ICartesianControl.h File Reference

Contains roboticslab::ICartesianControl and related vocabs. More...

#include <map>
#include <vector>
#include <yarp/os/Vocab.h>
#include <ICartesianSolver.h>

Go to the source code of this file.

Classes
class	roboticslab::ICartesianControl
	Abstract base class for a cartesian controller. More...

Namespaces
	roboticslab
	The main, catch-all namespace for Robotics Lab UC3M.

Variables
General-purpose vocabs
Used in acknowledge responses, configuration accessors, etc..
constexpr int	VOCAB_CC_OK = yarp::os::createVocab32('o','k')
	Success.
constexpr int	VOCAB_CC_FAILED = yarp::os::createVocab32('f','a','i','l')
	Failure.
constexpr int	VOCAB_CC_SET = yarp::os::createVocab32('s','e','t')
	Setter.
constexpr int	VOCAB_CC_GET = yarp::os::createVocab32('g','e','t')
	Getter.
constexpr int	VOCAB_CC_NOT_SET = yarp::os::createVocab32('n','s','e','t')
	State: not set.
RPC vocabs
Used by RPC commands in roboticslab::ICartesianControl.
constexpr int	VOCAB_CC_STAT = yarp::os::createVocab32('s','t','a','t')
	Current state and position.
constexpr int	VOCAB_CC_INV = yarp::os::createVocab32('i','n','v')
	Inverse kinematics.
constexpr int	VOCAB_CC_MOVJ = yarp::os::createVocab32('m','o','v','j')
	Move in joint space, absolute coordinates.
constexpr int	VOCAB_CC_RELJ = yarp::os::createVocab32('r','e','l','j')
	Move in joint space, relative coordinates.
constexpr int	VOCAB_CC_MOVL = yarp::os::createVocab32('m','o','v','l')
	Linear move to target position.
constexpr int	VOCAB_CC_MOVV = yarp::os::createVocab32('m','o','v','v')
	Linear move with given velocity.
constexpr int	VOCAB_CC_GCMP = yarp::os::createVocab32('g','c','m','p')
	Gravity compensation.
constexpr int	VOCAB_CC_FORC = yarp::os::createVocab32('f','o','r','c')
	Force control.
constexpr int	VOCAB_CC_STOP = yarp::os::createVocab32('s','t','o','p')
	Stop control.
constexpr int	VOCAB_CC_WAIT = yarp::os::createVocab32('w','a','i','t')
	Wait motion done.
constexpr int	VOCAB_CC_TOOL = yarp::os::createVocab32('t','o','o','l')
	Change tool.
constexpr int	VOCAB_CC_ACT = yarp::os::createVocab32('a','c','t')
	Actuate tool.
Streaming vocabs
Used by streaming commands in roboticslab::ICartesianControl.
constexpr int	VOCAB_CC_POSE = yarp::os::createVocab32('p','o','s','e')
	Achieve pose.
constexpr int	VOCAB_CC_MOVI = yarp::os::createVocab32('m','o','v','i')
constexpr int	VOCAB_CC_TWIST = yarp::os::createVocab32('t','w','s','t')
	Instantaneous velocity steps.
constexpr int	VOCAB_CC_WRENCH = yarp::os::createVocab32('w','r','n','c')
	Exert force.
Control state vocabs
Used by roboticslab::ICartesianControl::stat to reflect current control state.
constexpr int	VOCAB_CC_NOT_CONTROLLING = yarp::os::createVocab32('c','c','n','c')
	Not controlling.
constexpr int	VOCAB_CC_MOVJ_CONTROLLING = yarp::os::createVocab32('c','c','j','c')
	Controlling MOVJ commands.
constexpr int	VOCAB_CC_MOVL_CONTROLLING = yarp::os::createVocab32('c','c','l','c')
	Controlling MOVL commands.
constexpr int	VOCAB_CC_MOVV_CONTROLLING = yarp::os::createVocab32('c','c','v','c')
	Controlling MOVV commands.
constexpr int	VOCAB_CC_GCMP_CONTROLLING = yarp::os::createVocab32('c','c','g','c')
	Controlling GCMP commands.
constexpr int	VOCAB_CC_FORC_CONTROLLING = yarp::os::createVocab32('c','c','f','c')
	Controlling FORC commands.
Actuator control vocabs
Used by roboticslab::ICartesianControl::act to control the actuator.
constexpr int	VOCAB_CC_ACTUATOR_NONE = yarp::os::createVocab32('a','c','n')
	No actuator or no action.
constexpr int	VOCAB_CC_ACTUATOR_CLOSE_GRIPPER = yarp::os::createVocab32('a','c','c','g')
	Close gripper.
constexpr int	VOCAB_CC_ACTUATOR_OPEN_GRIPPER = yarp::os::createVocab32('a','c','o','g')
	Open gripper.
constexpr int	VOCAB_CC_ACTUATOR_STOP_GRIPPER = yarp::os::createVocab32('a','c','s','g')
	Stop gripper.
constexpr int	VOCAB_CC_ACTUATOR_GENERIC = yarp::os::createVocab32('a','c','g')
	Generic actuator.
Controller configuration vocabs
Used by configuration accessors.
constexpr int	VOCAB_CC_CONFIG_PARAMS = yarp::os::createVocab32('p','r','m','s')
	Parameter group.
constexpr int	VOCAB_CC_CONFIG_GAIN = yarp::os::createVocab32('c','p','c','g')
	Controller gain.
constexpr int	VOCAB_CC_CONFIG_TRAJ_DURATION = yarp::os::createVocab32('c','p','t','d')
	Trajectory duration.
constexpr int	VOCAB_CC_CONFIG_CMC_PERIOD = yarp::os::createVocab32('c','p','c','p')
	CMC period [ms].
constexpr int	VOCAB_CC_CONFIG_WAIT_PERIOD = yarp::os::createVocab32('c','p','w','p')
	Check period of 'wait' command [ms].
constexpr int	VOCAB_CC_CONFIG_FRAME = yarp::os::createVocab32('c','p','f')
	Reference frame.
constexpr int	VOCAB_CC_CONFIG_STREAMING_CMD = yarp::os::createVocab32('c','p','s','c')
	Preset streaming command.