Sends streaming commands to the cartesian controller from a standard keyboard. More...

Inheritance diagram for roboticslab::KeyboardController:

Public Types
enum	joint { Q1 = 0 , Q2 , Q3 , Q4 , Q5 , Q6 , Q7 , Q8 , Q9 , MAX_JOINTS }

enum	cart { X = 0 , Y , Z , ROTX , ROTY , ROTZ , NUM_CART_COORDS }

Public Member Functions
bool	configure (yarp::os::ResourceFinder &rf) override

bool	updateModule () override

bool	interruptModule () override

double	getPeriod () override

bool	close () override

Private Types
enum	control_modes { NOT_CONTROLLING , JOINT_MODE , CARTESIAN_MODE }

enum	joint_mode { POSITION , VELOCITY }

Private Member Functions
template<typename func >
void	incrementOrDecrementJointCommand (joint j, func op)

template<typename func >
void	incrementOrDecrementCartesianCommand (cart coord, func op)

void	toggleJointMode ()

void	toggleReferenceFrame ()

void	actuateTool (int command)

void	printJointPositions ()

void	printCartesianPositions ()

void	issueStop ()

void	printHelp ()

Private Attributes
int	axes {0}

int	currentActuatorCommand {VOCAB_CC_ACTUATOR_NONE}

double	jointPosStep {0.0}

double	jointVelStep {0.0}

ICartesianSolver::reference_frame	cartFrame {ICartesianSolver::BASE_FRAME}

std::string	angleRepr

KinRepresentation::orientation_system	orient {KinRepresentation::orientation_system::AXIS_ANGLE}

control_modes	controlMode {NOT_CONTROLLING}

joint_mode	jointMode {VELOCITY}

bool	usingThread {false}

LinearTrajectoryThread *	linTrajThread {nullptr}

yarp::dev::PolyDriver	controlBoardDevice

yarp::dev::PolyDriver	cartesianControlDevice

yarp::dev::IEncoders *	iEncoders {nullptr}

yarp::dev::IControlMode *	iControlMode {nullptr}

yarp::dev::IControlLimits *	iControlLimits {nullptr}

yarp::dev::IPositionControl *	iPositionControl {nullptr}

yarp::dev::IVelocityControl *	iVelocityControl {nullptr}

roboticslab::ICartesianControl *	iCartesianControl {nullptr}

std::vector< double >	minPositionLimits

std::vector< double >	maxPositionLimits

std::vector< double >	maxVelocityLimits

std::vector< double >	currentJointVels

std::vector< double >	currentCartVels

Static Private Attributes
static const std::plus< double >	increment_functor

static const std::minus< double >	decrement_functor

Detailed Description

Uses the terminal as a simple user interface. Also accepts joint commands if connected to a remote controlboard.

The documentation for this class was generated from the following files:

Public Types