Fawkes API  Fawkes Development Version
arm_kindrv.h
1 
2 /***************************************************************************
3  * arm_kindrv.h - Class for a Kinova Jaco arm, using libkindrv
4  *
5  * Created: Tue Jul 29 14:58:32 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_KINDRV_H_
24 #define _PLUGINS_JACO_ARM_KINDRV_H_
25 
26 #include "arm.h"
27 #include "types.h"
28 
29 #include <memory>
30 
31 namespace KinDrv {
32 class JacoArm;
33 }
34 
35 namespace fawkes {
36 
37 //class RefPtr;
38 
39 class JacoArmKindrv : public JacoArm
40 {
41 public:
42  JacoArmKindrv(const char *name = NULL);
43  virtual ~JacoArmKindrv();
44 
45  virtual void initialize();
46 
47  virtual bool final();
48  virtual bool initialized();
49 
50  virtual void get_joints(std::vector<float> &to) const;
51  virtual void get_coords(std::vector<float> &to);
52  virtual void get_fingers(std::vector<float> &to) const;
53 
54  virtual void stop();
55  virtual void push_joystick(unsigned int button);
56  virtual void release_joystick();
57 
58  virtual void goto_trajec(std::vector<std::vector<float>> *trajec, std::vector<float> &fingers);
59  virtual void
60  goto_joints(std::vector<float> &joints, std::vector<float> &fingers, bool followup = false);
61  virtual void goto_coords(std::vector<float> &coords, std::vector<float> &fingers);
62  virtual void goto_ready();
63  virtual void goto_retract();
64 
65 private:
66  std::unique_ptr<KinDrv::JacoArm> arm_;
67 
68  fawkes::jaco_target_type_t target_type_;
69  bool final_;
70 
71  bool ctrl_ang_;
72 };
73 
74 } // end of namespace fawkes
75 
76 #endif
virtual ~JacoArmKindrv()
Destructor.
Definition: arm_kindrv.cpp:85
virtual void get_fingers(std::vector< float > &to) const
Get the position values of the fingers.
Definition: arm_kindrv.cpp:185
virtual void goto_ready()
Move the arm to READY position.
Definition: arm_kindrv.cpp:285
virtual void stop()
Stop the current movement.
Definition: arm_kindrv.cpp:196
Fawkes library namespace.
virtual void push_joystick(unsigned int button)
Simulate a push of a button on the joystick of the Kinova Jaco arm.
Definition: arm_kindrv.cpp:203
virtual void goto_coords(std::vector< float > &coords, std::vector< float > &fingers)
Move the arm to given configuration.
Definition: arm_kindrv.cpp:263
virtual bool initialized()
Check if arm is initialized.
Definition: arm_kindrv.cpp:141
virtual void initialize()
Initialize the arm.
Definition: arm_kindrv.cpp:90
enum fawkes::jaco_target_type_enum jaco_target_type_t
The type of a target.
virtual void get_coords(std::vector< float > &to)
Get the cartesian coordinates of the arm.
Definition: arm_kindrv.cpp:152
virtual void goto_joints(std::vector< float > &joints, std::vector< float > &fingers, bool followup=false)
Move the arm to given configuration.
Definition: arm_kindrv.cpp:239
virtual void goto_trajec(std::vector< std::vector< float >> *trajec, std::vector< float > &fingers)
Move the arm along the given trajectory.
Definition: arm_kindrv.cpp:219
Class for commanding a Kinova Jaco Arm, using libkindrv.
Definition: arm_kindrv.h:39
virtual void release_joystick()
Simulate releasing the joystick of the Kinova Jaco arm.
Definition: arm_kindrv.cpp:211
JacoArmKindrv(const char *name=NULL)
Constructor.
Definition: arm_kindrv.cpp:43
Abstract class for a Kinova Jaco Arm that we want to control.
Definition: arm.h:35
virtual void get_joints(std::vector< float > &to) const
Get the joint angles of the arm.
Definition: arm_kindrv.cpp:171
virtual void goto_retract()
Move the arm to RETRACT position.
Definition: arm_kindrv.cpp:322