23#include "kinova_jaco.h"
25#include "../manipulator.h"
27#include <utils/math/angle.h>
45 unsigned int countDevice)
66OpenRaveManipulatorKinovaJaco::angle_OR_to_device(
unsigned int number,
float angle)
const
71 case 0: _angle =
rad2deg(1.5 * M_PI + angle);
break;
72 case 1: _angle =
rad2deg(M_PI + angle);
break;
73 case 2: _angle =
rad2deg(M_PI + angle);
break;
74 case 3: _angle =
rad2deg(angle);
break;
75 case 4: _angle =
rad2deg(angle);
break;
76 case 5: _angle =
rad2deg(M_PI + angle);
break;
78 default: _angle =
rad2deg(angle);
break;
85OpenRaveManipulatorKinovaJaco::angle_device_to_OR(
unsigned int number,
float angle)
const
90 case 0: _angle =
deg2rad(angle) - 1.5 * M_PI;
break;
91 case 1: _angle =
deg2rad(angle) - M_PI;
break;
92 case 2: _angle =
deg2rad(angle) - M_PI;
break;
93 case 3: _angle =
deg2rad(angle);
break;
94 case 4: _angle =
deg2rad(angle);
break;
95 case 5: _angle =
deg2rad(angle) - M_PI;
break;
96 default: _angle =
deg2rad(angle);
break;
virtual ~OpenRaveManipulatorKinovaJaco()
Destructor.
virtual OpenRaveManipulatorPtr copy()
Create a new copy of this OpenRaveManipulator instance.
OpenRaveManipulatorKinovaJaco(unsigned int count, unsigned int countDevice)
Constructor.
Class containing information about all manipulator motors.
Fawkes library namespace.
float deg2rad(float deg)
Convert an angle given in degrees to radians.
float rad2deg(float rad)
Convert an angle given in radians to degrees.