Namespaces | |
kinova_jaco | |
kuka_iiwa | |
schunk_wsg | |
util | |
Classes | |
struct | ZeroForceDriver |
A driver that applies zero actuation to every joint of a model. More... | |
Functions | |
template<typename... Types> | |
void | ApplyDriverConfigs (const std::map< std::string, std::variant< Types... >> &driver_configs, const multibody::MultibodyPlant< double > &sim_plant, const std::vector< multibody::parsing::ModelInstanceInfo > &models_from_directives, const systems::lcm::LcmBuses &lcm_buses, systems::DiagramBuilder< double > *builder) |
Apply many driver configurations to a model. More... | |
void | ApplyDriverConfig (const ZeroForceDriver &driver_config, const std::string &model_instance_name, const multibody::MultibodyPlant< double > &sim_plant, const std::map< std::string, multibody::parsing::ModelInstanceInfo > &models_from_directives, const systems::lcm::LcmBuses &lcms, systems::DiagramBuilder< double > *builder) |
Applies zero actuation to every joint of a model mainly for debugging and testing purposes. More... | |
void drake::manipulation::ApplyDriverConfig | ( | const ZeroForceDriver & | driver_config, |
const std::string & | model_instance_name, | ||
const multibody::MultibodyPlant< double > & | sim_plant, | ||
const std::map< std::string, multibody::parsing::ModelInstanceInfo > & | models_from_directives, | ||
const systems::lcm::LcmBuses & | lcms, | ||
systems::DiagramBuilder< double > * | builder | ||
) |
Applies zero actuation to every joint of a model mainly for debugging and testing purposes.
void drake::manipulation::ApplyDriverConfigs | ( | const std::map< std::string, std::variant< Types... >> & | driver_configs, |
const multibody::MultibodyPlant< double > & | sim_plant, | ||
const std::vector< multibody::parsing::ModelInstanceInfo > & | models_from_directives, | ||
const systems::lcm::LcmBuses & | lcm_buses, | ||
systems::DiagramBuilder< double > * | builder | ||
) |
Apply many driver configurations to a model.
A "driver configuration" helps stack Drake systems between an LCM interface subscriber system and the actuation input ports of a MultibodyPlant (to enact the driver command), as well as the output ports of a MultibodyPlant back to an LCM interface publisher system (to provide the driver status).
These conceptually simulate "drivers" – they take the role that driver software and control cabinets would take in real life – but may also model some physical properties of the robot that are not easily reflected in MultibodyPlant (e.g., the WSG belt drive).
The caller of this function is responsible for including the variant members' apply function, such as schunk_wsg_driver_functions.h.
driver_configs
The configurations to apply. sim_plant
The plant containing the model. models_from_directives
All of the ModelInstanceInfo
s from previously- loaded directives. lcm_buses
The available LCM buses to drive and/or sense from this driver. builder
The DiagramBuilder
into which to install this driver.