Detailed Description

This config struct specifies how to wire up Drake systems between an LCM interface and the actuation input ports of a MultibodyPlant.

This simulates the role that driver software and control cabinets would take in real life.

It creates an LCM publisher on the IIWA_STATUS channel and an LCM subscriber on the IIWA_COMMAND channel.

#include <drake/manipulation/kuka_iiwa/iiwa_driver.h>

Public Member Functions
template<typename Archive >
void	Serialize (Archive *a)

Public Attributes
std::string	hand_model_name
	The name of the model (`name` element of the `add_model` directive) in the simulation that the driver will analyze to compute end effector inertia for its copy of the arm in inverse dynamics. More...

double	ext_joint_filter_tau {0.01}
	Per BuildIiwaControl. More...

std::string	control_mode {"position_and_torque"}
	The driver's control mode. More...

std::string	lcm_bus {"default"}

Member Function Documentation

◆ Serialize()

void Serialize ( Archive * a )

Member Data Documentation

◆ control_mode

std::string control_mode {"position_and_torque"}

The driver's control mode.

Valid options (per ParseIiwaControlMode) are:

"position_only"
"position_and_torque" (default)
"torque_only"

◆ ext_joint_filter_tau

double ext_joint_filter_tau {0.01}

Per BuildIiwaControl.

◆ hand_model_name

std::string hand_model_name

The name of the model (name element of the add_model directive) in the simulation that the driver will analyze to compute end effector inertia for its copy of the arm in inverse dynamics.

◆ lcm_bus

std::string lcm_bus {"default"}

The documentation for this struct was generated from the following file:

drake/manipulation/kuka_iiwa/iiwa_driver.h