Drake

Classes

class  RobotPlanInterpolator
 This class implements a source of joint positions for a robot. More...
 
class  Xtion
 Attaches an Asus Xtion PRO Live camera to a given frame on a RigidBodyTree, and provides the ability to add the camera as a system in a diagram builder. More...
 
class  FramePoseTracker
 Implements a class that maintains pose information for a set of specified RigidBodyFrames. More...
 
class  OptitrackPoseExtractor
 Extracts and provides an output of the pose of a desired object as an Eigen::Isometry3d from an Optitrack LCM OPTITRACK_FRAME_T message, the pose transformed to a desired coordinate frame. More...
 
class  PoseSmoother
 This class accepts the pose of a rigid body (composed by a Eigen::Isometry3d) and returns a smoothed pose by performing either the first or both of these processes : i. More...
 
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  SchunkWsgPlainController
 This class implements a controller for a Schunk WSG gripper as a systems::Diagram. More...
 
class  SchunkWsgTrajectoryGenerator
 This system defines input ports for the desired finger position represented as the desired distance between the fingers in meters and the desired force limit in newtons, and emits target position/velocity for the actuated finger to reach the commanded target, expressed as the negative of the distance between the two fingers in meters. More...
 

Detailed Description

Systems implementations that specifically support dexterous manipulation capabilities in robotics.