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iiwa_driver_functions.h
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iiwa_driver_functions.h
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#pragma once
#include <map>
#include <string>
#include "drake/manipulation/kuka_iiwa/iiwa_driver.h"
#include "drake/multibody/parsing/model_instance_info.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/systems/framework/diagram_builder.h"
#include "drake/systems/lcm/lcm_buses.h"
namespace drake {
namespace manipulation {
namespace kuka_iiwa {
/** Wires up Drake systems between an LCM interface and the actuation input
ports of a MultibodyPlant. This simulates the role that driver software and
control cabinets would take in real life.
@pre model_instance_name is in models_from_directives.
@pre driver_config.hand_model_name is in models_from_directives. */
void ApplyDriverConfig(
const IiwaDriver& driver_config, const std::string& model_instance_name,
const multibody::MultibodyPlant<double>& sim_plant,
const std::map<std::string, multibody::parsing::ModelInstanceInfo>&
models_from_directives,
const systems::lcm::LcmBuses& lcms,
systems::DiagramBuilder<double>* builder);
} // namespace kuka_iiwa
} // namespace manipulation
} // namespace drake