#include <robotis_manipulator_common.h>

Collaboration diagram for robotis_manipulator::Manipulator:

Public Member Functions
	Manipulator ()

	~Manipulator ()

void	addWorld (Name world_name, Name child_name, Eigen::Vector3d world_position=Eigen::Vector3d::Zero(), Eigen::Matrix3d world_orientation=Eigen::Matrix3d::Identity())
	addWorld More...

void	addJoint (Name my_name, Name parent_name, Name child_name, Eigen::Vector3d relative_position, Eigen::Matrix3d relative_orientation, Eigen::Vector3d axis_of_rotation=Eigen::Vector3d::Zero(), int8_t joint_actuator_id=-1, double max_position_limit=M_PI, double min_position_limit=-M_PI, double coefficient=1.0, double mass=0.0, Eigen::Matrix3d inertia_tensor=Eigen::Matrix3d::Identity(), Eigen::Vector3d center_of_mass=Eigen::Vector3d::Zero())
	addJoint More...

void	addTool (Name my_name, Name parent_name, Eigen::Vector3d relative_position, Eigen::Matrix3d relative_orientation, int8_t tool_id=-1, double max_position_limit=M_PI, double min_position_limit=-M_PI, double coefficient=1.0, double mass=0.0, Eigen::Matrix3d inertia_tensor=Eigen::Matrix3d::Identity(), Eigen::Vector3d center_of_mass=Eigen::Vector3d::Zero())
	addTool More...

void	addComponentChild (Name my_name, Name child_name)
	addComponentChild More...

void	printManipulatorSetting ()
	printManipulatorSetting More...

void	setWorldPose (Pose world_pose)
	setWorldPose More...

void	setWorldKinematicPose (KinematicPose world_kinematic_pose)
	setWorldKinematicPose More...

void	setWorldPosition (Eigen::Vector3d world_position)
	setWorldPosition More...

void	setWorldOrientation (Eigen::Matrix3d world_orientation)
	setWorldOrientation More...

void	setWorldDynamicPose (DynamicPose world_dynamic_pose)
	setWorldDynamicPose More...

void	setWorldLinearVelocity (Eigen::Vector3d world_linear_velocity)
	setWorldLinearVelocity More...

void	setWorldAngularVelocity (Eigen::Vector3d world_angular_velocity)
	setWorldAngularVelocity More...

void	setWorldLinearAcceleration (Eigen::Vector3d world_linear_acceleration)
	setWorldLinearAcceleration More...

void	setWorldAngularAcceleration (Eigen::Vector3d world_angular_acceleration)
	setWorldAngularAcceleration More...

void	setComponent (Name component_name, Component component)
	setComponent More...

void	setComponentActuatorName (Name component_name, Name actuator_name)
	setComponentActuatorName More...

void	setComponentPoseFromWorld (Name component_name, Pose pose_to_world)
	setComponentPoseFromWorld More...

void	setComponentKinematicPoseFromWorld (Name component_name, KinematicPose pose_to_world)
	setComponentKinematicPoseFromWorld More...

void	setComponentPositionFromWorld (Name component_name, Eigen::Vector3d position_to_world)
	setComponentPositionFromWorld More...

void	setComponentOrientationFromWorld (Name component_name, Eigen::Matrix3d orientation_to_wolrd)
	setComponentOrientationFromWorld More...

void	setComponentDynamicPoseFromWorld (Name component_name, DynamicPose dynamic_pose)
	setComponentDynamicPoseFromWorld More...

void	setJointPosition (Name name, double position)
	setJointPosition More...

void	setJointVelocity (Name name, double velocity)
	setJointVelocity More...

void	setJointAcceleration (Name name, double acceleration)
	setJointAcceleration More...

void	setJointEffort (Name name, double effort)
	setJointEffort More...

void	setJointValue (Name name, JointValue joint_value)
	setJointValue More...

void	setAllActiveJointPosition (std::vector< double > joint_position_vector)
	setAllActiveJointPosition More...

void	setAllActiveJointValue (std::vector< JointValue > joint_value_vector)
	setAllActiveJointValue More...

void	setAllJointPosition (std::vector< double > joint_position_vector)
	setAllJointPosition More...

void	setAllJointValue (std::vector< JointValue > joint_value_vector)
	setAllJointValue More...

void	setAllToolPosition (std::vector< double > tool_position_vector)
	setAllToolPosition More...

void	setAllToolValue (std::vector< JointValue > tool_value_vector)
	setAllToolValue More...

int8_t	getDOF ()
	getDOF More...

Name	getWorldName ()
	getWorldName More...

Name	getWorldChildName ()
	getWorldChildName More...

Pose	getWorldPose ()
	getWorldPose More...

KinematicPose	getWorldKinematicPose ()
	getWorldKinematicPose More...

Eigen::Vector3d	getWorldPosition ()
	getWorldPosition More...

Eigen::Matrix3d	getWorldOrientation ()
	getWorldOrientation More...

DynamicPose	getWorldDynamicPose ()
	getWorldDynamicPose More...

int8_t	getComponentSize ()
	getComponentSize More...

std::map< Name, Component >	getAllComponent ()
	getAllComponent More...

std::map< Name, Component >::iterator	getIteratorBegin ()
	getIteratorBegin More...

std::map< Name, Component >::iterator	getIteratorEnd ()
	getIteratorEnd More...

Component	getComponent (Name component_name)
	getComponent More...

Name	getComponentActuatorName (Name component_name)
	getComponentActuatorName More...

