Drake
WorldState Class Reference

A class that represents the iiwa pick and place world, which contains a KUKA iiwa arm, a Schunk WSG gripper, and an object that is being manipulated. More...

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

Public Member Functions

 WorldState (const std::string &iiwa_model_path, const std::string &end_effector_name)
 Constructs an WorldState object that holds the states that represent a pick and place scenario. More...
 
 ~WorldState ()
 
void HandleIiwaStatus (const bot_core::robot_state_t &iiwa_msg)
 Update the stored iiwa status from iiwa_msg. More...
 
void HandleWsgStatus (const lcmt_schunk_wsg_status &wsg_msg)
 Update the stored wsg status from wsg_msg. More...
 
void HandleObjectStatus (const bot_core::robot_state_t &obj_msg)
 Update the stored object status from obj_msg. More...
 
double get_iiwa_time () const
 
double get_wsg_time () const
 
double get_obj_time () const
 
const Isometry3< double > & get_object_pose () const
 
const Vector6< double > & get_object_velocity () const
 
const Isometry3< double > & get_iiwa_base () const
 
const Isometry3< double > & get_iiwa_end_effector_pose () const
 
const Vector6< double > & get_iiwa_end_effector_velocity () const
 
const VectorX< double > & get_iiwa_q () const
 
const VectorX< double > & get_iiwa_v () const
 
double get_wsg_q () const
 
double get_wsg_v () const
 
const RigidBodyTree< double > & get_iiwa () const
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 WorldState (const WorldState &)=default
 
WorldStateoperator= (const WorldState &)=default
 
 WorldState (WorldState &&)=default
 
WorldStateoperator= (WorldState &&)=default
 

Detailed Description

A class that represents the iiwa pick and place world, which contains a KUKA iiwa arm, a Schunk WSG gripper, and an object that is being manipulated.

These states are updated through LCM messages.

Constructor & Destructor Documentation

WorldState ( const WorldState )
default
WorldState ( WorldState &&  )
default
WorldState ( const std::string &  iiwa_model_path,
const std::string &  end_effector_name 
)

Constructs an WorldState object that holds the states that represent a pick and place scenario.

A RigidBodyTree will be constructed internally based on iiwa_model_path (the location of its base will be set from the pose of the first received LCM message describing the iiwa's status). end_effector_name is the link name of the end effector in the model.

No synchronization is attempted between the various states (iiwa/wsg/obj), the accessors just return the most recently received status.

~WorldState ( )

Member Function Documentation

const RigidBodyTree<double>& get_iiwa ( ) const
inline
const Isometry3<double>& get_iiwa_base ( ) const
inline

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const Isometry3<double>& get_iiwa_end_effector_pose ( ) const
inline

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const Vector6<double>& get_iiwa_end_effector_velocity ( ) const
inline
const VectorX<double>& get_iiwa_q ( ) const
inline

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double get_iiwa_time ( ) const
inline

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const VectorX<double>& get_iiwa_v ( ) const
inline

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double get_obj_time ( ) const
inline
const Isometry3<double>& get_object_pose ( ) const
inline

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const Vector6<double>& get_object_velocity ( ) const
inline
double get_wsg_q ( ) const
inline
double get_wsg_time ( ) const
inline

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double get_wsg_v ( ) const
inline

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void HandleIiwaStatus ( const bot_core::robot_state_t &  iiwa_msg)

Update the stored iiwa status from iiwa_msg.

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void HandleObjectStatus ( const bot_core::robot_state_t &  obj_msg)

Update the stored object status from obj_msg.

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void HandleWsgStatus ( const lcmt_schunk_wsg_status &  wsg_msg)

Update the stored wsg status from wsg_msg.

WorldState& operator= ( const WorldState )
default
WorldState& operator= ( WorldState &&  )
default

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