A simulated robot implementing the API for kinematics. More...

#include <robot_sim.h>

Inheritance diagram for arl::robot::RobotSim:

Collaboration diagram for arl::robot::RobotSim:

Public Member Functions
	RobotSim ()

	RobotSim (std::shared_ptr< arl::robot::Model > m, double cycle_rate_sec)
	Constructs a simulated object based on its model and the control cycle given by the user. More...

void	waitNextCycle ()
	Waits the remaining amount of time for the next cycle using a ros::Rate. More...

bool	isOk ()
	return current condition of the robot. By default a running controller will terminate if false is returned. More...

void	setMode (arl::robot::Mode mode)
	Sets a dummy mode for the robot in order to be compliant with the interfaces of a real robot. More...

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

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

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

template<typename T >
void	setJointTrajectoryTemplate (const T &input, double duration, const int chain_index=-1)
	Perfoms a 5th-order trajectory. Called by the RobotSim::setJointTrajectory() functions. More...

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=-1)
	Called by the RobotSim::setJointPosition() functions. Just writes the input to an internal state variable. More...

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)
	Called by the RobotSim::getJointPosition() functions. Just writes the the internal state variable to the output. More...

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

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

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

template<typename T >
void	getJacobianTemplate (T &output, const unsigned int chain_index=0)
	Called by the RobotSim::getJacobian() functions. Reads the jacobian from the Jacobian Solvers of the used Model. More...

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

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

template<typename T >
void	getTaskPoseTemplate (T &output, const unsigned int chain_index=0)
	Called by the RobotSim::getTaskPose() functions. Returns the Cartesian pose by using the current joint positions stored internally and the forward kinematics solvers of the used Model. 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)
	Called by the RobotSim::getTaskPosition() functions. The same as RobotSim::getTaskPose(), but only for position. More...

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

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)
	Called by the RobotSim::getTaskOrientation() functions. The same as RobotSim::getTaskPose(), but only for the orientation. More...

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

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

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

template<typename T >
void	getTwistTemplate (T &output, const unsigned int chain_index=0)
	Called by the RobotSim::getTwist() functions. Calls the getJointVelocity() and getJacobian() and multiply them in order to produce the Cartesian velocity. 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	setJointVelocity (const KDL::JntArray &input, const int chain_index=-1)
	Sends joint velocities to the robot using KDL. More...

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

virtual void	setJointVelocity (const Eigen::VectorXd &input, const int chain_index=-1)
	Sends joint velocities 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	getJointTorque (KDL::JntArray &output, const int chain_index=-1)
	Reads the current joint torques from the robot using KDL. More...

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

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

Detailed Description

A simulated robot implementing the API for kinematics.

Currently this dummy class provide only kinematic simulations, which means that does not solve for the dynamics. Dynamic simulations (reading and sending forces/torques to the robot) are not possible. It can be used for visualization purposes.

,

Constructor & Destructor Documentation

arl::robot::RobotSim::RobotSim ( )

Empty contructor

arl::robot::RobotSim::RobotSim	(	std::shared_ptr< arl::robot::Model >	m,
		double	cycle_rate_sec
	)

Constructs a simulated object based on its model and the control cycle given by the user.

Parameters

m	The model to be used by the simulated robot
cycle_rate_sec	The The rate that the robot will run in sec. Defaults to 0.001

Member Function Documentation

void arl::robot::RobotSim::getJacobian	(	KDL::Jacobian &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current base Jacobian matrix 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::robot::RobotSim::getJacobian	(	arma::mat &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current base Jacobian 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::robot::RobotSim::getJacobian	(	Eigen::MatrixXd &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current base Jacobian 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::robot::RobotSim::getJacobianTemplate	(	T &	output,
		const unsigned int	chain_index = `0`
	)

inline

Called by the RobotSim::getJacobian() functions. Reads the jacobian from the Jacobian Solvers of the used Model.

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

inline

Called by the RobotSim::getJointPosition() functions. Just writes the the internal state variable to the output.

void arl::robot::RobotSim::getTaskOrientation	(	KDL::Rotation &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian orientation (Rotation matrix) 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::robot::RobotSim::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::robot::RobotSim::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::robot::RobotSim::getTaskOrientationTemplate	(	T &	output,
		const unsigned int	chain_index = `0`
	)

inline

Called by the RobotSim::getTaskOrientation() functions. The same as RobotSim::getTaskPose(), but only for the orientation.

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void arl::robot::RobotSim::getTaskPose	(	KDL::Frame &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian pose 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::robot::RobotSim::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::robot::RobotSim::getTaskPose	(	Eigen::MatrixXd &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian pose 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::robot::RobotSim::getTaskPoseTemplate	(	T &	output,
		const unsigned int	chain_index = `0`
	)

inline

Called by the RobotSim::getTaskPose() functions. Returns the Cartesian pose by using the current joint positions stored internally and the forward kinematics solvers of the used Model.

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

inline

Called by the RobotSim::getTaskPosition() functions. The same as RobotSim::getTaskPose(), but only for position.

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void arl::robot::RobotSim::getTwist	(	KDL::Twist &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian velocity 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::robot::RobotSim::getTwist	(	arma::vec &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian velocity 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::robot::RobotSim::getTwist	(	Eigen::VectorXd &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian velocity 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::robot::RobotSim::getTwistTemplate	(	T &	output,
		const unsigned int	chain_index = `0`
	)

inline

Called by the RobotSim::getTwist() functions. Calls the getJointVelocity() and getJacobian() and multiply them in order to produce the Cartesian velocity.

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bool arl::robot::RobotSim::isOk ( )

virtual

return current condition of the robot. By default a running controller will terminate if false is returned.

Implements arl::robot::Robot.

void arl::robot::RobotSim::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::robot::RobotSim::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::robot::RobotSim::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::robot::RobotSim::setJointPositionTemplate	(	const T &	input,
		const int	chain_index = `-1`
	)

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::robot::RobotSim::setJointTrajectory	(	const KDL::JntArray &	input,
		double	duration,
		const int	chain_index = `-1`
	)

virtual

Sends joint trajectories 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::robot::RobotSim::setJointTrajectory	(	const arma::vec &	input,
		double	duration,
		const int	chain_index = `-1`
	)

virtual

Sends joint trajectories 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::robot::RobotSim::setJointTrajectory	(	const Eigen::VectorXd &	input,
		double	duration,
		const int	chain_index = `-1`
	)

virtual

Sends joint trajectories 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::robot::RobotSim::setJointTrajectoryTemplate	(	const T &	input,
		double	duration,
		const int	chain_index = `-1`
	)

inline

Perfoms a 5th-order trajectory. Called by the RobotSim::setJointTrajectory() functions.

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

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void arl::robot::RobotSim::setMode ( arl::robot::Mode mode )

virtual

Sets a dummy mode for the robot in order to be compliant with the interfaces of a real robot.

Reimplemented from arl::robot::Robot.

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void arl::robot::RobotSim::waitNextCycle ( )

virtual

Waits the remaining amount of time for the next cycle using a ros::Rate.

Implements arl::robot::Robot.

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation