grl::vrep::VrepRobotArmDriver Class Reference

C++ interface for any open chain V-REP robot arm. More...

#include <VrepRobotArmDriver.hpp>

Inheritance diagram for grl::vrep::VrepRobotArmDriver:

Collaboration diagram for grl::vrep::VrepRobotArmDriver:

Classes
struct	JointStateTag

Public Types
typedef std::vector< float >	JointScalar
enum	JointStateIndex {   JointPosition, JointForce, JointTargetPosition, JointLowerPositionLimit,   JointUpperPositionLimit, JointMatrix, JointStateTagIndex, ExternalTorque }
enum	ParamIndex {   JointNames, RobotFlangeTipName, RobotTipName, RobotTargetName,   RobotTargetBaseName, RobotIkGroup }
typedef std::tuple< std::vector< std::string >, std::string, std::string, std::string, std::string, std::string >	Params
typedef std::tuple< JointScalar, JointScalar, JointScalar, JointScalar, JointScalar, TransformationMatrices, JointStateTag, JointScalar >	State
typedef std::vector< TransformationMatrix >	TransformationMatrices
typedef std::array< float, 12 >	TransformationMatrix
typedef std::tuple< std::vector< int >, int, int, int, int, int >	VrepHandleParams

Public Member Functions
void	construct ()
const std::vector< int > &	getJointHandles ()
const std::vector< std::string > &	getJointNames ()
const std::vector< int > &	getLinkHandles ()
const std::vector< std::string > &	getLinkNames ()
const std::vector< int > &	getLinkRespondableHandles ()
const std::vector< std::string > &	getLinkRespondableNames ()
const Params &	getParams ()
bool	getState (State &state)
const VrepHandleParams &	getVrepHandleParams ()
bool	setState (State &state)
	VrepRobotArmDriver (Params params=defaultParams())

Static Public Member Functions
static const Params	defaultParams ()
static const Params	measuredArmParams ()

Detailed Description

C++ interface for any open chain V-REP robot arm.

VrepRobotArmDriver makes it easy to specify and interact with the joints in a V-REP defined robot arm in a consistent manner.

Todo:

add support for links, particularly the respondable aspects, see LBR_iiwa_14_R820_joint1_resp in RoboneSimulation.ttt

write generic getters and setters for this object like in KukaFRIalgorithm.hpp and the member functions of KukaFRIdriver, KukaJAVAdriver

Definition at line 73 of file VrepRobotArmDriver.hpp.

Member Typedef Documentation

JointScalar

typedef std::vector<float> grl::vrep::VrepRobotArmDriver::JointScalar

Definition at line 164 of file VrepRobotArmDriver.hpp.

Params

typedef std::tuple< std::vector<std::string>, std::string, std::string, std::string, std::string, std::string > grl::vrep::VrepRobotArmDriver::Params

Definition at line 92 of file VrepRobotArmDriver.hpp.

State

typedef std::tuple< JointScalar, JointScalar, JointScalar, JointScalar, JointScalar, TransformationMatrices, JointStateTag, JointScalar > grl::vrep::VrepRobotArmDriver::State

Definition at line 180 of file VrepRobotArmDriver.hpp.

TransformationMatrices

typedef std::vector<TransformationMatrix> grl::vrep::VrepRobotArmDriver::TransformationMatrices

Definition at line 168 of file VrepRobotArmDriver.hpp.

TransformationMatrix

typedef std::array<float,12> grl::vrep::VrepRobotArmDriver::TransformationMatrix

See also

http://www.coppeliarobotics.com/helpFiles/en/apiFunctions.htm#simGetJointMatrix for data layout information

Definition at line 167 of file VrepRobotArmDriver.hpp.

VrepHandleParams

typedef std::tuple< std::vector<int>, int, int, int, int, int > grl::vrep::VrepRobotArmDriver::VrepHandleParams

Definition at line 101 of file VrepRobotArmDriver.hpp.

