Package yarp
Class ICartesianControl
- java.lang.Object
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- yarp.ICartesianControl
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public class ICartesianControl extends java.lang.Object
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Field Summary
Fields Modifier and Type Field Description protected boolean
swigCMemOwn
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Constructor Summary
Constructors Modifier Constructor Description protected
ICartesianControl(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description boolean
askForPose(Vector xd, Vector od, Vector xdhat, Vector odhat, Vector qdhat)
boolean
askForPose(Vector q0, Vector xd, Vector od, Vector xdhat, Vector odhat, Vector qdhat)
boolean
askForPosition(Vector xd, Vector xdhat, Vector odhat, Vector qdhat)
boolean
askForPosition(Vector q0, Vector xd, Vector xdhat, Vector odhat, Vector qdhat)
boolean
attachTipFrame(Vector x, Vector o)
boolean
checkMotionDone()
boolean
checkMotionDone(BVector flag)
boolean
checkMotionDone(SWIGTYPE_p_bool f)
void
delete()
boolean
deleteContext(int id)
protected void
finalize()
protected static long
getCPtr(ICartesianControl obj)
boolean
getDesired(Vector xdhat, Vector odhat, Vector qdhat)
boolean
getDOF(Vector curDof)
boolean
getInfo(Bottle info)
boolean
getInTargetTol(SWIGTYPE_p_double tol)
boolean
getJointsVelocities(Vector qdot)
boolean
getLimits(int axis, SWIGTYPE_p_double min, SWIGTYPE_p_double max)
boolean
getPose(int axis, Vector x, Vector o)
boolean
getPose(int axis, Vector x, Vector o, Stamp stamp)
boolean
getPose(Vector x, Vector o)
boolean
getPose(Vector x, Vector o, Stamp stamp)
boolean
getPosePriority(SWIGTYPE_p_std__string p)
boolean
getReferenceMode(SWIGTYPE_p_bool f)
boolean
getRestPos(Vector curRestPos)
boolean
getRestWeights(Vector curRestWeights)
boolean
getTaskVelocities(Vector xdot, Vector odot)
boolean
getTipFrame(Vector x, Vector o)
boolean
getTrackingMode(SWIGTYPE_p_bool f)
boolean
getTrajTime(SWIGTYPE_p_double t)
boolean
goToPose(Vector xd, Vector od)
boolean
goToPose(Vector xd, Vector od, double t)
boolean
goToPoseSync(Vector xd, Vector od)
boolean
goToPoseSync(Vector xd, Vector od, double t)
boolean
goToPosition(Vector xd)
boolean
goToPosition(Vector xd, double t)
boolean
goToPositionSync(Vector xd)
boolean
goToPositionSync(Vector xd, double t)
boolean
isMotionDone()
boolean
registerEvent(CartesianEvent event)
boolean
removeTipFrame()
boolean
restoreContext(int id)
boolean
setDOF(Vector newDof, Vector curDof)
boolean
setInTargetTol(double tol)
boolean
setLimits(int axis, double min, double max)
boolean
setPosePriority(java.lang.String p)
boolean
setReferenceMode(boolean f)
boolean
setRestPos(Vector newRestPos, Vector curRestPos)
boolean
setRestWeights(Vector newRestWeights, Vector curRestWeights)
boolean
setTaskVelocities(Vector xdot, Vector odot)
boolean
setTrackingMode(boolean f)
boolean
setTrajTime(double t)
boolean
stopControl()
boolean
storeContext(SWIGTYPE_p_int id)
boolean
tweakGet(Bottle options)
boolean
tweakSet(Bottle options)
boolean
unregisterEvent(CartesianEvent event)
boolean
waitMotionDone()
boolean
waitMotionDone(double period)
boolean
waitMotionDone(double period, double timeout)
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Method Detail
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getCPtr
protected static long getCPtr(ICartesianControl obj)
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finalize
protected void finalize()
- Overrides:
finalize
in classjava.lang.Object
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delete
public void delete()
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setTrackingMode
public boolean setTrackingMode(boolean f)
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getTrackingMode
public boolean getTrackingMode(SWIGTYPE_p_bool f)
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setReferenceMode
public boolean setReferenceMode(boolean f)
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getReferenceMode
public boolean getReferenceMode(SWIGTYPE_p_bool f)
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setPosePriority
public boolean setPosePriority(java.lang.String p)
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getPosePriority
public boolean getPosePriority(SWIGTYPE_p_std__string p)
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goToPosition
public boolean goToPosition(Vector xd, double t)
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goToPosition
public boolean goToPosition(Vector xd)
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goToPositionSync
public boolean goToPositionSync(Vector xd, double t)
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goToPositionSync
public boolean goToPositionSync(Vector xd)
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askForPose
public boolean askForPose(Vector xd, Vector od, Vector xdhat, Vector odhat, Vector qdhat)
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askForPose
public boolean askForPose(Vector q0, Vector xd, Vector od, Vector xdhat, Vector odhat, Vector qdhat)
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askForPosition
public boolean askForPosition(Vector q0, Vector xd, Vector xdhat, Vector odhat, Vector qdhat)
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getDOF
public boolean getDOF(Vector curDof)
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getRestPos
public boolean getRestPos(Vector curRestPos)
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getRestWeights
public boolean getRestWeights(Vector curRestWeights)
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getLimits
public boolean getLimits(int axis, SWIGTYPE_p_double min, SWIGTYPE_p_double max)
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setLimits
public boolean setLimits(int axis, double min, double max)
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getTrajTime
public boolean getTrajTime(SWIGTYPE_p_double t)
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setTrajTime
public boolean setTrajTime(double t)
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getInTargetTol
public boolean getInTargetTol(SWIGTYPE_p_double tol)
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setInTargetTol
public boolean setInTargetTol(double tol)
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getJointsVelocities
public boolean getJointsVelocities(Vector qdot)
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removeTipFrame
public boolean removeTipFrame()
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checkMotionDone
public boolean checkMotionDone(SWIGTYPE_p_bool f)
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waitMotionDone
public boolean waitMotionDone(double period, double timeout)
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waitMotionDone
public boolean waitMotionDone(double period)
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waitMotionDone
public boolean waitMotionDone()
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stopControl
public boolean stopControl()
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storeContext
public boolean storeContext(SWIGTYPE_p_int id)
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restoreContext
public boolean restoreContext(int id)
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deleteContext
public boolean deleteContext(int id)
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getInfo
public boolean getInfo(Bottle info)
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registerEvent
public boolean registerEvent(CartesianEvent event)
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unregisterEvent
public boolean unregisterEvent(CartesianEvent event)
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tweakSet
public boolean tweakSet(Bottle options)
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tweakGet
public boolean tweakGet(Bottle options)
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checkMotionDone
public boolean checkMotionDone(BVector flag)
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checkMotionDone
public boolean checkMotionDone()
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isMotionDone
public boolean isMotionDone()
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