limb

The limb proxy provides an interface to limbs using forward/inverse kinematics, such as the ActivMedia Pioneer Arm. More...


Detailed Description

The limb proxy provides an interface to limbs using forward/inverse kinematics, such as the ActivMedia Pioneer Arm.

See the Player User Manual for a complete description of the drivers that support this interface.

Classes

struct  playerc_limb_t
 Limb device data. More...

Functions

PLAYERC_EXPORT playerc_limb_tplayerc_limb_create (playerc_client_t *client, int index)
 Create a limb proxy.
PLAYERC_EXPORT void playerc_limb_destroy (playerc_limb_t *device)
 Destroy a limb proxy.
PLAYERC_EXPORT int playerc_limb_subscribe (playerc_limb_t *device, int access)
 Subscribe to the limb device.
PLAYERC_EXPORT int playerc_limb_unsubscribe (playerc_limb_t *device)
 Un-subscribe from the limb device.
PLAYERC_EXPORT int playerc_limb_get_geom (playerc_limb_t *device)
 Get the limb geometry.
PLAYERC_EXPORT int playerc_limb_home_cmd (playerc_limb_t *device)
 Command the end effector to move home.
PLAYERC_EXPORT int playerc_limb_stop_cmd (playerc_limb_t *device)
 Command the end effector to stop immediatly.
PLAYERC_EXPORT int playerc_limb_setpose_cmd (playerc_limb_t *device, float pX, float pY, float pZ, float aX, float aY, float aZ, float oX, float oY, float oZ)
 Command the end effector to move to a specified pose.
PLAYERC_EXPORT int playerc_limb_setposition_cmd (playerc_limb_t *device, float pX, float pY, float pZ)
 Command the end effector to move to a specified position (ignoring approach and orientation vectors).
PLAYERC_EXPORT int playerc_limb_vecmove_cmd (playerc_limb_t *device, float x, float y, float z, float length)
 Command the end effector to move along the provided vector from its current position for the provided distance.
PLAYERC_EXPORT int playerc_limb_power (playerc_limb_t *device, uint32_t enable)
 Turn the power to the limb on or off.
PLAYERC_EXPORT int playerc_limb_brakes (playerc_limb_t *device, uint32_t enable)
 Turn the brakes of all actuators in the limb that have them on or off.
PLAYERC_EXPORT int playerc_limb_speed_config (playerc_limb_t *device, float speed)
 Set the speed of the end effector (m/s) for all subsequent movement commands.

Function Documentation

PLAYERC_EXPORT int playerc_limb_brakes ( playerc_limb_t device,
uint32_t  enable 
)

Turn the brakes of all actuators in the limb that have them on or off.

PLAYERC_EXPORT playerc_limb_t* playerc_limb_create ( playerc_client_t client,
int  index 
)

Create a limb proxy.

PLAYERC_EXPORT void playerc_limb_destroy ( playerc_limb_t device)

Destroy a limb proxy.

PLAYERC_EXPORT int playerc_limb_get_geom ( playerc_limb_t device)

Get the limb geometry.

The writes the result into the proxy rather than returning it to the caller.

PLAYERC_EXPORT int playerc_limb_home_cmd ( playerc_limb_t device)

Command the end effector to move home.

PLAYERC_EXPORT int playerc_limb_power ( playerc_limb_t device,
uint32_t  enable 
)

Turn the power to the limb on or off.

Be careful when turning power on that the limb is not obstructed from its home position in case it moves to it (common behaviour).

PLAYERC_EXPORT int playerc_limb_setpose_cmd ( playerc_limb_t device,
float  pX,
float  pY,
float  pZ,
float  aX,
float  aY,
float  aZ,
float  oX,
float  oY,
float  oZ 
)

Command the end effector to move to a specified pose.

PLAYERC_EXPORT int playerc_limb_setposition_cmd ( playerc_limb_t device,
float  pX,
float  pY,
float  pZ 
)

Command the end effector to move to a specified position (ignoring approach and orientation vectors).

PLAYERC_EXPORT int playerc_limb_speed_config ( playerc_limb_t device,
float  speed 
)

Set the speed of the end effector (m/s) for all subsequent movement commands.

PLAYERC_EXPORT int playerc_limb_stop_cmd ( playerc_limb_t device)

Command the end effector to stop immediatly.

PLAYERC_EXPORT int playerc_limb_subscribe ( playerc_limb_t device,
int  access 
)

Subscribe to the limb device.

PLAYERC_EXPORT int playerc_limb_unsubscribe ( playerc_limb_t device)

Un-subscribe from the limb device.

PLAYERC_EXPORT int playerc_limb_vecmove_cmd ( playerc_limb_t device,
float  x,
float  y,
float  z,
float  length 
)

Command the end effector to move along the provided vector from its current position for the provided distance.