Member Enumeration Documentation

JointStateIndex

enum grl::vrep::VrepRobotArmDriver::JointStateIndex

Enumerator
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
ExternalTorque

Definition at line 152 of file VrepRobotArmDriver.hpp.

ParamIndex

enum grl::vrep::VrepRobotArmDriver::ParamIndex

Enumerator
JointNames
RobotFlangeTipName
RobotTipName
RobotTargetName
RobotTargetBaseName
RobotIkGroup

Definition at line 76 of file VrepRobotArmDriver.hpp.

Constructor & Destructor Documentation

VrepRobotArmDriver()

grl::vrep::VrepRobotArmDriver::VrepRobotArmDriver ( Params  params = defaultParams() )

inline

Definition at line 183 of file VrepRobotArmDriver.hpp.

Member Function Documentation

construct()

void grl::vrep::VrepRobotArmDriver::construct ( )

inline

Todo:

create a function that calls simGetObjectHandle and throws an exception when it fails

Warning

getting the ik group is optional, so it does not throw an exception

Todo:

TODO(ahundt) move these functions/member variables into params_ object, take as parameters from lua!

Definition at line 190 of file VrepRobotArmDriver.hpp.

defaultParams()

static const Params grl::vrep::VrepRobotArmDriver::defaultParams ( )

inlinestatic

Definition at line 103 of file VrepRobotArmDriver.hpp.

getJointHandles()

const std::vector<int>& grl::vrep::VrepRobotArmDriver::getJointHandles ( )

inline

Todo:

deal with !allHandlesSet()

Definition at line 339 of file VrepRobotArmDriver.hpp.

getJointNames()

const std::vector<std::string>& grl::vrep::VrepRobotArmDriver::getJointNames ( )

inline

Definition at line 344 of file VrepRobotArmDriver.hpp.

getLinkHandles()

const std::vector<int>& grl::vrep::VrepRobotArmDriver::getLinkHandles ( )

inline

Todo:

deal with !allHandlesSet()

Definition at line 351 of file VrepRobotArmDriver.hpp.

getLinkNames()

const std::vector<std::string>& grl::vrep::VrepRobotArmDriver::getLinkNames ( )

inline

Definition at line 356 of file VrepRobotArmDriver.hpp.

getLinkRespondableHandles()

const std::vector<int>& grl::vrep::VrepRobotArmDriver::getLinkRespondableHandles ( )

inline

Todo:

deal with !allHandlesSet()

Definition at line 363 of file VrepRobotArmDriver.hpp.

getLinkRespondableNames()

const std::vector<std::string>& grl::vrep::VrepRobotArmDriver::getLinkRespondableNames ( )

inline

Definition at line 368 of file VrepRobotArmDriver.hpp.

getParams()

const Params& grl::vrep::VrepRobotArmDriver::getParams ( )

inline

Definition at line 375 of file VrepRobotArmDriver.hpp.

getState()

bool grl::vrep::VrepRobotArmDriver::getState ( State &  state )

inline

Returns

0 if ok 1 if problem

Todo:

handle cyclic joints (see isCyclic below & simGetJointInterval)

Todo:

TODO(ahundt) is always setting infinity if it is cyclic the right thing to do?

Definition at line 217 of file VrepRobotArmDriver.hpp.

getVrepHandleParams()

const VrepHandleParams& grl::vrep::VrepRobotArmDriver::getVrepHandleParams ( )

inline

Definition at line 379 of file VrepRobotArmDriver.hpp.

measuredArmParams()

static const Params grl::vrep::VrepRobotArmDriver::measuredArmParams ( )

inlinestatic

Definition at line 125 of file VrepRobotArmDriver.hpp.

setState()

bool grl::vrep::VrepRobotArmDriver::setState ( State &  state )

inline

Definition at line 285 of file VrepRobotArmDriver.hpp.

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

• VrepRobotArmDriver.hpp