robotis_manipulator::RobotisManipulator Class Reference

#include <robotis_manipulator.h>

Public Member Functions
void	addComponentChild (Name my_name, Name child_name)
void	addCustomTrajectory (Name trajectory_name, CustomJointTrajectory *custom_trajectory)
void	addCustomTrajectory (Name trajectory_name, CustomTaskTrajectory *custom_trajectory)
void	addDynamics (Dynamics *dynamics)
void	addJoint (Name my_name, Name parent_name, Name child_name, Eigen::Vector3d relative_position, Eigen::Matrix3d relative_orientation, Eigen::Vector3d axis_of_rotation=Eigen::Vector3d::Zero(), int8_t joint_actuator_id=-1, double max_position_limit=M_PI, double min_position_limit=-M_PI, double coefficient=1.0, double mass=0.0, Eigen::Matrix3d inertia_tensor=Eigen::Matrix3d::Identity(), Eigen::Vector3d center_of_mass=Eigen::Vector3d::Zero(), double torque_coefficient=1.0)
void	addJointActuator (Name actuator_name, JointActuator *joint_actuator, std::vector< uint8_t > id_array, const void *arg)
void	addKinematics (Kinematics *kinematics)
void	addTool (Name my_name, Name parent_name, Eigen::Vector3d relative_position, Eigen::Matrix3d relative_orientation, int8_t tool_id=-1, double max_position_limit=M_PI, double min_position_limit=-M_PI, double coefficient=1.0, double object_mass=0.0, Eigen::Matrix3d object_inertia_tensor=Eigen::Matrix3d::Identity(), Eigen::Vector3d object_center_of_mass=Eigen::Vector3d::Zero())
void	addToolActuator (Name tool_name, ToolActuator *tool_actuator, uint8_t id, const void *arg)
void	addWorld (Name world_name, Name child_name, Eigen::Vector3d world_position=Eigen::Vector3d::Zero(), Eigen::Matrix3d world_orientation=Eigen::Matrix3d::Identity())
bool	checkJointLimit (Name component_name, double position)
bool	checkJointLimit (Name component_name, JointValue value)
bool	checkJointLimit (std::vector< Name > component_name, std::vector< double > position_vector)
bool	checkJointLimit (std::vector< Name > component_name, std::vector< JointValue > value_vector)
void	disableActuator (Name actuator_name)
void	disableAllActuator ()
void	disableAllJointActuator ()
void	disableAllToolActuator ()
void	enableActuator (Name actuator_name)
void	enableAllActuator ()
void	enableAllJointActuator ()
void	enableAllToolActuator ()
bool	getActuatorEnabledState (Name actuator_name)
std::vector< JointValue >	getAllActiveJointValue ()
std::vector< JointValue >	getAllJointValue ()
std::vector< double >	getAllToolPosition ()
std::vector< JointValue >	getAllToolValue ()
DynamicPose	getDynamicPose (Name component_name)
Dynamics *	getDynamics ()
JointActuator *	getJointActuator (Name actuator_name)
std::vector< uint8_t >	getJointActuatorId (Name actuator_name)
std::vector< JointValue >	getJointGoalValueFromTrajectory (double present_time, int option=DYNAMICS_ALL_SOVING)
	getJointGoalValueFromTrajectory More...
std::vector< JointValue >	getJointGoalValueFromTrajectoryTickTime (double tick_time)
JointValue	getJointValue (Name joint_name)
KinematicPose	getKinematicPose (Name component_name)
Kinematics *	getKinematics ()
Manipulator *	getManipulator ()
bool	getMovingFailState ()
bool	getMovingState ()
Pose	getPose (Name component_name)
ToolActuator *	getToolActuator (Name actuator_name)
uint8_t	getToolActuatorId (Name actuator_name)
std::vector< JointValue >	getToolGoalValue ()
	getToolGoalValue More...
JointValue	getToolValue (Name tool_name)
Trajectory *	getTrajectory ()
double	getTrajectoryMoveTime ()
Eigen::MatrixXd	jacobian (Name tool_name)
bool	makeCustomTrajectory (Name trajectory_name, const void *arg, double move_time, std::vector< JointValue > present_joint_value={})
	makeCustomTrajectory More...
bool	makeCustomTrajectory (Name trajectory_name, Name tool_name, const void *arg, double move_time, std::vector< JointValue > present_joint_value={})
	makeCustomTrajectory More...
bool	makeJointTrajectory (Name tool_name, Eigen::Matrix3d goal_orientation, double move_time, std::vector< JointValue > present_joint_value={})
	makeJointTrajectory More...
bool	makeJointTrajectory (Name tool_name, Eigen::Vector3d goal_position, double move_time, std::vector< JointValue > present_joint_value={})
	makeJointTrajectory More...
bool	makeJointTrajectory (Name tool_name, KinematicPose goal_pose, double move_time, std::vector< JointValue > present_joint_value={})
	makeJointTrajectory More...
bool	makeJointTrajectory (std::vector< double > goal_joint_position, double move_time, std::vector< JointValue > present_joint_value={})
	makeJointTrajectory More...
bool	makeJointTrajectory (std::vector< JointValue > goal_joint_value, double move_time, std::vector< JointValue > present_joint_value={})
	makeJointTrajectory More...
bool	makeJointTrajectoryFromPresentPosition (std::vector< double > delta_goal_joint_position, double move_time, std::vector< JointValue > present_joint_value={})
	makeJointTrajectoryFromPresentPosition More...
bool	makeTaskTrajectory (Name tool_name, Eigen::Matrix3d goal_orientation, double move_time, std::vector< JointValue > present_joint_value={})
	makeTaskTrajectory More...
bool	makeTaskTrajectory (Name tool_name, Eigen::Vector3d goal_position, double move_time, std::vector< JointValue > present_joint_value={})
	makeTaskTrajectory More...
bool	makeTaskTrajectory (Name tool_name, KinematicPose goal_pose, double move_time, std::vector< JointValue > present_joint_value={})
	makeTaskTrajectory More...
bool	makeTaskTrajectoryFromPresentPose (Name tool_name, Eigen::Matrix3d orientation_meter, double move_time, std::vector< JointValue > present_joint_value={})
	makeTaskTrajectoryFromPresentPose More...
bool	makeTaskTrajectoryFromPresentPose (Name tool_name, Eigen::Vector3d position_meter, double move_time, std::vector< JointValue > present_joint_value={})
	makeTaskTrajectoryFromPresentPose More...
bool	makeTaskTrajectoryFromPresentPose (Name tool_name, KinematicPose goal_pose_delta, double move_time, std::vector< JointValue > present_joint_value={})
	makeTaskTrajectoryFromPresentPose More...
bool	makeToolTrajectory (Name tool_name, double tool_goal_position)
	makeToolTrajectory More...
void	printManipulatorSetting ()
std::vector< JointValue >	receiveAllJointActuatorValue ()
std::vector< JointValue >	receiveAllToolActuatorValue ()
JointValue	receiveJointActuatorValue (Name joint_component_name)
std::vector< JointValue >	receiveMultipleJointActuatorValue (std::vector< Name > joint_component_name)
std::vector< JointValue >	receiveMultipleToolActuatorValue (std::vector< Name > tool_component_name)
JointValue	receiveToolActuatorValue (Name tool_component_name)
void	resetMovingFailState ()
	RobotisManipulator ()
bool	sendAllJointActuatorValue (std::vector< JointValue > value_vector)
bool	sendAllToolActuatorValue (std::vector< JointValue > value_vector)
bool	sendJointActuatorValue (Name joint_component_name, JointValue value)
bool	sendMultipleJointActuatorValue (std::vector< Name > joint_component_name, std::vector< JointValue > value_vector)
bool	sendMultipleToolActuatorValue (std::vector< Name > tool_component_name, std::vector< JointValue > value_vector)
bool	sendToolActuatorValue (Name tool_component_name, JointValue value)
void	setCustomTrajectoryOption (Name trajectory_name, const void *arg)
	setCustomTrajectoryOption More...
void	setDynamicsEnvironments (STRING param_name, const void *arg)
void	setDynamicsOption (STRING param_name, const void *arg)
void	setJointActuatorMode (Name actuator_name, std::vector< uint8_t > id_array, const void *arg)
void	setKinematicsOption (const void *arg)
void	setToolActuatorMode (Name actuator_name, const void *arg)
void	setTorqueCoefficient (Name component_name, double torque_coefficient)
bool	sleepTrajectory (double wait_time, std::vector< JointValue > present_joint_value={})
	sleepTrajectory More...
void	solveForwardDynamics (std::map< Name, double > joint_torque)
void	solveForwardKinematics ()
void	solveForwardKinematics (std::vector< JointValue > *goal_joint_value)
bool	solveGravityTerm (std::map< Name, double > *joint_torque)
bool	solveInverseDynamics (std::map< Name, double > *joint_torque)
bool	solveInverseKinematics (Name tool_name, Pose goal_pose, std::vector< JointValue > *goal_joint_value)
void	stopMoving ()
virtual	~RobotisManipulator ()

