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...
 

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).

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