public class ICartesianControl
extends java.lang.Object
Modifier and Type | Field and Description |
---|---|
protected boolean |
swigCMemOwn |
Modifier | Constructor and Description |
---|---|
protected |
ICartesianControl(long cPtr,
boolean cMemoryOwn) |
Modifier and Type | Method and 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) |
protected static long getCPtr(ICartesianControl obj)
protected void finalize()
finalize
in class java.lang.Object
public void delete()
public boolean setTrackingMode(boolean f)
public boolean getTrackingMode(SWIGTYPE_p_bool f)
public boolean setReferenceMode(boolean f)
public boolean getReferenceMode(SWIGTYPE_p_bool f)
public boolean setPosePriority(java.lang.String p)
public boolean getPosePriority(SWIGTYPE_p_std__string p)
public boolean goToPosition(Vector xd, double t)
public boolean goToPosition(Vector xd)
public boolean goToPositionSync(Vector xd, double t)
public boolean goToPositionSync(Vector xd)
public boolean askForPose(Vector xd, Vector od, Vector xdhat, Vector odhat, Vector qdhat)
public boolean askForPose(Vector q0, Vector xd, Vector od, Vector xdhat, Vector odhat, Vector qdhat)
public boolean askForPosition(Vector q0, Vector xd, Vector xdhat, Vector odhat, Vector qdhat)
public boolean getDOF(Vector curDof)
public boolean getRestPos(Vector curRestPos)
public boolean getRestWeights(Vector curRestWeights)
public boolean getLimits(int axis, SWIGTYPE_p_double min, SWIGTYPE_p_double max)
public boolean setLimits(int axis, double min, double max)
public boolean getTrajTime(SWIGTYPE_p_double t)
public boolean setTrajTime(double t)
public boolean getInTargetTol(SWIGTYPE_p_double tol)
public boolean setInTargetTol(double tol)
public boolean getJointsVelocities(Vector qdot)
public boolean removeTipFrame()
public boolean checkMotionDone(SWIGTYPE_p_bool f)
public boolean waitMotionDone(double period, double timeout)
public boolean waitMotionDone(double period)
public boolean waitMotionDone()
public boolean stopControl()
public boolean storeContext(SWIGTYPE_p_int id)
public boolean restoreContext(int id)
public boolean deleteContext(int id)
public boolean getInfo(Bottle info)
public boolean registerEvent(CartesianEvent event)
public boolean unregisterEvent(CartesianEvent event)
public boolean tweakSet(Bottle options)
public boolean tweakGet(Bottle options)
public boolean checkMotionDone(BVector flag)
public boolean checkMotionDone()
public boolean isMotionDone()