qlin/sas_robot_driver_franka
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Updated the headers and the cmake.

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This commit is contained in:
Juancho
2023-06-27 14:45:57 +09:00
parent eab4c8a68f
commit c04c20542b
8 changed files with 254 additions and 23 deletions
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51
include/sas_robot_driver_franka.h
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@@ -1,6 +1,37 @@
/*
# Copyright (c) 2023 Juan Jose Quiroz Omana
#
# This file is part of sas_robot_driver_franka.
#
# sas_robot_driver_franka is free software: you can redistribute it and/or modify
# it under the terms of the GNU Lesser General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# sas_robot_driver_franka is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU Lesser General Public License for more details.
#
# You should have received a copy of the GNU Lesser General Public License
# along with sas_robot_driver. If not, see <https://www.gnu.org/licenses/>.
#
# ################################################################
#
# Author: Juan Jose Quiroz Omana, email: juanjqogm@gmail.com
#
# ################################################################
#
# Contributors:
# 1. Juan Jose Quiroz Omana (juanjqogm@gmail.com)
# - Adapted from sas_robot_driver_denso.cpp
# (https://github.com/SmartArmStack/sas_robot_driver_denso/blob/master/src/sas_robot_driver_denso.cpp)
#
# ################################################################
*/
#pragma once
#include <exception>
#include <tuple>
#include <atomic>
@@ -38,16 +69,16 @@ private:
//Joint positions
VectorXd joint_positions_;
//VectorXd joint_velocities_;
VectorXd end_effector_pose_;
std::vector<double> joint_positions_buffer_;
std::vector<double> end_effector_pose_euler_buffer_;
std::vector<double> end_effector_pose_homogenous_transformation_buffer_;
//VectorXd end_effector_pose_;
//std::vector<double> joint_positions_buffer_;
//std::vector<double> end_effector_pose_euler_buffer_;
//std::vector<double> end_effector_pose_homogenous_transformation_buffer_;
public:
const static int SLAVE_MODE_JOINT_CONTROL;
const static int SLAVE_MODE_END_EFFECTOR_CONTROL;
//const static int SLAVE_MODE_JOINT_CONTROL;
//const static int SLAVE_MODE_END_EFFECTOR_CONTROL;
RobotDriverFranka(const RobotDriverFranka&)=delete;
RobotDriverFranka()=delete;
@@ -70,8 +101,8 @@ public:
void initialize() override;
void deinitialize() override;
bool set_end_effector_pose_dq(const DQ& pose);
DQ get_end_effector_pose_dq();
//bool set_end_effector_pose_dq(const DQ& pose);
//DQ get_end_effector_pose_dq();
};
}