23 #ifndef _PLUGINS_JACO_ARM_KINDRV_H_
24 #define _PLUGINS_JACO_ARM_KINDRV_H_
50 virtual void get_joints(std::vector<float> &to)
const;
51 virtual void get_coords(std::vector<float> &to);
52 virtual void get_fingers(std::vector<float> &to)
const;
58 virtual void goto_trajec(std::vector<std::vector<float>> *trajec, std::vector<float> &fingers);
60 goto_joints(std::vector<float> &joints, std::vector<float> &fingers,
bool followup =
false);
61 virtual void goto_coords(std::vector<float> &coords, std::vector<float> &fingers);
66 std::unique_ptr<KinDrv::JacoArm> arm_;
Class for commanding a Kinova Jaco Arm, using libkindrv.
virtual void get_fingers(std::vector< float > &to) const
Get the position values of the fingers.
virtual void release_joystick()
Simulate releasing the joystick of the Kinova Jaco arm.
virtual void goto_ready()
Move the arm to READY position.
virtual void stop()
Stop the current movement.
virtual void goto_trajec(std::vector< std::vector< float >> *trajec, std::vector< float > &fingers)
Move the arm along the given trajectory.
JacoArmKindrv(const char *name=NULL)
Constructor.
virtual ~JacoArmKindrv()
Destructor.
virtual void initialize()
Initialize the arm.
virtual void push_joystick(unsigned int button)
Simulate a push of a button on the joystick of the Kinova Jaco arm.
virtual void goto_retract()
Move the arm to RETRACT position.
virtual bool initialized()
Check if arm is initialized.
virtual void goto_coords(std::vector< float > &coords, std::vector< float > &fingers)
Move the arm to given configuration.
virtual void get_coords(std::vector< float > &to)
Get the cartesian coordinates of the arm.
virtual void get_joints(std::vector< float > &to) const
Get the joint angles of the arm.
virtual void goto_joints(std::vector< float > &joints, std::vector< float > &fingers, bool followup=false)
Move the arm to given configuration.
Abstract class for a Kinova Jaco Arm that we want to control.
Fawkes library namespace.
enum fawkes::jaco_target_type_enum jaco_target_type_t
The type of a target.