#include <mtsIntuitiveResearchKitArm.h>

Inheritance diagram for mtsIntuitiveResearchKitArm:

Classes
struct	InterfaceRobotTorque

Public Member Functions
	mtsIntuitiveResearchKitArm (const std::string &componentName, const double periodInSeconds)

	mtsIntuitiveResearchKitArm (const mtsTaskPeriodicConstructorArg &arg)

virtual	~mtsIntuitiveResearchKitArm ()

void	Configure (const std::string &filename)

void	Startup (void)

void	Run (void)

void	Cleanup (void)

Public Member Functions inherited from mtsTaskPeriodic
	mtsTaskPeriodic (const std::string &name, double periodicityInSeconds, bool isHardRealTime=false, unsigned int sizeStateTable=256, bool newThread=true)

	mtsTaskPeriodic (const std::string &name, const osaAbsoluteTime &periodicity, bool isHardRealTime=false, unsigned int sizeStateTable=256, bool newThread=true)

	mtsTaskPeriodic (const mtsTaskPeriodicConstructorArg &arg)

virtual	~mtsTaskPeriodic ()

void	Suspend (void)

double	GetPeriodicity (void) const

bool	IsPeriodic (void) const

Public Member Functions inherited from mtsTaskContinuous
	mtsTaskContinuous (const std::string &name, unsigned int sizeStateTable=256, bool newThread=true)

	mtsTaskContinuous (const mtsTaskContinuousConstructorArg &arg)

virtual	~mtsTaskContinuous ()

void	Create (void *data=0)

void	Start (void)

void	Kill (void)

Public Member Functions inherited from mtsTask
	mtsTask (const std::string &name, unsigned int sizeStateTable=256)

virtual	~mtsTask ()

virtual void	OnStartupException (const std::exception &excp)

virtual void	OnRunException (const std::exception &excp)

virtual void	Configure (const std::string &CMN_UNUSED(filename)="")

void	SetInitializationDelay (double delay)

void	Create (void)

double	GetAveragePeriod (void) const

const std::string	GetDefaultStateTableName (void) const

mtsStateTable *	GetDefaultStateTable (void)

mtsInterfaceRequired *	AddInterfaceRequiredWithoutSystemEventHandlers (const std::string &interfaceRequiredName, mtsRequiredType required=MTS_REQUIRED)

mtsInterfaceProvided *	AddInterfaceProvidedWithoutSystemEvents (const std::string &newInterfaceName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY, bool isProxy=false)

virtual bool	WaitToStart (double timeout)

virtual bool	WaitToTerminate (double timeout)

virtual void	WaitForWakeup (void)

virtual void	Wakeup (void)

void	ProcessManagerCommandsIfNotActive ()

bool	CheckForOwnThread (void) const

virtual bool	IsOverranPeriod (void) const

virtual void	ResetOverranPeriod (void)

Public Member Functions inherited from mtsComponent
	mtsComponent (const std::string &deviceName)

virtual	~mtsComponent ()

const std::string &	GetName (void) const

void	GetName (std::string &placeHolder) const

void	SetName (const std::string &componentName)

bool	CreateAndWait (double timeoutInSeconds)

bool	StartAndWait (double timeoutInSeconds)

bool	KillAndWait (double timeoutInSeconds)

mtsInterfaceProvided *	AddInterfaceProvided (const std::string &interfaceProvidedName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY)

CISST_DEPRECATED mtsInterfaceProvided *	AddProvidedInterface (const std::string &interfaceProvidedName)

virtual mtsInterfaceOutput *	AddInterfaceOutput (const std::string &interfaceOutputName)

bool	InterfaceExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

bool	InterfaceProvidedOrOutputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

bool	InterfaceRequiredOrInputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

mtsInterfaceProvided *	GetInterfaceProvided (const std::string &interfaceProvidedName) const

mtsInterfaceOutput *	GetInterfaceOutput (const std::string &interfaceOutputName) const

size_t	GetNumberOfInterfacesProvided (void) const

size_t	GetNumberOfInterfacesOutput (void) const

bool	RemoveInterfaceProvided (const std::string &interfaceProvidedName, const bool skipDisconnect=false)

mtsInterfaceRequired *	AddInterfaceRequired (const std::string &interfaceRequiredName, mtsRequiredType isRequired=MTS_REQUIRED)

