Namespaces
	monolithic_pick_and_place

	pick_and_place

Classes
class	IiwaAndWsgPlantWithStateEstimator
	A custom `systems::Diagram` composed of a `systems::RigidBodyPlant`, and a `systems::InverseDynamicsController`, `systems::PidController`, and two `OracularStateEstimation` systems. More...

class	IiwaCommandReceiver
	Handles lcmt_iiwa_command messages from a LcmSubscriberSystem. More...

class	IiwaCommandSender
	Creates and outputs lcmt_iiwa_command messages. More...

class	IiwaStatusReceiver
	Handles lcmt_iiwa_status messages from a LcmSubscriberSystem. More...

class	IiwaStatusSender
	Creates and outputs lcmt_iiwa_status messages. More...

class	OracularStateEstimation
	A System block that takes state vector and output a bot_core::robot_state_t message. More...

Functions
template<typename T >
Matrix6< T >	ComputeLumpedGripperInertiaInEndEffectorFrame (const RigidBodyTree< T > &world_tree, int iiwa_instance, const std::string &end_effector_link_name, int wsg_instance)
	Computes the lumped inertia parameters of the gripper and the end effector link expressed in the end effector frame. More...

template Matrix6< double >	ComputeLumpedGripperInertiaInEndEffectorFrame (const RigidBodyTree< double > &, int, const std::string &, int)

void	VerifyIiwaTree (const RigidBodyTree< double > &tree)
	Verifies that `tree` matches assumptions about joint indices. More...

void	CreateTreedFromFixedModelAtPose (const std::string &model_file_name, RigidBodyTreed *tree, const Vector3d &position, const Vector3d &orientation)

void	SetPositionControlledIiwaGains (Eigen::VectorXd Kp, Eigen::VectorXd Ki, Eigen::VectorXd *Kd)
	Used to set the feedback gains for the simulated position controlled KUKA. More...

void	ApplyJointVelocityLimits (double max_joint_velocity, const MatrixX< double > &keyframes, std::vector< double > *time)
	Scales a plan so that no step exceeds the maximum joint velocity specified. More...

robotlocomotion::robot_plan_t	EncodeKeyFrames (const RigidBodyTree< double > &robot, const std::vector< double > &time, const std::vector< int > &info, const MatrixX< double > &keyframes)
	Makes a robotlocomotion::robot_plan_t message. More...

void	CreateTreedFromFixedModelAtPose (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...

	GTEST_TEST (IiwaLcmTest, IiwaCommandReceiverTest)

	GTEST_TEST (IiwaLcmTest, IiwaCommandSenderTest)

	GTEST_TEST (IiwaLcmTest, IiwaStatusReceiverTest)

	GTEST_TEST (IiwaLcmTest, IiwaStatusSenderTest)

Variables
constexpr int	kIiwaArmNumJoints = 7

const double	kIiwaLcmStatusPeriod = 0.005

static const int	kNumJoints = 7

Function Documentation

void ApplyJointVelocityLimits	(	double	max_joint_velocity,
		const MatrixX< double > &	keyframes,
		std::vector< double > *	time
	)

Scales a plan so that no step exceeds the maximum joint velocity specified.

The number of columns in keyframes must match the size of time. Times must be in strictly increasing order.

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Matrix6< T > ComputeLumpedGripperInertiaInEndEffectorFrame	(	const RigidBodyTree< T > &	world_tree,
		int	iiwa_instance,
		const std::string &	end_effector_link_name,
		int	wsg_instance
	)

Computes the lumped inertia parameters of the gripper and the end effector link expressed in the end effector frame.

Parameters

world_tree	The RigidBodyTree that contains the arm and the gripper models.
iiwa_instance	Identifier for the arm in `world_tree`.
end_effector_link_name	Link name of the end effector.
wsg_instance	Identifier for the gripper in `world_tree`.

Returns: Lumped inertia parameters.

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template Matrix6<double> drake::examples::kuka_iiwa_arm::ComputeLumpedGripperInertiaInEndEffectorFrame	(	const RigidBodyTree< double > &	,
		int	,
		const std::string &	,
		int
	)

void drake::examples::kuka_iiwa_arm::CreateTreedFromFixedModelAtPose	(	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 convinience wrapper over AddModelInstanceFromUrdfFile.

See also: drake::parsers::urdf::AddModelInstanceFromUrdfFile

void drake::examples::kuka_iiwa_arm::CreateTreedFromFixedModelAtPose	(	const std::string &	model_file_name,
		RigidBodyTreed *	tree,
		const Vector3d &	position,
		const Vector3d &	orientation
	)

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robotlocomotion::robot_plan_t EncodeKeyFrames	(	const RigidBodyTree< double > &	robot,
		const std::vector< double > &	time,
		const std::vector< int > &	info,
		const MatrixX< double > &	keyframes
	)

Makes a robotlocomotion::robot_plan_t message.

The number of columns in keyframes must match the size of time. Times must be in strictly increasing order.

Encode the q_sol returned for each timestep into the vector of robot states.

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drake::examples::kuka_iiwa_arm::GTEST_TEST	(	IiwaLcmTest	,
		IiwaCommandReceiverTest
	)

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drake::examples::kuka_iiwa_arm::GTEST_TEST	(	IiwaLcmTest	,
		IiwaCommandSenderTest
	)

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drake::examples::kuka_iiwa_arm::GTEST_TEST	(	IiwaLcmTest	,
		IiwaStatusReceiverTest
	)

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drake::examples::kuka_iiwa_arm::GTEST_TEST	(	IiwaLcmTest	,
		IiwaStatusSenderTest
	)

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void SetPositionControlledIiwaGains	(	Eigen::VectorXd *	Kp,
		Eigen::VectorXd *	Ki,
		Eigen::VectorXd *	Kd
	)

Used to set the feedback gains for the simulated position controlled KUKA.

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void VerifyIiwaTree ( 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 kIiwaArmNumJoints = 7

const double kIiwaLcmStatusPeriod = 0.005

const int kNumJoints = 7

static

Namespaces

Classes

Functions

Variables

Function Documentation

Variable Documentation