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 (ICartesianControl::Actuator command)

void	printJointPositions ()

void	printCartesianPositions ()

void	issueStop ()

void	printHelp ()

Private Attributes
int	axes {0}

ICartesianControl::Actuator	currentActuatorCommand {ICartesianControl::Actuator::NONE}

double	jointPosStep {0.0}

double	jointVelStep {0.0}

ICartesianSolver::Frame	cartFrame {ICartesianSolver::Frame::BASE}

std::string	angleRepr

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

control_modes	controlMode {NOT_CONTROLLING}

joint_mode	jointMode {VELOCITY}

bool	supportsFrameToggle {false}

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