This class is a wapper for Naoqi Motion Class. More...
#include <motion.hpp>
Public Member Functions | |
| std::vector< double > | getAngles (const std::string &robot_part) |
| get joints angles More... | |
| std::vector< std::string > | getBodyNames (const std::string &robot_part) |
| get body names More... | |
| std::vector< std::string > | getBodyNamesFromGroup (const std::vector< std::string > &motor_groups) |
| get body names based on motor groups More... | |
| void | init (const std::vector< std::string > &joints_names) |
| initialize with joints names to control More... | |
| void | manageConcurrence () |
| Manage concurrence of DCM and ALMotion. More... | |
| Motion (const qi::SessionPtr &session) | |
| void | moveTo (const float &vel_x, const float &vel_y, const float &vel_th) |
| Move the robot at given velocity and angle. More... | |
| void | rest () |
| go to the rest position More... | |
| bool | robotIsWakeUp () |
| check if the robot is waked up More... | |
| bool | setStiffnessArms (const float &stiffness, const float &time) |
| set stiffness for arms More... | |
| bool | stiffnessInterpolation (const std::string &motor_group, const float &stiffness, const float &time) |
| set stiffness for one motor group More... | |
| bool | stiffnessInterpolation (const std::vector< std::string > &motor_groups, const float &stiffness, const float &time) |
| set stiffness for motors groups More... | |
| void | wakeUp () |
| wake up the robot More... | |
| void | writeJoints (const std::vector< double > &joint_commands) |
| set joints values More... | |
Private Attributes | |
| std::vector< std::string > | joints_names_ |
| qi::AnyObject | motion_proxy_ |
This class is a wapper for Naoqi Motion Class.
Definition at line 27 of file motion.hpp.
| Motion::Motion | ( | const qi::SessionPtr & | session | ) |
Definition at line 24 of file motion.cpp.
| std::vector< double > Motion::getAngles | ( | const std::string & | robot_part | ) |
get joints angles
Definition at line 184 of file motion.cpp.
| std::vector< std::string > Motion::getBodyNames | ( | const std::string & | robot_part | ) |
get body names
Definition at line 120 of file motion.cpp.
| std::vector< std::string > Motion::getBodyNamesFromGroup | ( | const std::vector< std::string > & | motor_groups | ) |
get body names based on motor groups
Definition at line 135 of file motion.cpp.
| void Motion::init | ( | const std::vector< std::string > & | joints_names | ) |
initialize with joints names to control
Definition at line 66 of file motion.cpp.
| void Motion::manageConcurrence | ( | ) |
Manage concurrence of DCM and ALMotion.
Definition at line 147 of file motion.cpp.
| void Motion::moveTo | ( | const float & | vel_x, |
| const float & | vel_y, | ||
| const float & | vel_th | ||
| ) |
Move the robot at given velocity and angle.
Definition at line 170 of file motion.cpp.
| void Motion::rest | ( | ) |
go to the rest position
Definition at line 103 of file motion.cpp.
| bool Motion::robotIsWakeUp | ( | ) |
check if the robot is waked up
Definition at line 71 of file motion.cpp.
| bool Motion::setStiffnessArms | ( | const float & | stiffness, |
| const float & | time | ||
| ) |
set stiffness for arms
Definition at line 248 of file motion.cpp.
| bool Motion::stiffnessInterpolation | ( | const std::string & | motor_group, |
| const float & | stiffness, | ||
| const float & | time | ||
| ) |
set stiffness for one motor group
Definition at line 229 of file motion.cpp.
| bool Motion::stiffnessInterpolation | ( | const std::vector< std::string > & | motor_groups, |
| const float & | stiffness, | ||
| const float & | time | ||
| ) |
set stiffness for motors groups
Definition at line 218 of file motion.cpp.
| void Motion::wakeUp | ( | ) |
wake up the robot
Definition at line 86 of file motion.cpp.
| void Motion::writeJoints | ( | const std::vector< double > & | joint_commands | ) |
set joints values
Definition at line 200 of file motion.cpp.
|
private |
joints names
Definition at line 80 of file motion.hpp.
|
private |
Motion proxy
Definition at line 77 of file motion.hpp.