katana::AbstractKatana Class Reference

#include <AbstractKatana.h>

Inheritance diagram for katana::AbstractKatana:

List of all members.

Public Member Functions
	AbstractKatana ()
virtual bool	allJointsReady ()=0
virtual bool	allMotorsReady ()=0
virtual bool	executeTrajectory (boost::shared_ptr< SpecifiedTrajectory > traj)=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 < arm_navigation_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 < arm_navigation_msgs::JointLimits >	motor_limits_
std::vector< double >	motor_velocities_

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Detailed Description

Definition at line 40 of file AbstractKatana.h.

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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.

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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

)

[pure virtual]

Implemented in katana::Katana, 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< arm_navigation_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.

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Member Data Documentation

std::vector<std::string> katana::AbstractKatana::gripper_joint_names_ [protected]

Definition at line 87 of file AbstractKatana.h.

std::vector<int> katana::AbstractKatana::gripper_joint_types_ [protected]

Definition at line 88 of file AbstractKatana.h.

std::vector<std::string> katana::AbstractKatana::joint_names_ [protected]

Definition at line 83 of file AbstractKatana.h.

std::vector<int> katana::AbstractKatana::joint_types_ [protected]

Definition at line 84 of file AbstractKatana.h.

std::vector<double> katana::AbstractKatana::motor_angles_ [protected]

Definition at line 92 of file AbstractKatana.h.

std::vector<arm_navigation_msgs::JointLimits> katana::AbstractKatana::motor_limits_ [protected]

Definition at line 97 of file AbstractKatana.h.

std::vector<double> katana::AbstractKatana::motor_velocities_ [protected]

Definition at line 93 of file AbstractKatana.h.

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

• AbstractKatana.h
• AbstractKatana.cpp