schunk_wsg_constants.h File Reference

Detailed Description

Constants defined in this file are for the Schunk WSG gripper modeled in models/schunk_wsg_50.sdf.

#include <memory>
#include "drake/common/eigen_types.h"
#include "drake/systems/framework/vector_system.h"
#include "drake/systems/primitives/matrix_gain.h"

Include dependency graph for schunk_wsg_constants.h:

Classes
class	MultibodyForceToWsgForceSystem< T >
	Extract the gripper measured force from the generalized forces on the two fingers. More...

Namespaces
namespace	drake
namespace	drake::manipulation
namespace	drake::manipulation::schunk_wsg

Functions
template<typename T>
VectorX< T >	GetSchunkWsgOpenPosition ()
	Returns the position vector corresponding to the open position of the gripper.
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.
template<typename T>
std::unique_ptr< systems::VectorSystem< T > >	MakeMultibodyForceToWsgForceSystem ()
	Helper method to create a MultibodyForceToWsgForceSystem.

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