katana: katana_constants.h File Reference

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namespace	katana
Variables
static const double	katana::DEFAULT_GRIPPER_OBJECT_PRESENCE_THRESHOLD = -0.43
	A joint angle below this value indicates there is nothing inside the gripper.
static const double	katana::GRIPPER_CLOSED_ANGLE = -0.44
	Constants for gripper fully open or fully closed (should be equal to the value in the urdf description)
const size_t	katana::GRIPPER_INDEX = NUM_MOTORS - 1
	The motor index of the gripper (used in all vectors -- e.g., motor_angles_)
static const double	katana::GRIPPER_OPEN_ANGLE = 0.30
	Constants for gripper fully open or fully closed (should be equal to the value in the urdf description)
static const double	katana::GRIPPER_OPENING_CLOSING_DURATION = 3.0
	The maximum time it takes to open or close the gripper.
static const double	katana::KNI_GRIPPER_CLOSED_ANGLE = 0.21652991032554647
	constants for converting between the KNI gripper angle and the URDF gripper angle
static const double	katana::KNI_GRIPPER_OPEN_ANGLE = -2.057443
static const int	katana::KNI_MAX_ACCELERATION = 2
	acceleration limit = 1 or 2 [enc / (10 ms)^2]
static const int	katana::KNI_MAX_VELOCITY = 180
	velocity limit <= 180 [enc / 10 ms]
static const double	katana::KNI_TO_ROS_LENGTH = 0.001
	the conversion factor from KNI coordinates (in mm) to ROS coordinates (in m)
static const double	katana::KNI_TO_ROS_TIME = 100.0
	KNI time is in 10 milliseconds (most of the time), ROS time is in seconds.
static const double	katana::KNI_TO_URDF_GRIPPER_FACTOR
static const size_t	katana::MOVE_BUFFER_SIZE = 16
const size_t	katana::NUM_GRIPPER_JOINTS = 2
	The number of gripper_joints in the katana (= the two gripper finger joints)
const size_t	katana::NUM_JOINTS = NUM_MOTORS - 1
	The number of joints in the katana (= only the 5 "real" joints)
const size_t	katana::NUM_MOTORS = 6
	The number of motors in the katana (= all 5 "real" joints + the gripper)

Namespaces

Variables