Robot Interfaces

Interfaces for controlling various robotic hardware. More...

Collaboration diagram for Robot Interfaces:

Classes
class	arl::robot::Model
	Defines an abstract model for a robot storing information like DOFs, kinematics etc. More...
class	arl::robot::RobotSim
	A simulated robot implementing the API for kinematics. More...
class	arl::robot::Sensor
	An abstract class that implements a robot sensor. More...
class	arl::bhand::Robot
class	lwr::robot::ModelExtended

Enumerations
enum	arl::robot::Mode {   arl::robot::UNDEFINED = -1000, arl::robot::STOPPED = -1, arl::robot::POSITION_CONTROL = 0, arl::robot::VELOCITY_CONTROL = 1,   arl::robot::TORQUE_CONTROL = 2, arl::robot::CARTESIAN_IMPEDANCE = 3, arl::robot::JOINT_TRAJECTORY = 4 }
	Different robot modes. More...

Detailed Description

Interfaces for controlling various robotic hardware.

Enumeration Type Documentation

enum arl::robot::Mode

Different robot modes.

Enumerator
UNDEFINED	For internal use
STOPPED	When the robot is stopped and does not accept commands
POSITION_CONTROL	For sending position commands
VELOCITY_CONTROL	For sending velocity commands
TORQUE_CONTROL	For sending torque commands
CARTESIAN_IMPEDANCE	For operating in Cartesian Impedance control
JOINT_TRAJECTORY	Probably should be covered by position control