Name	getComponentParentName (Name component_name)
	getComponentParentName More...

std::vector< Name >	getComponentChildName (Name component_name)
	getComponentChildName More...

Pose	getComponentPoseFromWorld (Name component_name)
	getComponentPoseFromWorld More...

KinematicPose	getComponentKinematicPoseFromWorld (Name component_name)
	getComponentKinematicPoseFromWorld More...

Eigen::Vector3d	getComponentPositionFromWorld (Name component_name)
	getComponentPositionFromWorld More...

Eigen::Matrix3d	getComponentOrientationFromWorld (Name component_name)
	getComponentOrientationFromWorld More...

DynamicPose	getComponentDynamicPoseFromWorld (Name component_name)
	getComponentDynamicPoseFromWorld More...

KinematicPose	getComponentRelativePoseFromParent (Name component_name)
	getComponentRelativePoseFromParent More...

Eigen::Vector3d	getComponentRelativePositionFromParent (Name component_name)
	getComponentRelativePositionFromParent More...

Eigen::Matrix3d	getComponentRelativeOrientationFromParent (Name component_name)
	getComponentRelativeOrientationFromParent More...

int8_t	getId (Name component_name)
	getId More...

double	getCoefficient (Name component_name)
	getCoefficient More...

Eigen::Vector3d	getAxis (Name component_name)
	getAxis More...

double	getJointPosition (Name component_name)
	getJointPosition More...

double	getJointVelocity (Name component_name)
	getJointVelocity More...

double	getJointAcceleration (Name component_name)
	getJointAcceleration More...

double	getJointEffort (Name component_name)
	getJointEffort More...

JointValue	getJointValue (Name component_name)
	getJointValue More...

double	getComponentMass (Name component_name)
	getComponentMass More...

Eigen::Matrix3d	getComponentInertiaTensor (Name component_name)
	getComponentInertiaTensor More...

Eigen::Vector3d	getComponentCenterOfMass (Name component_name)
	getComponentCenterOfMass More...

std::vector< double >	getAllJointPosition ()
	getAllJointPosition More...

std::vector< JointValue >	getAllJointValue ()
	getAllJointValue More...

std::vector< double >	getAllActiveJointPosition ()
	getAllActiveJointPosition More...

std::vector< JointValue >	getAllActiveJointValue ()
	getAllActiveJointValue More...

std::vector< double >	getAllToolPosition ()
	getAllToolPosition More...

std::vector< JointValue >	getAllToolValue ()
	getAllToolValue More...

std::vector< uint8_t >	getAllJointID ()
	getAllJointID More...

std::vector< uint8_t >	getAllActiveJointID ()
	getAllActiveJointID More...

std::vector< Name >	getAllToolComponentName ()
	getAllToolComponentName More...

std::vector< Name >	getAllActiveJointComponentName ()
	getAllActiveJointComponentName More...

bool	checkJointLimit (Name Component_name, double value)
	checkJointLimit More...

bool	checkComponentType (Name component_name, ComponentType component_type)
	checkComponentType More...

Name	findComponentNameUsingId (int8_t id)
	findComponentNameUsingId More...

Private Attributes
int8_t	dof_

World	world_

std::map< Name, Component >	component_

Detailed Description

The Manipulator class.

Definition at line 183 of file robotis_manipulator_common.h.

Constructor & Destructor Documentation

Manipulator::Manipulator ( )

Definition at line 30 of file robotis_manipulator_common.cpp.

30 :dof_(0){}

robotis_manipulator::Manipulator::dof_

int8_t dof_

Definition: robotis_manipulator_common.h:186

robotis_manipulator::Manipulator::~Manipulator ( )

inline

Definition at line 192 of file robotis_manipulator_common.h.

192 {}

Member Function Documentation

void Manipulator::addComponentChild	(	Name	my_name,
		Name	child_name
	)

addComponentChild

Parameters

my_name
child_name

Definition at line 144 of file robotis_manipulator_common.cpp.

 {
   component_.at(my_name).name.child.push_back(child_name);
 }

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void Manipulator::addJoint	(	Name	my_name,
		Name	parent_name,
		Name	child_name,
		Eigen::Vector3d	relative_position,
		Eigen::Matrix3d	relative_orientation,
		Eigen::Vector3d	axis_of_rotation = `Eigen::Vector3d::Zero()`,
		int8_t	joint_actuator_id = `-1`,
		double	max_position_limit = `M_PI`,
		double	min_position_limit = `-M_PI`,
		double	coefficient = `1.0`,
		double	mass = `0.0`,
		Eigen::Matrix3d	inertia_tensor = `Eigen::Matrix3d::Identity()`,
		Eigen::Vector3d	center_of_mass = `Eigen::Vector3d::Zero()`
	)

addJoint

Parameters

my_name
parent_name
child_name
relative_position
relative_orientation
axis_of_rotation
joint_actuator_id
max_position_limit
min_position_limit
coefficient
mass
inertia_tensor
center_of_mass

Definition at line 50 of file robotis_manipulator_common.cpp.

