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