qlin/sas_robot_driver_franka
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Added support for configuration file mode

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This commit is contained in:
Juancho
2023-06-07 13:36:54 +09:00
parent 5a54538279
commit 07112558fa
4 changed files with 24 additions and 31 deletions
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14
include/sas_robot_driver_franka.h
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@@ -22,6 +22,7 @@ namespace sas
struct RobotDriverFrankaConfiguration
{
std::string ip_address;
std::string mode;
int port;
double speed;
};
@@ -42,20 +43,7 @@ private:
std::vector<double> end_effector_pose_euler_buffer_;
std::vector<double> end_effector_pose_homogenous_transformation_buffer_;
//DQ _homogenous_vector_to_dq(const VectorXd& homogenousvector) const;
//VectorXd _dq_to_homogenous_vector(const DQ& pose) const;
//VectorXd _get_end_effector_pose_homogenous_transformation();
//double _sign(const double &a) const;
// void _connect(); //Throws std::runtime_error()
// void _motor_on(); //Throws std::runtime_error()
// void _motor_off() noexcept; //No exceptions should be thrown in the path to turn off the robot
// void _set_speed(const float& speed, const float& acceleration, const float& deacceleration); //Throws std::runtime_error()
// void _slave_mode_on(int mode); //Throws std::runtime_error()
//void _slave_mode_off() noexcept; //No exceptions should be thrown in the path to turn off the robot
public:
const static int SLAVE_MODE_JOINT_CONTROL;