23 #ifndef _PLUGINS_JACO_ARM_H_ 24 #define _PLUGINS_JACO_ARM_H_ 50 virtual bool final() = 0;
61 virtual void get_joints(std::vector<float> &to)
const = 0;
66 virtual void get_coords(std::vector<float> &to) = 0;
71 virtual void get_fingers(std::vector<float> &to)
const = 0;
75 virtual void stop() = 0;
89 virtual void goto_trajec(std::vector<std::vector<float>> *trajec,
90 std::vector<float> & fingers) = 0;
100 goto_joints(std::vector<float> &joints, std::vector<float> &fingers,
bool followup =
false) = 0;
106 virtual void goto_coords(std::vector<float> &coords, std::vector<float> &fingers) = 0;
Fawkes library namespace.
virtual void goto_retract()=0
Move the arm to RETRACT position.
virtual void get_coords(std::vector< float > &to)=0
Get the cartesian coordinates of the arm.
virtual void initialize()=0
Initialize the arm.
virtual void release_joystick()=0
Simulate releasing the joystick of the Kinova Jaco arm.
virtual void goto_trajec(std::vector< std::vector< float >> *trajec, std::vector< float > &fingers)=0
Move the arm along the given trajectory.
virtual void get_joints(std::vector< float > &to) const =0
Get the joint angles of the arm.
virtual void goto_ready()=0
Move the arm to READY position.
virtual void goto_joints(std::vector< float > &joints, std::vector< float > &fingers, bool followup=false)=0
Move the arm to given configuration.
virtual void goto_coords(std::vector< float > &coords, std::vector< float > &fingers)=0
Move the arm to given configuration.
bool initialized_
track if the arm has been initialized or not
virtual ~JacoArm()
Virtual empty destructor.
virtual void push_joystick(unsigned int button)=0
Simulate a push of a button on the joystick of the Kinova Jaco arm.
virtual void get_fingers(std::vector< float > &to) const =0
Get the position values of the fingers.
virtual void stop()=0
Stop the current movement.
virtual bool initialized()=0
Check if arm is initialized.
Abstract class for a Kinova Jaco Arm that we want to control.
std::string name_
the name of this arm
std::string get_name() const
Get the name of the arm.