List of all members.
Public Types |
| enum | PositionSensor { PS_BEST,
PS_MOTOR_ENCODER,
PS_JOINT_ENCODER
} |
Public Member Functions |
|
| LowLevelWam (const std::vector< Puck * > &pucks, SafetyModule *safetyModule, const libconfig::Setting &setting, std::vector< int > torqueGroupIds=std::vector< int >()) |
|
const jp_type & | getJointPositions (enum PositionSensor sensor=PS_BEST) const |
|
const jv_type & | getJointVelocities () const |
|
bool | hasJointEncoders () const |
|
void | setPositionSensor (enum PositionSensor sensor) |
|
enum PositionSensor | getPositionSensor () const |
|
bool | usingJointEncoder (size_t jointIndex) const |
|
const jp_type & | getHomePosition () const |
|
const sqm_type & | getJointToMotorPositionTransform () const |
|
const sqm_type & | getMotorToJointPositionTransform () const |
|
const sqm_type & | getJointToMotorTorqueTransform () const |
|
const sqm_type & | getJointToPuckPositionTransform () const |
|
const sqm_type & | getPuckToJointPositionTransform () const |
|
const sqm_type & | getJointToPuckTorqueTransform () const |
|
const v_type & | getJointEncoderToJointPositionTransform () const |
|
void | update () |
|
void | setTorques (const jt_type &jt) |
|
void | definePosition (const jp_type &jp) |
|
SafetyModule * | getSafetyModule () const |
Protected Attributes |
|
SafetyModule * | safetyModule |
|
std::vector< PuckGroup * > | torqueGroups |
|
jp_type | home |
|
sqm_type | j2mp |
|
sqm_type | m2jp |
|
sqm_type | j2mt |
|
sqm_type | j2pp |
|
sqm_type | p2jp |
|
sqm_type | j2pt |
|
v_type | jointEncoder2jp |
|
bool | noJointEncoders |
|
boost::array< bool, DOF > | useJointEncoder |
|
enum PositionSensor | positionSensor |
|
double | lastUpdate |
|
v_type | pp |
|
math::Matrix< DOF, 2 > | pp_jep |
|
jp_type | jp_motorEncoder |
|
jp_type | jp_jointEncoder |
|
jp_type | jp_best |
|
jp_type | jp_best_1 |
|
jv_type | jv_best |
|
v_type | pt |
|
int | torquePropId |
template<size_t DOF>
class barrett::LowLevelWam< DOF >
The documentation for this class was generated from the following files:
1.7.6.1
