Drake
IiwaMove Class Reference

A class that represents an action that sends a sequence of desired joint positions through LCM to move the KUKA iiwa arm. More...

#include <drake/examples/kuka_iiwa_arm/pick_and_place/action.h>

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Public Member Functions

 IiwaMove ()
 
void MoveJoints (const WorldState &est_state, const RigidBodyTree< double > &iiwa, const std::vector< double > &time, const std::vector< VectorX< double >> &q, robotlocomotion::robot_plan_t *plan)
 Populates plan with a robot plan that moves the iiwa arm described by iiwa through the joint positions in q at the times in time. More...
 
void Reset () override
 Resets the action's internal states. More...
 
bool ActionFailed (const WorldState &) const override
 Returns true if the action has failed based on the provided estimated state. More...
 
bool ActionFinished (const WorldState &est_state) const override
 Returns true if the time since the beginning of the action is longer than the duration of the desired motion, and the arm stopped moving. More...
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 IiwaMove (const IiwaMove &)=default
 
IiwaMoveoperator= (const IiwaMove &)=default
 
 IiwaMove (IiwaMove &&)=default
 
IiwaMoveoperator= (IiwaMove &&)=default
 
- Public Member Functions inherited from Action
virtual ~Action ()
 
virtual bool ActionStarted () const
 Returns true if the action started. More...
 
double get_action_start_time () const
 Returns the time when the action has started. More...
 
double get_time_since_action_start (double time) const
 Returns elapsed time since beginning of the action. More...
 
 Action (const Action &)=default
 
Actionoperator= (const Action &)=default
 
 Action (Action &&)=default
 
Actionoperator= (Action &&)=default
 

Additional Inherited Members

- Protected Member Functions inherited from Action
 Action ()
 
void StartAction (double start_time)
 Set the action initial time. More...
 

Detailed Description

A class that represents an action that sends a sequence of desired joint positions through LCM to move the KUKA iiwa arm.

Constructor & Destructor Documentation

IiwaMove ( const IiwaMove )
default
IiwaMove ( IiwaMove &&  )
default
IiwaMove ( )

Member Function Documentation

bool ActionFailed ( const WorldState est_state) const
inlineoverridevirtual

Returns true if the action has failed based on the provided estimated state.

Implements Action.

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bool ActionFinished ( const WorldState est_state) const
overridevirtual

Returns true if the time since the beginning of the action is longer than the duration of the desired motion, and the arm stopped moving.

Implements Action.

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void MoveJoints ( const WorldState est_state,
const RigidBodyTree< double > &  iiwa,
const std::vector< double > &  time,
const std::vector< VectorX< double >> &  q,
robotlocomotion::robot_plan_t *  plan 
)

Populates plan with a robot plan that moves the iiwa arm described by iiwa through the joint positions in q at the times in time.

(Note: time and q must be of the same length).

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IiwaMove& operator= ( IiwaMove &&  )
default
IiwaMove& operator= ( const IiwaMove )
default
void Reset ( )
overridevirtual

Resets the action's internal states.

Reimplemented from Action.

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The documentation for this class was generated from the following files: