grl::robot::arm::kuka::detail Namespace Reference

Functions
template<typename T , typename OutputIterator >
void	copyCartesianState (T values, OutputIterator it, bool dataAvailable=true)
template<typename T , typename OutputIterator >
void	copyJointState (T values, OutputIterator it, bool dataAvailable=true)
template<typename T >
boost::iterator_range< T >	get (T &values, bool dataAvailable=true)

Function Documentation

copyCartesianState()

template<typename T , typename OutputIterator >

void grl::robot::arm::kuka::detail::copyCartesianState	(	T	values,
		OutputIterator	it,
		bool	dataAvailable = true
	)

copies double data from a _CartesianVector to an Output iterator which is assumed to contain doubles as well, for example std::back_inserter(std::vector<double>) The wrench vector consists of: [F_x, F_y, F_z, tau_A, tau_B, tau_C]

F ... forces (in N) applied along the Cartesian axes of the currently used motion center. tau ... torques (in Nm) applied along the orientation angles (Euler angles A, B, C) of the currently used motion center. template<typename T, typename OutputIterator>

Definition at line 62 of file KukaFRIalgorithm.hpp.

copyJointState()

template<typename T , typename OutputIterator >

void grl::robot::arm::kuka::detail::copyJointState	(	T	values,
		OutputIterator	it,
		bool	dataAvailable = true
	)

Todo:

replace with joint_iterator<tRepeatedDoubleArguments,T>()

Definition at line 44 of file KukaFRIalgorithm.hpp.

get()

template<typename T >

boost::iterator_range<T> grl::robot::arm::kuka::detail::get	(	T &	values,
		bool	dataAvailable = true
	)

Todo:

handle dataAvaliable = false case

support tRepeatedIntArguments, and perhaps const versions

Definition at line 70 of file KukaFRIalgorithm.hpp.