Fawkes API  Fawkes Development Version
arm_dummy.h
1 
2 /***************************************************************************
3  * arm_dummy.h - Class for a Kinova Jaco arm, simulating a dummy arm
4  *
5  * Created: Mon Aug 04 19:58:22 2014
6  * Copyright 2014 Bahram Maleki-Fard
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef _PLUGINS_JACO_ARM_DUMMY_H_
24 #define _PLUGINS_JACO_ARM_DUMMY_H_
25 
26 #include "arm.h"
27 #include "types.h"
28 
29 namespace fawkes {
30 
31 //class RefPtr;
32 
33 class JacoArmDummy : public JacoArm
34 {
35 public:
36  JacoArmDummy(const char *name);
37  virtual ~JacoArmDummy();
38 
39  virtual void initialize();
40 
41  virtual bool final();
42  virtual bool initialized();
43 
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;
47 
48  virtual void stop();
49  virtual void push_joystick(unsigned int button);
50  virtual void release_joystick();
51 
52  virtual void goto_trajec(std::vector<std::vector<float>> *trajec, std::vector<float> &fingers);
53  virtual void
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);
56  virtual void goto_ready();
57  virtual void goto_retract();
58 
59 private:
60  std::vector<float> coords_;
61  std::vector<float> joints_;
62  std::vector<float> fingers_;
63 
64  std::vector<float> pos_ready_;
65  std::vector<float> pos_retract_;
66 };
67 
68 } // end of namespace fawkes
69 
70 #endif
fawkes::JacoArmDummy::push_joystick
virtual void push_joystick(unsigned int button)
Simulate a push of a button on the joystick of the Kinova Jaco arm.
Definition: arm_dummy.cpp:127
fawkes::JacoArmDummy::get_fingers
virtual void get_fingers(std::vector< float > &to) const
Get the position values of the fingers.
Definition: arm_dummy.cpp:116
fawkes::JacoArmDummy::stop
virtual void stop()
Stop the current movement.
Definition: arm_dummy.cpp:122
fawkes::JacoArmDummy::get_joints
virtual void get_joints(std::vector< float > &to) const
Get the joint angles of the arm.
Definition: arm_dummy.cpp:110
fawkes::JacoArmDummy::goto_coords
virtual void goto_coords(std::vector< float > &coords, std::vector< float > &fingers)
Move the arm to given configuration.
Definition: arm_dummy.cpp:180
fawkes::JacoArmDummy
Class for simulating a dummy Kinova Jaco Arm.
Definition: arm_dummy.h:34
fawkes::JacoArmDummy::initialize
virtual void initialize()
Initialize the arm.
Definition: arm_dummy.cpp:86
fawkes
Fawkes library namespace.
fawkes::JacoArmDummy::~JacoArmDummy
virtual ~JacoArmDummy()
Destructor.
Definition: arm_dummy.cpp:81
fawkes::JacoArmDummy::release_joystick
virtual void release_joystick()
Simulate releasing the joystick of the Kinova Jaco arm.
Definition: arm_dummy.cpp:132
fawkes::JacoArmDummy::goto_trajec
virtual void goto_trajec(std::vector< std::vector< float >> *trajec, std::vector< float > &fingers)
Move the arm along the given trajectory.
Definition: arm_dummy.cpp:144
fawkes::JacoArmDummy::goto_ready
virtual void goto_ready()
Move the arm to READY position.
Definition: arm_dummy.cpp:187
fawkes::JacoArmDummy::initialized
virtual bool initialized()
Check if arm is initialized.
Definition: arm_dummy.cpp:98
fawkes::JacoArmDummy::goto_retract
virtual void goto_retract()
Move the arm to RETRACT position.
Definition: arm_dummy.cpp:193
fawkes::JacoArmDummy::JacoArmDummy
JacoArmDummy(const char *name)
Constructor.
Definition: arm_dummy.cpp:55
fawkes::JacoArmDummy::get_coords
virtual void get_coords(std::vector< float > &to)
Get the cartesian coordinates of the arm.
Definition: arm_dummy.cpp:104
fawkes::JacoArm
Abstract class for a Kinova Jaco Arm that we want to control.
Definition: arm.h:36
fawkes::JacoArmDummy::goto_joints
virtual void goto_joints(std::vector< float > &joints, std::vector< float > &fingers, bool followup=false)
Move the arm to given configuration.
Definition: arm_dummy.cpp:163