Abstract class for a Neuronics Katana controller. More...

#include <>>

Inheritance diagram for fawkes::KatanaController:

Public Member Functions
virtual	~KatanaController ()
	Virtual empty destructor. More...

virtual void	init ()=0
	Initialize controller. More...

virtual void	set_max_velocity (unsigned int vel)=0
	Set maximum velocity. More...

virtual bool	final ()=0
	Check if movement is final. More...

virtual bool	joint_angles ()=0
	Check if controller provides joint angle values. More...

virtual bool	joint_encoders ()=0
	Check if controller provides joint encoder values. More...

virtual void	calibrate ()=0
	Calibrate the arm. More...

virtual void	turn_on ()=0
	Turn on arm/motors. More...

virtual void	turn_off ()=0
	Turn off arm/motors. More...

virtual void	stop ()=0
	Stop movement immediately. More...

virtual void	read_coordinates (bool refresh=false)=0
	Store current coordinates of endeeffctor. More...

virtual void	read_motor_data ()=0
	Read motor data of currently active joints from device into controller libray. More...

virtual void	read_sensor_data ()=0
	Read all sensor data from device into controller libray. More...

virtual void	gripper_open (bool blocking=false)=0
	Open Gripper. More...

virtual void	gripper_close (bool blocking=false)=0
	Close Gripper. More...

virtual void	move_to (float x, float y, float z, float phi, float theta, float psi, bool blocking=false)=0
	Move endeffctor to given coordinates. More...

virtual void	move_to (std::vector< int > encoders, bool blocking=false)=0
	Move joints to encoder values. More...

virtual void	move_to (std::vector< float > angles, bool blocking=false)=0
	Move joints to angle values. More...

virtual void	move_motor_to (unsigned short id, int enc, bool blocking=false)=0
	Move single joint/motor to encoder value. More...

virtual void	move_motor_to (unsigned short id, float angle, bool blocking=false)=0
	Move single joint/motor to angle value. More...

virtual void	move_motor_by (unsigned short id, int enc, bool blocking=false)=0
	Move single joint/motor by encoder value (i.e. More...

virtual void	move_motor_by (unsigned short id, float angle, bool blocking=false)=0
	Move single joint/motor by angle value (i.e. More...

virtual double	x ()=0
	Get x-coordinate of latest endeffector position. More...

virtual double	y ()=0
	Get y-coordinate of latest endeffector position. More...

virtual double	z ()=0
	Get z-coordinate of latest endeffector position. More...

virtual double	phi ()=0
	Get x-coordinate of latest endeffector position. More...

virtual double	theta ()=0
	Get theta-rotation of latest endeffector orientation. More...

virtual double	psi ()=0
	Get psi-rotation of latest endeffector orientation. More...

virtual void	get_sensors (std::vector< int > &to, bool refresh=false)=0
	Get sensor values. More...

virtual void	get_encoders (std::vector< int > &to, bool refresh=false)=0
	Get encoder values of joints/motors. More...

virtual void	get_angles (std::vector< float > &to, bool refresh=false)=0
	Get angle values of joints/motors. More...

Detailed Description

Abstract class for a Neuronics Katana controller.

Author: Bahram Maleki-Fard

Definition at line 37 of file controller.h.

Constructor & Destructor Documentation

virtual fawkes::KatanaController::~KatanaController ( )

inlinevirtual

Virtual empty destructor.

Definition at line 41 of file controller.h.

References calibrate(), get_angles(), get_encoders(), get_sensors(), gripper_close(), gripper_open(), init(), joint_angles(), joint_encoders(), move_motor_by(), move_motor_to(), move_to(), phi(), psi(), read_coordinates(), read_motor_data(), read_sensor_data(), set_max_velocity(), stop(), theta(), turn_off(), turn_on(), x(), y(), and z().

Member Function Documentation

virtual void fawkes::KatanaController::calibrate ( )

pure virtual

Calibrate the arm.

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaCalibrationThread::once(), and ~KatanaController().

virtual bool fawkes::KatanaController::final ( )

pure virtual

Check if movement is final.

Returns: movement is final

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaMotorControlThread::once(), KatanaGotoThread::once(), and KatanaGripperThread::once().

virtual void fawkes::KatanaController::get_angles	(	std::vector< float > &	to,
		bool	refresh = `false`
	)

pure virtual

Get angle values of joints/motors.

Parameters

to	vector to be filled with angle values for active joints.
refresh	refresh joints/motors data (call 'read_motor_data')?

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaActThread::update_sensor_values(), and ~KatanaController().

virtual void fawkes::KatanaController::get_encoders	(	std::vector< int > &	to,
		bool	refresh = `false`
	)

pure virtual

Get encoder values of joints/motors.

Parameters

to	vector to be filled with encoder values for active joints.
refresh	refresh joints/motors data (call 'read_motor_data')?

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaActThread::update_sensor_values(), and ~KatanaController().

virtual void fawkes::KatanaController::get_sensors	(	std::vector< int > &	to,
		bool	refresh = `false`
	)

pure virtual

Get sensor values.

Parameters

to	vector to be filled with all available sensor values.
refresh	refresh sensor data (call 'read_sensor_data')?

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaActThread::update_sensor_values(), and ~KatanaController().

virtual void fawkes::KatanaController::gripper_close ( bool blocking = false )

pure virtual

Close Gripper.

Parameters

blocking Is this a blocking call?

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaGripperThread::once(), and ~KatanaController().

virtual void fawkes::KatanaController::gripper_open ( bool blocking = false )

pure virtual

Open Gripper.

Parameters

blocking Is this a blocking call?

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaGripperThread::once(), and ~KatanaController().

virtual void fawkes::KatanaController::init ( )

pure virtual

Initialize controller.

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaActThread::init(), and ~KatanaController().

virtual bool fawkes::KatanaController::joint_angles ( )

pure virtual

Check if controller provides joint angle values.

Returns: can get angle values

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaActThread::update_sensor_values(), and ~KatanaController().

virtual bool fawkes::KatanaController::joint_encoders ( )

pure virtual

Check if controller provides joint encoder values.

Returns: can get encoder values

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaActThread::update_sensor_values(), and ~KatanaController().

virtual void fawkes::KatanaController::move_motor_by	(	unsigned short	id,
		int	enc,
		bool	blocking = `false`
	)

pure virtual

Move single joint/motor by encoder value (i.e.

increase/decrease).

Parameters

id	id of the joint/motor.
enc	increase/decrease by encoder value.
blocking	Is this a blocking call?

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaMotorControlThread::once(), and ~KatanaController().

virtual void fawkes::KatanaController::move_motor_by	(	unsigned short	id,
		float	angle,
		bool	blocking = `false`
	)

pure virtual

Move single joint/motor by angle value (i.e.

increase/decrease).

Parameters

id	id of the joint/motor.
angle	increase/decrease by angle value.
blocking	Is this a blocking call?

Implemented in fawkes::KatanaControllerKni.

virtual void fawkes::KatanaController::move_motor_to	(	unsigned short	id,
		int	enc,
		bool	blocking = `false`
	)

pure virtual

Move single joint/motor to encoder value.

Parameters

id	id of the joint/motor.
enc	target encoder value.
blocking	Is this a blocking call?

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaMotorControlThread::once(), and ~KatanaController().

virtual void fawkes::KatanaController::move_motor_to	(	unsigned short	id,
		float	angle,
		bool	blocking = `false`
	)

pure virtual

Move single joint/motor to angle value.

Parameters

id	id of the joint/motor.
angle	target angle value.
blocking	Is this a blocking call?

Implemented in fawkes::KatanaControllerKni.

virtual void fawkes::KatanaController::move_to	(	float	x,
		float	y,
		float	z,
		float	phi,
		float	theta,
		float	psi,
		bool	blocking = `false`
	)

pure virtual

Move endeffctor to given coordinates.

Parameters

x	translation on x-axis.
y	translation on y-axis.
z	translation on z-axis.
phi	1st rotation of euler-ZXZ-rotation
theta	2nd rotation of euler-ZXZ-rotation
psi	3rd rotation of euler-ZXZ-rotation
blocking	Is this a blocking call?

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaGotoThread::once(), and ~KatanaController().

virtual void fawkes::KatanaController::move_to	(	std::vector< int >	encoders,
		bool	blocking = `false`
	)

pure virtual

Move joints to encoder values.

Parameters

encoders	vector containing encoder values for all joints.
blocking	Is this a blocking call?

Implemented in fawkes::KatanaControllerKni.

virtual void fawkes::KatanaController::move_to	(	std::vector< float >	angles,
		bool	blocking = `false`
	)

pure virtual

Move joints to angle values.

Parameters

angles	vector containing angle values for all joints.
blocking	Is this a blocking call?

Implemented in fawkes::KatanaControllerKni.

virtual double fawkes::KatanaController::phi ( )

pure virtual

Get x-coordinate of latest endeffector position.

Call 'read_coordinates()' to read latest position.

Returns: x-coordinate Get phi-rotation of latest endeffector orientation. Call 'read_coordinates()' to read latest orientation.; phi-rotation (1st rotation of euler-ZXZ-rotation)

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaActThread::once(), and ~KatanaController().

virtual double fawkes::KatanaController::psi ( )

pure virtual

Get psi-rotation of latest endeffector orientation.

Call 'read_coordinates()' to read latest orientation.

Returns: psi-rotation (3rd rotation of euler-ZXZ-rotation)

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaActThread::once(), and ~KatanaController().

virtual void fawkes::KatanaController::read_coordinates ( bool refresh = false )

pure virtual

Store current coordinates of endeeffctor.

Parameters

refresh fetch new joint data from device (update data in controller library). No need to set to 'true' if 'read_motor_data()' is being called regularly.

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaActThread::once(), and ~KatanaController().

virtual void fawkes::KatanaController::read_motor_data ( )

pure virtual

Read motor data of currently active joints from device into controller libray.

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaMotorControlThread::once(), KatanaGotoThread::once(), KatanaGripperThread::once(), and ~KatanaController().

virtual void fawkes::KatanaController::read_sensor_data ( )

pure virtual

Read all sensor data from device into controller libray.

Implemented in fawkes::KatanaControllerKni.

Referenced by KatanaSensorAcquisitionThread::loop(), KatanaMotorControlThread::once(), KatanaGotoThread::once(), KatanaGripperThread::once(), and ~KatanaController().