|
| Kuka (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const std::string &name, double size=1, std::vector< Primitive * > objectsOfInterest=std::vector< Primitive * >()) |
| constructor of robot More...
|
|
virtual | ~Kuka () |
|
virtual void | update () |
| updates the OSG nodes of the vehicle More...
|
|
virtual void | placeIntern (const osg::Matrix &pose) |
| sets the pose of the vehicle More...
|
|
virtual int | getSensorsIntern (sensor *sensors, int sensornumber) |
| returns actual sensorvalues see kuka.cpp to see what values are returned More...
|
|
virtual void | setMotorsIntern (const double *motors, int motornumber) |
| sets actual motorcommands More...
|
|
virtual void | blockJoints (int joint) |
| blocks and reactivates joints during the simulations the blocked joint will be set to its initial position More...
|
|
virtual bool | grasp (Primitive *object) |
| grasps an object by creating a fixed joint between the gripper (outermost primitive of the arm) and a desired object More...
|
|
virtual bool | grasp (Primitive *object, int sensor23) |
|
virtual void | release () |
| releases the grasped object More...
|
|
virtual int | getSensorNumberIntern () |
| returns number of sensors More...
|
|
virtual int | getMotorNumberIntern () |
| returns number of motors More...
|
|
virtual void | toggleManualControlMode () |
| switches between manual Control (motor commands written into the manualCommands-vector) and Controller commands More...
|
|
virtual void | candle () |
| enables the manual command mode an moves the arm to its initial upright position More...
|
|
virtual double | getJointTarget (int jointno) |
| returns the desired position of a joint during the manua control mode: the current target position the joint is moving to or has already reached. More...
|
|
virtual void | printJointConf () |
| prints the current joint configuration as a vector of reals € [-1,1] and as a vector of degrees only available in manual control mode More...
|
|
virtual void | moveJoint (int jointno, double pos) |
| moves a joint to a desired position, only available in manual Control Mode More...
|
|
virtual Primitive * | getEndeffector () |
| returns a pointer to the endeffector More...
|
|
virtual Primitive * | getGripper () |
| returns a pointer to the gripper (the uppermost primitive) More...
|
|
virtual void | printEndeffectorPosition () |
| prints the position of the endeffector More...
|
|
virtual void | printEndeffectorPose () |
| prints the pose of the endeffector More...
|
|
virtual void | setReference (Primitive *target) |
|
| OdeRobot (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const std::string &name, const std::string &revision) |
| Constructor. More...
|
|
virtual | ~OdeRobot () |
| calls cleanup() More...
|
|
virtual int | getSensors (double *sensors, int sensornumber) final |
| returns actual sensorvalues More...
|
|
virtual void | setMotors (const double *motors, int motornumber) final |
| sets actual motorcommands More...
|
|
virtual int | getSensorNumber () final |
| returns number of sensors More...
|
|
virtual int | getMotorNumber () final |
| returns number of motors More...
|
|
virtual std::list
< SensorMotorInfo > | getSensorInfos () override |
| returns the information for the sensors. More...
|
|
virtual std::list
< SensorMotorInfo > | getMotorInfos () override |
| returns the information for the motors. More...
|
|
virtual void | addSensor (std::shared_ptr< Sensor > sensor, Attachment attachment=Attachment()) |
| adds a sensor to the robot. More...
|
|
virtual void | addMotor (std::shared_ptr< Motor > motor, Attachment attachment=Attachment()) |
| adds a motor to the robot. More...
|
|
virtual std::list
< SensorAttachment > | getAttachedSensors () |
| returns all generic sensors with their attachment More...
|
|
virtual std::list
< MotorAttachment > | getAttachedMotors () |
| returns all generic motors with their attachment More...
|
|
virtual void | addTorqueSensors (double maxtorque=1.0, int avg=1) |
| adds a torque sensor to each joint. Call it after placement of robot. More...
|
|
virtual void | place (const Pos &pos) final |
| sets the vehicle to position pos More...
|
|
virtual void | place (const osg::Matrix &pose) final |
| sets the pose of the vehicle More...
|
|
virtual bool | collisionCallback (void *data, dGeomID o1, dGeomID o2) |
|
virtual void | sense (GlobalData &globalData) |
| this function is called each controlstep before control. More...
|
|
virtual void | doInternalStuff (GlobalData &globalData) |
| this function is called in each simulation timestep (always after control). More...
|
|
virtual void | setColor (const Color &col) |
| sets color of the robot More...
|
|
virtual Position | getPosition () const |
| returns position of the object More...
|
|
virtual Position | getSpeed () const |
| returns linear speed vector of the object More...
