mia_hand_description
rel 1.0.0
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6 #ifndef MIA_THUMB_OPP_PASSIVEJOINTS_H
7 #define MIA_THUMB_OPP_PASSIVEJOINTS_H
10 #include "std_msgs/String.h"
11 #include "sensor_msgs/JointState.h"
15 #include <urdf/model.h>
16 #include <joint_limits_interface/joint_limits.h>
17 #include <joint_limits_interface/joint_limits_interface.h>
18 #include <joint_limits_interface/joint_limits_rosparam.h>
19 #include <joint_limits_interface/joint_limits_urdf.h>
51 void init(
const bool LoadURDFInfo_ =
false);
118 std::string
getURDF(std::string param_name)
const;
124 #endif // MIA_THUMB_OPP_PASSIVEJOINTS_H
~thumb_opp_passive_joint()
Class destructor.
std::string getURDF(std::string param_name) const
Get the name of the URDF.
double GetThumbOppPosition(double j_index_flex_pos)
Evaluate the position of the thumb opposition based on index flexion state.
bool LoadURDFInfo()
Load Info from loaded URDF.
double ThMinPos
Lower Limit of the thumb_opp joint.
std::string j_thumb_name
Name of the thumb_opp joint specified in the URDF.
thumb_opp_passive_joints class.
void init(const bool LoadURDFInfo_=false)
Initialize class.
namespace containing thumb_opp_passive_joints class.
thumb_opp_passive_joint()
Class constructor.
double ThMaxPos
Upper Limit of the thumb_opp joint.
ros::NodeHandle n
A ROS node variable.
std::string robot_description_
Name of parameter describing the robot description loaded in the ROS parameter server.
std::string j_index_name
Name of the index_fle joint specified in the URDF.