27#define READY_J0 (282.522400)
28#define READY_J1 (154.470856)
29#define READY_J2 (44.191490)
30#define READY_J3 (230.081223)
31#define READY_J4 (83.242500)
32#define READY_J5 (77.796173)
34#define RETRACT_J0 (270.527344)
35#define RETRACT_J1 (150.205078)
36#define RETRACT_J2 (25.042963)
37#define RETRACT_J3 (267.451172)
38#define RETRACT_J4 (5.800781)
39#define RETRACT_J5 (99.448242)
61 pos_ready_.push_back(READY_J0);
62 pos_ready_.push_back(READY_J1);
63 pos_ready_.push_back(READY_J2);
64 pos_ready_.push_back(READY_J3);
65 pos_ready_.push_back(READY_J4);
66 pos_ready_.push_back(READY_J5);
67 pos_retract_.push_back(RETRACT_J0);
68 pos_retract_.push_back(RETRACT_J1);
69 pos_retract_.push_back(RETRACT_J2);
70 pos_retract_.push_back(RETRACT_J3);
71 pos_retract_.push_back(RETRACT_J4);
72 pos_retract_.push_back(RETRACT_J5);
75 coords_.assign(6, 0.f);
76 joints_.assign(6, 0.f);
77 fingers_.assign(3, 0.f);
146 for (
unsigned int i = 0; i < trajec->size(); ++i) {
virtual bool final()
Check if movement is final.
virtual void goto_retract()
Move the arm to RETRACT position.
virtual void release_joystick()
Simulate releasing the joystick of the Kinova Jaco arm.
virtual void goto_ready()
Move the arm to READY position.
virtual void goto_joints(std::vector< float > &joints, std::vector< float > &fingers, bool followup=false)
Move the arm to given configuration.
virtual void goto_trajec(std::vector< std::vector< float > > *trajec, std::vector< float > &fingers)
Move the arm along the given trajectory.
virtual ~JacoArmDummy()
Destructor.
virtual void initialize()
Initialize the arm.
JacoArmDummy(const char *name)
Constructor.
virtual void get_coords(std::vector< float > &to)
Get the cartesian coordinates of the arm.
virtual void stop()
Stop the current movement.
virtual bool initialized()
Check if arm is initialized.
virtual void push_joystick(unsigned int button)
Simulate a push of a button on the joystick of the Kinova Jaco arm.
virtual void goto_coords(std::vector< float > &coords, std::vector< float > &fingers)
Move the arm to given configuration.
virtual void get_joints(std::vector< float > &to) const
Get the joint angles of the arm.
virtual void get_fingers(std::vector< float > &to) const
Get the position values of the fingers.
std::string name_
the name of this arm
bool initialized_
track if the arm has been initialized or not
Fawkes library namespace.