|
|
virtual Position | getAngularSpeed () const |
| returns angular velocity vector of the object More...
|
|
virtual matrix::Matrix | getOrientation () const |
| returns the orientation of the object More...
|
|
virtual Primitive * | getMainPrimitive () const |
| return the primitive of the robot that is used for tracking and camera following More...
|
|
virtual Primitives | getAllPrimitives () const |
| returns a list of all primitives of the robot (used to store and restore the robot) More...
|
|
virtual Primitives & | getAllPrimitives () |
|
virtual Joints | getAllJoints () const |
| returns a list of all primitives of the robot (const version) (used to store and restore the robot) More...
|
|
virtual Joints & | getAllJoints () |
|
virtual bool | store (FILE *f) const |
| returns a list of all joints of the robot (const version) More...
|
|
virtual bool | restore (FILE *f) |
| loads the object from the given file stream (ASCII preferred). More...
|
|
virtual void | moveToPosition (Pos pos=Pos(0, 0, 0.5), int primitiveID=-1) |
| relocates robot such its primitive with the given ID is at the new postion (keep current pose). More...
|
|
virtual void | moveToPose (Pose pose, int primitiveID=-1) |
| relocates robot such its primitive with the given ID is at the new pose (keep relative pose of all primitives). More...
|
|
virtual Pose | getInitialPose () |
| returns the initial pose of the main primitive (use it e.g. with moveToPose) More...
|
|
virtual Pose | getRelativeInitialPose () |
| returns the initial relative pose of the main primitive (use it with moveToPose to further translate or rotate). More...
|
|
virtual void | fixate (GlobalData &global, int primitiveID=-1, double duration=0) |
| fixates the given primitive of the robot at its current position to the world for a certain time. More...
|
|
virtual bool | unFixate (GlobalData &global) |
| release the robot in case it is fixated and return true in this case More...
|
|
| AbstractRobot (const std::string &name="abstractRobot", const std::string &revision="$ID$") |
| Constructor. More...
|
|
virtual | ~AbstractRobot () |
|
virtual std::string | getTrackableName () const |
| returns name of trackable More...
|
|
| Trackable () |
| Constructor. More...
|
|
virtual | ~Trackable () |
|
| Configurable () |
|
| Configurable (const std::string &name, const std::string &revision) |
| intialise with name and revision (use "$ID$") More...
|
|
virtual | ~Configurable () |
|
virtual void | notifyOnChange (const paramkey &key) |
| Is called when a parameter was changes via setParam(). More...
|
|
virtual void | addParameter (const paramkey &key, paramval *val, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr()) |
| This is the new style for adding configurable parameters. More...
|
|
virtual void | addParameter (const paramkey &key, paramval *val, const paramdescr &descr=paramdescr()) |
| See addParameter(const paramkey& key, paramval* val, paramval minBound, paramval maxBound, const paramdescr& descr) More...
|
|
virtual void | addParameter (const paramkey &key, parambool *val, const paramdescr &descr=paramdescr()) |
| See addParameter(const paramkey& key, paramval* val) but for bool values. More...
|
|
virtual void | addParameter (const paramkey &key, paramint *val, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr()) |
| See addParameter(const paramkey& key, paramval* val) but for int values. More...
|
|
virtual void | addParameter (const paramkey &key, paramint *val, const paramdescr &descr=paramdescr()) |
|
virtual void | addParameterDef (const paramkey &key, paramval *val, paramval def, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr()) |
| This function is only provided for convenience. More...
|
|
virtual void | addParameterDef (const paramkey &key, paramval *val, paramval def, const paramdescr &descr=paramdescr()) |
|
virtual void | addParameterDef (const paramkey &key, parambool *val, parambool def, const paramdescr &descr=paramdescr()) |
| See addParameterDef(const paramkey&, paramval*, paramval) More...
|
|
virtual void | addParameterDef (const paramkey &key, paramint *val, paramint def, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr()) |
| See addParameterDef(const paramkey&, paramval*, paramval) More...
|
|
virtual void | addParameterDef (const paramkey &key, paramint *val, paramint def, const paramdescr &descr=paramdescr()) |
|
virtual void | setParamDescr (const paramkey &key, const paramdescr &descr, bool traverseChildren=true) |
| sets a description for the given parameter More...
|
|
int | getId () const |
| return the id of the configurable objects, which is created by random on initialisation More...
|
|
virtual paramkey | getName () const |
| return the name of the object More...
|
|
virtual paramkey | getRevision () const |
| returns the revision of the object More...
|
|
virtual void | setName (const paramkey &name, bool callSetNameOfInspectable=true) |
| Sets the name of the configurable. More...
