Drake
drake::manipulation::schunk_wsg Namespace Reference

Classes

class  MultibodyForceToWsgForceSystem
 
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  SchunkWsgCommandTranslator
 A translator between the LCM message type lcmt_schunk_wsg_command and its vectorized representation, SchunkWsgCommand. More...
 
class  SchunkWsgController
 This class implements a controller for a Schunk WSG gripper. More...
 
class  SchunkWsgPdController
 This class implements a controller for a Schunk WSG gripper in position control mode. More...
 
class  SchunkWsgPlainController
 This class implements a controller for a Schunk WSG gripper as a systems::Diagram. 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  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  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...
 

Enumerations

enum  ControlMode { kPosition = 0, kForce = 1 }
 

Functions

template<typename T >
VectorX< T > GetSchunkWsgOpenPosition ()
 Returns the position vector corresponding to the open position of the gripper. More...
 
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 ()
 Extract the gripper measured force from the generalized forces on the two fingers. More...
 

Variables

constexpr int kSchunkWsgNumActuators = 2
 
constexpr int kSchunkWsgNumPositions = 2
 
constexpr int kSchunkWsgNumVelocities = 2
 
constexpr int kSchunkWsgPositionIndex = 0
 
constexpr int kSchunkWsgVelocityIndex
 
constexpr double kSchunkWsgLcmStatusPeriod = 0.05
 
const int kNumJoints = 2
 

Enumeration Type Documentation

◆ ControlMode

enum ControlMode
strong
Enumerator
kPosition 
kForce 

Function Documentation

◆ GetSchunkWsgOpenPosition()

VectorX<T> drake::manipulation::schunk_wsg::GetSchunkWsgOpenPosition ( )

Returns the position vector corresponding to the open position of the gripper.

◆ MakeMultibodyForceToWsgForceSystem()

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

Extract the gripper measured force from the generalized forces on the two fingers.

◆ MakeMultibodyStateToWsgStateSystem()

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.

Variable Documentation

◆ kNumJoints

const int kNumJoints = 2

◆ kSchunkWsgLcmStatusPeriod

constexpr double kSchunkWsgLcmStatusPeriod = 0.05

◆ kSchunkWsgNumActuators

constexpr int kSchunkWsgNumActuators = 2

◆ kSchunkWsgNumPositions

constexpr int kSchunkWsgNumPositions = 2

◆ kSchunkWsgNumVelocities

constexpr int kSchunkWsgNumVelocities = 2

◆ kSchunkWsgPositionIndex

constexpr int kSchunkWsgPositionIndex = 0

◆ kSchunkWsgVelocityIndex

constexpr int kSchunkWsgVelocityIndex
Initial value:
=
constexpr int kSchunkWsgPositionIndex
Definition: schunk_wsg_constants.h:29
constexpr int kSchunkWsgNumPositions
Definition: schunk_wsg_constants.h:21