 {
   Component temp_component;
   if (joint_actuator_id != -1)
   {
     dof_++;
     temp_component.component_type = ACTIVE_JOINT_COMPONENT;
   }
   else
   {
     temp_component.component_type = PASSIVE_JOINT_COMPONENT;
   }
 
   temp_component.name.parent = parent_name;
   temp_component.name.child.push_back(child_name);
   temp_component.relative.pose_from_parent.position = relative_position;
   temp_component.relative.pose_from_parent.orientation = relative_orientation;
   temp_component.relative.inertia.mass = mass;
   temp_component.relative.inertia.inertia_tensor = inertia_tensor;
   temp_component.relative.inertia.center_of_mass = center_of_mass;
   temp_component.joint_constant.id = joint_actuator_id;
   temp_component.joint_constant.coefficient = coefficient;
   temp_component.joint_constant.axis = axis_of_rotation;
   temp_component.joint_constant.position_limit.maximum = max_position_limit;
   temp_component.joint_constant.position_limit.minimum = min_position_limit;
 
   temp_component.pose_from_world.kinematic.position = Eigen::Vector3d::Zero();
   temp_component.pose_from_world.kinematic.orientation = Eigen::Matrix3d::Identity();
   temp_component.pose_from_world.dynamic.linear.velocity = Eigen::Vector3d::Zero();
   temp_component.pose_from_world.dynamic.linear.acceleration = Eigen::Vector3d::Zero();
   temp_component.pose_from_world.dynamic.angular.velocity = Eigen::Vector3d::Zero();
   temp_component.pose_from_world.dynamic.angular.acceleration = Eigen::Vector3d::Zero();
 
   temp_component.joint_value.position = 0.0;
   temp_component.joint_value.velocity = 0.0;
   temp_component.joint_value.effort = 0.0;
 
   component_.insert(std::make_pair(my_name, temp_component));
 }

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void Manipulator::addTool	(	Name	my_name,
		Name	parent_name,
		Eigen::Vector3d	relative_position,
		Eigen::Matrix3d	relative_orientation,
		int8_t	tool_id = `-1`,
		double	max_position_limit = `M_PI`,
		double	min_position_limit = `-M_PI`,
		double	coefficient = `1.0`,
		double	mass = `0.0`,
		Eigen::Matrix3d	inertia_tensor = `Eigen::Matrix3d::Identity()`,
		Eigen::Vector3d	center_of_mass = `Eigen::Vector3d::Zero()`
	)

addTool

Parameters

my_name
parent_name
relative_position
relative_orientation
tool_id
max_position_limit
min_position_limit
coefficient
mass
inertia_tensor
center_of_mass

Definition at line 102 of file robotis_manipulator_common.cpp.

 {
   Component temp_component;
 
   temp_component.name.parent = parent_name;
   temp_component.name.child.resize(0);
   temp_component.component_type = TOOL_COMPONENT;
   temp_component.relative.pose_from_parent.position = relative_position;
   temp_component.relative.pose_from_parent.orientation = relative_orientation;
   temp_component.relative.inertia.mass = mass;
   temp_component.relative.inertia.inertia_tensor = inertia_tensor;
   temp_component.relative.inertia.center_of_mass = center_of_mass;
   temp_component.joint_constant.id = tool_id;
   temp_component.joint_constant.coefficient = coefficient;
   temp_component.joint_constant.axis = Eigen::Vector3d::Zero();
   temp_component.joint_constant.position_limit.maximum = max_position_limit;
   temp_component.joint_constant.position_limit.minimum = min_position_limit;
 
   temp_component.pose_from_world.kinematic.position = Eigen::Vector3d::Zero();
   temp_component.pose_from_world.kinematic.orientation = Eigen::Matrix3d::Identity();
   temp_component.pose_from_world.dynamic.linear.velocity = Eigen::Vector3d::Zero();
   temp_component.pose_from_world.dynamic.linear.acceleration = Eigen::Vector3d::Zero();
   temp_component.pose_from_world.dynamic.angular.velocity = Eigen::Vector3d::Zero();
   temp_component.pose_from_world.dynamic.angular.acceleration = Eigen::Vector3d::Zero();
 
   temp_component.joint_value.position = 0.0;
   temp_component.joint_value.velocity = 0.0;
   temp_component.joint_value.effort = 0.0;
 
   component_.insert(std::make_pair(my_name, temp_component));
 }

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void Manipulator::addWorld	(	Name	world_name,
		Name	child_name,
		Eigen::Vector3d	world_position = `Eigen::Vector3d::Zero()`,
		Eigen::Matrix3d	world_orientation = `Eigen::Matrix3d::Identity()`
	)

addWorld

Parameters

world_name
child_name
world_position
world_orientation

Definition at line 35 of file robotis_manipulator_common.cpp.

 {
   world_.name = world_name;
   world_.child = child_name;
   world_.pose.kinematic.position = world_position;
   world_.pose.kinematic.orientation = world_orientation;
   world_.pose.dynamic.linear.velocity = Eigen::Vector3d::Zero();
   world_.pose.dynamic.linear.acceleration = Eigen::Vector3d::Zero();
   world_.pose.dynamic.angular.velocity = Eigen::Vector3d::Zero();
   world_.pose.dynamic.angular.acceleration = Eigen::Vector3d::Zero();
 }

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bool Manipulator::checkComponentType	(	Name	component_name,
		ComponentType	component_type
	)

checkComponentType

Parameters

component_name
component_type

Returns

Definition at line 825 of file robotis_manipulator_common.cpp.

 {
   if(component_.at(component_name).component_type == component_type)
     return true;
   else
     return false;
 }

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bool Manipulator::checkJointLimit	(	Name	Component_name,
		double	value
	)

checkJointLimit

Parameters

Component_name
value

Returns

Definition at line 815 of file robotis_manipulator_common.cpp.

 {
   if(component_.at(component_name).joint_constant.position_limit.maximum < value)
     return false;
   else if(component_.at(component_name).joint_constant.position_limit.minimum > value)
     return false;
   else
     return true;
 }

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Name Manipulator::findComponentNameUsingId ( int8_t id )

findComponentNameUsingId

Parameters

id

Returns

Definition at line 837 of file robotis_manipulator_common.cpp.

