Drake
drake::examples::kinova_jaco_arm Namespace Reference

Functions

void VerifyJacoTree (const RigidBodyTree< double > &tree)
 Verifies that tree matches assumptions about joint indices. More...
 
void CreateTreeFromFixedModelAtPose (const std::string &model_file_name, RigidBodyTreed *tree, const Vector3d &position, const Vector3d &orientation)
 
void SetPositionControlledJacoGains (VectorXd *Kp, VectorXd *Ki, VectorXd *Kd)
 
void CreateTreeFromFixedModelAtPose (const std::string &model_file_name, RigidBodyTreed *tree, const Eigen::Vector3d &position=Eigen::Vector3d::Zero(), const Eigen::Vector3d &orientation=Eigen::Vector3d::Zero())
 Builds a RigidBodyTree at the specified and from the model specified by . More...
 
void SetPositionControlledJacoGains (Eigen::VectorXd *Kp, Eigen::VectorXd *Ki, Eigen::VectorXd *Kd)
 Sets the feedback gains for the simulated position controlled Jaco arm. More...
 

Variables

constexpr int kNumDofs = 9
 

Function Documentation

void drake::examples::kinova_jaco_arm::CreateTreeFromFixedModelAtPose ( const std::string &  model_file_name,
RigidBodyTreed tree,
const Eigen::Vector3d &  position = Eigen::Vector3d::Zero(),
const Eigen::Vector3d &  orientation = Eigen::Vector3d::Zero() 
)

Builds a RigidBodyTree at the specified and from the model specified by .

This method is a convenience wrapper over AddModelInstanceFromUrdfFile.

See also
drake::parsers::urdf::AddModelInstanceFromUrdfFile
void drake::examples::kinova_jaco_arm::CreateTreeFromFixedModelAtPose ( const std::string &  model_file_name,
RigidBodyTreed tree,
const Vector3d &  position,
const Vector3d &  orientation 
)

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void drake::examples::kinova_jaco_arm::SetPositionControlledJacoGains ( Eigen::VectorXd *  Kp,
Eigen::VectorXd *  Ki,
Eigen::VectorXd *  Kd 
)

Sets the feedback gains for the simulated position controlled Jaco arm.

void drake::examples::kinova_jaco_arm::SetPositionControlledJacoGains ( VectorXd *  Kp,
VectorXd *  Ki,
VectorXd *  Kd 
)
void VerifyJacoTree ( const RigidBodyTree< double > &  tree)

Verifies that tree matches assumptions about joint indices.

Aborts if the tree isn't as expected.

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Variable Documentation

constexpr int kNumDofs = 9