CISST_DEPRECATED mtsInterfaceRequired *	AddRequiredInterface (const std::string &requiredInterfaceName)

virtual mtsInterfaceInput *	AddInterfaceInput (const std::string &interfaceInputName)

const mtsInterfaceProvided *	GetInterfaceProvidedFor (const std::string &interfaceRequiredName)

mtsInterfaceRequired *	GetInterfaceRequired (const std::string &interfaceRequiredName)

mtsInterfaceInput *	GetInterfaceInput (const std::string &interfaceInputName) const

size_t	GetNumberOfInterfacesRequired (void) const

size_t	GetNumberOfInterfacesInput (void) const

bool	RemoveInterfaceRequired (const std::string &interfaceRequiredName, const bool skipDisconnect=false)

const mtsManagerComponentServices *	GetManagerComponentServices (void) const

mtsManagerComponentServices *	GetManagerComponentServices (void)

mtsStateTable *	GetStateTable (const std::string &stateTableName)

bool	AddStateTable (mtsStateTable *existingStateTable, bool addInterfaceProvided=true)

void	UseSeparateLogFileDefault (bool forwardToLogger=true)

void	UseSeparateLogFileDefaultWithDate (bool forwardToLogger=true)

void	UseSeparateLogFile (const std::string &filename, bool forwardToLogger=true)

cmnLogger::StreamBufType *	GetLogMultiplexer (void) const

bool	IsRunning (void) const

bool CISST_DEPRECATED	Running (void) const

bool	IsStarted (void) const

bool	IsTerminated (void) const

bool	IsEndTask (void) const

const mtsComponentState &	GetState (void) const

void	GetState (mtsComponentState &state) const

void	ToStream (std::ostream &outputStream) const

bool	SetReplayMode (void)

bool	SetReplayData (const std::string &stateTableName, const std::string &fileName)

bool	SetReplayTime (const double time)

std::vector< std::string >	GetNamesOfInterfacesProvidedOrOutput (void) const

std::vector< std::string >	GetNamesOfInterfacesProvided (void) const

std::vector< std::string >	GetNamesOfInterfacesOutput (void) const

std::vector< std::string >	GetNamesOfInterfacesRequiredOrInput (void) const

std::vector< std::string >	GetNamesOfInterfacesRequired (void) const

std::vector< std::string >	GetNamesOfInterfacesInput (void) const

Public Member Functions inherited from cmnGenericObject
virtual	~cmnGenericObject (void)

virtual const cmnClassServicesBase *	Services (void) const =0

bool	ReconstructFrom (const cmnGenericObject &other)

std::string	ToString (void) const

virtual void	ToStreamRaw (std::ostream &outputStream, const char delimiter= ' ', bool headerOnly=false, const std::string &headerPrefix="") const

virtual bool	FromStreamRaw (std::istream &inputStream, const char delimiter= ' ')

virtual void	SerializeRaw (std::ostream &outputStream) const

virtual void	DeSerializeRaw (std::istream &inputStream)

virtual size_t	ScalarNumber (void) const

virtual bool	ScalarNumberIsFixed (void) const

virtual double	Scalar (const size_t CMN_UNUSED(index)) const throw (std::out_of_range)

virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Protected Member Functions
virtual void	Init (void)

virtual void	SetState (const mtsIntuitiveResearchKitArmTypes::RobotStateType &newState)=0

virtual void	SetRobotControlState (const std::string &state)=0

void	GetRobotControlState (std::string &state) const

bool	CurrentStateIs (const mtsIntuitiveResearchKitArmTypes::RobotStateType &state)

virtual void	GetRobotData (void)

virtual void	RunHomingPower (void)

virtual void	RunHomingCalibrateArm (void)=0

virtual void	RunPositionJoint (void)

virtual void	RunPositionGoalJoint (void)

virtual void	RunPositionCartesian (void)

virtual void	RunPositionGoalCartesian (void)

virtual void	RunArmSpecific (void)

virtual void	SetPositionJointLocal (const vctDoubleVec &newPosition)

virtual void	SetPositionJoint (const prmPositionJointSet &newPosition)

virtual void	SetPositionGoalJoint (const prmPositionJointSet &newPosition)

virtual void	SetPositionCartesian (const prmPositionCartesianSet &newPosition)

virtual void	SetPositionGoalCartesian (const prmPositionCartesianSet &newPosition)

virtual void	SetBaseFrame (const prmPositionCartesianGet &newBaseFrame)

virtual void	JointLimitEventHandler (const vctBoolVec &flags)

void	ErrorEventHandler (const std::string &message)

virtual size_t	NumberOfAxes (void) const =0

virtual size_t	NumberOfJoints (void) const =0

virtual size_t	NumberOfJointsKinematics (void) const =0

virtual size_t	NumberOfBrakes (void) const =0

virtual bool	UsePIDTrackingError (void) const =0

virtual bool	UsePotsForSafetyCheck (void) const

virtual robManipulator::Errno	InverseKinematics (vctDoubleVec &jointSet, const vctFrm4x4 &cartesianGoal)=0

