rb::upc::MasterArm Class Reference

Classes
struct	ControlInput
struct	State

Public Member Functions
	MasterArm (const std::string &dev_name=kMasterArmDeviceName)
bool	DisableTorque ()
bool	EnableTorque ()
std::vector< int >	Initialize (bool verbose=false)
void	SetControlPeriod (double control_period)
void	SetModelPath (const std::string &model_path)
void	SetTorqueConstant (const std::array< double, kDOF > &torque_constant)
bool	StartControl (const std::function< ControlInput(const State &state)> &control=nullptr)
bool	StopControl (bool torque_disable=false)

Static Public Attributes
static constexpr int	kDeivceCount = kDOF + 2
static constexpr int	kDOF = 14
static constexpr int	kLeftToolId = 0x81
static constexpr double	kMaximumTorque = 4.
static constexpr int	kRightToolId = 0x80
static constexpr double	kTorqueScaling = 0.5

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The documentation for this class was generated from the following file:

• /external/rby1-sdk/include/rby1-sdk/upc/master_arm.h