hebi::arm::Arm Class Reference

#include <arm.hpp>

Classes
struct	Params

Public Member Functions
bool	addPlugin (std::unique_ptr< plugin::Plugin > plugin)
template<class T >
std::weak_ptr< plugin::Plugin >	getPluginByType ()
std::weak_ptr< plugin::Plugin >	getPluginByName (const std::string &name)
bool	loadGains (const std::string &gains_file)
void	setEndEffector (std::shared_ptr< arm::EndEffectorBase > ee)
size_t	size () const
const Group &	group () const
Group &	group ()
const robot_model::RobotModel &	robotModel () const
robot_model::RobotModel &	robotModel ()
const trajectory::Trajectory *	trajectory () const
const EndEffectorBase *	endEffector () const
EndEffectorBase *	endEffector ()
const GroupCommand &	pendingCommand () const
GroupCommand &	pendingCommand ()
const GroupFeedback &	lastFeedback () const
bool	update ()
bool	send ()
void	setGoal (const Goal &goal)
void	currentState (Eigen::VectorXd &positions, Eigen::VectorXd &velocities, Eigen::VectorXd &accelerations) const
template<typename T >
void	setAuxState (const T &aux_state)
double	goalProgress () const
bool	atGoal () const
void	cancelGoal ()
void	setJointLimits (const Eigen::VectorXd &min_positions, const Eigen::VectorXd &max_positions)
void	clearJointLimits ()
Eigen::Vector3d	FK (const Eigen::VectorXd &positions) const
void	FK (const Eigen::VectorXd &positions, Eigen::Vector3d &xyz_out, Eigen::Vector3d &tip_axis) const
void	FK (const Eigen::VectorXd &positions, Eigen::Vector3d &xyz_out, Eigen::Matrix3d &orientation) const
Eigen::VectorXd	solveIK (const Eigen::VectorXd &initial_positions, const Eigen::Vector3d &target_xyz) const
Eigen::VectorXd	solveIK (const Eigen::VectorXd &initial_positions, const Eigen::Vector3d &target_xyz, const Eigen::Vector3d &end_tip) const
Eigen::VectorXd	solveIK (const Eigen::VectorXd &initial_positions, const Eigen::Vector3d &target_xyz, const Eigen::Matrix3d &orientation) const

Static Public Member Functions
static std::unique_ptr< Arm >	create (const RobotConfig &config)
static std::unique_ptr< Arm >	create (const RobotConfig &config, const Lookup &lookup)
static std::unique_ptr< Arm >	create (const Params &params)
static std::unique_ptr< Arm >	create (const Params &config, const Lookup &lookup)

Member Function Documentation

create() [1/4]

std::unique_ptr< Arm > hebi::arm::Arm::create ( const RobotConfig &  config )

static

create() [2/4]

std::unique_ptr< Arm > hebi::arm::Arm::create ( const RobotConfig &  config, const Lookup &  lookup  )

static

create() [3/4]

std::unique_ptr< Arm > hebi::arm::Arm::create ( const Params &  params )

static

create() [4/4]

std::unique_ptr< Arm > hebi::arm::Arm::create ( const Params &  config, const Lookup &  lookup  )

static

addPlugin()

bool hebi::arm::Arm::addPlugin

(

std::unique_ptr< plugin::Plugin >

plugin

)

getPluginByType()

template<class T >

std::weak_ptr<plugin::Plugin> hebi::arm::Arm::getPluginByType ( )

inline

getPluginByName()

std::weak_ptr< plugin::Plugin > hebi::arm::Arm::getPluginByName

(

const std::string &

name

)

loadGains()

bool hebi::arm::Arm::loadGains

(

const std::string &

gains_file

)

setEndEffector()

void hebi::arm::Arm::setEndEffector

(

std::shared_ptr< arm::EndEffectorBase >

ee

)

size()

size_t hebi::arm::Arm::size ( ) const

inline

group() [1/2]

const Group& hebi::arm::Arm::group ( ) const

inline

group() [2/2]

Group& hebi::arm::Arm::group ( )

inline

robotModel() [1/2]

const robot_model::RobotModel& hebi::arm::Arm::robotModel ( ) const

inline

robotModel() [2/2]

robot_model::RobotModel& hebi::arm::Arm::robotModel ( )

inline

trajectory()

const trajectory::Trajectory* hebi::arm::Arm::trajectory ( ) const

inline

endEffector() [1/2]

const EndEffectorBase* hebi::arm::Arm::endEffector ( ) const

inline

endEffector() [2/2]

EndEffectorBase* hebi::arm::Arm::endEffector ( )

inline

pendingCommand() [1/2]

const GroupCommand& hebi::arm::Arm::pendingCommand ( ) const

inline

pendingCommand() [2/2]

GroupCommand& hebi::arm::Arm::pendingCommand ( )

inline

lastFeedback()

const GroupFeedback& hebi::arm::Arm::lastFeedback ( ) const

inline

update()

bool hebi::arm::Arm::update

(

)

send()

bool hebi::arm::Arm::send

(

)

setGoal()

void hebi::arm::Arm::setGoal

(

const Goal &

goal

)

currentState()

void hebi::arm::Arm::currentState	(	Eigen::VectorXd &	positions,
		Eigen::VectorXd &	velocities,
		Eigen::VectorXd &	accelerations
	)		const

setAuxState()

template<typename T >

void hebi::arm::Arm::setAuxState ( const T &  aux_state )

inline

goalProgress()

double hebi::arm::Arm::goalProgress

(

)

const

atGoal()

bool hebi::arm::Arm::atGoal ( ) const

inline

cancelGoal()

void hebi::arm::Arm::cancelGoal

(

)

setJointLimits()

void hebi::arm::Arm::setJointLimits ( const Eigen::VectorXd &  min_positions, const Eigen::VectorXd &  max_positions  )

inline

clearJointLimits()

void hebi::arm::Arm::clearJointLimits ( )

inline

FK() [1/3]

Eigen::Vector3d hebi::arm::Arm::FK ( const Eigen::VectorXd &  positions ) const

inline

FK() [2/3]

void hebi::arm::Arm::FK ( const Eigen::VectorXd &  positions, Eigen::Vector3d &  xyz_out, Eigen::Vector3d &  tip_axis  ) const

inline

FK() [3/3]

void hebi::arm::Arm::FK ( const Eigen::VectorXd &  positions, Eigen::Vector3d &  xyz_out, Eigen::Matrix3d &  orientation  ) const

inline

solveIK() [1/3]

Eigen::VectorXd hebi::arm::Arm::solveIK ( const Eigen::VectorXd &  initial_positions, const Eigen::Vector3d &  target_xyz  ) const

inline

solveIK() [2/3]

Eigen::VectorXd hebi::arm::Arm::solveIK ( const Eigen::VectorXd &  initial_positions, const Eigen::Vector3d &  target_xyz, const Eigen::Vector3d &  end_tip  ) const

inline

solveIK() [3/3]

Eigen::VectorXd hebi::arm::Arm::solveIK ( const Eigen::VectorXd &  initial_positions, const Eigen::Vector3d &  target_xyz, const Eigen::Matrix3d &  orientation  ) const

inline

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

• arm.hpp
• arm.cpp