Protected Member Functions inherited from mtsTaskPeriodic
virtual void *	RunInternal (void *argument)

void	StartupInternal (void)

void	CleanupInternal (void)

void	StartInternal (void)

Protected Member Functions inherited from mtsTask
void	RunEventHandler (void)

void	ChangeStateEventHandler (const mtsComponentState &newState)

mtsExecutionResult	RunEvent (bool check=true)

void	DoRunInternal (void)

void	Sleep (double timeInSeconds)

mtsStateIndex::TimeTicksType	GetTick (void) const

virtual void	SaveThreadStartData (void *data)

virtual void	SetThreadReturnValue (void *returnValue)

void	ChangeState (mtsComponentState::Enum newState)

bool	WaitForState (mtsComponentState desiredState, double timeout)

Protected Member Functions inherited from mtsComponent
	mtsComponent (void)

	mtsComponent (const mtsComponent &other)

void	Initialize (void)

mtsInterfaceRequired *	AddInterfaceRequiredExisting (const std::string &interfaceRequiredName, mtsInterfaceRequired *interfaceRequired)

mtsInterfaceRequired *	AddInterfaceRequiredUsingMailbox (const std::string &interfaceRequiredName, mtsMailBox *mailBox, mtsRequiredType required)

mtsInterfaceProvided *	AddInterfaceProvidedUsingMailbox (const std::string &interfaceProvidedName, mtsMailBox *mailBox)

mtsInterfaceInput *	AddInterfaceInputExisting (const std::string &interfaceInputName, mtsInterfaceInput *interfaceInput)

mtsInterfaceOutput *	AddInterfaceOutputExisting (const std::string &interfaceOutputName, mtsInterfaceOutput *interfaceOutput)

void	KillSeparateLogFile (void)

size_t	ProcessMailBoxes (InterfacesProvidedMapType &interfaces)

size_t	ProcessQueuedCommands (void)

size_t	ProcessQueuedEvents (void)

mtsInterfaceRequired *	EnableDynamicComponentManagement (void)
	Enable support for dynamic component management services. More...

bool	AddInterfaceInternal (const bool useMangerComponentServices=false)
	Add internal interfaces. More...

void	InterfaceInternalCommands_GetEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)

void	InterfaceInternalCommands_AddObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)

void	InterfaceInternalCommands_RemoveEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)

void	InterfaceInternalCommands_RemoveObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)

void	InterfaceInternalCommands_ComponentCreate (const mtsDescriptionComponent &componentDescription, bool &result)

void	InterfaceInternalCommands_ComponentStartOther (const mtsComponentStatusControl &arg)

