#include <robot.h>

Inheritance diagram for arl::bhand::Robot:

Collaboration diagram for arl::bhand::Robot:

Public Member Functions
	Robot (std::shared_ptr< robot::Model > m)

	~Robot ()

void	getJointPosition (KDL::JntArray &output, const int chain_index=-1)
	Reads the current joint positions to the robot using KDL. More...

void	getJointPosition (arma::vec &output, const int chain_index=-1)
	Reads the current joint positions from the robot using Armadillo. More...

void	getJointPosition (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current joint positions from the robot using Eigen. More...

template<typename T >
void	getJointPositionTemplate (T &output, const int chain_index=-1)

void	getJointTorque (KDL::JntArray &output, const int chain_index=-1)
	Reads the current joint torques from the robot using KDL. More...

void	getJointTorque (arma::vec &output, const int chain_index=-1)
	Reads the current joint torques from the robot using Armadillo. More...

void	getJointTorque (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current joint torques from the robot using Eigen. More...

template<typename T >
void	getJointTorqueTemplate (T &output, const int chain_index=-1)

void	setJointPosition (const KDL::JntArray &input, const int chain_index=-1)
	Sends joint positions to the robot using KDL. More...

void	setJointPosition (const arma::vec &input, const int chain_index=-1)
	Sends joint positions to the robot using Armadillo. More...

void	setJointPosition (const Eigen::VectorXd &input, const int chain_index=-1)
	Sends joint positions to the robot using Eigen. More...

template<typename T >
void	setJointPositionTemplate (const T &input, const int chain_index=0)
	Called by the RobotSim::setJointPosition() functions. Just writes the input to an internal state variable. More...

void	setJointVelocity (const KDL::JntArray &input, const int chain_index=-1)
	Sends joint velocities to the robot using KDL. More...

void	setJointVelocity (const arma::vec &input, const int chain_index=-1)
	Sends joint velocities to the robot using Armadillo. More...

void	setJointVelocity (const Eigen::VectorXd &input, const int chain_index=-1)
	Sends joint velocities to the robot using Eigen. More...

template<typename T >
void	setJointVelocityTemplate (const T &input, const int chain_index=-1)
	Called by the RobotSim::setJointVelocity() functions. Just writes the input to an internal state variable. More...

void	getTaskPosition (KDL::Vector &output, const unsigned int chain_index=0)
	Reads the current Cartesian Position from the robot using KDL. More...

void	getTaskPosition (arma::vec &output, const unsigned int chain_index=0)
	Reads the current Cartesian position from the robot using Armadillo. More...

void	getTaskPosition (Eigen::Vector3d &output, const unsigned int chain_index=0)
	Reads the current joint positions from the robot using Eigen. More...

template<typename T >
void	getTaskPositionTemplate (T &output, const unsigned int chain_index=0)

void	getTaskOrientation (arma::mat &output, const unsigned int chain_index=0)
	Reads the current Cartesian orientation (Rotation matrix) from the robot using Armadillo. More...

void	getTaskOrientation (Eigen::Matrix3d &output, const unsigned int chain_index=0)
	Reads the current Cartesian orientation (Rotation matrix) from the robot using Eigen. More...

template<typename T >
void	getTaskOrientationTemplate (T &output, const unsigned int chain_index=0)

void	getTaskPose (arma::mat &output, const unsigned int chain_index=0)
	Reads the current Cartesian pose from the robot using Armadillo. More...

void	getTaskPose (Eigen::Matrix3d &output, const unsigned int chain_index=0)

template<typename T >
void	getTaskPoseTemplate (T &output, const unsigned int chain_index=0)

void	waitNextCycle ()
	Function that blocks the control loop before the next control cycle starts. More...

void	setMode (arl::robot::Mode mode)
	Sets the mode of the robot. More...

bool	isOk ()
	Returns if the robot hardware is ok and operable. Should be implemented according to the robot in use. More...

Public Member Functions inherited from arl::robot::Robot
	Robot ()
	Empty constructor. More...

