Obbart/universal_robots_ros_driver
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Added trajectory and actionlib interface

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This commit is contained in:
Thomas Timm Andersen
2015-09-08 19:26:43 +02:00
parent bbcac405d4
commit 28e033f5b3
4 changed files with 243 additions and 16 deletions
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15
include/ur_modern_driver/ur_driver.h
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@@ -15,20 +15,35 @@
#include <mutex>
#include <condition_variable>
#include "ur_realtime_communication.h"
#include <vector>
#include <math.h>
class UrDriver {
private:
double maximum_time_step_;
std::vector<std::string> joint_names_;
public:
UrRealtimeCommunication* rt_interface_;
UrDriver(std::condition_variable& msg_cond, std::string host,
std::vector<std::string> joint_names,
unsigned int safety_count_max = 12);
void start();
void halt();
void setSpeed(double q0, double q1, double q2, double q3, double q4,
double q5, double acc = 100.);
void addTraj(std::vector<double> inp_timestamps,
std::vector<std::vector<double> > positions,
std::vector<std::vector<double> > velocities);
void stopTraj();
std::vector<double> interp_cubic(double t, double T,
std::vector<double> p0_pos, std::vector<double> p1_pos,
std::vector<double> p0_vel, std::vector<double> p1_vel);
std::vector<std::string> getJointNames();
void setJointNames(std::vector<std::string> jn);
};
#endif /* UR_DRIVER_H_ */