Protected Attributes
mtsInterfaceRequired *	PIDInterface

struct {
mtsFunctionWrite Enable

mtsFunctionRead GetPositionJoint

mtsFunctionRead GetPositionJointDesired

mtsFunctionRead GetStateJoint

mtsFunctionRead GetStateJointDesired

mtsFunctionWrite SetPositionJoint

mtsFunctionWrite SetCheckJointLimit

mtsFunctionRead GetVelocityJoint

mtsFunctionWrite EnableTorqueMode

mtsFunctionWrite SetTorqueJoint

mtsFunctionWrite SetTorqueOffset

mtsFunctionWrite EnableTrackingError

mtsFunctionWrite SetTrackingErrorTolerance

}	PID

mtsInterfaceRequired *	IOInterface

struct mtsIntuitiveResearchKitArm::InterfaceRobotTorque	RobotIO

mtsInterfaceRequired *	SUJInterface

mtsInterfaceProvided *	RobotInterface

struct {
mtsFunctionWrite Status

mtsFunctionWrite Warning

mtsFunctionWrite Error

mtsFunctionWrite RobotState

}	MessageEvents

prmPositionCartesianSet	CartesianSetParam

bool	IsGoalSet

prmPositionCartesianGet	CartesianGetLocalParam

vctFrm4x4	CartesianGetLocal

prmPositionCartesianGet	CartesianGetLocalDesiredParam

vctFrm4x4	CartesianGetLocalDesired

prmPositionCartesianGet	CartesianGetParam

vctFrm4x4	CartesianGet

prmPositionCartesianGet	CartesianGetDesiredParam

vctFrm4x4	CartesianGetDesired

prmPositionJointGet	JointGetParam

vctDoubleVec	JointGet

vctDoubleVec	JointGetDesired

prmPositionJointSet	JointSetParam

vctDoubleVec	JointSet

prmVelocityJointGet	JointVelocityGetParam
	robot current joint velocity More...

vctDoubleVec	JointVelocityGet

prmStateJoint	StateJointParam

prmStateJoint	StateJointDesiredParam

vctFrm4x4	CartesianGetPrevious

prmVelocityCartesianGet	CartesianVelocityGetParam

robManipulator	Manipulator

vctFrm4x4	CartesianPositionFrm

vctFrm4x4	BaseFrame

bool	BaseFrameValid

mtsIntuitiveResearchKitArmTypes::RobotStateType	RobotState

struct {
robLSPB LSPB

vctDoubleVec Velocity

vctDoubleVec Acceleration

vctDoubleVec Start

vctDoubleVec Goal

vctDoubleVec GoalError

vctDoubleVec GoalTolerance

double EndTime

mtsFunctionWrite GoalReachedEvent

}	JointTrajectory

vctDoubleVec	PotsToEncodersTolerance

double	HomingTimer

bool	HomingPowerRequested

bool	HomingCalibrateArmStarted

unsigned int	mCounter

Protected Attributes inherited from mtsTaskPeriodic
osaThreadBuddy	ThreadBuddy

double	Period

osaAbsoluteTime	AbsoluteTimePeriod

bool	IsHardRealTime

Protected Attributes inherited from mtsTaskContinuous
bool	NewThread

bool	CaptureThread

Protected Attributes inherited from mtsTask
osaThread	Thread

double	InitializationDelay

osaMutex	StateChange

osaThreadSignal	StateChangeSignal

mtsStateTable	StateTable

bool	OverranPeriod

void *	ThreadStartData

void *	ReturnValue

mtsCallableVoidBase *	InterfaceProvidedToManagerCallable

mtsInterfaceRequired *	ExecIn

mtsInterfaceProvided *	ExecOut

mtsFunctionVoid	RunEventInternal

bool	RunEventCalled

mtsFunctionWrite	ChangeStateEvent

Protected Attributes inherited from mtsComponent
std::string	Name

mtsComponentState	State

mtsInterfaceProvided *	InterfaceProvidedToManager

bool	UseSeparateLogFileFlag

cmnLogger::StreamBufType *	LoDMultiplexerStreambuf

std::ofstream *	LogFile

StateTableMapType	StateTables

mtsManagerComponentServices *	ManagerComponentServices

mtsFunctionWrite	EventGeneratorChangeState

bool	ReplayMode

InterfacesProvidedMapType	InterfacesProvided

InterfacesOutputMapType	InterfacesOutput

InterfacesRequiredMapType	InterfacesRequired

InterfacesInputMapType	InterfacesInput

Additional Inherited Members
Public Types inherited from mtsTaskPeriodic
typedef mtsTaskContinuous	BaseType

Public Types inherited from mtsTaskContinuous
typedef mtsTask	BaseType

Public Types inherited from mtsTask
typedef mtsComponent	BaseType

Public Types inherited from mtsComponent
typedef mtsComponent	ThisType

Static Public Attributes inherited from mtsTask
static std::runtime_error	UnknownException

Protected Types inherited from mtsComponent
typedef cmnNamedMap < mtsStateTable >	StateTableMapType

typedef cmnNamedMap < mtsInterfaceProvided >	InterfacesProvidedMapType

typedef cmnNamedMap < mtsInterfaceOutput >	InterfacesOutputMapType

typedef cmnNamedMap < mtsInterfaceRequired >	InterfacesRequiredMapType

typedef cmnNamedMap < mtsInterfaceInput >	InterfacesInputMapType

Constructor & Destructor Documentation

mtsIntuitiveResearchKitArm::mtsIntuitiveResearchKitArm	(	const std::string &	componentName,
		const double	periodInSeconds
	)

mtsIntuitiveResearchKitArm::mtsIntuitiveResearchKitArm ( const mtsTaskPeriodicConstructorArg & arg )

virtual mtsIntuitiveResearchKitArm::~mtsIntuitiveResearchKitArm ( )

inlinevirtual

Member Function Documentation

void mtsIntuitiveResearchKitArm::Cleanup ( void )

virtual

Virtual method that gets overloaded, and is run after the component gets killed using Kill() method.

Reimplemented from mtsComponent.

void mtsIntuitiveResearchKitArm::Configure ( const std::string & filename )

virtual

The virtual method so that the interface or tasks can configure themselves

Reimplemented from mtsComponent.

Reimplemented in mtsIntuitiveResearchKitPSM.

bool mtsIntuitiveResearchKitArm::CurrentStateIs ( const mtsIntuitiveResearchKitArmTypes::RobotStateType & state )

protected

void mtsIntuitiveResearchKitArm::ErrorEventHandler ( const std::string & message )

protected

Event handler for PID errors.

void mtsIntuitiveResearchKitArm::GetRobotControlState ( std::string & state ) const

protected

Convert enum to string using function provided by cisstDataGenerator.

virtual void mtsIntuitiveResearchKitArm::GetRobotData ( void )

protectedvirtual

Get data from the PID level based on current state.

Reimplemented in mtsIntuitiveResearchKitMTM.

virtual void mtsIntuitiveResearchKitArm::Init ( void )

protectedvirtual

Initialization, including resizing data members and setting up cisst/SAW interfaces

Reimplemented in mtsIntuitiveResearchKitMTM, mtsIntuitiveResearchKitPSM, and mtsIntuitiveResearchKitECM.

virtual robManipulator::Errno mtsIntuitiveResearchKitArm::InverseKinematics	(	vctDoubleVec &	jointSet,
		const vctFrm4x4 &	cartesianGoal
	)

protectedpure virtual

Implemented in mtsIntuitiveResearchKitMTM, mtsIntuitiveResearchKitPSM, and mtsIntuitiveResearchKitECM.

virtual void mtsIntuitiveResearchKitArm::JointLimitEventHandler ( const vctBoolVec & flags )

protectedvirtual

Event handler for PID joint limit.

virtual size_t mtsIntuitiveResearchKitArm::NumberOfAxes ( void ) const

protectedpure virtual

Configuration methods specific to derived classes.

Implemented in mtsIntuitiveResearchKitMTM, mtsIntuitiveResearchKitPSM, and mtsIntuitiveResearchKitECM.

virtual size_t mtsIntuitiveResearchKitArm::NumberOfBrakes ( void ) const

protectedpure virtual

Implemented in mtsIntuitiveResearchKitMTM, mtsIntuitiveResearchKitPSM, and mtsIntuitiveResearchKitECM.

virtual size_t mtsIntuitiveResearchKitArm::NumberOfJoints ( void ) const

protectedpure virtual

Implemented in mtsIntuitiveResearchKitMTM, mtsIntuitiveResearchKitPSM, and mtsIntuitiveResearchKitECM.

virtual size_t mtsIntuitiveResearchKitArm::NumberOfJointsKinematics ( void ) const

protectedpure virtual

Implemented in mtsIntuitiveResearchKitMTM, mtsIntuitiveResearchKitPSM, and mtsIntuitiveResearchKitECM.

void mtsIntuitiveResearchKitArm::Run ( void )

virtual

Pure virtual method that gets overloaded to run the actual task.

Implements mtsTask.

virtual void mtsIntuitiveResearchKitArm::RunArmSpecific ( void )

inlineprotectedvirtual

Run method called for all states not handled in base class.

Reimplemented in mtsIntuitiveResearchKitMTM, and mtsIntuitiveResearchKitPSM.

virtual void mtsIntuitiveResearchKitArm::RunHomingCalibrateArm ( void )

protectedpure virtual

Homing procedure, home all joints except last one using potentiometers as reference.

Implemented in mtsIntuitiveResearchKitMTM, mtsIntuitiveResearchKitPSM, and mtsIntuitiveResearchKitECM.

virtual void mtsIntuitiveResearchKitArm::RunHomingPower ( void )

protectedvirtual

Homing procedure, power the robot and initial current and encoder calibration.

virtual void mtsIntuitiveResearchKitArm::RunPositionCartesian ( void )

protectedvirtual

virtual void mtsIntuitiveResearchKitArm::RunPositionGoalCartesian ( void )

protectedvirtual

virtual void mtsIntuitiveResearchKitArm::RunPositionGoalJoint ( void )

protectedvirtual

virtual void mtsIntuitiveResearchKitArm::RunPositionJoint ( void )

protectedvirtual

Cartesian state.

virtual void mtsIntuitiveResearchKitArm::SetBaseFrame ( const prmPositionCartesianGet & newBaseFrame )

protectedvirtual

Set base coordinate frame, this will be added to the kinematics

virtual void mtsIntuitiveResearchKitArm::SetPositionCartesian ( const prmPositionCartesianSet & newPosition )

protectedvirtual

Reimplemented in mtsIntuitiveResearchKitPSM.

virtual void mtsIntuitiveResearchKitArm::SetPositionGoalCartesian ( const prmPositionCartesianSet & newPosition )

protectedvirtual

virtual void mtsIntuitiveResearchKitArm::SetPositionGoalJoint ( const prmPositionJointSet & newPosition )

protectedvirtual

virtual void mtsIntuitiveResearchKitArm::SetPositionJoint ( const prmPositionJointSet & newPosition )

protectedvirtual

Methods used for commands

virtual void mtsIntuitiveResearchKitArm::SetPositionJointLocal ( const vctDoubleVec & newPosition )

protectedvirtual

Wrapper to convert vector of joint values to prmPositionJointSet and send to PID

virtual void mtsIntuitiveResearchKitArm::SetRobotControlState ( const std::string & state )

protectedpure virtual

Implemented in mtsIntuitiveResearchKitMTM, mtsIntuitiveResearchKitPSM, and mtsIntuitiveResearchKitECM.

virtual void mtsIntuitiveResearchKitArm::SetState ( const mtsIntuitiveResearchKitArmTypes::RobotStateType & newState )

protectedpure virtual

Verify that the state transition is possible, initialize global variables for the desired state and finally set the state.

Implemented in mtsIntuitiveResearchKitMTM, mtsIntuitiveResearchKitPSM, and mtsIntuitiveResearchKitECM.

void mtsIntuitiveResearchKitArm::Startup ( void )

virtual

Virtual method that gets overloaded, and is run before the component is started.

Reimplemented from mtsComponent.

virtual bool mtsIntuitiveResearchKitArm::UsePIDTrackingError ( void ) const

protectedpure virtual

Implemented in mtsIntuitiveResearchKitMTM, mtsIntuitiveResearchKitPSM, and mtsIntuitiveResearchKitECM.

virtual bool mtsIntuitiveResearchKitArm::UsePotsForSafetyCheck ( void ) const

inlineprotectedvirtual

Member Data Documentation

vctDoubleVec mtsIntuitiveResearchKitArm::Acceleration

vctFrm4x4 mtsIntuitiveResearchKitArm::BaseFrame

protected

bool mtsIntuitiveResearchKitArm::BaseFrameValid

protected

vctFrm4x4 mtsIntuitiveResearchKitArm::CartesianGet

protected

vctFrm4x4 mtsIntuitiveResearchKitArm::CartesianGetDesired

protected

prmPositionCartesianGet mtsIntuitiveResearchKitArm::CartesianGetDesiredParam

protected

vctFrm4x4 mtsIntuitiveResearchKitArm::CartesianGetLocal

protected

vctFrm4x4 mtsIntuitiveResearchKitArm::CartesianGetLocalDesired

protected

prmPositionCartesianGet mtsIntuitiveResearchKitArm::CartesianGetLocalDesiredParam

protected

prmPositionCartesianGet mtsIntuitiveResearchKitArm::CartesianGetLocalParam

protected

prmPositionCartesianGet mtsIntuitiveResearchKitArm::CartesianGetParam

protected

vctFrm4x4 mtsIntuitiveResearchKitArm::CartesianGetPrevious

protected

vctFrm4x4 mtsIntuitiveResearchKitArm::CartesianPositionFrm

protected

prmPositionCartesianSet mtsIntuitiveResearchKitArm::CartesianSetParam

protected

prmVelocityCartesianGet mtsIntuitiveResearchKitArm::CartesianVelocityGetParam

protected

mtsFunctionWrite mtsIntuitiveResearchKitArm::Enable

mtsFunctionWrite mtsIntuitiveResearchKitArm::EnableTorqueMode

mtsFunctionWrite mtsIntuitiveResearchKitArm::EnableTrackingError

double mtsIntuitiveResearchKitArm::EndTime

mtsFunctionWrite mtsIntuitiveResearchKitArm::Error

mtsFunctionRead mtsIntuitiveResearchKitArm::GetPositionJoint

mtsFunctionRead mtsIntuitiveResearchKitArm::GetPositionJointDesired

mtsFunctionRead mtsIntuitiveResearchKitArm::GetStateJoint

mtsFunctionRead mtsIntuitiveResearchKitArm::GetStateJointDesired

mtsFunctionRead mtsIntuitiveResearchKitArm::GetVelocityJoint

vctDoubleVec mtsIntuitiveResearchKitArm::Goal

vctDoubleVec mtsIntuitiveResearchKitArm::GoalError

mtsFunctionWrite mtsIntuitiveResearchKitArm::GoalReachedEvent

vctDoubleVec mtsIntuitiveResearchKitArm::GoalTolerance

bool mtsIntuitiveResearchKitArm::HomingCalibrateArmStarted

protected

bool mtsIntuitiveResearchKitArm::HomingPowerRequested

protected

double mtsIntuitiveResearchKitArm::HomingTimer

protected

mtsInterfaceRequired* mtsIntuitiveResearchKitArm::IOInterface

protected

bool mtsIntuitiveResearchKitArm::IsGoalSet

protected

vctDoubleVec mtsIntuitiveResearchKitArm::JointGet

protected

vctDoubleVec mtsIntuitiveResearchKitArm::JointGetDesired

protected

prmPositionJointGet mtsIntuitiveResearchKitArm::JointGetParam

protected

vctDoubleVec mtsIntuitiveResearchKitArm::JointSet

protected

prmPositionJointSet mtsIntuitiveResearchKitArm::JointSetParam

protected

struct { ... } mtsIntuitiveResearchKitArm::JointTrajectory

vctDoubleVec mtsIntuitiveResearchKitArm::JointVelocityGet

protected

prmVelocityJointGet mtsIntuitiveResearchKitArm::JointVelocityGetParam

protected

robot current joint velocity

robLSPB mtsIntuitiveResearchKitArm::LSPB

robManipulator mtsIntuitiveResearchKitArm::Manipulator

protected

unsigned int mtsIntuitiveResearchKitArm::mCounter

protected

struct { ... } mtsIntuitiveResearchKitArm::MessageEvents

struct { ... } mtsIntuitiveResearchKitArm::PID

mtsInterfaceRequired* mtsIntuitiveResearchKitArm::PIDInterface

protected

vctDoubleVec mtsIntuitiveResearchKitArm::PotsToEncodersTolerance

protected

mtsInterfaceProvided* mtsIntuitiveResearchKitArm::RobotInterface

protected

struct mtsIntuitiveResearchKitArm::InterfaceRobotTorque mtsIntuitiveResearchKitArm::RobotIO

protected

mtsFunctionWrite mtsIntuitiveResearchKitArm::RobotState

mtsIntuitiveResearchKitArmTypes::RobotStateType mtsIntuitiveResearchKitArm::RobotState

protected

mtsFunctionWrite mtsIntuitiveResearchKitArm::SetCheckJointLimit

mtsFunctionWrite mtsIntuitiveResearchKitArm::SetPositionJoint

mtsFunctionWrite mtsIntuitiveResearchKitArm::SetTorqueJoint

mtsFunctionWrite mtsIntuitiveResearchKitArm::SetTorqueOffset

mtsFunctionWrite mtsIntuitiveResearchKitArm::SetTrackingErrorTolerance

vctDoubleVec mtsIntuitiveResearchKitArm::Start

prmStateJoint mtsIntuitiveResearchKitArm::StateJointDesiredParam

protected

prmStateJoint mtsIntuitiveResearchKitArm::StateJointParam

protected

mtsFunctionWrite mtsIntuitiveResearchKitArm::Status

mtsInterfaceRequired* mtsIntuitiveResearchKitArm::SUJInterface

protected

vctDoubleVec mtsIntuitiveResearchKitArm::Velocity

mtsFunctionWrite mtsIntuitiveResearchKitArm::Warning

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

/home/adeguet1/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/include/sawIntuitiveResearchKit/mtsIntuitiveResearchKitArm.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation