Drake
drake::examples::kinova_jaco_arm Namespace Reference

Classes

class  JacoCommandReceiver
 Handles lcmt_jaco_command messages from a LcmSubscriberSystem. More...
 
class  JacoCommandSender
 Creates and outputs lcmt_jaco_command messages. More...
 
class  JacoStatusReceiver
 Handles lcmt_jaco_status messages from a LcmSubscriberSystem. More...
 
class  JacoStatusSender
 Creates and outputs lcmt_jaco_status messages. More...
 

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...
 
 GTEST_TEST (JacoLcmTest, JacoCommandPassthroughTest)
 
 GTEST_TEST (JacoLcmTest, JacoStatusPassthroughTest)
 

Variables

constexpr int kNumDofs = 9
 
constexpr int kJacoDefaultArmNumJoints = 7
 The LCM system classes for the Jaco default to a 7dof model with 3 fingers. More...
 
constexpr int kJacoDefaultArmNumFingers = 3
 
constexpr double kJacoLcmStatusPeriod = 0.010
 Kinova says 100Hz is the proper frequency for joint velocity updates. More...
 

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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drake::examples::kinova_jaco_arm::GTEST_TEST ( JacoLcmTest  ,
JacoCommandPassthroughTest   
)

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drake::examples::kinova_jaco_arm::GTEST_TEST ( JacoLcmTest  ,
JacoStatusPassthroughTest   
)

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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 kJacoDefaultArmNumFingers = 3
constexpr int kJacoDefaultArmNumJoints = 7

The LCM system classes for the Jaco default to a 7dof model with 3 fingers.

Different configurations are supported by passing the proper arguments to the system constructors.

constexpr double kJacoLcmStatusPeriod = 0.010

Kinova says 100Hz is the proper frequency for joint velocity updates.

See https://github.com/Kinovarobotics/kinova-ros#velocity-control-joint-space-and-cartesian-space

constexpr int kNumDofs = 9