Public Member Functions | Protected Attributes
katana::AbstractKatana Class Reference

#include <AbstractKatana.h>

Inheritance diagram for katana::AbstractKatana:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 AbstractKatana ()
virtual bool allJointsReady ()=0
virtual bool allMotorsReady ()=0
virtual bool executeTrajectory (boost::shared_ptr< SpecifiedTrajectory > traj, boost::function< bool()> isPreemptRequested)=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
< moveit_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
< moveit_msgs::JointLimits > 
motor_limits_
std::vector< double > motor_velocities_

Detailed Description

Definition at line 40 of file AbstractKatana.h.


Constructor & Destructor Documentation

Definition at line 30 of file AbstractKatana.cpp.

Definition at line 131 of file AbstractKatana.cpp.


Member Function Documentation

virtual bool katana::AbstractKatana::allJointsReady ( ) [pure virtual]
virtual bool katana::AbstractKatana::allMotorsReady ( ) [pure virtual]
virtual bool katana::AbstractKatana::executeTrajectory ( boost::shared_ptr< SpecifiedTrajectory traj,
boost::function< bool()>  isPreemptRequested 
) [pure 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< moveit_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:
jointIndexthe joint to move
turningAnglethe 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]

Reimplemented in katana::Katana, and katana::Katana300.

Definition at line 140 of file AbstractKatana.cpp.

virtual bool katana::AbstractKatana::someMotorCrashed ( ) [pure virtual]

Member Data Documentation

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

Definition at line 88 of file AbstractKatana.h.

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

Definition at line 89 of file AbstractKatana.h.

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

Definition at line 84 of file AbstractKatana.h.

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

Definition at line 85 of file AbstractKatana.h.

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

Definition at line 93 of file AbstractKatana.h.

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

Definition at line 98 of file AbstractKatana.h.

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

Definition at line 94 of file AbstractKatana.h.


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


katana
Author(s): Martin Günther
autogenerated on Thu Aug 27 2015 13:40:35