Drake
drake::manipulation::schunk_wsg Namespace Reference

Classes

class  SchunkWsgController
 This class implements a controller for a Schunk WSG gripper. More...
 
class  SchunkWsgStatusSender
 Sends lcmt_schunk_wsg_status messages for a Schunk WSG. More...
 
class  SchunkWsgTrajectoryGenerator
 Receives lcmt_schunk_wsg_command for a Schunk WSG (input port 0) along with the current state of the simulated WSG (input port 1), and emits target position/velocity for the actuated finger to reach the commanded target. More...
 

Functions

template<typename T >
MatrixX< T > GetSchunkWsgFeedbackSelector ()
 Returns the selection matrix that selects the position and velocity indices that correspond to the left_finger_sliding_joint in the model. More...
 
template<typename T >
VectorX< T > GetSchunkWsgOpenPosition ()
 Returns the position vector corresponding to the open position of the gripper. More...
 

Variables

constexpr int kSchunkWsgNumActuators = 1
 
constexpr int kSchunkWsgNumPositions = 5
 
constexpr int kSchunkWsgNumVelocities = 5
 
constexpr int kSchunkWsgPositionIndex = 0
 
constexpr int kSchunkWsgVelocityIndex
 
constexpr double kSchunkWsgLcmStatusPeriod = 0.05
 

Function Documentation

MatrixX<T> drake::manipulation::schunk_wsg::GetSchunkWsgFeedbackSelector ( )

Returns the selection matrix that selects the position and velocity indices that correspond to the left_finger_sliding_joint in the model.

The returned matrix projects the full state to two dimensions (position and velocity).

VectorX<T> drake::manipulation::schunk_wsg::GetSchunkWsgOpenPosition ( )

Returns the position vector corresponding to the open position of the gripper.

This is more complicated than one might expect due to the linkage in our model of the gripper.

Variable Documentation

constexpr double kSchunkWsgLcmStatusPeriod = 0.05
constexpr int kSchunkWsgNumActuators = 1
constexpr int kSchunkWsgNumPositions = 5
constexpr int kSchunkWsgNumVelocities = 5
constexpr int kSchunkWsgPositionIndex = 0
constexpr int kSchunkWsgVelocityIndex
Initial value:
=
constexpr int kSchunkWsgPositionIndex
Definition: schunk_wsg_constants.h:23
constexpr int kSchunkWsgNumPositions
Definition: schunk_wsg_constants.h:20