Manipulation

Detailed Description

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...

Function Documentation

MakeMultibodyForceToWsgForceSystem()

std::unique_ptr<systems::VectorSystem<T> > drake::manipulation::schunk_wsg::MakeMultibodyForceToWsgForceSystem

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Helper method to create a MultibodyForceToWsgForceSystem.

MakeMultibodyStateToWsgStateSystem()

std::unique_ptr<systems::MatrixGain<T> > drake::manipulation::schunk_wsg::MakeMultibodyStateToWsgStateSystem

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Extract the distance between the fingers (and its time derivative) out of the plant model which pretends the two fingers are independent.