Class Arm
Defined in File arm.hpp
Nested Relationships
Nested Types
Class Documentation
-
class Arm
Public Functions
-
bool loadGains(const std::string &gains_file)
-
inline size_t size() const
-
inline const robot_model::RobotModel &robotModel() const
-
inline robot_model::RobotModel &robotModel()
-
inline const trajectory::Trajectory *trajectory() const
-
inline const EndEffectorBase *endEffector() const
-
inline GroupCommand &pendingCommand()
-
inline const GroupCommand &pendingCommand() const
-
inline const GroupFeedback &lastFeedback() const
-
bool update()
-
bool send()
-
double goalProgress() const
-
inline bool atGoal() const
-
void cancelGoal()
-
inline void setJointLimits(const Eigen::VectorXd &min_positions, const Eigen::VectorXd &max_positions)
-
inline void clearJointLimits()
-
inline Eigen::Vector3d FK(const Eigen::VectorXd &positions) const
-
inline void FK(const Eigen::VectorXd &positions, Eigen::Vector3d &xyz_out, Eigen::Vector3d &tip_axis) const
-
inline void FK(const Eigen::VectorXd &positions, Eigen::Vector3d &xyz_out, Eigen::Matrix3d &orientation) const
-
inline Eigen::VectorXd solveIK(const Eigen::VectorXd &initial_positions, const Eigen::Vector3d &target_xyz) const
-
inline Eigen::VectorXd solveIK(const Eigen::VectorXd &initial_positions, const Eigen::Vector3d &target_xyz, const Eigen::Vector3d &end_tip) const
-
inline Eigen::VectorXd solveIK(const Eigen::VectorXd &initial_positions, const Eigen::Vector3d &target_xyz, const Eigen::Matrix3d &orientation) const
Public Static Functions
-
static std::unique_ptr<Arm> create(const RobotConfig &config)
-
static std::unique_ptr<Arm> create(const RobotConfig &config, const Lookup &lookup)
-
struct Params
Public Members
-
std::vector<std::string> families_
-
std::vector<std::string> names_
-
int command_lifetime_ = 100
-
double control_frequency_ = 200.f
-
std::string hrdf_file_
-
std::shared_ptr<robot_model::RobotModel> robot_model_
-
std::shared_ptr<EndEffectorBase> end_effector_
-
std::function<double()> get_current_time_s_ =
[]() {using clock = std::chrono::steady_clock;static const clock::time_point start_time = clock::now();return (std::chrono::duration<double>(clock::now() - start_time)).count();}
-
std::vector<std::string> families_
-
bool loadGains(const std::string &gains_file)