PowerCubeSim.cpp File Reference

This class simulates the PowerCubes in a very simply and rough way. More...

#include <schunk_powercube_chain/PowerCubeSim.h>
#include <string>
#include <sstream>

Include dependency graph for PowerCubeSim.cpp:

Go to the source code of this file.

Defines
#define	DEG   57.295779524
#define	MANUAL_AXES0_OFFSET   1.8
#define	MANUAL_AXES6_OFFSET   1.5
#define	PCTRL_CHECK_INITIALIZED()
#define	SIM_CLOCK_FREQUENCY   10.0
Functions
void *	SimThreadRoutine (void *threadArgs)

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Detailed Description

This class simulates the PowerCubes in a very simply and rough way.

Note:

Copyright (c) 2010
Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)

Project name: schunk_modular_robotics

ROS stack name: schunk_modular_robotics

ROS package name: schunk_powercube_chain

Author:

Author: Felix Geibel, email:Felix.Geibel@gmx.de

Supervised by: Alexander Bubeck, email:alexander.bubeck@ipa.fhg.de

Date:

Date of creation: Aug 2007

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
  
• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
  
• Neither the name of the Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
  

This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License LGPL as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License LGPL for more details.

You should have received a copy of the GNU Lesser General Public License LGPL along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file PowerCubeSim.cpp.

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Define Documentation

#define DEG   57.295779524

Definition at line 68 of file PowerCubeSim.cpp.

#define MANUAL_AXES0_OFFSET   1.8

Definition at line 69 of file PowerCubeSim.cpp.

#define MANUAL_AXES6_OFFSET   1.5

Definition at line 70 of file PowerCubeSim.cpp.

#define PCTRL_CHECK_INITIALIZED

(

)

Value:

if ( isInitialized()==false )                                                                                                   \
{                                                                                                                                               \
    m_ErrorMessage.assign("Manipulator not initialized.");              \
        return false;                                                                                                           \
}

Definition at line 77 of file PowerCubeSim.cpp.

#define SIM_CLOCK_FREQUENCY   10.0

Definition at line 73 of file PowerCubeSim.cpp.

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Function Documentation

void* SimThreadRoutine

(

void *

threadArgs

)

Definition at line 578 of file PowerCubeSim.cpp.