Obbart/universal_robots_ros_driver
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Split servoj into several functions for reuseability

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This commit is contained in:
Thomas Timm Andersen
2015-09-24 16:51:18 +02:00
parent 402f5c0170
commit ba96d0f098
2 changed files with 42 additions and 45 deletions
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5
include/ur_modern_driver/ur_driver.h
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@@ -37,6 +37,7 @@ private:
const int MULT_TIME_ = 1000000;
const unsigned int REVERSE_PORT_;
int incoming_sockfd_;
int new_sockfd_;
public:
UrRealtimeCommunication* rt_interface_;
UrCommunication* sec_interface_;
@@ -58,9 +59,13 @@ public:
void doTraj(std::vector<double> inp_timestamps,
std::vector<std::vector<double> > inp_positions,
std::vector<std::vector<double> > inp_velocities);
void servoj(std::vector<double> positions, double time, int keepalive);
void stopTraj();
void uploadProg();
void openServo();
void closeServo();
std::vector<double> interp_cubic(double t, double T,
std::vector<double> p0_pos, std::vector<double> p1_pos,