25 #ifndef ROBOTIS_MANIPULATOR_MANAGER_H_ 26 #define ROBOTIS_MANIPULATOR_MANAGER_H_ 28 #if defined(__OPENCR__) 31 #include <eigen3/Eigen/Eigen> 51 virtual void setOption(
const void *arg) = 0;
91 virtual void init(std::vector<uint8_t> actuator_id,
const void *arg) = 0;
97 virtual void setMode(std::vector<uint8_t> actuator_id,
const void *arg) = 0;
102 virtual std::vector<uint8_t> getId() = 0;
107 virtual void enable() = 0;
111 virtual void disable() = 0;
119 virtual bool sendJointActuatorValue(std::vector<uint8_t> actuator_id, std::vector<ActuatorValue> value_vector) = 0;
125 virtual std::vector<ActuatorValue> receiveJointActuatorValue(std::vector<uint8_t> actuator_id) = 0;
132 bool findId(uint8_t actuator_id);
137 bool getEnabledState();
165 virtual void init(uint8_t actuator_id,
const void *arg) = 0;
170 virtual void setMode(
const void *arg) = 0;
175 virtual uint8_t getId() = 0;
180 virtual void enable() = 0;
184 virtual void disable() = 0;
203 bool findId(uint8_t actuator_id);
208 bool getEnabledState();
226 virtual void makeJointTrajectory(
double move_time,
JointWaypoint start,
const void *arg) = 0;
231 virtual void setOption(
const void *arg) = 0;
255 virtual void makeTaskTrajectory(
double move_time,
TaskWaypoint start,
const void *arg) = 0;
260 virtual void setOption(
const void *arg) = 0;
virtual void solveForwardKinematics(Manipulator *manipulator)=0
solveForwardKinematics
The CustomJointTrajectory class.
virtual bool solveInverseKinematics(Manipulator *manipulator, Name tool_name, Pose target_pose, std::vector< JointValue > *goal_joint_position)=0
solveInverseKinematics
std::vector< JointValue > JointWaypoint
virtual ~CustomTaskTrajectory()
The CustomTaskTrajectory class.
virtual ~CustomJointTrajectory()
virtual void setOption(const void *arg)=0
setOption
virtual Eigen::MatrixXd jacobian(Manipulator *manipulator, Name tool_name)=0
jacobian