 {
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     if (component_.at(it_component->first).joint_constant.id == id)
     {
       return it_component->first;
     }
   }
   return {};
 }

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std::vector< Name > Manipulator::getAllActiveJointComponentName ( )

getAllActiveJointComponentName

Returns

Definition at line 796 of file robotis_manipulator_common.cpp.

 {
   std::vector<Name> active_joint_name;
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     if (checkComponentType(it_component->first, ACTIVE_JOINT_COMPONENT))
     {
       active_joint_name.push_back(it_component->first);
     }
   }
   return active_joint_name;
 }

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std::vector< uint8_t > Manipulator::getAllActiveJointID ( )

getAllActiveJointID

Returns

Definition at line 765 of file robotis_manipulator_common.cpp.

 {
   std::vector<uint8_t> active_joint_id;
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     if (checkComponentType(it_component->first, ACTIVE_JOINT_COMPONENT))
     {
       active_joint_id.push_back(component_.at(it_component->first).joint_constant.id);
     }
   }
   return active_joint_id;
 }

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std::vector< double > Manipulator::getAllActiveJointPosition ( )

getAllActiveJointPosition

Returns

Definition at line 689 of file robotis_manipulator_common.cpp.

 {
   std::vector<double> result_vector;
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     if (checkComponentType(it_component->first, ACTIVE_JOINT_COMPONENT))
     {
       result_vector.push_back(component_.at(it_component->first).joint_value.position);
     }
   }
   return result_vector;
 }

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std::vector< JointValue > Manipulator::getAllActiveJointValue ( )

getAllActiveJointValue

Returns

Definition at line 704 of file robotis_manipulator_common.cpp.

 {
   std::vector<JointValue> result_vector;
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     if (checkComponentType(it_component->first, ACTIVE_JOINT_COMPONENT))
     {
       result_vector.push_back(component_.at(it_component->first).joint_value);
     }
   }
   return result_vector;
 }

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std::map< Name, Component > Manipulator::getAllComponent ( )

getAllComponent

Returns

Definition at line 529 of file robotis_manipulator_common.cpp.

 {
   return component_;
 }

std::vector< uint8_t > Manipulator::getAllJointID ( )

getAllJointID

Returns

Definition at line 750 of file robotis_manipulator_common.cpp.

 {
   std::vector<uint8_t> joint_id;
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     if (checkComponentType(it_component->first, ACTIVE_JOINT_COMPONENT) || checkComponentType(it_component->first, PASSIVE_JOINT_COMPONENT))
     {
       joint_id.push_back(component_.at(it_component->first).joint_constant.id);
     }
   }
   return joint_id;
 }

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std::vector< double > Manipulator::getAllJointPosition ( )

getAllJointPosition

Returns

Definition at line 659 of file robotis_manipulator_common.cpp.

 {
   std::vector<double> result_vector;
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     if (checkComponentType(it_component->first, ACTIVE_JOINT_COMPONENT) || checkComponentType(it_component->first, PASSIVE_JOINT_COMPONENT))
     {
       result_vector.push_back(component_.at(it_component->first).joint_value.position);
     }
   }
   return result_vector;
 }

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std::vector< JointValue > Manipulator::getAllJointValue ( )

getAllJointValue

Returns

Definition at line 674 of file robotis_manipulator_common.cpp.

 {
   std::vector<JointValue> result_vector;
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     if (checkComponentType(it_component->first, ACTIVE_JOINT_COMPONENT) || checkComponentType(it_component->first, PASSIVE_JOINT_COMPONENT))
     {
       result_vector.push_back(component_.at(it_component->first).joint_value);
     }
   }
   return result_vector;
 }

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std::vector< Name > Manipulator::getAllToolComponentName ( )

getAllToolComponentName

Returns

Definition at line 781 of file robotis_manipulator_common.cpp.

 {
   std::vector<Name> tool_name;
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     if (checkComponentType(it_component->first, TOOL_COMPONENT))
     {
       tool_name.push_back(it_component->first);
     }
   }
   return tool_name;
 }

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std::vector< double > Manipulator::getAllToolPosition ( )

getAllToolPosition

Returns

Definition at line 719 of file robotis_manipulator_common.cpp.

 {
   std::vector<double> result_vector;
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     if (checkComponentType(it_component->first, TOOL_COMPONENT))
     {
       result_vector.push_back(component_.at(it_component->first).joint_value.position);
     }
   }
   return result_vector;
 }

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std::vector< JointValue > Manipulator::getAllToolValue ( )

getAllToolValue

Returns

Definition at line 735 of file robotis_manipulator_common.cpp.