Private Member Functions
JointWaypoint	getTrajectoryJointValue (double tick_time, int option=0)
void	startMoving ()

Private Attributes
Dynamics *	dynamics_
bool	dynamics_added_state_
std::map< Name, JointActuator * >	joint_actuator_
bool	joint_actuator_added_stete_
Kinematics *	kinematics_
bool	kinematics_added_state_
Manipulator	manipulator_
bool	moving_fail_flag_
bool	moving_state_
bool	step_moving_state_
std::map< Name, ToolActuator * >	tool_actuator_
bool	tool_actuator_added_stete_
Trajectory	trajectory_
bool	trajectory_initialized_state_

Detailed Description

Definition at line 51 of file robotis_manipulator.h.

Constructor & Destructor Documentation

RobotisManipulator()

RobotisManipulator::RobotisManipulator

(

)

Definition at line 27 of file robotis_manipulator.cpp.

~RobotisManipulator()

RobotisManipulator::~RobotisManipulator ( )

virtual

Definition at line 39 of file robotis_manipulator.cpp.

Member Function Documentation

addComponentChild()

void RobotisManipulator::addComponentChild	(	Name	my_name,
		Name	child_name
	)

Definition at line 74 of file robotis_manipulator.cpp.

addCustomTrajectory() [1/2]

void RobotisManipulator::addCustomTrajectory	(	Name	trajectory_name,
		CustomJointTrajectory *	custom_trajectory
	)

Definition at line 147 of file robotis_manipulator.cpp.

addCustomTrajectory() [2/2]

void RobotisManipulator::addCustomTrajectory	(	Name	trajectory_name,
		CustomTaskTrajectory *	custom_trajectory
	)

Definition at line 152 of file robotis_manipulator.cpp.

addDynamics()

void RobotisManipulator::addDynamics

(

Dynamics *

dynamics

)

Definition at line 108 of file robotis_manipulator.cpp.

addJoint()

void RobotisManipulator::addJoint	(	Name	my_name,
		Name	parent_name,
		Name	child_name,
		Eigen::Vector3d	relative_position,
		Eigen::Matrix3d	relative_orientation,
		Eigen::Vector3d	axis_of_rotation = Eigen::Vector3d::Zero(),
		int8_t	joint_actuator_id = -1,
		double	max_position_limit = M_PI,
		double	min_position_limit = -M_PI,
		double	coefficient = 1.0,
		double	mass = 0.0,
		Eigen::Matrix3d	inertia_tensor = Eigen::Matrix3d::Identity(),
		Eigen::Vector3d	center_of_mass = Eigen::Vector3d::Zero(),
		double	torque_coefficient = 1.0
	)

Definition at line 53 of file robotis_manipulator.cpp.

addJointActuator()

void RobotisManipulator::addJointActuator	(	Name	actuator_name,
		JointActuator *	joint_actuator,
		std::vector< uint8_t >	id_array,
		const void *	arg
	)

Definition at line 114 of file robotis_manipulator.cpp.

addKinematics()

void RobotisManipulator::addKinematics

(

Kinematics *

kinematics

)

Definition at line 102 of file robotis_manipulator.cpp.

addTool()

void RobotisManipulator::addTool	(	Name	my_name,
		Name	parent_name,
		Eigen::Vector3d	relative_position,
		Eigen::Matrix3d	relative_orientation,
		int8_t	tool_id = -1,
		double	max_position_limit = M_PI,
		double	min_position_limit = -M_PI,
		double	coefficient = 1.0,
		double	object_mass = 0.0,
		Eigen::Matrix3d	object_inertia_tensor = Eigen::Matrix3d::Identity(),
		Eigen::Vector3d	object_center_of_mass = Eigen::Vector3d::Zero()
	)

Definition at line 79 of file robotis_manipulator.cpp.

addToolActuator()

void RobotisManipulator::addToolActuator	(	Name	tool_name,
		ToolActuator *	tool_actuator,
		uint8_t	id,
		const void *	arg
	)

