#include <mj_kdl_wrapper.hpp>

Inheritance diagram for mj_kdl::Robot:

Public Member Functions
	Robot ()
	~Robot ()
	Robot (const Robot &)=delete
Robot &	operator= (const Robot &)=delete

Public Attributes
mjModel *	model = nullptr
mjData *	data = nullptr
KDL::Chain	chain
KDL::Frame	tip_T_tcp = KDL::Frame::Identity()
bool	has_tcp_frame = false
std::string	tcp_site
int	n_joints = 0
std::vector< std::string >	joint_names
std::vector< std::pair< double, double > >	joint_limits
std::vector< ForceTorqueSensor >	ft_sensors
bool	paused = false
std::unique_ptr< RobotInternals >	_impl
Public Attributes inherited from mj_kdl::RobotPorts
CtrlMode	ctrl_mode = CtrlMode::POSITION
std::vector< double >	jnt_pos_msr
std::vector< double >	jnt_vel_msr
std::vector< double >	jnt_trq_msr
std::vector< double >	jnt_pos_cmd
std::vector< double >	jnt_vel_cmd
std::vector< double >	jnt_trq_cmd
std::vector< uint8_t >	jnt_saturated

Detailed Description

One KDL-tracked articulation in an Env. init_robot_from_mjcf() / init_robot_from_chain() configure it and register it with the Env, which then reads, commands and resets it. Registered by address, so it is neither copied nor moved.

Definition at line 409 of file mj_kdl_wrapper.hpp.

Constructor & Destructor Documentation

◆ Robot() [1/2]

mj_kdl::Robot::Robot ( )

Referenced by operator=(), and Robot().

◆ ~Robot()

mj_kdl::Robot::~Robot ( )

◆ Robot() [2/2]

mj_kdl::Robot::Robot ( const Robot & )

delete

References Robot().

Member Function Documentation

◆ operator=()

Robot & mj_kdl::Robot::operator= ( const Robot & )

delete

References Robot().

Member Data Documentation

◆ _impl

std::unique_ptr<RobotInternals> mj_kdl::Robot::_impl

Definition at line 429 of file mj_kdl_wrapper.hpp.

◆ chain

KDL::Chain mj_kdl::Robot::chain

Definition at line 414 of file mj_kdl_wrapper.hpp.

Referenced by main(), main(), MjcfTrqCtrlTest::max_gravity_error(), mj_kdl_examples::pd_gravity(), mj_kdl_examples::solve_pick_place(), mj_kdl_examples::tcp_frame(), TEST(), TEST_F(), TEST_F(), TEST_F(), and TEST_F().

◆ data

mjData* mj_kdl::Robot::data = nullptr

Definition at line 413 of file mj_kdl_wrapper.hpp.

◆ ft_sensors

std::vector<ForceTorqueSensor> mj_kdl::Robot::ft_sensors

Definition at line 421 of file mj_kdl_wrapper.hpp.

Referenced by TEST_F(), and TEST_F().

◆ has_tcp_frame

bool mj_kdl::Robot::has_tcp_frame = false

Definition at line 416 of file mj_kdl_wrapper.hpp.

◆ joint_limits

std::vector<std::pair<double, double> > mj_kdl::Robot::joint_limits

Definition at line 420 of file mj_kdl_wrapper.hpp.

Referenced by main(), and mj_kdl_examples::solve_near_seed().

◆ joint_names

std::vector<std::string> mj_kdl::Robot::joint_names

Definition at line 419 of file mj_kdl_wrapper.hpp.

Referenced by DualArmTest::dof(), MjcfTrqCtrlTest::dof(), TEST_F(), TEST_P(), and TEST_P().

◆ model

mjModel* mj_kdl::Robot::model = nullptr

Definition at line 412 of file mj_kdl_wrapper.hpp.

Referenced by TEST(), and TEST_F().

◆ n_joints

int mj_kdl::Robot::n_joints = 0

Definition at line 418 of file mj_kdl_wrapper.hpp.

Referenced by TEST(), TEST_F(), TEST_F(), and TEST_F().

◆ paused

bool mj_kdl::Robot::paused = false

Definition at line 422 of file mj_kdl_wrapper.hpp.

◆ tcp_site

std::string mj_kdl::Robot::tcp_site

Definition at line 417 of file mj_kdl_wrapper.hpp.

Referenced by ex_achd_table_slide.Slide::measure().

◆ tip_T_tcp

KDL::Frame mj_kdl::Robot::tip_T_tcp = KDL::Frame::Identity()

Definition at line 415 of file mj_kdl_wrapper.hpp.

Referenced by main(), and mj_kdl_examples::solve_pick_place().

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

include/mj_kdl_wrapper/mj_kdl_wrapper.hpp

Public Member Functions

Public Attributes