Drake

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...

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...

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...

◆ MakeMultibodyForceToWsgForceSystem()

 std::unique_ptr > drake::manipulation::schunk_wsg::MakeMultibodyForceToWsgForceSystem ( )

Helper method to create a MultibodyForceToWsgForceSystem.

◆ MakeMultibodyStateToWsgStateSystem()

 std::unique_ptr > 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.