#include <lwr_robot.h>

Inheritance diagram for lwr::robot::Robot:

Collaboration diagram for lwr::robot::Robot:

Public Member Functions
	Robot ()

	Robot (std::shared_ptr< arl::robot::Model > m, const std::string &name="KUKA LWR4+")

	Robot (const std::shared_ptr< arl::robot::Model > &m, const std::shared_ptr< arl::robot::Sensor > &sensor, double t1, double t2)
	Constructor which initializes LWR with an FT sensor. Use this constructor if you want the safety feature for stopping LWR when the F/T measuremets exceeds the given thresholds. More...

void	stop ()

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

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

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)

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)

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

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

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

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

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

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

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

template<typename T >
void	getJointVelocityTemplate (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	getJointExternalTorque (KDL::JntArray &output, const int chain_index=-1)
	Reads the current external joint torques from the robot using KDL. More...

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

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

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

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)

void	getMassMatrix (KDL::Frame &output, const unsigned int chain_index=0)

void	getMassMatrix (arma::mat &output, const unsigned int chain_index=0)

void	getMassMatrix (Eigen::MatrixXd &output, const unsigned int chain_index=0)

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

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)

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 (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)

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)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

template<typename T >
void	setCartDampingTemplate (T &input, const unsigned int chain_index=0)
	Be aware that the input should be ta damping ratio (0 to 1 values) 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	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	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	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	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

lwr::robot::Robot::Robot ( )

lwr::robot::Robot::Robot	(	std::shared_ptr< arl::robot::Model >	m,
		const std::string &	name = `"KUKA LWR4+"`
	)

explicit

lwr::robot::Robot::Robot	(	const std::shared_ptr< arl::robot::Model > &	m,
		const std::shared_ptr< arl::robot::Sensor > &	sensor,
		double	t1,
		double	t2
	)

Constructor which initializes LWR with an FT sensor. Use this constructor if you want the safety feature for stopping LWR when the F/T measuremets exceeds the given thresholds.

Parameters

m	The model of the robot
sensor	A pointer to the F/T sensor
t1	The threhsold for the norm of the forces
t2	The threhsold for the norm of the torques

Member Function Documentation

void lwr::robot::Robot::getExternalWrench	(	KDL::Wrench &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current external Cartesian force/torque 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 lwr::robot::Robot::getExternalWrench	(	arma::vec &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current external Cartesian force/torque 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 lwr::robot::Robot::getExternalWrench	(	Eigen::VectorXd &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current external Cartesian force/torque 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 lwr::robot::Robot::getExternalWrenchTemplate	(	T &	output,
		const unsigned int	chain_index = `0`
	)

inline

void lwr::robot::Robot::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 lwr::robot::Robot::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 lwr::robot::Robot::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 lwr::robot::Robot::getJacobianTemplate	(	T &	output,
		const unsigned int	chain_index = `0`
	)

inline

void lwr::robot::Robot::getJointExternalTorque	(	KDL::JntArray &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current external 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 lwr::robot::Robot::getJointExternalTorque	(	arma::vec &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current external 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 lwr::robot::Robot::getJointExternalTorque	(	Eigen::VectorXd &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current external 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 lwr::robot::Robot::getJointExternalTorqueTemplate	(	T &	output,
		const int	chain_index = `-1`
	)

inline

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

inline

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

inline

void lwr::robot::Robot::getJointVelocity	(	KDL::JntArray &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint velocities 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 lwr::robot::Robot::getJointVelocity	(	arma::vec &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint velocities 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 lwr::robot::Robot::getJointVelocity	(	Eigen::VectorXd &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint velocities 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 lwr::robot::Robot::getJointVelocityTemplate	(	T &	output,
		const int	chain_index = `-1`
	)

inline

void lwr::robot::Robot::getMassMatrix	(	KDL::Frame &	output,
		const unsigned int	chain_index = `0`
	)

void lwr::robot::Robot::getMassMatrix	(	arma::mat &	output,
		const unsigned int	chain_index = `0`
	)

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void lwr::robot::Robot::getMassMatrix	(	Eigen::MatrixXd &	output,
		const unsigned int	chain_index = `0`
	)

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template<typename T >

void lwr::robot::Robot::getMassMatrixTemplate	(	T &	output,
		const unsigned int	chain_index = `0`
	)

inline

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

inline

void lwr::robot::Robot::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.

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

inline

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

inline

void lwr::robot::Robot::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 lwr::robot::Robot::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 lwr::robot::Robot::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 lwr::robot::Robot::getTwistTemplate	(	T &	output,
		const unsigned int	chain_index = `0`
	)

inline

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bool lwr::robot::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 lwr::robot::Robot::setCartDamping	(	const KDL::Wrench &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends the cartesian damping for robots which provide Cartesian Impedance controller.

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 lwr::robot::Robot::setCartDamping	(	const arma::vec &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends the cartesian damping for robots which provide Cartesian Impedance controller.

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 lwr::robot::Robot::setCartDamping	(	const Eigen::VectorXd &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends the cartesian damping for robots which provide Cartesian Impedance controller.

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 lwr::robot::Robot::setCartDampingTemplate	(	T &	input,
		const unsigned int	chain_index = `0`
	)

inline

Be aware that the input should be ta damping ratio (0 to 1 values)

void lwr::robot::Robot::setCartStiffness	(	const KDL::Wrench &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends the cartesian stiffness for robots which provide Cartesian Impedance controller.

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 lwr::robot::Robot::setCartStiffness	(	const arma::vec &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends the cartesian stiffness for robots which provide Cartesian Impedance controller.

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 lwr::robot::Robot::setCartStiffness	(	const Eigen::VectorXd &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends the cartesian stiffness for robots which provide Cartesian Impedance controller.

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 lwr::robot::Robot::setCartStiffnessTemplate	(	T &	input,
		const unsigned int	chain_index = `0`
	)

inline

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

inline

void lwr::robot::Robot::setJointTorque	(	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 lwr::robot::Robot::setJointTorque	(	const arma::vec &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint torques 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 lwr::robot::Robot::setJointTorque	(	const Eigen::VectorXd &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint torques 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 lwr::robot::Robot::setJointTorqueTemplate	(	const T &	input,
		const int	chain_index = `-1`
	)

inline

void lwr::robot::Robot::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 lwr::robot::Robot::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 lwr::robot::Robot::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 lwr::robot::Robot::setJointTrajectoryTemplate	(	const T &	input,
		double	duration,
		const int	chain_index = `-1`
	)

inline

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

inline

void lwr::robot::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 lwr::robot::Robot::setTaskPose	(	const KDL::Frame &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends joint torques 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 lwr::robot::Robot::setTaskPose	(	const arma::mat &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends Cartesian pose 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 lwr::robot::Robot::setTaskPose	(	const Eigen::MatrixXd &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends Cartesian pose 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 lwr::robot::Robot::setTaskPoseTemplate	(	T &	input,
		const unsigned int	chain_index = `0`
	)

inline

void lwr::robot::Robot::setWrench	(	const KDL::Wrench &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends Cartesian velocity 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 lwr::robot::Robot::setWrench	(	const arma::vec &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends Cartesian force/torque 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 lwr::robot::Robot::setWrench	(	const Eigen::VectorXd &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends Cartesian force/torque 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 lwr::robot::Robot::setWrenchTemplate	(	T &	input,
		const unsigned int	chain_index = `0`
	)

inline

void lwr::robot::Robot::stop ( )

virtual

Reimplemented from arl::robot::Robot.

void lwr::robot::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