Drake
Drake C++ Documentation

Detailed Description

Systems implementations and related functions that specifically support dexterous manipulation capabilities in robotics.

Classes

class  MultibodyForceToWsgForceSystem< T >
 Extract the gripper measured force from the generalized forces on the two fingers. More...
 
class  SchunkWsgController
 This class implements a controller for a Schunk WSG gripper. More...
 
class  SchunkWsgCommandReceiver
 Handles the command for the Schunk WSG gripper from a LcmSubscriberSystem. More...
 
class  SchunkWsgCommandSender
 Send lcmt_schunk_wsg_command messages for a Schunk WSG gripper. More...
 
class  SchunkWsgStatusReceiver
 Handles lcmt_schunk_wsg_status messages from a LcmSubscriberSystem. More...
 
class  SchunkWsgStatusSender
 Sends lcmt_schunk_wsg_status messages for a Schunk WSG. More...
 
class  SchunkWsgPlainController
 This class implements a controller for a Schunk WSG gripper as a systems::Diagram. More...
 
class  SchunkWsgPdController
 This class implements a controller for a Schunk WSG gripper in position control mode. More...
 
class  SchunkWsgPositionController
 This class implements a controller for a Schunk WSG gripper in position control mode adding a discrete-derivative to estimate the desired velocity from the desired position commands. More...
 
class  SchunkWsgTrajectoryGenerator
 This system defines input ports for the desired finger position represented as the desired distance between the fingers in meters and the desired force limit in newtons, and emits target position/velocity for the actuated finger to reach the commanded target, expressed as the negative of the distance between the two fingers in meters. More...
 
class  RobotPlanInterpolator
 This class implements a source of joint positions for a robot. More...
 
class  DifferentialInverseKinematicsIntegrator
 A LeafSystem that integrates successive calls to DoDifferentialInverseKinematics (which produces joint velocity commands) to produce joint position commands. More...
 

Functions

template<typename T >
std::unique_ptr< systems::MatrixGain< T > > MakeMultibodyStateToWsgStateSystem ()
 Extract the distance between the fingers (and its time derivative) out of the plant model which pretends the two fingers are independent. More...
 
template<typename T >
std::unique_ptr< systems::VectorSystem< T > > MakeMultibodyForceToWsgForceSystem ()
 Helper method to create a MultibodyForceToWsgForceSystem. More...
 

Function Documentation

◆ MakeMultibodyForceToWsgForceSystem()

std::unique_ptr<systems::VectorSystem<T> > drake::manipulation::schunk_wsg::MakeMultibodyForceToWsgForceSystem ( )

Helper method to create a MultibodyForceToWsgForceSystem.

◆ MakeMultibodyStateToWsgStateSystem()

std::unique_ptr<systems::MatrixGain<T> > drake::manipulation::schunk_wsg::MakeMultibodyStateToWsgStateSystem ( )

Extract the distance between the fingers (and its time derivative) out of the plant model which pretends the two fingers are independent.