limb
Device proxies

The limb proxy provides an interface to limbs using forward/inverse kinematics, such as the ActivMedia Pioneer Arm. More...

## Classes

struct | playerc_limb_t
| Limb device data. More...

## Functions

PLAYERC_EXPORT playerc_limb_t * | playerc_limb_create (playerc_client_t *client, int index)
| Create a limb proxy. More...
PLAYERC_EXPORT void | playerc_limb_destroy (playerc_limb_t *device)
| Destroy a limb proxy. More...
PLAYERC_EXPORT int | playerc_limb_subscribe (playerc_limb_t *device, int access)
| Subscribe to the limb device. More...
PLAYERC_EXPORT int | playerc_limb_unsubscribe (playerc_limb_t *device)
| Un-subscribe from the limb device. More...
PLAYERC_EXPORT int | playerc_limb_get_geom (playerc_limb_t *device)
| Get the limb geometry. More...
PLAYERC_EXPORT int | playerc_limb_home_cmd (playerc_limb_t *device)
| Command the end effector to move home. More...
PLAYERC_EXPORT int | playerc_limb_stop_cmd (playerc_limb_t *device)
| Command the end effector to stop immediatly. More...
PLAYERC_EXPORT int | playerc_limb_setpose_cmd (playerc_limb_t *device, float pX, float pY, float pZ, float aX, float aY, float aZ, float oX, float oY, float oZ)
| Command the end effector to move to a specified pose. More...
PLAYERC_EXPORT int | playerc_limb_setposition_cmd (playerc_limb_t *device, float pX, float pY, float pZ)
| Command the end effector to move to a specified position (ignoring approach and orientation vectors). More...
PLAYERC_EXPORT int | playerc_limb_vecmove_cmd (playerc_limb_t *device, float x, float y, float z, float length)
| Command the end effector to move along the provided vector from its current position for the provided distance. More...
PLAYERC_EXPORT int | playerc_limb_power (playerc_limb_t *device, uint32_t enable)
| Turn the power to the limb on or off. More...
PLAYERC_EXPORT int | playerc_limb_brakes (playerc_limb_t *device, uint32_t enable)
| Turn the brakes of all actuators in the limb that have them on or off. More...
PLAYERC_EXPORT int | playerc_limb_speed_config (playerc_limb_t *device, float speed)
| Set the speed of the end effector (m/s) for all subsequent movement commands. More...

## Detailed Description

The limb proxy provides an interface to limbs using forward/inverse kinematics, such as the ActivMedia Pioneer Arm.

See the Player User Manual for a complete description of the drivers that support this interface.

## Function Documentation

PLAYERC_EXPORT int playerc_limb_brakes | ( | playerc_limb_t * | device,
|  | uint32_t | enable
| ) |  |

Turn the brakes of all actuators in the limb that have them on or off.

PLAYERC_EXPORT playerc_limb_t* playerc_limb_create | ( | playerc_client_t * | client,
|  | int | index
| ) |  |

Create a limb proxy.

PLAYERC_EXPORT void playerc_limb_destroy | ( | playerc_limb_t * | device | ) |

Destroy a limb proxy.

PLAYERC_EXPORT int playerc_limb_get_geom | ( | playerc_limb_t * | device | ) |

Get the limb geometry.

The writes the result into the proxy rather than returning it to the caller.

PLAYERC_EXPORT int playerc_limb_home_cmd | ( | playerc_limb_t * | device | ) |

Command the end effector to move home.

PLAYERC_EXPORT int playerc_limb_power | ( | playerc_limb_t * | device,
|  | uint32_t | enable
| ) |  |

Turn the power to the limb on or off.

Be careful when turning power on that the limb is not obstructed from its home position in case it moves to it (common behaviour).

PLAYERC_EXPORT int playerc_limb_setpose_cmd | ( | playerc_limb_t * | device,
|  | float | pX,
|  | float | pY,
|  | float | pZ,
|  | float | aX,
|  | float | aY,
|  | float | aZ,
|  | float | oX,
|  | float | oY,
|  | float | oZ
| ) |  |

Command the end effector to move to a specified pose.

PLAYERC_EXPORT int playerc_limb_setposition_cmd | ( | playerc_limb_t * | device,
|  | float | pX,
|  | float | pY,
|  | float | pZ
| ) |  |

Command the end effector to move to a specified position (ignoring approach and orientation vectors).

PLAYERC_EXPORT int playerc_limb_speed_config | ( | playerc_limb_t * | device,
|  | float | speed
| ) |  |

Set the speed of the end effector (m/s) for all subsequent movement commands.

PLAYERC_EXPORT int playerc_limb_stop_cmd | ( | playerc_limb_t * | device | ) |

Command the end effector to stop immediatly.

PLAYERC_EXPORT int playerc_limb_subscribe | ( | playerc_limb_t * | device,
|  | int | access
| ) |  |

Subscribe to the limb device.

PLAYERC_EXPORT int playerc_limb_unsubscribe | ( | playerc_limb_t * | device | ) |

Un-subscribe from the limb device.

PLAYERC_EXPORT int playerc_limb_vecmove_cmd | ( | playerc_limb_t * | device,
|  | float | x,
|  | float | y,
|  | float | z,
|  | float | length
| ) |  |

Command the end effector to move along the provided vector from its current position for the provided distance.

Last updated 12 September 2005 21:38:45