 {
   std::vector<JointValue> result_vector;
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     if (checkComponentType(it_component->first, TOOL_COMPONENT))
     {
       result_vector.push_back(component_.at(it_component->first).joint_value);
     }
   }
   return result_vector;
 }

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Eigen::Vector3d Manipulator::getAxis ( Name component_name )

getAxis

Parameters

component_name

Returns

Definition at line 614 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).joint_constant.axis;
 }

double Manipulator::getCoefficient ( Name component_name )

getCoefficient

Parameters

component_name

Returns

Definition at line 609 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).joint_constant.coefficient;
 }

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Component Manipulator::getComponent ( Name component_name )

getComponent

Parameters

component_name

Returns

Definition at line 544 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name);
 }

Name Manipulator::getComponentActuatorName ( Name component_name )

getComponentActuatorName

Parameters

component_name

Returns

Definition at line 549 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).actuator_name;
 }

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Eigen::Vector3d Manipulator::getComponentCenterOfMass ( Name component_name )

getComponentCenterOfMass

Parameters

component_name

Returns

Definition at line 654 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).relative.inertia.center_of_mass;
 }

std::vector< Name > Manipulator::getComponentChildName ( Name component_name )

getComponentChildName

Parameters

component_name

Returns

Definition at line 559 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).name.child;
 }

DynamicPose Manipulator::getComponentDynamicPoseFromWorld ( Name component_name )

getComponentDynamicPoseFromWorld

Parameters

component_name

Returns

Definition at line 584 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).pose_from_world.dynamic;
 }

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Eigen::Matrix3d Manipulator::getComponentInertiaTensor ( Name component_name )

getComponentInertiaTensor

Parameters

component_name

Returns

Definition at line 649 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).relative.inertia.inertia_tensor;
 }

KinematicPose Manipulator::getComponentKinematicPoseFromWorld ( Name component_name )

getComponentKinematicPoseFromWorld

Parameters

component_name

Returns

Definition at line 569 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).pose_from_world.kinematic;
 }

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double Manipulator::getComponentMass ( Name component_name )

getComponentMass

Parameters

component_name

Returns

Definition at line 644 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).relative.inertia.mass;
 }

Eigen::Matrix3d Manipulator::getComponentOrientationFromWorld ( Name component_name )

getComponentOrientationFromWorld

Parameters

component_name

Returns

Definition at line 579 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).pose_from_world.kinematic.orientation;
 }

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Name Manipulator::getComponentParentName ( Name component_name )

getComponentParentName

Parameters

component_name

Returns

Definition at line 554 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).name.parent;
 }

Pose Manipulator::getComponentPoseFromWorld ( Name component_name )

getComponentPoseFromWorld

Parameters

component_name

Returns

Definition at line 564 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).pose_from_world;
 }

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Eigen::Vector3d Manipulator::getComponentPositionFromWorld ( Name component_name )

getComponentPositionFromWorld

Parameters

component_name

Returns

Definition at line 574 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).pose_from_world.kinematic.position;
 }

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Eigen::Matrix3d Manipulator::getComponentRelativeOrientationFromParent ( Name component_name )

getComponentRelativeOrientationFromParent

Parameters

component_name

Returns

Definition at line 599 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).relative.pose_from_parent.orientation;
 }

KinematicPose Manipulator::getComponentRelativePoseFromParent ( Name component_name )

getComponentRelativePoseFromParent

Parameters

component_name

Returns

Definition at line 589 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).relative.pose_from_parent;
 }

Eigen::Vector3d Manipulator::getComponentRelativePositionFromParent ( Name component_name )

getComponentRelativePositionFromParent

Parameters

component_name

Returns

Definition at line 594 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).relative.pose_from_parent.position;
 }

int8_t Manipulator::getComponentSize ( )

getComponentSize

Returns

Definition at line 524 of file robotis_manipulator_common.cpp.

 {
   return component_.size();
 }

int8_t Manipulator::getDOF ( )

getDOF

Returns

Definition at line 484 of file robotis_manipulator_common.cpp.

 {
   return dof_;
 }

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int8_t Manipulator::getId ( Name component_name )

getId

Parameters

component_name

Returns

Definition at line 604 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).joint_constant.id;
 }

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std::map< Name, Component >::iterator Manipulator::getIteratorBegin ( )

getIteratorBegin

Returns

Definition at line 534 of file robotis_manipulator_common.cpp.

 {
   return component_.begin();
 }

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std::map< Name, Component >::iterator Manipulator::getIteratorEnd ( )

getIteratorEnd

Returns

Definition at line 539 of file robotis_manipulator_common.cpp.

 {
   return component_.end();;
 }

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double Manipulator::getJointAcceleration ( Name component_name )

getJointAcceleration

Parameters

component_name

Returns

Definition at line 629 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).joint_value.acceleration;
 }

double Manipulator::getJointEffort ( Name component_name )

getJointEffort

Parameters

component_name

Returns

Definition at line 634 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).joint_value.effort;
 }

double Manipulator::getJointPosition ( Name component_name )

getJointPosition

Parameters

component_name

Returns

Definition at line 619 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).joint_value.position;
 }

JointValue Manipulator::getJointValue ( Name component_name )

getJointValue

Parameters

component_name

Returns

Definition at line 639 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).joint_value;
 }

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double Manipulator::getJointVelocity ( Name component_name )

getJointVelocity

Parameters

component_name

Returns

Definition at line 624 of file robotis_manipulator_common.cpp.

 {
   return component_.at(component_name).joint_value.velocity;
 }

Name Manipulator::getWorldChildName ( )

getWorldChildName

Returns

Definition at line 494 of file robotis_manipulator_common.cpp.

 {
   return world_.child;
 }

DynamicPose Manipulator::getWorldDynamicPose ( )

getWorldDynamicPose

Returns

Definition at line 519 of file robotis_manipulator_common.cpp.

 {
   return world_.pose.dynamic;
 }

KinematicPose Manipulator::getWorldKinematicPose ( )

getWorldKinematicPose

Returns

Definition at line 504 of file robotis_manipulator_common.cpp.

 {
   return world_.pose.kinematic;
 }

Name Manipulator::getWorldName ( )

getWorldName

Returns

Definition at line 489 of file robotis_manipulator_common.cpp.

