)

Samples, but handling time bounds. When the time is past the end of the spline duration, the position is the last valid position, and the derivatives are all 0.

Definition at line 185 of file spline_functions.cpp.

static bool katana::setsEqual	(	const std::vector< std::string > &	a,
		const std::vector< std::string > &	b
	)

static

Compares two vectors if they are set-equal (contain same elements in any order)

Definition at line 403 of file joint_trajectory_action_controller.cpp.

void katana::splineCoefficients	(	int	steps,
		double *	timearray,
		double *	encoderarray,
		double *	arr_p1,
		double *	arr_p2,
		double *	arr_p3,
		double *	arr_p4
	)

copied from KNI: lmBase.cpp

Calculates the spline coefficients for a single motor. Assumptions: velocity and acceleration at start and end of trajectory = 0.

Parameters

steps	number of segments (input)
timearray	timearray[0]: start time of trajectory, timearray[i+1]: end time of segment i. Only the differences are important for the result, so if timearray[0] is set to 0.0, then timearray[i+1] = duration of segment i (input, size [steps + 1], unit: seconds!)
encoderarray	encoderarray[0]: starting position of encoders, encoderarray[i+1]: target position after segment i (input, size [steps + 1], unit: motor encoders)
arr_p1	arr_p1[i]: segment i's spline coefficients for t^0 (= position) (output, size [steps])
arr_p2	arr_p2[i]: segment i's spline coefficients for t^1 (= velocity) (output, size [steps])
arr_p3	arr_p3[i]: segment i's spline coefficients for t^2 (= acceleration) (output, size [steps])
arr_p4	arr_p4[i]: segment i's spline coefficients for t^3 (= jerk) (output, size [steps])

Definition at line 75 of file spline_functions.cpp.

Variable Documentation

const double katana::GRIPPER_CLOSED_ANGLE = -0.44

static

Constants for gripper fully open or fully closed (should be equal to the value in the urdf description)

Definition at line 46 of file katana_constants.h.

const size_t katana::GRIPPER_INDEX = NUM_MOTORS - 1

The motor index of the gripper (used in all vectors – e.g., motor_angles_)

Definition at line 40 of file katana_constants.h.

const double katana::GRIPPER_OPEN_ANGLE = 0.30

static

Constants for gripper fully open or fully closed (should be equal to the value in the urdf description)

Definition at line 43 of file katana_constants.h.

const double katana::GRIPPER_OPENING_CLOSING_DURATION = 3.0

static

The maximum time it takes to open or close the gripper.

Definition at line 49 of file katana_constants.h.

const double katana::KNI_GRIPPER_CLOSED_ANGLE = 0.21652991032554647

static

constants for converting between the KNI gripper angle and the URDF gripper angle

Definition at line 52 of file katana_constants.h.

const double katana::KNI_GRIPPER_OPEN_ANGLE = -2.057443

static

Definition at line 53 of file katana_constants.h.

const int katana::KNI_MAX_ACCELERATION = 2

static

acceleration limit = 1 or 2 [enc / (10 ms)^2]

Definition at line 68 of file katana_constants.h.

const int katana::KNI_MAX_VELOCITY = 180

static

velocity limit <= 180 [enc / 10 ms]

Definition at line 65 of file katana_constants.h.

const double katana::KNI_TO_ROS_LENGTH = 0.001

static

the conversion factor from KNI coordinates (in mm) to ROS coordinates (in m)

Definition at line 62 of file katana_constants.h.

const double katana::KNI_TO_ROS_TIME = 100.0

static

KNI time is in 10 milliseconds (most of the time), ROS time is in seconds.

Definition at line 59 of file katana_constants.h.

const double katana::KNI_TO_URDF_GRIPPER_FACTOR

static

Initial value:

= (GRIPPER_OPEN_ANGLE - GRIPPER_CLOSED_ANGLE) / (KNI_GRIPPER_OPEN_ANGLE

- KNI_GRIPPER_CLOSED_ANGLE)

katana::KNI_GRIPPER_OPEN_ANGLE

static const double KNI_GRIPPER_OPEN_ANGLE

Definition: katana_constants.h:53

katana::GRIPPER_OPEN_ANGLE

static const double GRIPPER_OPEN_ANGLE

Constants for gripper fully open or fully closed (should be equal to the value in the urdf descriptio...

Definition: katana_constants.h:43

katana::KNI_GRIPPER_CLOSED_ANGLE

static const double KNI_GRIPPER_CLOSED_ANGLE

constants for converting between the KNI gripper angle and the URDF gripper angle ...

Definition: katana_constants.h:52

katana::GRIPPER_CLOSED_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...

Definition: katana_constants.h:46

Definition at line 55 of file katana_constants.h.

const size_t katana::MOVE_BUFFER_SIZE = 16

static

Definition at line 70 of file katana_constants.h.

const size_t katana::NUM_GRIPPER_JOINTS = 2

The number of gripper_joints in the katana (= the two gripper finger joints)

Definition at line 37 of file katana_constants.h.

const size_t katana::NUM_JOINTS = NUM_MOTORS - 1

The number of joints in the katana (= only the 5 "real" joints)

Definition at line 34 of file katana_constants.h.

const size_t katana::NUM_MOTORS = 6

The number of motors in the katana (= all 5 "real" joints + the gripper)

Definition at line 31 of file katana_constants.h.

Classes

Typedefs

Functions

Variables

Typedef Documentation

Function Documentation

Variable Documentation