armarx::TCPControlUnitInterface

Overview

interface TCPControlUnitInterface extends SensorActorUnitInterface, KinematicUnitListener

Implements an interface to an TCPControlUnit. The TCPControlUnit uses differential IK in order to move the TCP a target pose.

Operation Index

setCycleTime: setCycleTime allows to set the cycle time with which the TCPControlUnit solves the IK and moves the TCP within a periodic task.
setTCPVelocity: setTCPVelocity allows to set a new target velocities in task space for the TCP.
isRequested: @brief returns if the TCPControlUnit is requested.

Operations

void setCycleTime(int milliseconds)

setCycleTime allows to set the cycle time with which the TCPControlUnit solves the IK and moves the TCP within a periodic task.

Parameters

milliseconds: Cycle time in milliseconds.

void setTCPVelocity(string robotNodeSetName, string tcpNodeName, FramedDirectionBase translationVelocity, FramedDirectionBase orientationVelocityRPY)

setTCPVelocity allows to set a new target velocities in task space for the TCP.

Parameters

robotNodeSetName: Name of kinematic chain/nodeset.
tcpNodeName: Name of TCP node within the kinematic chain/nodeset.
translationVelocity: Translational velocity in task space in x, y, and z.
orientationVelocityRPY: Orientational velocity in task space in roll, pitch, yaw.

bool isRequested()

@brief returns if the TCPControlUnit is requested.

Return Value

Request status.