	Robot (std::shared_ptr< Model > m, const std::string &name="Unnamed")
	Default constructor. More...

virtual void	setJointTrajectory (const KDL::JntArray &input, double duration, const int chain_index=-1)
	Sends joint trajectories to the robot using KDL. More...

virtual void	setJointTrajectory (const arma::vec &input, double duration, const int chain_index=-1)
	Sends joint trajectories to the robot using Armadillo. More...

virtual void	setJointTrajectory (const Eigen::VectorXd &input, double duration, const int chain_index=-1)
	Sends joint trajectories to the robot using Eigen. More...

virtual void	setJointTorque (const KDL::JntArray &input, const int chain_index=-1)
	Sends joint velocities to the robot using KDL. More...

virtual void	setJointTorque (const arma::vec &input, const int chain_index=-1)
	Sends joint torques to the robot using Armadillo. More...

virtual void	setJointTorque (const Eigen::VectorXd &input, const int chain_index=-1)
	Sends joint torques to the robot using Eigen. More...

virtual void	setTaskPose (const KDL::Frame &input, const unsigned int chain_index=0)
	Sends joint torques to the robot using KDL. More...

virtual void	setTaskPose (const arma::mat &input, const unsigned int chain_index=0)
	Sends Cartesian pose to the robot using Armadillo. More...

virtual void	setTaskPose (const Eigen::MatrixXd &input, const unsigned int chain_index=0)
	Sends Cartesian pose to the robot using Eigen. More...

virtual void	setCartStiffness (const KDL::Wrench &input, const unsigned int chain_index=0)
	Sends the cartesian stiffness for robots which provide Cartesian Impedance controller. More...

virtual void	setCartStiffness (const arma::vec &input, const unsigned int chain_index=0)
	Sends the cartesian stiffness for robots which provide Cartesian Impedance controller. More...

virtual void	setCartStiffness (const Eigen::VectorXd &input, const unsigned int chain_index=0)
	Sends the cartesian stiffness for robots which provide Cartesian Impedance controller. More...

virtual void	setCartDamping (const KDL::Wrench &input, const unsigned int chain_index=0)
	Sends the cartesian damping for robots which provide Cartesian Impedance controller. More...

virtual void	setCartDamping (const arma::vec &input, const unsigned int chain_index=0)
	Sends the cartesian damping for robots which provide Cartesian Impedance controller. More...

virtual void	setCartDamping (const Eigen::VectorXd &input, const unsigned int chain_index=0)
	Sends the cartesian damping for robots which provide Cartesian Impedance controller. More...

virtual void	setTwist (const KDL::Twist &input, const unsigned int chain_index=0)

virtual void	setTwist (const arma::vec &input, const unsigned int chain_index=0)
	Sends Cartesian velocity to the robot using Armadillo. More...

virtual void	setTwist (const Eigen::VectorXd &input, const unsigned int chain_index=0)
	Sends Cartesian velocity to the robot using Eigen. More...

virtual void	setWrench (const KDL::Wrench &input, const unsigned int chain_index=0)
	Sends Cartesian velocity to the robot using KDL. More...

virtual void	setWrench (const arma::vec &input, const unsigned int chain_index=0)
	Sends Cartesian force/torque to the robot using Armadillo. More...

virtual void	setWrench (const Eigen::VectorXd &input, const unsigned int chain_index=0)
	Sends Cartesian force/torque to the robot using Eigen. More...

virtual void	getJointVelocity (KDL::JntArray &output, const int chain_index=-1)
	Reads the current joint velocities from the robot using KDL. More...

virtual void	getJointVelocity (arma::vec &output, const int chain_index=-1)
	Reads the current joint velocities from the robot using Armadillo. More...

virtual void	getJointVelocity (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current joint velocities from the robot using Eigen. More...

virtual void	getJointExternalTorque (KDL::JntArray &output, const int chain_index=-1)
	Reads the current external joint torques from the robot using KDL. More...

virtual void	getJointExternalTorque (arma::vec &output, const int chain_index=-1)
	Reads the current external joint torques from the robot using Armadillo. More...

virtual void	getJointExternalTorque (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current external joint torques from the robot using Eigen. More...

virtual void	getJointStiffness (KDL::JntArray &output, const int chain_index=-1)
	Reads the current joint stiffness from the robot using KDL. More...

virtual void	getJointStiffness (arma::vec &output, const int chain_index=-1)
	Reads the current joint stiffness from the robot using Armadillo. More...

virtual void	getJointStiffness (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current joint stiffness from the robot using Eigen. More...

virtual void	getJointDamping (KDL::JntArray &output, const int chain_index=-1)
	Reads the current joint damping from the robot using KDL. More...

virtual void	getJointDamping (arma::vec &output, const int chain_index=-1)
	Reads the current joint damping from the robot using Armadillo. More...

virtual void	getJointDamping (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current joint damping from the robot using Eigen. More...

virtual void	getTaskPose (KDL::Frame &output, const unsigned int chain_index=0)
	Reads the current Cartesian pose from the robot using KDL. More...

virtual void	getTaskPose (Eigen::MatrixXd &output, const unsigned int chain_index=0)
	Reads the current Cartesian pose from the robot using Eigen. More...

