32#include <boost/thread/mutex.hpp>
35struct libusb_device_handle;
40typedef struct usb_device_struct usb_device_t;
93 void set_target_cart(
float x,
float y,
float z,
float euler_1,
float euler_2,
float euler_3,
float finger_1,
float finger_2,
float finger_3);
95 void set_target_ang(
float j1,
float j2,
float j3,
float j4,
float j5,
float j6,
float finger_1,
float finger_2,
float finger_3);
102 libusb_device_handle *__devh;
107 inline void _usb_header(
usb_packet_t &p,
unsigned short pid,
unsigned short pquant,
unsigned short cmdid,
unsigned short cmdsize);
113 error_t _cmd_out(
short cmdid);
128 error_t _update_client_config();
Main JacoArm class. All communication is done via an instance of this.
Definition kindrv.h:50
void push_joystick_button(unsigned short id)
Definition kindrv.cpp:1048
jaco_position_t get_ang_command()
Definition kindrv.cpp:893
void start_api_ctrl()
Definition kindrv.cpp:756
void set_target_cart(float x, float y, float z, float euler_1, float euler_2, float euler_3, float finger_1, float finger_2, float finger_3)
Definition kindrv.cpp:1176
void erase_trajectories()
Definition kindrv.cpp:829
jaco_position_t get_cart_command()
Definition kindrv.cpp:909
jaco_position_t get_ang_current()
Definition kindrv.cpp:957
jaco_sensor_info_t get_sensor_info()
Definition kindrv.cpp:989
jaco_position_t get_ang_current_motor()
Definition kindrv.cpp:973
void set_target(jaco_basic_traj_point_t &traj)
Definition kindrv.cpp:1123
jaco_client_config_t get_client_config(bool refresh=true)
Definition kindrv.cpp:1008
void set_target_ang(float j1, float j2, float j3, float j4, float j5, float j6, float finger_1, float finger_2, float finger_3)
Definition kindrv.cpp:1207
JacoArm()
Definition kindrv.cpp:392
void start_force_ctrl()
Definition kindrv.cpp:784
jaco_position_t get_cart_pos()
Definition kindrv.cpp:845
jaco_position_t get_ang_pos()
Definition kindrv.cpp:861
virtual ~JacoArm()
Definition kindrv.cpp:448
void stop_force_ctrl()
Definition kindrv.cpp:796
jaco_position_t get_ang_force()
Definition kindrv.cpp:941
void move_joystick(jaco_joystick_t &state)
Definition kindrv.cpp:1093
void set_control_ang()
Definition kindrv.cpp:807
void stop_api_ctrl()
Definition kindrv.cpp:772
void set_control_cart()
Definition kindrv.cpp:818
jaco_retract_mode_t get_status()
Definition kindrv.cpp:1024
jaco_position_t get_ang_vel()
Definition kindrv.cpp:877
void release_joystick()
Definition kindrv.cpp:1109
void move_joystick_axis(jaco_joystick_axis_t &axes)
Definition kindrv.cpp:1080
jaco_position_t get_cart_force()
Definition kindrv.cpp:925
Basic trajectory struct.
Definition types.h:93
Struct containing the client information and configuration.
Definition types.h:145
Struct for joystick axis movement. Make sure to initialze with 0s!
Definition types.h:104
Each joystick action (button,axis) as a whole is represented by one of this struct....
Definition types.h:119
Jaco universal position struct.
Definition types.h:81
Struct that holds values of various sensors of the robot.
Definition types.h:125
USB packet struct. All USB I/O is one of this.
Definition types.h:200