Definition at line 132 of file robotis_manipulator.cpp.

addWorld()

void RobotisManipulator::addWorld	(	Name	world_name,
		Name	child_name,
		Eigen::Vector3d	world_position = Eigen::Vector3d::Zero(),
		Eigen::Matrix3d	world_orientation = Eigen::Matrix3d::Identity()
	)

Definition at line 45 of file robotis_manipulator.cpp.

checkJointLimit() [1/4]

bool RobotisManipulator::checkJointLimit	(	Name	component_name,
		double	position
	)

Definition at line 981 of file robotis_manipulator.cpp.

checkJointLimit() [2/4]

bool RobotisManipulator::checkJointLimit	(	Name	component_name,
		JointValue	value
	)

Definition at line 992 of file robotis_manipulator.cpp.

checkJointLimit() [3/4]

bool RobotisManipulator::checkJointLimit	(	std::vector< Name >	component_name,
		std::vector< double >	position_vector
	)

Definition at line 1003 of file robotis_manipulator.cpp.

checkJointLimit() [4/4]

bool RobotisManipulator::checkJointLimit	(	std::vector< Name >	component_name,
		std::vector< JointValue >	value_vector
	)

Definition at line 1016 of file robotis_manipulator.cpp.

disableActuator()

void RobotisManipulator::disableActuator

(

Name

actuator_name

)

Definition at line 441 of file robotis_manipulator.cpp.

disableAllActuator()

void RobotisManipulator::disableAllActuator

(

)

Definition at line 528 of file robotis_manipulator.cpp.

disableAllJointActuator()

void RobotisManipulator::disableAllJointActuator

(

)

Definition at line 473 of file robotis_manipulator.cpp.

disableAllToolActuator()

void RobotisManipulator::disableAllToolActuator

(

)

Definition at line 498 of file robotis_manipulator.cpp.

enableActuator()

void RobotisManipulator::enableActuator

(

Name

actuator_name

)

Definition at line 421 of file robotis_manipulator.cpp.

enableAllActuator()

void RobotisManipulator::enableAllActuator

(

)

Definition at line 510 of file robotis_manipulator.cpp.

enableAllJointActuator()

void RobotisManipulator::enableAllJointActuator

(

)

Definition at line 460 of file robotis_manipulator.cpp.

enableAllToolActuator()

void RobotisManipulator::enableAllToolActuator

(

)

Definition at line 485 of file robotis_manipulator.cpp.

getActuatorEnabledState()

bool RobotisManipulator::getActuatorEnabledState

(

Name

actuator_name

)

Definition at line 545 of file robotis_manipulator.cpp.

getAllActiveJointValue()

std::vector< JointValue > RobotisManipulator::getAllActiveJointValue

(

)

Definition at line 181 of file robotis_manipulator.cpp.

getAllJointValue()

std::vector< JointValue > RobotisManipulator::getAllJointValue

(

)

Definition at line 186 of file robotis_manipulator.cpp.

getAllToolPosition()

std::vector< double > RobotisManipulator::getAllToolPosition

(

)

Definition at line 191 of file robotis_manipulator.cpp.

getAllToolValue()

std::vector< JointValue > RobotisManipulator::getAllToolValue

(

)

Definition at line 196 of file robotis_manipulator.cpp.

getDynamicPose()

DynamicPose RobotisManipulator::getDynamicPose

(

Name

component_name

)

Definition at line 206 of file robotis_manipulator.cpp.

getDynamics()

Dynamics * RobotisManipulator::getDynamics

(

)

Definition at line 280 of file robotis_manipulator.cpp.

getJointActuator()

JointActuator * RobotisManipulator::getJointActuator

(

Name

actuator_name

)

Definition at line 346 of file robotis_manipulator.cpp.

getJointActuatorId()

std::vector< uint8_t > RobotisManipulator::getJointActuatorId

(

Name

actuator_name

)

Definition at line 389 of file robotis_manipulator.cpp.

getJointGoalValueFromTrajectory()

std::vector< JointValue > RobotisManipulator::getJointGoalValueFromTrajectory	(	double	present_time,
		int	option = DYNAMICS_ALL_SOVING
	)

getJointGoalValueFromTrajectory

Parameters

present_time

Returns

Definition at line 1553 of file robotis_manipulator.cpp.

getJointGoalValueFromTrajectoryTickTime()

std::vector< JointValue > RobotisManipulator::getJointGoalValueFromTrajectoryTickTime

(

double

tick_time

)

Definition at line 1588 of file robotis_manipulator.cpp.

getJointValue()

JointValue RobotisManipulator::getJointValue

(

Name

joint_name

)

Definition at line 171 of file robotis_manipulator.cpp.

getKinematicPose()

KinematicPose RobotisManipulator::getKinematicPose

(

Name

component_name

)

Definition at line 201 of file robotis_manipulator.cpp.

getKinematics()

Kinematics * RobotisManipulator::getKinematics

(

)

Definition at line 216 of file robotis_manipulator.cpp.

getManipulator()

Manipulator * RobotisManipulator::getManipulator

(

)

Definition at line 161 of file robotis_manipulator.cpp.

getMovingFailState()

bool RobotisManipulator::getMovingFailState

(

)

Definition at line 967 of file robotis_manipulator.cpp.

getMovingState()

bool RobotisManipulator::getMovingState

(

)

Definition at line 962 of file robotis_manipulator.cpp.

getPose()

Pose RobotisManipulator::getPose

(

Name

component_name

)

Definition at line 211 of file robotis_manipulator.cpp.

getToolActuator()

ToolActuator * RobotisManipulator::getToolActuator

(

Name

actuator_name

)

Definition at line 351 of file robotis_manipulator.cpp.

getToolActuatorId()

uint8_t RobotisManipulator::getToolActuatorId

(

Name

actuator_name

)

Definition at line 405 of file robotis_manipulator.cpp.

getToolGoalValue()

std::vector< JointValue > RobotisManipulator::getToolGoalValue

(

)

getToolGoalValue

Returns

Definition at line 1631 of file robotis_manipulator.cpp.

getToolValue()

JointValue RobotisManipulator::getToolValue

(

Name

tool_name

)

Definition at line 176 of file robotis_manipulator.cpp.

getTrajectory()

Trajectory * RobotisManipulator::getTrajectory

(

)

Definition at line 1033 of file robotis_manipulator.cpp.

getTrajectoryJointValue()

JointWaypoint RobotisManipulator::getTrajectoryJointValue ( double  tick_time, int  option = 0  )

private

//////////////////////Task Trajectory/////////////////////////

///////////////////Custom Trajectory/////////////////////////

Definition at line 1395 of file robotis_manipulator.cpp.

getTrajectoryMoveTime()

double RobotisManipulator::getTrajectoryMoveTime

(

)

Definition at line 957 of file robotis_manipulator.cpp.

jacobian()

Eigen::MatrixXd RobotisManipulator::jacobian

(

Name

tool_name

)

Definition at line 225 of file robotis_manipulator.cpp.

makeCustomTrajectory() [1/2]

bool RobotisManipulator::makeCustomTrajectory	(	Name	trajectory_name,
		const void *	arg,
		double	move_time,
		std::vector< JointValue >	present_joint_value = {}
	)

makeCustomTrajectory

Parameters

trajectory_name
arg
move_time
present_joint_value

Definition at line 1329 of file robotis_manipulator.cpp.

makeCustomTrajectory() [2/2]

bool RobotisManipulator::makeCustomTrajectory	(	Name	trajectory_name,
		Name	tool_name,
		const void *	arg,
		double	move_time,
		std::vector< JointValue >	present_joint_value = {}
	)

makeCustomTrajectory

Parameters

trajectory_name
tool_name
arg
move_time
present_joint_value

Definition at line 1304 of file robotis_manipulator.cpp.

makeJointTrajectory() [1/5]

bool RobotisManipulator::makeJointTrajectory	(	Name	tool_name,
		Eigen::Matrix3d	goal_orientation,
		double	move_time,
		std::vector< JointValue >	present_joint_value = {}
	)

makeJointTrajectory

Parameters

tool_name
goal_orientation
move_time
present_joint_value

Definition at line 1131 of file robotis_manipulator.cpp.

makeJointTrajectory() [2/5]

bool RobotisManipulator::makeJointTrajectory	(	Name	tool_name,
		Eigen::Vector3d	goal_position,
		double	move_time,
		std::vector< JointValue >	present_joint_value = {}
	)

makeJointTrajectory

Parameters

tool_name
goal_position
move_time
present_joint_value

Definition at line 1116 of file robotis_manipulator.cpp.