 {
   return world_.name;
 }

Eigen::Matrix3d Manipulator::getWorldOrientation ( )

getWorldOrientation

Returns

Definition at line 514 of file robotis_manipulator_common.cpp.

 {
   return world_.pose.kinematic.orientation;
 }

Pose Manipulator::getWorldPose ( )

getWorldPose

Returns

Definition at line 499 of file robotis_manipulator_common.cpp.

 {
   return world_.pose;
 }

Eigen::Vector3d Manipulator::getWorldPosition ( )

getWorldPosition

Returns

Definition at line 509 of file robotis_manipulator_common.cpp.

 {
   return world_.pose.kinematic.position;
 }

void Manipulator::printManipulatorSetting ( )

printManipulatorSetting

Definition at line 149 of file robotis_manipulator_common.cpp.

 {
   log::println("----------<Manipulator Description>----------");
   log::println("<Degree of Freedom>\n", dof_);
   log::println("<Number of Components>\n", component_.size());
   log::println("");
   log::println("<World Configuration>");
   log::println(" [Name]");
   log::print(" -World Name : "); log::println(STRING(world_.name));
   log::print(" -Child Name : "); log::println(STRING(world_.child));
   log::println(" [Static Pose]");
   log::println(" -Position : ");
   log::print_vector(world_.pose.kinematic.position);
   log::println(" -Orientation : ");
   log::print_matrix(world_.pose.kinematic.orientation);
   log::println(" [Dynamic Pose]");
   log::println(" -Linear Velocity : ");
   log::print_vector(world_.pose.dynamic.linear.velocity);
   log::println(" -Linear acceleration : ");
   log::print_vector(world_.pose.dynamic.linear.acceleration);
   log::println(" -Angular Velocity : ");
   log::print_vector(world_.pose.dynamic.angular.velocity);
   log::println(" -Angular acceleration : ");
   log::print_vector(world_.pose.dynamic.angular.acceleration);
 
   std::vector<double> result_vector;
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     log::println("");
     log::println("<"); log::print(STRING(it_component->first)); log::print("Configuration>");
     if(component_.at(it_component->first).component_type == ACTIVE_JOINT_COMPONENT)
       log::println(" [Component Type]\n  Active Joint");
     else if(component_.at(it_component->first).component_type == PASSIVE_JOINT_COMPONENT)
       log::println(" [Component Type]\n  Passive Joint");
     else if(component_.at(it_component->first).component_type == TOOL_COMPONENT)
       log::println(" [Component Type]\n  Tool");
     log::println(" [Name]");
     log::print(" -Parent Name : "); log::println(STRING(component_.at(it_component->first).name.parent));
     for(uint32_t index = 0; index < component_.at(it_component->first).name.child.size(); index++)
     {
       log::print(" -Child Name",index+1,0);
       log::print(" : ");
       log::println(STRING(component_.at(it_component->first).name.child.at(index)));
     }
     log::println(" [Actuator]");
     log::print(" -Actuator Name : ");
     log::println(STRING(component_.at(it_component->first).actuator_name));
     log::print(" -ID : ");
     log::println("", component_.at(it_component->first).joint_constant.id,0);
     log::println(" -Joint Axis : ");
     log::print_vector(component_.at(it_component->first).joint_constant.axis);
     log::print(" -Coefficient : ");
     log::println("", component_.at(it_component->first).joint_constant.coefficient);
     log::println(" -Position Limit : ");
     log::print("    Maximum :", component_.at(it_component->first).joint_constant.position_limit.maximum);
     log::println(", Minimum :", component_.at(it_component->first).joint_constant.position_limit.minimum);
 
     log::println(" [Actuator Value]");
     log::println(" -Position : ", component_.at(it_component->first).joint_value.position);
     log::println(" -Velocity : ", component_.at(it_component->first).joint_value.velocity);
     log::println(" -Acceleration : ", component_.at(it_component->first).joint_value.acceleration);
     log::println(" -Effort : ", component_.at(it_component->first).joint_value.effort);
 
     log::println(" [Constant]");
     log::println(" -Relative Position from parent component : ");
     log::print_vector(component_.at(it_component->first).relative.pose_from_parent.position);
     log::println(" -Relative Orientation from parent component : ");
     log::print_matrix(component_.at(it_component->first).relative.pose_from_parent.orientation);
     log::print(" -Mass : ");
     log::println("", component_.at(it_component->first).relative.inertia.mass);
     log::println(" -Inertia Tensor : ");
     log::print_matrix(component_.at(it_component->first).relative.inertia.inertia_tensor);
     log::println(" -Center of Mass : ");
     log::print_vector(component_.at(it_component->first).relative.inertia.center_of_mass);
 
     log::println(" [Variable]");
     log::println(" -Position : ");
     log::print_vector(component_.at(it_component->first).pose_from_world.kinematic.position);
     log::println(" -Orientation : ");
     log::print_matrix(component_.at(it_component->first).pose_from_world.kinematic.orientation);
     log::println(" -Linear Velocity : ");
     log::print_vector(component_.at(it_component->first).pose_from_world.dynamic.linear.velocity);
     log::println(" -Linear acceleration : ");
     log::print_vector(component_.at(it_component->first).pose_from_world.dynamic.linear.acceleration);
     log::println(" -Angular Velocity : ");
     log::print_vector(component_.at(it_component->first).pose_from_world.dynamic.angular.velocity);
     log::println(" -Angular acceleration : ");
     log::print_vector(component_.at(it_component->first).pose_from_world.dynamic.angular.acceleration);
   }
   log::println("---------------------------------------------");
 }

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void Manipulator::setAllActiveJointPosition ( std::vector< double > joint_position_vector )

setAllActiveJointPosition

Parameters

joint_position_vector

Definition at line 387 of file robotis_manipulator_common.cpp.

