Kinova_API  v5.02.00
ROS communication with Kinova API
Public Member Functions | List of all members
kinova::KinovaAngles Class Reference

Public Member Functions

 KinovaAngles (const kinova_msgs::JointAngles &angles)
 
 KinovaAngles (const AngularInfo &angles)
 
kinova_msgs::JointAngles constructAnglesMsg ()
 
bool isCloseToOther (const KinovaAngles &, float tolerance) const
 

Constructor & Destructor Documentation

kinova::KinovaAngles::KinovaAngles ( const kinova_msgs::JointAngles &  angles)
explicit

KinovaAngles[Actuator1 ... Actuator6] stores 6 joint values in degrees.

KinovaAngles[Actuator1 ... Actuator6] can go beyond the range of [0 360]

Parameters
anglesin degrees
kinova::KinovaAngles::KinovaAngles ( const AngularInfo &  angles)
explicit

KinovaAngles[Actuator1 ... Actuator6] stores 6 joint values in degrees.

Parameters
anglesin degrees

Member Function Documentation

kinova_msgs::JointAngles kinova::KinovaAngles::constructAnglesMsg ( )

KinovaAngles::constructAnglesMsg.

Returns
kinova_msgs::JointAngles is used as messanges for topic in ROS, in degrees.
bool kinova::KinovaAngles::isCloseToOther ( const KinovaAngles other,
float  tolerance 
) const

check all the joint values, to determine if current KinovaAngles reach "other"

Parameters
otherjoint angles to be compared with, in degrees.
tolerancethreshold to be considered as identical between two joints.
Returns
true if all joint values can be considerred identical.