Drake
drake::manipulation::schunk_wsg Namespace Reference

Classes

class  SchunkWsgController
 This class implements a controller for a Schunk WSG gripper. More...
 
class  SchunkWsgPlainController
 This class implements a controller for a Schunk WSG gripper as a systems::Diagram. 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...
 

Enumerations

enum  ControlMode { kPosition = 0, kForce = 1 }
 

Functions

template<typename T >
VectorX< TGetSchunkWsgOpenPosition ()
 Returns the position vector corresponding to the open position of the gripper. More...
 

Variables

constexpr int kSchunkWsgNumActuators = 2
 
constexpr int kSchunkWsgNumPositions = 2
 
constexpr int kSchunkWsgNumVelocities = 2
 
constexpr int kSchunkWsgPositionIndex = 0
 
constexpr int kSchunkWsgVelocityIndex
 
constexpr double kSchunkWsgLcmStatusPeriod = 0.05
 

Enumeration Type Documentation

◆ ControlMode

enum ControlMode
strong
Enumerator
kPosition 
kForce 

Function Documentation

◆ GetSchunkWsgOpenPosition()

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

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

Variable Documentation

◆ kSchunkWsgLcmStatusPeriod

constexpr double kSchunkWsgLcmStatusPeriod = 0.05

◆ kSchunkWsgNumActuators

constexpr int kSchunkWsgNumActuators = 2

◆ kSchunkWsgNumPositions

constexpr int kSchunkWsgNumPositions = 2

◆ kSchunkWsgNumVelocities

constexpr int kSchunkWsgNumVelocities = 2

◆ kSchunkWsgPositionIndex

constexpr int kSchunkWsgPositionIndex = 0

◆ kSchunkWsgVelocityIndex

constexpr int kSchunkWsgVelocityIndex
Initial value:
=
constexpr int kSchunkWsgPositionIndex
Definition: schunk_wsg_constants.h:20
constexpr int kSchunkWsgNumPositions
Definition: schunk_wsg_constants.h:17