Drake
iiwa_controller.cc File Reference

Implements a controller for a KUKA iiwa arm. More...

#include <memory>
#include <gflags/gflags.h>
#include "robotlocomotion/robot_plan_t.hpp"
#include "drake/common/find_resource.h"
#include "drake/common/text_logging.h"
#include "drake/common/text_logging_gflags.h"
#include "drake/examples/kuka_iiwa_arm/lcm_plan_interpolator.h"
#include "drake/lcm/drake_lcm.h"
#include "drake/lcmt_iiwa_command.hpp"
#include "drake/lcmt_iiwa_status.hpp"
#include "drake/systems/analysis/simulator.h"
#include "drake/systems/framework/context.h"
#include "drake/systems/framework/diagram.h"
#include "drake/systems/framework/diagram_builder.h"
#include "drake/systems/lcm/lcm_driven_loop.h"
#include "drake/systems/lcm/lcm_publisher_system.h"
#include "drake/systems/lcm/lcm_subscriber_system.h"
#include "drake/systems/primitives/demultiplexer.h"
Include dependency graph for iiwa_controller.cc:

Namespaces

 drake
 
 drake::examples
 
 drake::examples::kuka_iiwa_arm
 

Functions

 DEFINE_string (urdf,"","Name of urdf to load")
 
 DEFINE_string (interp_type,"cubic","Robot plan interpolation type. Can be {zoh, foh, cubic, pchip}")
 
 DEFINE_string (lcm_status_channel,"IIWA_STATUS","Channel on which to listen for lcmt_iiwa_status messages.")
 
 DEFINE_string (lcm_command_channel,"IIWA_COMMAND","Channel on which to publish lcmt_iiwa_command messages.")
 
 DEFINE_string (lcm_plan_channel,"COMMITTED_ROBOT_PLAN","Channel on which to listen for robot_plan_t messages.")
 
int main (int argc, char *argv[])
 

Detailed Description

Implements a controller for a KUKA iiwa arm.

Function Documentation

DEFINE_string ( urdf  ,
""  ,
"Name of urdf to load"   
)
DEFINE_string ( interp_type  ,
"cubic"  ,
"Robot plan interpolation type. Can be {zoh, foh, cubic, pchip}"   
)
DEFINE_string ( lcm_status_channel  ,
"IIWA_STATUS"  ,
"Channel on which to listen for lcmt_iiwa_status messages."   
)
DEFINE_string ( lcm_command_channel  ,
"IIWA_COMMAND"  ,
"Channel on which to publish lcmt_iiwa_command messages."   
)
DEFINE_string ( lcm_plan_channel  ,
"COMMITTED_ROBOT_PLAN"  ,
"Channel on which to listen for robot_plan_t messages."   
)
int main ( int  argc,
char *  argv[] 
)

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