makeJointTrajectory() [3/5]

bool RobotisManipulator::makeJointTrajectory	(	Name	tool_name,
		KinematicPose	goal_pose,
		double	move_time,
		std::vector< JointValue >	present_joint_value = {}
	)

makeJointTrajectory

Parameters

tool_name
goal_pose
move_time
present_joint_value

Definition at line 1146 of file robotis_manipulator.cpp.

makeJointTrajectory() [4/5]

bool RobotisManipulator::makeJointTrajectory	(	std::vector< double >	goal_joint_position,
		double	move_time,
		std::vector< JointValue >	present_joint_value = {}
	)

makeJointTrajectory

Parameters

goal_joint_position
move_time
present_joint_value

Definition at line 1054 of file robotis_manipulator.cpp.

makeJointTrajectory() [5/5]

bool RobotisManipulator::makeJointTrajectory	(	std::vector< JointValue >	goal_joint_value,
		double	move_time,
		std::vector< JointValue >	present_joint_value = {}
	)

makeJointTrajectory

Parameters

goal_joint_value
move_time
present_joint_value

Definition at line 1091 of file robotis_manipulator.cpp.

makeJointTrajectoryFromPresentPosition()

bool RobotisManipulator::makeJointTrajectoryFromPresentPosition	(	std::vector< double >	delta_goal_joint_position,
		double	move_time,
		std::vector< JointValue >	present_joint_value = {}
	)

makeJointTrajectoryFromPresentPosition

Parameters

delta_goal_joint_position
move_time
present_joint_value

Definition at line 1038 of file robotis_manipulator.cpp.

makeTaskTrajectory() [1/3]

bool RobotisManipulator::makeTaskTrajectory	(	Name	tool_name,
		Eigen::Matrix3d	goal_orientation,
		double	move_time,
		std::vector< JointValue >	present_joint_value = {}
	)

makeTaskTrajectory

Parameters

tool_name
goal_orientation
move_time
present_joint_value

Definition at line 1242 of file robotis_manipulator.cpp.

makeTaskTrajectory() [2/3]

bool RobotisManipulator::makeTaskTrajectory	(	Name	tool_name,
		Eigen::Vector3d	goal_position,
		double	move_time,
		std::vector< JointValue >	present_joint_value = {}
	)

makeTaskTrajectory

Parameters

tool_name
goal_position
move_time
present_joint_value

Definition at line 1227 of file robotis_manipulator.cpp.

makeTaskTrajectory() [3/3]

bool RobotisManipulator::makeTaskTrajectory	(	Name	tool_name,
		KinematicPose	goal_pose,
		double	move_time,
		std::vector< JointValue >	present_joint_value = {}
	)

makeTaskTrajectory

Parameters

tool_name
goal_pose
move_time
present_joint_value

Definition at line 1257 of file robotis_manipulator.cpp.

makeTaskTrajectoryFromPresentPose() [1/3]

bool RobotisManipulator::makeTaskTrajectoryFromPresentPose	(	Name	tool_name,
		Eigen::Matrix3d	orientation_meter,
		double	move_time,
		std::vector< JointValue >	present_joint_value = {}
	)

makeTaskTrajectoryFromPresentPose

Parameters

tool_name
orientation_meter
move_time
present_joint_value

Definition at line 1197 of file robotis_manipulator.cpp.

makeTaskTrajectoryFromPresentPose() [2/3]

bool RobotisManipulator::makeTaskTrajectoryFromPresentPose	(	Name	tool_name,
		Eigen::Vector3d	position_meter,
		double	move_time,
		std::vector< JointValue >	present_joint_value = {}
	)

makeTaskTrajectoryFromPresentPose

Parameters

tool_name
position_meter
move_time
present_joint_value

Definition at line 1182 of file robotis_manipulator.cpp.

makeTaskTrajectoryFromPresentPose() [3/3]

bool RobotisManipulator::makeTaskTrajectoryFromPresentPose	(	Name	tool_name,
		KinematicPose	goal_pose_delta,
		double	move_time,
		std::vector< JointValue >	present_joint_value = {}
	)

makeTaskTrajectoryFromPresentPose

Parameters

tool_name
goal_pose_delta
move_time
present_joint_value

Definition at line 1212 of file robotis_manipulator.cpp.

makeToolTrajectory()

bool RobotisManipulator::makeToolTrajectory	(	Name	tool_name,
		double	tool_goal_position
	)

makeToolTrajectory

Parameters

tool_name
tool_goal_position

Definition at line 1379 of file robotis_manipulator.cpp.

printManipulatorSetting()

void RobotisManipulator::printManipulatorSetting

(

)

Definition at line 97 of file robotis_manipulator.cpp.

receiveAllJointActuatorValue()

std::vector< JointValue > RobotisManipulator::receiveAllJointActuatorValue

(

)

Definition at line 760 of file robotis_manipulator.cpp.

receiveAllToolActuatorValue()

std::vector< JointValue > RobotisManipulator::receiveAllToolActuatorValue

(

)

Definition at line 921 of file robotis_manipulator.cpp.

receiveJointActuatorValue()

JointValue RobotisManipulator::receiveJointActuatorValue

(

Name

joint_component_name

)

Definition at line 689 of file robotis_manipulator.cpp.

receiveMultipleJointActuatorValue()

std::vector< JointValue > RobotisManipulator::receiveMultipleJointActuatorValue

(

std::vector< Name >

joint_component_name

)

Definition at line 713 of file robotis_manipulator.cpp.

receiveMultipleToolActuatorValue()

std::vector< JointValue > RobotisManipulator::receiveMultipleToolActuatorValue

(

std::vector< Name >

tool_component_name

)

Definition at line 898 of file robotis_manipulator.cpp.

receiveToolActuatorValue()

JointValue RobotisManipulator::receiveToolActuatorValue

(

Name

tool_component_name

)

Definition at line 880 of file robotis_manipulator.cpp.

resetMovingFailState()

void RobotisManipulator::resetMovingFailState

(

)

Definition at line 972 of file robotis_manipulator.cpp.

sendAllJointActuatorValue()

bool RobotisManipulator::sendAllJointActuatorValue

(

std::vector< JointValue >

value_vector

)

Definition at line 639 of file robotis_manipulator.cpp.

sendAllToolActuatorValue()

bool RobotisManipulator::sendAllToolActuatorValue

(

std::vector< JointValue >

value_vector

)

Definition at line 854 of file robotis_manipulator.cpp.

sendJointActuatorValue()

bool RobotisManipulator::sendJointActuatorValue	(	Name	joint_component_name,
		JointValue	value
	)

Definition at line 565 of file robotis_manipulator.cpp.

sendMultipleJointActuatorValue()

bool RobotisManipulator::sendMultipleJointActuatorValue	(	std::vector< Name >	joint_component_name,
		std::vector< JointValue >	value_vector
	)

Definition at line 591 of file robotis_manipulator.cpp.

sendMultipleToolActuatorValue()

bool RobotisManipulator::sendMultipleToolActuatorValue	(	std::vector< Name >	tool_component_name,
		std::vector< JointValue >	value_vector
	)

Definition at line 829 of file robotis_manipulator.cpp.

sendToolActuatorValue()

bool RobotisManipulator::sendToolActuatorValue	(	Name	tool_component_name,
		JointValue	value
	)

Definition at line 807 of file robotis_manipulator.cpp.

setCustomTrajectoryOption()

void RobotisManipulator::setCustomTrajectoryOption	(	Name	trajectory_name,
		const void *	arg
	)

setCustomTrajectoryOption

Parameters

trajectory_name
arg

Definition at line 1299 of file robotis_manipulator.cpp.

setDynamicsEnvironments()

void RobotisManipulator::setDynamicsEnvironments	(	STRING	param_name,
		const void *	arg
	)

Definition at line 336 of file robotis_manipulator.cpp.

setDynamicsOption()

void RobotisManipulator::setDynamicsOption	(	STRING	param_name,
		const void *	arg
	)

Definition at line 326 of file robotis_manipulator.cpp.

setJointActuatorMode()

void RobotisManipulator::setJointActuatorMode	(	Name	actuator_name,
		std::vector< uint8_t >	id_array,
		const void *	arg
	)

Definition at line 359 of file robotis_manipulator.cpp.

setKinematicsOption()

void RobotisManipulator::setKinematicsOption

(

const void *

arg

)

Definition at line 270 of file robotis_manipulator.cpp.

setToolActuatorMode()

void RobotisManipulator::setToolActuatorMode	(	Name	actuator_name,
		const void *	arg
	)