 {
   int8_t index = 0;
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     if (component_.at(it_component->first).component_type == ACTIVE_JOINT_COMPONENT)
     {
       component_.at(it_component->first).joint_value.position = joint_position_vector.at(index);
       index++;
     }
   }
 }

void Manipulator::setAllActiveJointValue ( std::vector< JointValue > joint_value_vector )

setAllActiveJointValue

Parameters

joint_value_vector

Definition at line 402 of file robotis_manipulator_common.cpp.

 {
   int8_t index = 0;
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     if (component_.at(it_component->first).component_type == ACTIVE_JOINT_COMPONENT)
     {
       component_.at(it_component->first).joint_value.position = joint_value_vector.at(index).position;
       component_.at(it_component->first).joint_value.velocity = joint_value_vector.at(index).velocity;
       component_.at(it_component->first).joint_value.acceleration = joint_value_vector.at(index).acceleration;
       component_.at(it_component->first).joint_value.effort = joint_value_vector.at(index).effort;
       index++;
     }
   }
 }

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void Manipulator::setAllJointPosition ( std::vector< double > joint_position_vector )

setAllJointPosition

Parameters

joint_position_vector

Definition at line 420 of file robotis_manipulator_common.cpp.

 {
   int8_t index = 0;
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     if (component_.at(it_component->first).component_type == ACTIVE_JOINT_COMPONENT || component_.at(it_component->first).component_type == PASSIVE_JOINT_COMPONENT)
     {
       component_.at(it_component->first).joint_value.position = joint_position_vector.at(index);
       index++;
     }
   }
 }

void Manipulator::setAllJointValue ( std::vector< JointValue > joint_value_vector )

setAllJointValue

Parameters

joint_value_vector

Definition at line 435 of file robotis_manipulator_common.cpp.

 {
   int8_t index = 0;
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     if (component_.at(it_component->first).component_type == ACTIVE_JOINT_COMPONENT || component_.at(it_component->first).component_type == PASSIVE_JOINT_COMPONENT)
     {
       component_.at(it_component->first).joint_value = joint_value_vector.at(index);
       index++;
     }
   }
 }

void Manipulator::setAllToolPosition ( std::vector< double > tool_position_vector )

setAllToolPosition

Parameters

tool_position_vector

Definition at line 450 of file robotis_manipulator_common.cpp.

 {
   int8_t index = 0;
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     if (component_.at(it_component->first).component_type == TOOL_COMPONENT)
     {
       component_.at(it_component->first).joint_value.position = tool_position_vector.at(index);
       index++;
     }
   }
 }

void Manipulator::setAllToolValue ( std::vector< JointValue > tool_value_vector )

setAllToolValue

Parameters

tool_value_vector

Definition at line 465 of file robotis_manipulator_common.cpp.

 {
   int8_t index = 0;
   std::map<Name, Component>::iterator it_component;
 
   for (it_component = component_.begin(); it_component != component_.end(); it_component++)
   {
     if (component_.at(it_component->first).component_type == TOOL_COMPONENT)
     {
       component_.at(it_component->first).joint_value = tool_value_vector.at(index);
       index++;
     }
   }
 }

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void Manipulator::setComponent	(	Name	component_name,
		Component	component
	)

setComponent

Parameters

component_name
component

Definition at line 292 of file robotis_manipulator_common.cpp.

 {
   component_.at(component_name) = component;
 }

void Manipulator::setComponentActuatorName	(	Name	component_name,
		Name	actuator_name
	)

setComponentActuatorName

Parameters

component_name
actuator_name

Definition at line 297 of file robotis_manipulator_common.cpp.

 {
   component_.at(component_name).actuator_name = actuator_name;
 }

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void Manipulator::setComponentDynamicPoseFromWorld	(	Name	component_name,
		DynamicPose	dynamic_pose
	)

setComponentDynamicPoseFromWorld

Parameters

component_name
dynamic_pose

Definition at line 350 of file robotis_manipulator_common.cpp.

 {
   if (component_.find(component_name) != component_.end())
   {
     component_.at(component_name).pose_from_world.dynamic = dynamic_pose;
   }
   else
   {
     log::error("[setComponentDynamicPoseFromWorld] Wrong name.");
   }
 }

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void Manipulator::setComponentKinematicPoseFromWorld	(	Name	component_name,
		KinematicPose	pose_to_world
	)

setComponentKinematicPoseFromWorld

Parameters

component_name
pose_to_world

Definition at line 314 of file robotis_manipulator_common.cpp.

 {
   if (component_.find(component_name) != component_.end())
   {
     component_.at(component_name).pose_from_world.kinematic = pose_to_world;
   }
   else
   {
     log::error("[setComponentKinematicPoseFromWorld] Wrong name.");
   }
 }

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void Manipulator::setComponentOrientationFromWorld	(	Name	component_name,
		Eigen::Matrix3d	orientation_to_wolrd
	)

setComponentOrientationFromWorld

Parameters

component_name
orientation_to_wolrd

Definition at line 338 of file robotis_manipulator_common.cpp.

