#include <SimulatedKatana.h>
Public Member Functions | |
virtual bool | allJointsReady () |
virtual bool | allMotorsReady () |
virtual bool | executeTrajectory (boost::shared_ptr< SpecifiedTrajectory > traj) |
virtual void | moveGripper (double openingAngle) |
virtual bool | moveJoint (int jointIndex, double turningAngle) |
virtual void | refreshEncoders () |
SimulatedKatana () | |
virtual bool | someMotorCrashed () |
virtual | ~SimulatedKatana () |
Private Attributes | |
boost::shared_ptr < SpecifiedTrajectory > | current_trajectory_ |
Definition at line 34 of file SimulatedKatana.h.
Definition at line 30 of file SimulatedKatana.cpp.
katana::SimulatedKatana::~SimulatedKatana | ( | ) | [virtual] |
Definition at line 50 of file SimulatedKatana.cpp.
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 | ) | [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.
jointIndex | the joint to move |
turningAngle | the target angle |
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.
boost::shared_ptr<SpecifiedTrajectory> katana::SimulatedKatana::current_trajectory_ [private] |
Definition at line 50 of file SimulatedKatana.h.