|
|
virtual void | setRevision (const paramkey &revision) |
| sets the revision Hint: { return "$ID$"; } More...
|
|
virtual paramval | getParam (const paramkey &key, bool traverseChildren=true) const |
| returns the value of the requested parameter or 0 (+ error message to stderr) if unknown. More...
|
|
virtual bool | hasParam (const paramkey &key, bool traverseChildren=true) const |
| Returns if the requested parameter is part of the configurable or their children. More...
|
|
virtual bool | setParam (const paramkey &key, paramval val, bool traverseChildren=true) |
| sets the value of the given parameter or does nothing if unknown. More...
|
|
virtual void | setParamBounds (const paramkey &key, paramval minBound, paramval maxBound, bool traverseChildren=true) |
| Sets the bounds (minBound and maxBound) of the given parameter. More...
|
|
virtual void | setParamBounds (const paramkey &key, paramint minBound, paramint maxBound, bool traverseChildren=true) |
|
virtual void | setParamBounds (const paramkey &key, paramvalBounds bounds, bool traverseChildren=true) |
|
virtual void | setParamBounds (const paramkey &key, paramintBounds bounds, bool traverseChildren=true) |
|
virtual paramlist | getParamList () const |
| The list of all parameters with there value as allocated lists. More...
|
|
virtual std::list< paramkey > | getAllParamNames (bool traverseChildren=true) |
| returns all names that are configureable More...
|
|
virtual parammap | getParamValMap () const |
|
virtual paramintmap | getParamIntMap () const |
|
virtual paramboolmap | getParamBoolMap () const |
|
virtual paramdescr | getParamDescr (const paramkey &key, bool traverseChildren=true) const |
| returns the description for the given parameter More...
|
|
virtual paramvalBounds | getParamvalBounds (const paramkey &key, bool traverseChildren=true) const |
|
virtual paramintBounds | getParamintBounds (const paramkey &key, bool traverseChildren=true) const |
|
virtual bool | hasParamDescr (const paramkey &key, bool traverseChildren=true) const |
|
virtual bool | hasParamvalBounds (const paramkey &key, bool traverseChildren=true) const |
|
virtual bool | hasParamintBounds (const paramkey &key, bool traverseChildren=true) const |
|
virtual bool | storeCfg (const char *filenamestem, const std::list< std::string > &comments=std::list< std::string >()) |
| stores the key values paires into the file : filenamestem.cfg including the comments given in the list More...
|
|
virtual bool | restoreCfg (const char *filenamestem) |
| restores the key values paires from the file : filenamestem.cfg More...
|
|
void | print (FILE *f, const char *prefix, int columns=90, bool traverseChildren=true) const |
| prints the keys, values and descriptions to the file. Each line is prefixed More...
|
|
bool | parse (FILE *f, const char *prefix=0, bool traverseChildren=true) |
| parses the configuration from the given file More...
|
|
virtual void | addConfigurable (Configurable *conf) |
| Adds a configurable as a child object. More...
|
|
virtual void | removeConfigurable (Configurable *conf) |
| Removes a configurable as a child object. More...
|
|
virtual const configurableList & | getConfigurables () const |
| Returns the list containing all configurable children. More...
|
|
virtual void | configurableChanged () |
| Indicates that the configurable itself or the configurable children attached to this configurable have changed. More...
|
|
| BackCaller () |
|
virtual | ~BackCaller () |
|
virtual void | addCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE) |
| Adds a Callbackable instance to this caller instance. More...
|
|
virtual void | removeCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE) |
| Removes a Callbackable instance from this caller instance. More...
|
|
virtual void | removeAllCallbackables (CallbackableType type) |
| Removes all Callbackable instances from this caller instance. More...
|
|
virtual void | callBack (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE) |
| Calls all registered callbackable classes of the determined type. More...
|
|
virtual void | callBackQMP (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE) |
| Calls all registered callbackable classes of the determined type. More...
|
|
virtual | ~Storeable () |
|
bool | storeToFile (const char *filename) const |
| Provided for convenience. More...
|
|
bool | restoreFromFile (const char *filename) |
| Provided for convenience. More...
|
|
Robot that emulates the Kuka lightweight robot arm, consisting of 5 arm segments, one endeffector upon and a small box representing the Tool-Center-Point (TCP) of the endeffector where different tools can be mounted.
All segments are linked with hinge joints, whch allow a One-axis-rotation above the x- or z- axis. Relative position sensors can measure its relative position to given objects. The sensors have to be normalized with the maximal distance, they will measure during the simulation (default = 1).