YouBotManipulator Class Reference

It groups the manipulator joints and the gripper together. More...

#include <YouBotManipulator.hpp>

Public Member Functions

 YouBotManipulator (const std::string name, const std::string configFilePath="../config/")
virtual ~YouBotManipulator ()
void doJointCommutation ()
 does the sine commutation of the arm joints
void calibrateManipulator (const bool forceCalibration=false)
 calibrate the reference position of the arm joints
void calibrateGripper (const bool forceCalibration=false)
YouBotJoint & getArmJoint (const unsigned int armJointNumber)
 return a joint form the arm1
YouBotGripper & getArmGripper ()
virtual void setJointData (const std::vector< JointAngleSetpoint > &JointData)
 commands positions or angles to all manipulator joints all positions will be set at the same time
virtual void getJointData (std::vector< JointSensedAngle > &data)
 gets the position or angle of all manipulator joints which have been calculated from the actual encoder value These values are all read at the same time from the different joints
virtual void setJointData (const std::vector< JointVelocitySetpoint > &JointData)
 commands velocities to all manipulator joints all velocities will be set at the same time
virtual void getJointData (std::vector< JointSensedVelocity > &data)
 gets the velocities of all manipulator joints which have been calculated from the actual encoder values These values are all read at the same time from the different joints
virtual void setJointData (const std::vector< JointCurrentSetpoint > &JointData)
 commands current to all manipulator joints all current values will be set at the same time
virtual void getJointData (std::vector< JointSensedCurrent > &data)
 gets the motor currents of all manipulator joints which have been measured by a hal sensor These values are all read at the same time from the different joints
virtual void setJointData (const std::vector< JointTorqueSetpoint > &JointData)
 commands torque to all manipulator joints all torque values will be set at the same time
virtual void getJointData (std::vector< JointSensedTorque > &data)
 gets the joint torque of all manipulator joints which have been calculated from the current These values are all read at the same time from the different joints

Detailed Description

It groups the manipulator joints and the gripper together.

Definition at line 77 of file YouBotManipulator.hpp.

Constructor & Destructor Documentation

YouBotManipulator ( const std::string  name,
const std::string  configFilePath = "../config/" 
)

Definition at line 54 of file YouBotManipulator.cpp.

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~YouBotManipulator (  )  [virtual]

Definition at line 83 of file YouBotManipulator.cpp.

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Member Function Documentation

void calibrateGripper ( const bool  forceCalibration = false  ) 

Definition at line 268 of file YouBotManipulator.cpp.

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void calibrateManipulator ( const bool  forceCalibration = false  ) 

calibrate the reference position of the arm joints

Definition at line 108 of file YouBotManipulator.cpp.

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void doJointCommutation (  ) 

does the sine commutation of the arm joints

Definition at line 94 of file YouBotManipulator.cpp.

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YouBotGripper & getArmGripper (  ) 

Definition at line 293 of file YouBotManipulator.cpp.

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YouBotJoint & getArmJoint ( const unsigned int  armJointNumber  ) 

return a joint form the arm1

Parameters:
armJointNumber 1-5 for the arm joints

Definition at line 283 of file YouBotManipulator.cpp.

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void getJointData ( std::vector< JointSensedTorque > &  data  )  [virtual]

gets the joint torque of all manipulator joints which have been calculated from the current These values are all read at the same time from the different joints

Parameters:
data returns the actual joint torque by reference

Definition at line 426 of file YouBotManipulator.cpp.

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void getJointData ( std::vector< JointSensedCurrent > &  data  )  [virtual]

gets the motor currents of all manipulator joints which have been measured by a hal sensor These values are all read at the same time from the different joints

Parameters:
data returns the actual motor currents by reference

Definition at line 392 of file YouBotManipulator.cpp.

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void getJointData ( std::vector< JointSensedVelocity > &  data  )  [virtual]

gets the velocities of all manipulator joints which have been calculated from the actual encoder values These values are all read at the same time from the different joints

Parameters:
data returns the velocities by reference

Definition at line 358 of file YouBotManipulator.cpp.

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void getJointData ( std::vector< JointSensedAngle > &  data  )  [virtual]

gets the position or angle of all manipulator joints which have been calculated from the actual encoder value These values are all read at the same time from the different joints

Parameters:
data returns the angles by reference

Definition at line 324 of file YouBotManipulator.cpp.

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void setJointData ( const std::vector< JointTorqueSetpoint > &  JointData  )  [virtual]

commands torque to all manipulator joints all torque values will be set at the same time

Parameters:
JointData the to command torque

Definition at line 408 of file YouBotManipulator.cpp.

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void setJointData ( const std::vector< JointCurrentSetpoint > &  JointData  )  [virtual]

commands current to all manipulator joints all current values will be set at the same time

Parameters:
JointData the to command current

Definition at line 374 of file YouBotManipulator.cpp.

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void setJointData ( const std::vector< JointVelocitySetpoint > &  JointData  )  [virtual]

commands velocities to all manipulator joints all velocities will be set at the same time

Parameters:
JointData the to command velocities

Definition at line 340 of file YouBotManipulator.cpp.

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void setJointData ( const std::vector< JointAngleSetpoint > &  JointData  )  [virtual]

commands positions or angles to all manipulator joints all positions will be set at the same time

Parameters:
JointData the to command positions

Definition at line 305 of file YouBotManipulator.cpp.

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The documentation for this class was generated from the following files:
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