Fawkes API Fawkes Development Version
|
Class for simulating a dummy Kinova Jaco Arm. More...
#include <>>
Public Member Functions | |
JacoArmDummy (const char *name) | |
Constructor. More... | |
virtual | ~JacoArmDummy () |
Destructor. More... | |
virtual void | initialize () |
Initialize the arm. More... | |
virtual bool | final () |
Check if movement is final. More... | |
virtual bool | initialized () |
Check if arm is initialized. More... | |
virtual void | get_joints (std::vector< float > &to) const |
Get the joint angles of the arm. More... | |
virtual void | get_coords (std::vector< float > &to) |
Get the cartesian coordinates of the arm. More... | |
virtual void | get_fingers (std::vector< float > &to) const |
Get the position values of the fingers. More... | |
virtual void | stop () |
Stop the current movement. More... | |
virtual void | push_joystick (unsigned int button) |
Simulate a push of a button on the joystick of the Kinova Jaco arm. More... | |
virtual void | release_joystick () |
Simulate releasing the joystick of the Kinova Jaco arm. More... | |
virtual void | goto_trajec (std::vector< std::vector< float > > *trajec, std::vector< float > &fingers) |
Move the arm along the given trajectory. More... | |
virtual void | goto_joints (std::vector< float > &joints, std::vector< float > &fingers, bool followup=false) |
Move the arm to given configuration. More... | |
virtual void | goto_coords (std::vector< float > &coords, std::vector< float > &fingers) |
Move the arm to given configuration. More... | |
virtual void | goto_ready () |
Move the arm to READY position. More... | |
virtual void | goto_retract () |
Move the arm to RETRACT position. More... | |
![]() | |
virtual | ~JacoArm () |
Virtual empty destructor. More... | |
virtual void | initialize ()=0 |
Initialize the arm. More... | |
virtual bool | final ()=0 |
Check if movement is final. More... | |
virtual bool | initialized ()=0 |
Check if arm is initialized. More... | |
virtual void | get_joints (std::vector< float > &to) const =0 |
Get the joint angles of the arm. More... | |
virtual void | get_coords (std::vector< float > &to)=0 |
Get the cartesian coordinates of the arm. More... | |
virtual void | get_fingers (std::vector< float > &to) const =0 |
Get the position values of the fingers. More... | |
virtual void | stop ()=0 |
Stop the current movement. More... | |
virtual void | push_joystick (unsigned int button)=0 |
Simulate a push of a button on the joystick of the Kinova Jaco arm. More... | |
virtual void | release_joystick ()=0 |
Simulate releasing the joystick of the Kinova Jaco arm. More... | |
virtual void | goto_trajec (std::vector< std::vector< float > > *trajec, std::vector< float > &fingers)=0 |
Move the arm along the given trajectory. More... | |
virtual void | goto_joints (std::vector< float > &joints, std::vector< float > &fingers, bool followup=false)=0 |
Move the arm to given configuration. More... | |
virtual void | goto_coords (std::vector< float > &coords, std::vector< float > &fingers)=0 |
Move the arm to given configuration. More... | |
virtual void | goto_ready ()=0 |
Move the arm to READY position. More... | |
virtual void | goto_retract ()=0 |
Move the arm to RETRACT position. More... | |
std::string | get_name () const |
Get the name of the arm. More... | |
Additional Inherited Members | |
![]() | |
std::string | name_ |
the name of this arm More... | |
bool | initialized_ |
track if the arm has been initialized or not More... | |
Class for simulating a dummy Kinova Jaco Arm.
Each command is accepted, simply storing its values and returning them when a getter is called. This class does not operate any actual arm (whether a real one nor even a simulated 3D model).
Definition at line 33 of file arm_dummy.h.
fawkes::JacoArmDummy::JacoArmDummy | ( | const char * | name | ) |
Constructor.
name | The name of the arm we want to connect to |
Definition at line 55 of file arm_dummy.cpp.
References fawkes::JacoArm::initialized_, and fawkes::JacoArm::name_.
|
virtual |
Destructor.
Definition at line 81 of file arm_dummy.cpp.
|
virtual |
Check if movement is final.
Implements fawkes::JacoArm.
Definition at line 92 of file arm_dummy.cpp.
|
virtual |
Get the cartesian coordinates of the arm.
to | vector to be filled with coordinates. |
Implements fawkes::JacoArm.
Definition at line 104 of file arm_dummy.cpp.
|
virtual |
Get the position values of the fingers.
to | vector to be filled with finger positions. |
Implements fawkes::JacoArm.
Definition at line 116 of file arm_dummy.cpp.
|
virtual |
Get the joint angles of the arm.
to | vector to be filled with angle values for active joints. |
Implements fawkes::JacoArm.
Definition at line 110 of file arm_dummy.cpp.
|
virtual |
Move the arm to given configuration.
No real movement for "dummy" arm though, it just sets these values to the current ones.
coords | target fingertip coordinations |
fingers | target finger positions |
Implements fawkes::JacoArm.
Definition at line 180 of file arm_dummy.cpp.
|
virtual |
Move the arm to given configuration.
No real movement for "dummy" arm though, it just sets these values to the current ones.
joints | target joint angles |
fingers | target finger positions |
followup | defines if this is a singular trajectory-point, or a consecutive one. Setting to "false" acuires control of the arm and sets the mode to "angular" each time. Because of that, it needs to be "true" if it is a "followup" trajectory point. |
Implements fawkes::JacoArm.
Definition at line 163 of file arm_dummy.cpp.
Referenced by goto_ready(), goto_retract(), and goto_trajec().
|
virtual |
Move the arm to READY position.
Implements fawkes::JacoArm.
Definition at line 187 of file arm_dummy.cpp.
References goto_joints().
Referenced by initialize().
|
virtual |
Move the arm to RETRACT position.
Implements fawkes::JacoArm.
Definition at line 193 of file arm_dummy.cpp.
References goto_joints().
|
virtual |
Move the arm along the given trajectory.
Calls goto_joints() 33Hz (default Fawkes loop time)
trajec | the trajectory |
fingers | target finger positions |
Implements fawkes::JacoArm.
Definition at line 144 of file arm_dummy.cpp.
References goto_joints().
|
virtual |
Initialize the arm.
Implements fawkes::JacoArm.
Definition at line 86 of file arm_dummy.cpp.
References goto_ready().
|
virtual |
Check if arm is initialized.
Implements fawkes::JacoArm.
Definition at line 98 of file arm_dummy.cpp.
References fawkes::JacoArm::initialized_.
|
virtual |
Simulate a push of a button on the joystick of the Kinova Jaco arm.
button | the id of the joystick button (from 0 to 15). |
Implements fawkes::JacoArm.
Definition at line 127 of file arm_dummy.cpp.
|
virtual |
Simulate releasing the joystick of the Kinova Jaco arm.
Implements fawkes::JacoArm.
Definition at line 132 of file arm_dummy.cpp.
|
virtual |
Stop the current movement.
Implements fawkes::JacoArm.
Definition at line 122 of file arm_dummy.cpp.