23#ifndef _PLUGINS_JACO_ARM_DUMMY_H_
24#define _PLUGINS_JACO_ARM_DUMMY_H_
44 virtual void get_joints(std::vector<float> &to)
const;
45 virtual void get_coords(std::vector<float> &to);
46 virtual void get_fingers(std::vector<float> &to)
const;
52 virtual void goto_trajec(std::vector<std::vector<float>> *trajec, std::vector<float> &fingers);
54 goto_joints(std::vector<float> &joints, std::vector<float> &fingers,
bool followup =
false);
55 virtual void goto_coords(std::vector<float> &coords, std::vector<float> &fingers);
60 std::vector<float> coords_;
61 std::vector<float> joints_;
62 std::vector<float> fingers_;
64 std::vector<float> pos_ready_;
65 std::vector<float> pos_retract_;
Class for simulating a dummy Kinova Jaco Arm.
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.
Abstract class for a Kinova Jaco Arm that we want to control.
Fawkes library namespace.