virtual void	getTaskOrientation (KDL::Rotation &output, const unsigned int chain_index=0)
	Reads the current Cartesian orientation (Rotation matrix) from the robot using KDL. More...

virtual void	getTwist (KDL::Twist &output, const unsigned int chain_index=0)
	Reads the current Cartesian velocity from the robot using KDL. More...

virtual void	getTwist (arma::vec &output, const unsigned int chain_index=0)
	Reads the current Cartesian velocity from the robot using Armadillo. More...

virtual void	getTwist (Eigen::VectorXd &output, const unsigned int chain_index=0)
	Reads the current Cartesian velocity from the robot using Eigen. More...

virtual void	getWrench (KDL::Wrench &output, const unsigned int chain_index=0)
	Reads the current Cartesian force/torque from the robot using KDL. More...

virtual void	getWrench (arma::vec &output, const unsigned int chain_index=0)
	Reads the current Cartesian force/torque from the robot using Armadillo. More...

virtual void	getWrench (Eigen::VectorXd &output, const unsigned int chain_index=0)
	Reads the current Cartesian force/torque from the robot using Eigen. More...

virtual void	getExternalWrench (KDL::Wrench &output, const unsigned int chain_index=0)
	Reads the current external Cartesian force/torque from the robot using KDL. More...

virtual void	getExternalWrench (arma::vec &output, const unsigned int chain_index=0)
	Reads the current external Cartesian force/torque from the robot using Armadillo. More...

virtual void	getExternalWrench (Eigen::VectorXd &output, const unsigned int chain_index=0)
	Reads the current external Cartesian force/torque from the robot using Eigen. More...

virtual void	getTaskStiffness (KDL::JntArray &output, const unsigned int chain_index=0)
	Reads the current Cartesian stiffness from the robot using KDL. More...

virtual void	getTaskStiffness (arma::vec &output, const unsigned int chain_index=0)
	Reads the current Cartesian stiffness from the robot using Armadillo. More...

virtual void	getTaskStiffness (Eigen::VectorXd &output, const unsigned int chain_index=0)
	Reads the current Cartesian stiffness from the robot using Eigen. More...

virtual void	getTaskDamping (KDL::JntArray &output, const unsigned int chain_index=0)
	Reads the current Cartesian damping from the robot using KDL. More...

virtual void	getTaskDamping (arma::vec &output, const unsigned int chain_index=0)
	Reads the current Cartesian damping rom the robot using Armadillo. More...

virtual void	getTaskDamping (Eigen::VectorXd &output, const unsigned int chain_index=0)
	Reads the current Cartesian damping from the robot using Eigen. More...

virtual void	getJacobian (KDL::Jacobian &output, const unsigned int chain_index=0)
	Reads the current base Jacobian matrix from the robot using KDL. More...

virtual void	getJacobian (arma::mat &output, const unsigned int chain_index=0)
	Reads the current base Jacobian matrix from the robot using Armadillo. More...

virtual void	getJacobian (Eigen::MatrixXd &output, const unsigned int chain_index=0)
	Reads the current base Jacobian matrix from the robot using Eigen. More...

virtual void	getMassMatrix (KDL::Frame &output, const int chain_index=0)
	Reads the current mass matrix from the robot. More...

virtual void	getMassMatrix (arma::mat &output, const int chain_index=0)
	Reads the current mass matrix from the robot. More...

virtual void	getMassMatrix (Eigen::MatrixXd &output, const int chain_index=0)
	Reads the current mass matrix from the robot. More...

virtual void	stop ()

virtual void	measure ()

template<typename T >
void	getJointVelocityGeneric (T &output, const int chain_index=-1)
	Reads the joint velocity using the derivative of the position (previous and current position) More...

template<typename T >
void	setJointVelocityGeneric (T &input, const int chain_index=-1)
	Reads the joint velocity by integrating the position (previous and current position) More...

Additional Inherited Members
Public Attributes inherited from arl::robot::Robot
arma::vec	joint_pos_prev
	Stores the previous joint position used by arl::robot::setJointPositionGeneric. More...

double	cycle
	The control cycle of the robot. More...

std::shared_ptr< Model >	model
	A pointer to the Model that this Robot is using. More...

std::string	robot_name
	The name of the robot. E.g. "KUKA LWR4". More...

std::string	alias
	The alias of the robot, which is the name in lower case without spaces. E.g. "kuka_lwr4". More...

Mode	mode
	The current Mode of the robot. More...

Protected Member Functions inherited from arl::robot::Robot
void	throwFunctionIsNotImplemented (std::string function_name)

Protected Attributes inherited from arl::robot::Robot
std::vector< State >	state
	The current state of the robot. More...

Constructor & Destructor Documentation

arl::bhand::Robot::Robot ( std::shared_ptr< robot::Model > m )

explicit

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arl::bhand::Robot::~Robot ( )

Member Function Documentation

void arl::bhand::Robot::getJointPosition	(	KDL::JntArray &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint positions to the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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void arl::bhand::Robot::getJointPosition	(	arma::vec &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint positions from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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void arl::bhand::Robot::getJointPosition	(	Eigen::VectorXd &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint positions from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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template<typename T >

void arl::bhand::Robot::getJointPositionTemplate	(	T &	output,
		const int	chain_index = `-1`
	)

inline

void arl::bhand::Robot::getJointTorque	(	KDL::JntArray &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint torques from the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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void arl::bhand::Robot::getJointTorque	(	arma::vec &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint torques from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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void arl::bhand::Robot::getJointTorque	(	Eigen::VectorXd &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint torques from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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template<typename T >

void arl::bhand::Robot::getJointTorqueTemplate	(	T &	output,
		const int	chain_index = `-1`
	)

inline

void arl::bhand::Robot::getTaskOrientation	(	arma::mat &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian orientation (Rotation matrix) from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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void arl::bhand::Robot::getTaskOrientation	(	Eigen::Matrix3d &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian orientation (Rotation matrix) from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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template<typename T >

void arl::bhand::Robot::getTaskOrientationTemplate	(	T &	output,
		const unsigned int	chain_index = `0`
	)

inline

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void arl::bhand::Robot::getTaskPose	(	arma::mat &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian pose from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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void arl::bhand::Robot::getTaskPose	(	Eigen::Matrix3d &	output,
		const unsigned int	chain_index = `0`
	)

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template<typename T >

void arl::bhand::Robot::getTaskPoseTemplate	(	T &	output,
		const unsigned int	chain_index = `0`
	)

inline

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void arl::bhand::Robot::getTaskPosition	(	KDL::Vector &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian Position from the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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void arl::bhand::Robot::getTaskPosition	(	arma::vec &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian position from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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void arl::bhand::Robot::getTaskPosition	(	Eigen::Vector3d &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current joint positions from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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template<typename T >

void arl::bhand::Robot::getTaskPositionTemplate	(	T &	output,
		const unsigned int	chain_index = `0`
	)

inline

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bool arl::bhand::Robot::isOk ( )

virtual

Returns if the robot hardware is ok and operable. Should be implemented according to the robot in use.

Returns: True if the robot haven't returns any errors. False otherwise.

Implements arl::robot::Robot.

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void arl::bhand::Robot::setJointPosition	(	const KDL::JntArray &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint positions to the robot using KDL.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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void arl::bhand::Robot::setJointPosition	(	const arma::vec &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint positions to the robot using Armadillo.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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void arl::bhand::Robot::setJointPosition	(	const Eigen::VectorXd &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint positions to the robot using Eigen.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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template<typename T >

void arl::bhand::Robot::setJointPositionTemplate	(	const T &	input,
		const int	chain_index = `0`
	)

inline

Called by the RobotSim::setJointPosition() functions. Just writes the input to an internal state variable.

Attention: It will throw an error in case the robot has not been set to Mode::POSITION_CONTROL

void arl::bhand::Robot::setJointVelocity	(	const KDL::JntArray &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint velocities to the robot using KDL.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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void arl::bhand::Robot::setJointVelocity	(	const arma::vec &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint velocities to the robot using Armadillo.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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void arl::bhand::Robot::setJointVelocity	(	const Eigen::VectorXd &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint velocities to the robot using Eigen.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

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template<typename T >

void arl::bhand::Robot::setJointVelocityTemplate	(	const T &	input,
		const int	chain_index = `-1`
	)

inline

Called by the RobotSim::setJointVelocity() functions. Just writes the input to an internal state variable.

Attention: It will throw an error in case the robot has not been set to Mode::VELOCITY_CONTROL

void arl::bhand::Robot::setMode ( arl::robot::Mode mode )

virtual

Sets the mode of the robot.

Parameters

mode	The desired Mode of the Robot.
chain_index	The chain that will change mode. Defaults to zero.

Reimplemented from arl::robot::Robot.

void arl::bhand::Robot::waitNextCycle ( )

virtual

Function that blocks the control loop before the next control cycle starts.

Can be implemented by sleeping or waiting for a signal from the robot. The function is not const in case in some implementations you want to change variable (e.g. a flag for reading the velocity by differentiating the position).

Implements arl::robot::Robot.

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation