Drake
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Systems implementations and related functions that specifically support dexterous manipulation capabilities in robotics.
Classes | |
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 | DifferentialInverseKinematicsIntegrator |
A LeafSystem which uses DoDifferentialInverseKinematics to produce joint position commands. More... | |
class | RobotPlanInterpolator |
This class implements a source of joint positions for a robot. More... | |
class | MultibodyForceToWsgForceSystem< T > |
Extract the gripper measured force from the generalized forces on the two fingers. More... | |
class | SchunkWsgController |
This class implements a controller for a Schunk WSG gripper. More... | |
class | SchunkWsgCommandReceiver |
Handles the command for the Schunk WSG gripper from a LcmSubscriberSystem. More... | |
class | SchunkWsgCommandSender |
Send lcmt_schunk_wsg_command messages for a Schunk WSG gripper. More... | |
class | SchunkWsgStatusReceiver |
Handles lcmt_schunk_wsg_status messages from a LcmSubscriberSystem. 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 | SchunkWsgPdController |
This class implements a controller for a Schunk WSG gripper in position control mode. More... | |
class | SchunkWsgPositionController |
This class implements a controller for a Schunk WSG gripper in position control mode adding a discrete-derivative to estimate the desired velocity from the desired position commands. 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... | |
Functions | |
template<typename T > | |
std::unique_ptr< systems::MatrixGain< T > > | MakeMultibodyStateToWsgStateSystem () |
Extract the distance between the fingers (and its time derivative) out of the plant model which pretends the two fingers are independent. More... | |
template<typename T > | |
std::unique_ptr< systems::VectorSystem< T > > | MakeMultibodyForceToWsgForceSystem () |
Helper method to create a MultibodyForceToWsgForceSystem. More... | |
std::unique_ptr<systems::VectorSystem<T> > drake::manipulation::schunk_wsg::MakeMultibodyForceToWsgForceSystem | ( | ) |
Helper method to create a MultibodyForceToWsgForceSystem.
std::unique_ptr<systems::MatrixGain<T> > drake::manipulation::schunk_wsg::MakeMultibodyStateToWsgStateSystem | ( | ) |
Extract the distance between the fingers (and its time derivative) out of the plant model which pretends the two fingers are independent.