23 #include "kinova_jaco.h" 25 #include "../manipulator.h" 27 #include <utils/math/angle.h> 45 unsigned int countDevice)
66 OpenRaveManipulatorKinovaJaco::angle_OR_to_device(
unsigned int number,
float angle)
const 71 case 0: _angle =
rad2deg(1.5 * M_PI + angle);
break;
72 case 1: _angle =
rad2deg(M_PI + angle);
break;
73 case 2: _angle =
rad2deg(M_PI + angle);
break;
74 case 3: _angle =
rad2deg(angle);
break;
75 case 4: _angle =
rad2deg(angle);
break;
76 case 5: _angle =
rad2deg(M_PI + angle);
break;
78 default: _angle =
rad2deg(angle);
break;
85 OpenRaveManipulatorKinovaJaco::angle_device_to_OR(
unsigned int number,
float angle)
const 90 case 0: _angle =
deg2rad(angle) - 1.5 * M_PI;
break;
91 case 1: _angle =
deg2rad(angle) - M_PI;
break;
92 case 2: _angle =
deg2rad(angle) - M_PI;
break;
93 case 3: _angle =
deg2rad(angle);
break;
94 case 4: _angle =
deg2rad(angle);
break;
95 case 5: _angle =
deg2rad(angle) - M_PI;
break;
96 default: _angle =
deg2rad(angle);
break;
virtual OpenRaveManipulatorPtr copy()
Create a new copy of this OpenRaveManipulator instance.
Fawkes library namespace.
OpenRaveManipulatorKinovaJaco(unsigned int count, unsigned int countDevice)
Constructor.
virtual ~OpenRaveManipulatorKinovaJaco()
Destructor.
Class containing information about all manipulator motors.
float rad2deg(float rad)
Convert an angle given in radians to degrees.
float deg2rad(float deg)
Convert an angle given in degrees to radians.