armarx::RobotPoseUnitInterface
Overview
Implements an interface to a RobotPoseUnit.
This unit is supposed to move a robot around in 6D (
Derived Classes and Interfaces
- RobotPoseUnitDynamicSimulationInterface
See Also
- PlatformUnit is a similar unit, but with the restriction to move the robot in the plane)::
In particular useful for simulated robots::
Operation Index
- moveTo
-
moveTo moves the robot to a global pose specified by:
@param targetPose Global target pose
@param postionalAccuracy Robot stops translating if distance to target position gets lower than this threshhold.
- move
-
move moves the robot with given velocities.
- moveRelative
-
moveRelative moves to a pose defined in robot's local coordinates.
- setMaxVelocities
-
setMaxVelocities allows to specify max velocities in translation and orientation.
- stopMovement
-
stopMovement stops the movements of the robot.
Operations
void moveTo(PoseBase targetPose, float positionalAccuracy, float orientationalAccuracy)
moveTo moves the robot to a global pose specified by:
Parameters
- targetPose
-
Global target pose
- postionalAccuracy
-
Robot stops translating if distance to target position gets lower than this threshhold.
- orientationalAccuracy
-
Robot stops rotating if distance from current to target orientation gets lower than this threshhold.
void move(PoseBase targetVelocity)
move moves the robot with given velocities.
Parameters
- targetVelocity
-
target velocity defined in gloabl coordinates.
void moveRelative(PoseBase relativeTarget, float positionalAccuracy, float orientationalAccuracy)
moveRelative moves to a pose defined in robot's local coordinates.
Parameters
- relativeTarget
-
relative targe in robot's coordinate system
- postionalAccuracy
-
Platform stops translating if distance to target position gets lower than this threshhold.
- orientationalAccuracy
-
Platform stops rotating if distance from current to target orientation gets lower than this threshhold.
void setMaxVelocities(float positionalVelocity, float orientationalVelocity)
setMaxVelocities allows to specify max velocities in translation and orientation.
Parameters
- positionalVelocity
-
Max translation velocity.
- orientationalVelocity
-
Max orientational velocity.
void stopMovement()
stopMovement stops the movements of the robot.