Class containing information about all manipulator motors. More...

#include <>>

Inheritance diagram for fawkes::OpenRaveManipulator:

Public Member Functions
	OpenRaveManipulator (unsigned int count, unsigned int count_device)
	Constructor. More...

virtual	~OpenRaveManipulator ()
	Destructor. More...

virtual void	add_motor (unsigned int number, unsigned int number_device)
	Adds a motor to the list(vector) of motors. More...

template<typename T_from , typename T_to >
void	angles_or_to_device (std::vector< T_from > &from, std::vector< T_to > &to) const
	Transform OpenRAVE motor angles to real device angles. More...

template<typename T >
void	get_angles (std::vector< T > &to) const
	Get motor angles of OpenRAVE model. More...

template<typename T >
void	get_angles_device (std::vector< T > &to) const
	Get motor angles of real device. More...

template<typename T >
void	set_angles (std::vector< T > &angles)
	Set motor angles of OpenRAVE model. More...

template<typename T >
void	set_angles_device (std::vector< T > &angles)
	Set motor angles of real device. More...

Protected Member Functions
virtual float	angle_OR_to_device (unsigned int number, float angle) const
	Transform single OpenRAVE motor angle to real device angle. More...

virtual float	angle_device_to_OR (unsigned int number, float angle) const
	Transform single device motor angle to OpenRAVE angle. More...

Protected Attributes
std::vector< motor_t >	__motors
	vector of motors More...

unsigned int	__cnt
	number of motors on OpenRAVE model More...

unsigned int	__cnt_device
	number of motors on real device More...

Detailed Description

Class containing information about all manipulator motors.

Author: Bahram Maleki-Fard

Definition at line 35 of file manipulator.h.

Constructor & Destructor Documentation

fawkes::OpenRaveManipulator::OpenRaveManipulator	(	unsigned int	count,
		unsigned int	count_device
	)

Constructor.

Parameters

count	number of motors of OpenRAVE model
count_device	number of motors of real device

Definition at line 41 of file manipulator.cpp.

fawkes::OpenRaveManipulator::~OpenRaveManipulator ( )

virtual

Destructor.

Definition at line 48 of file manipulator.cpp.

Member Function Documentation

void fawkes::OpenRaveManipulator::add_motor	(	unsigned int	number,
		unsigned int	number_device
	)

virtual

Adds a motor to the list(vector) of motors.

Parameters

number	motor number in OpenRAVE
number_device	motor number of real device

Definition at line 58 of file manipulator.cpp.

References __motors, fawkes::motor_t::angle, fawkes::motor_t::no, and fawkes::motor_t::no_device.

float fawkes::OpenRaveManipulator::angle_device_to_OR	(	unsigned int	number,
		float	angle
	)		const

protectedvirtual

Transform single device motor angle to OpenRAVE angle.

Parameters

number	motor number of real device
angle	motor angle of real device

Returns: transformed angle

Definition at line 95 of file manipulator.cpp.

Referenced by set_angles_device().

float fawkes::OpenRaveManipulator::angle_OR_to_device	(	unsigned int	number,
		float	angle
	)		const

protectedvirtual

Transform single OpenRAVE motor angle to real device angle.

Parameters

number	motor number of real device
angle	motor angle of OpenRAVE model

Returns: transformed angle

Definition at line 82 of file manipulator.cpp.

Referenced by angles_or_to_device().

template<typename T_from , typename T_to >

void fawkes::OpenRaveManipulator::angles_or_to_device	(	std::vector< T_from > &	from,
		std::vector< T_to > &	to
	)		const

Transform OpenRAVE motor angles to real device angles.

Parameters

from	motor angles of OpenRAVE model
to	motor angles of real device

Definition at line 94 of file manipulator.h.

References __cnt_device, __motors, and angle_OR_to_device().

Referenced by get_angles_device(), and fawkes::OpenRaveRobot::get_trajectory_device().

template<typename T >

void fawkes::OpenRaveManipulator::get_angles ( std::vector< T > & to ) const

Get motor angles of OpenRAVE model.

Parameters

to	target tvector of angles

Definition at line 67 of file manipulator.h.

References __cnt, and __motors.

Referenced by fawkes::OpenRaveRobot::calibrate(), get_angles_device(), fawkes::OpenRaveRobot::get_planner_params(), fawkes::OpenRaveEnvironment::run_planner(), and fawkes::OpenRaveRobot::update_model().

template<typename T >

void fawkes::OpenRaveManipulator::get_angles_device ( std::vector< T > & to ) const

Get motor angles of real device.

Parameters

to	target vector of angles

Definition at line 80 of file manipulator.h.

References angles_or_to_device(), and get_angles().

template<typename T >

void fawkes::OpenRaveManipulator::set_angles ( std::vector< T > & angles )

Set motor angles of OpenRAVE model.

Parameters

angles motor angles

Definition at line 110 of file manipulator.h.

References __motors.

Referenced by fawkes::OpenRaveRobot::release_all_objects(), fawkes::OpenRaveRobot::set_target_angles(), fawkes::OpenRaveRobot::set_target_ikparam(), and fawkes::OpenRaveRobot::update_manipulator().

template<typename T >

void fawkes::OpenRaveManipulator::set_angles_device ( std::vector< T > & angles )

Set motor angles of real device.

Parameters

angles motor angles

Definition at line 122 of file manipulator.h.

References __motors, and angle_device_to_OR().

Member Data Documentation

unsigned int fawkes::OpenRaveManipulator::__cnt

protected

number of motors on OpenRAVE model

Definition at line 56 of file manipulator.h.

Referenced by get_angles().

unsigned int fawkes::OpenRaveManipulator::__cnt_device

protected

number of motors on real device

Definition at line 57 of file manipulator.h.

Referenced by angles_or_to_device().

std::vector<motor_t> fawkes::OpenRaveManipulator::__motors

protected

vector of motors

Definition at line 55 of file manipulator.h.

Referenced by add_motor(), angles_or_to_device(), get_angles(), set_angles(), and set_angles_device().

The documentation for this class was generated from the following files:

src/plugins/openrave/manipulator.h
src/plugins/openrave/manipulator.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation