ex_pick.cpp File Reference

#include "mj_kdl_wrapper/mj_kdl_wrapper.hpp"
#include <kdl/chaindynparam.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/chainiksolverpos_nr_jl.hpp>
#include <kdl/chainiksolvervel_pinv.hpp>
#include <algorithm>
#include <cmath>
#include <filesystem>
#include <iomanip>
#include <iostream>
#include <string>

Go to the source code of this file.

Classes
struct	StateConfig
struct	StateMachine

Enumerations
enum class	PickState {   HOME , PREGRASP , GRASP , CLOSE ,   LIFT , HOLD , DONE }

Functions
int	main (int argc, char *argv[])

Enumeration Type Documentation

PickState

enum class PickState

strong

Enumerator
HOME
PREGRASP
GRASP
CLOSE
LIFT
HOLD
DONE

Definition at line 92 of file ex_pick.cpp.

Function Documentation

main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 120 of file ex_pick.cpp.

References mj_kdl::AttachmentSpec::attach_to, mj_kdl::RobotSpec::attachments, mj_kdl::BOX, mj_kdl::build_scene(), mj_kdl::Robot::chain, mj_kdl::cleanup(), CLOSE, mj_kdl::SceneObject::condim, mj_kdl::Robot::ctrl_mode, mj_kdl::destroy_scene(), DONE, StateConfig::duration, mj_kdl::AttachmentSpec::euler, mj_kdl::SceneObject::friction, GRASP, StateConfig::gripper_cmd, HOLD, HOME, mj_kdl::init_robot_from_mjcf(), mj_kdl::init_window_sim(), mj_kdl::Robot::jnt_pos_cmd, mj_kdl::Robot::jnt_trq_cmd, mj_kdl::Robot::kdl_to_mj_dof, mj_kdl::Robot::kdl_to_mj_qpos, LIFT, LOG_INFO, mj_kdl::SceneObject::mass, mj_kdl::AttachmentSpec::mjcf_path, mj_kdl::SceneObject::name, StateConfig::next, mj_kdl::SceneSpec::objects, mj_kdl::RobotSpec::path, mj_kdl::AttachmentSpec::pos, mj_kdl::SceneObject::pos, mj_kdl::AttachmentSpec::prefix, PREGRASP, StateMachine::q_enter, StateConfig::q_target, mj_kdl::SceneObject::rgba, mj_kdl::SceneSpec::robots, mj_kdl::set_joint_pos(), StateConfig::settle_tol, mj_kdl::SceneObject::shape, mj_kdl::SceneObject::size, StateMachine::state, mj_kdl::step(), StateMachine::t_enter, mj_kdl::tick(), StateConfig::timeout, mj_kdl::TORQUE, and mj_kdl::update().