Manipulation

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.