Class ConfigurationData

Defined in File configuration_data.h

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

public urcl::primary_interface::RobotState (Class RobotState)

Class Documentation

class ConfigurationData : public urcl::primary_interface::RobotState 

The ConfigurationData class handles the configuration data sent via the primary UR interface.

Public Functions

ConfigurationData() = delete

inline ConfigurationData(const RobotStateType type)

Creates a new ConfigurationData object.

Parameters:: type – The type of RobotState message received

ConfigurationData(const ConfigurationData &pkg)

Creates a copy of a ConfigurationData object.

Parameters:: pkg – The ConfigurationData object to be copied

virtual ~ConfigurationData() = default

virtual bool parseWith(comm::BinParser &bp)

Sets the attributes of the package by parsing a serialized representation of the package.

Parameters:: bp – A parser containing a serialized version of the package
Returns:: True, if the package was parsed successfully, false otherwise

virtual bool consumeWith(AbstractPrimaryConsumer &consumer)

Consume this package with a specific consumer.

Parameters:: consumer – Placeholder for the consumer calling this
Returns:: true on success

virtual std::string toString() const

Produces a human readable representation of the package object.

Returns:: A string representing the object

Public Members

std::array<JointPositionLimits, 6> joint_position_limits_

std::array<JointMotionLimits, 6> joint_motion_limits_

double v_joint_default_

double a_joint_default_

double v_tool_default_

double a_tool_default_

double eq_radius_

urcl::vector6d_t dh_a_

urcl::vector6d_t dh_d_

urcl::vector6d_t dh_alpha_

urcl::vector6d_t dh_theta_

int32_t masterboard_version_

int32_t controller_box_type_

int32_t robot_type_

int32_t robot_sub_type_

struct JointMotionLimits

Public Members

double joint_max_speed

double joint_max_acceleration

struct JointPositionLimits

Public Members

double joint_min_limit

double joint_max_limit