 {
   if (component_.find(component_name) != component_.end())
   {
     component_.at(component_name).pose_from_world.kinematic.orientation = orientation_to_wolrd;
   }
   else
   {
     log::error("[setComponentOrientationFromWorld] Wrong name.");
   }
 }

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void Manipulator::setComponentPoseFromWorld	(	Name	component_name,
		Pose	pose_to_world
	)

setComponentPoseFromWorld

Parameters

component_name
pose_to_world

Definition at line 302 of file robotis_manipulator_common.cpp.

 {
   if (component_.find(component_name) != component_.end())
   {
     component_.at(component_name).pose_from_world = pose_to_world;
   }
   else
   {
     log::error("[setComponentPoseFromWorld] Wrong name.");
   }
 }

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void Manipulator::setComponentPositionFromWorld	(	Name	component_name,
		Eigen::Vector3d	position_to_world
	)

setComponentPositionFromWorld

Parameters

component_name
position_to_world

Definition at line 326 of file robotis_manipulator_common.cpp.

 {
   if (component_.find(component_name) != component_.end())
   {
     component_.at(component_name).pose_from_world.kinematic.position = position_to_world;
   }
   else
   {
     log::error("[setComponentPositionFromWorld] Wrong name.");
   }
 }

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void Manipulator::setJointAcceleration	(	Name	name,
		double	acceleration
	)

setJointAcceleration

Parameters

name
acceleration

Definition at line 372 of file robotis_manipulator_common.cpp.

 {
   component_.at(component_name).joint_value.acceleration = acceleration;
 }

void Manipulator::setJointEffort	(	Name	name,
		double	effort
	)

setJointEffort

Parameters

name
effort

Definition at line 377 of file robotis_manipulator_common.cpp.

 {
   component_.at(component_name).joint_value.effort = effort;
 }

void Manipulator::setJointPosition	(	Name	name,
		double	position
	)

setJointPosition

Parameters

name
position

Definition at line 362 of file robotis_manipulator_common.cpp.

 {
   component_.at(component_name).joint_value.position = position;
 }

void Manipulator::setJointValue	(	Name	name,
		JointValue	joint_value
	)

setJointValue

Parameters

name
joint_value

Definition at line 382 of file robotis_manipulator_common.cpp.

 {
   component_.at(component_name).joint_value = joint_value;
 }

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void Manipulator::setJointVelocity	(	Name	name,
		double	velocity
	)

setJointVelocity

Parameters

name
velocity

Definition at line 367 of file robotis_manipulator_common.cpp.

 {
   component_.at(component_name).joint_value.velocity = velocity;
 }

void Manipulator::setWorldAngularAcceleration ( Eigen::Vector3d world_angular_acceleration )

setWorldAngularAcceleration

Parameters

world_angular_acceleration

Definition at line 287 of file robotis_manipulator_common.cpp.

 {
   world_.pose.dynamic.angular.acceleration = world_angular_acceleration;
 }

void Manipulator::setWorldAngularVelocity ( Eigen::Vector3d world_angular_velocity )

setWorldAngularVelocity

Parameters

world_angular_velocity

Definition at line 277 of file robotis_manipulator_common.cpp.

 {
   world_.pose.dynamic.angular.velocity = world_angular_velocity;
 }

void Manipulator::setWorldDynamicPose ( DynamicPose world_dynamic_pose )

setWorldDynamicPose

Parameters

world_dynamic_pose

Definition at line 267 of file robotis_manipulator_common.cpp.

 {
   world_.pose.dynamic = world_dynamic_pose;
 }

void Manipulator::setWorldKinematicPose ( KinematicPose world_kinematic_pose )

setWorldKinematicPose

Parameters

world_kinematic_pose

Definition at line 252 of file robotis_manipulator_common.cpp.

 {
   world_.pose.kinematic = world_kinematic_pose;
 }

void Manipulator::setWorldLinearAcceleration ( Eigen::Vector3d world_linear_acceleration )

setWorldLinearAcceleration

Parameters

world_linear_acceleration

Definition at line 282 of file robotis_manipulator_common.cpp.

 {
   world_.pose.dynamic.linear.acceleration = world_linear_acceleration;
 }

void Manipulator::setWorldLinearVelocity ( Eigen::Vector3d world_linear_velocity )

setWorldLinearVelocity

Parameters

world_linear_velocity

Definition at line 272 of file robotis_manipulator_common.cpp.

 {
   world_.pose.dynamic.linear.velocity = world_linear_velocity;
 }

void Manipulator::setWorldOrientation ( Eigen::Matrix3d world_orientation )

setWorldOrientation

Parameters

world_orientation

Definition at line 262 of file robotis_manipulator_common.cpp.

 {
   world_.pose.kinematic.orientation = world_orientation;
 }

void Manipulator::setWorldPose ( Pose world_pose )

setWorldPose

Parameters

world_pose

Definition at line 247 of file robotis_manipulator_common.cpp.

 {
   world_.pose = world_pose;
 }

void Manipulator::setWorldPosition ( Eigen::Vector3d world_position )

setWorldPosition

Parameters

world_position

Definition at line 257 of file robotis_manipulator_common.cpp.

 {
   world_.pose.kinematic.position = world_position;
 }

Member Data Documentation

std::map<Name, Component> robotis_manipulator::Manipulator::component_

private

Definition at line 188 of file robotis_manipulator_common.h.

int8_t robotis_manipulator::Manipulator::dof_

private

Definition at line 186 of file robotis_manipulator_common.h.

World robotis_manipulator::Manipulator::world_

private

Definition at line 187 of file robotis_manipulator_common.h.

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

include/robotis_manipulator/robotis_manipulator_common.h
src/robotis_manipulator/robotis_manipulator_common.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation