limb
[Interface specifications]
Detailed Description
A multi-jointed limbThe limb interface provides access to a multi-jointed limb- Todo:
- Use pre-defined types, like player_pose3d_t, wherever possible
Define Documentation
| #define PLAYER_LIMB_STATE_IDLE 1 |
Idle
Typedef Documentation
| typedef struct player_limb_brakes_req player_limb_brakes_req_t |
Request/reply: Brakes.
Turn the brakes of the limb on or off by sending a PLAYER_LIMB_BRAKES_REQ request. Null response
| typedef struct player_limb_data player_limb_data_t |
Data: state (PLAYER_LIMB_DATA) The limb data packet.
| typedef struct player_limb_geom_req player_limb_geom_req_t |
Request/reply: get geometryQuery geometry by sending a null PLAYER_LIMB_GEOM_REQ reqest.
| typedef struct player_limb_home_cmd player_limb_home_cmd_t |
Command: home (PLAYER_LIMB_HOME_CMD)Tells the end effector to return to its home position.
| typedef struct player_limb_power_req player_limb_power_req_t |
Request/reply: Power.
Turn the power to the limb by sending a PLAYER_LIMB_POWER_REQ request. Be careful when turning power on that the limb is not obstructed from its home position in case it moves to it (common behaviour). Null reponse
| typedef struct player_limb_setpose_cmd player_limb_setpose_cmd_t |
Command: Set end effector pose (PLAYER_LIMB_SETPOSE_CMD)Provides a fully-described pose (position, normal vector and orientation vector) for the end effector to move to.
| typedef struct player_limb_setposition_cmd player_limb_setposition_cmd_t |
Command: Set end effector position (PLAYER_LIMB_SETPOSITION_CMD)Set the position of the end effector without worrying about a specific orientation.
| typedef struct player_limb_speed_req player_limb_speed_req_t |
Request/reply: Speed.
Set the speed of the end effector for all subsequent movements by sending a PLAYER_LIMB_SPEED_REQ request. Null response.
| typedef struct player_limb_stop_cmd player_limb_stop_cmd_t |
Command: stop (PLAYER_LIMB_STOP_CMD)Tells the limb to stop moving immediatly.
| typedef struct player_limb_vecmove_cmd player_limb_vecmove_cmd_t |
Command: Vector move the end effector (PLAYER_LIMB_VECMOVE_CMD)Move the end effector along the provided vector from its current position for the provided distance.