#include <optional>
#include <Eigen/Dense>
#include "drake/lcm/drake_lcm_interface.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/systems/framework/diagram_builder.h"

Include dependency graph for build_schunk_wsg_control.h:

Namespaces
	drake

	drake::manipulation

	drake::manipulation::schunk_wsg

Functions
void	BuildSchunkWsgControl (const multibody::MultibodyPlant< double > &plant, multibody::ModelInstanceIndex wsg_instance, lcm::DrakeLcmInterface lcm, systems::DiagramBuilder< double > builder, const std::optional< Eigen::Vector3d > &pid_gains={})
	Builds (into `builder`) the WSG control and sensing systems for the wsg model in `plant` indicated by `wsg_instance`; hooks those systems up to `lcm` and the relevant MultibodyPlant ports in the diagram. More...

Namespaces

Functions