Definition at line 374 of file robotis_manipulator.cpp.

setTorqueCoefficient()

void RobotisManipulator::setTorqueCoefficient	(	Name	component_name,
		double	torque_coefficient
	)

Definition at line 166 of file robotis_manipulator.cpp.

sleepTrajectory()

bool RobotisManipulator::sleepTrajectory	(	double	wait_time,
		std::vector< JointValue >	present_joint_value = {}
	)

sleepTrajectory

Parameters

wait_time
present_joint_value

Definition at line 1353 of file robotis_manipulator.cpp.

solveForwardDynamics()

void RobotisManipulator::solveForwardDynamics

(

std::map< Name, double >

joint_torque

)

Definition at line 289 of file robotis_manipulator.cpp.

solveForwardKinematics() [1/2]

void RobotisManipulator::solveForwardKinematics

(

)

Definition at line 236 of file robotis_manipulator.cpp.

solveForwardKinematics() [2/2]

void RobotisManipulator::solveForwardKinematics

(

std::vector< JointValue > *

goal_joint_value

)

Definition at line 246 of file robotis_manipulator.cpp.

solveGravityTerm()

bool RobotisManipulator::solveGravityTerm

(

std::map< Name, double > *

joint_torque

)

Definition at line 310 of file robotis_manipulator.cpp.

solveInverseDynamics()

bool RobotisManipulator::solveInverseDynamics

(

std::map< Name, double > *

joint_torque

)

Definition at line 299 of file robotis_manipulator.cpp.

solveInverseKinematics()

bool RobotisManipulator::solveInverseKinematics	(	Name	tool_name,
		Pose	goal_pose,
		std::vector< JointValue > *	goal_joint_value
	)

Definition at line 259 of file robotis_manipulator.cpp.

startMoving()

void RobotisManipulator::startMoving ( )

private

Definition at line 950 of file robotis_manipulator.cpp.

stopMoving()

void RobotisManipulator::stopMoving

(

)

Definition at line 1619 of file robotis_manipulator.cpp.

Member Data Documentation

dynamics_

Dynamics* robotis_manipulator::RobotisManipulator::dynamics_

private

Definition at line 57 of file robotis_manipulator.h.

dynamics_added_state_

bool robotis_manipulator::RobotisManipulator::dynamics_added_state_

private

Definition at line 69 of file robotis_manipulator.h.

joint_actuator_

std::map<Name, JointActuator *> robotis_manipulator::RobotisManipulator::joint_actuator_

private

Definition at line 58 of file robotis_manipulator.h.

joint_actuator_added_stete_

bool robotis_manipulator::RobotisManipulator::joint_actuator_added_stete_

private

Definition at line 66 of file robotis_manipulator.h.

kinematics_

Kinematics* robotis_manipulator::RobotisManipulator::kinematics_

private

Definition at line 56 of file robotis_manipulator.h.

kinematics_added_state_

bool robotis_manipulator::RobotisManipulator::kinematics_added_state_

private

Definition at line 68 of file robotis_manipulator.h.

manipulator_

Manipulator robotis_manipulator::RobotisManipulator::manipulator_

private

Definition at line 54 of file robotis_manipulator.h.

moving_fail_flag_

bool robotis_manipulator::RobotisManipulator::moving_fail_flag_

private

Definition at line 63 of file robotis_manipulator.h.

moving_state_

bool robotis_manipulator::RobotisManipulator::moving_state_

private

Definition at line 62 of file robotis_manipulator.h.

step_moving_state_

bool robotis_manipulator::RobotisManipulator::step_moving_state_

private

Definition at line 64 of file robotis_manipulator.h.

tool_actuator_

std::map<Name, ToolActuator *> robotis_manipulator::RobotisManipulator::tool_actuator_

private

Definition at line 59 of file robotis_manipulator.h.

tool_actuator_added_stete_

bool robotis_manipulator::RobotisManipulator::tool_actuator_added_stete_

private

Definition at line 67 of file robotis_manipulator.h.

trajectory_

Trajectory robotis_manipulator::RobotisManipulator::trajectory_

private

Definition at line 55 of file robotis_manipulator.h.

trajectory_initialized_state_

bool robotis_manipulator::RobotisManipulator::trajectory_initialized_state_

private

Definition at line 61 of file robotis_manipulator.h.

---

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

• robotis_manipulator.h
• robotis_manipulator.cpp