armarx::TCPMoverUnitInterface

Overview

interface TCPMoverUnitInterface

Operation Index

resetArmToHomePosition

Resets the joint angles of the arm to the home position.

request

Request control over the robot.

release

Release control over the robot.

setCartesianTCPVelocity

Set the velocities of one hand.

setTCPOrientation

Sets the orientation of one hand.
All angles are in radiant.

lookWithHeadTo

Let the robot look to a specific point in space.

setPlatformVelocities

Not yet implemented.

setHandConfiguration

@brief setHandConfiguration @param configValue eOPEN = 1, ePRESHAPE = 2, eGRASP = 4, eTHREE_FINGER_GRASP = 5, eMOVE_THUMB = 7, ePRESHAPE_FINGERS = 8, eCLOSE_FINGERS = 9

stopArm

stopHead

stopPlatform

Operations

void resetArmToHomePosition(HandSelection selectedHand)

Resets the joint angles of the arm to the home position. NO MOVEMENT! Just sets the angles, so not suitable for a real robot.

Parameters

selectedHand

Select which hand to move to home position.

void request()

void release()

void setCartesianTCPVelocity(HandSelection selectedHand, float x, float y, float z, float speedFactor)

Set the velocities of one hand. The velocity values should be currently between 0-30.

Parameters

selectedHand

Select which hand to move.

x

The velocity on the x-axis.

y

The velocity on the y-axis.

z

The velocity on the z-axis.

speedFactor

A factor by which the x,y,z values should be multiplied.

void setTCPOrientation(HandSelection selectedHand, float alpha, float beta, float gamma)

Sets the orientation of one hand.
All angles are in radiant.

Parameters

selectedHand

Select which hand to move.

void lookWithHeadTo(float x, float y, float z)

void setPlatformVelocities(float x, float y, float theta)

void setHandConfiguration(HandSelection selectedHand, int configValue)

@brief setHandConfiguration

Parameters

configValue

eOPEN = 1, ePRESHAPE = 2, eGRASP = 4, eTHREE_FINGER_GRASP = 5, eMOVE_THUMB = 7, ePRESHAPE_FINGERS = 8, eCLOSE_FINGERS = 9

void stopArm(HandSelection selectedHand)

void stopHead()

void stopPlatform()