Program Listing for File kinematics_info.h
↰ Return to documentation for file (/tmp/ws/src/ur_client_library/include/ur_client_library/primary/robot_state/kinematics_info.h
)
// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2019 FZI Forschungszentrum Informatik
// Created on behalf of Universal Robots A/S
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// -- END LICENSE BLOCK ------------------------------------------------
//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef UR_CLIENT_LIBRARY_KINEMATICS_INFO_H_INCLUDED
#define UR_CLIENT_LIBRARY_KINEMATICS_INFO_H_INCLUDED
#include "ur_client_library/types.h"
#include "ur_client_library/primary/robot_state.h"
namespace urcl
{
namespace primary_interface
{
class KinematicsInfo : public RobotState
{
public:
KinematicsInfo() = delete;
KinematicsInfo(const RobotStateType type) : RobotState(type)
{
}
virtual ~KinematicsInfo() = default;
virtual bool parseWith(comm::BinParser& bp);
virtual bool consumeWith(AbstractPrimaryConsumer& consumer);
virtual std::string toString() const;
std::string toHash() const;
vector6uint32_t checksum_;
vector6d_t dh_theta_;
vector6d_t dh_a_;
vector6d_t dh_d_;
vector6d_t dh_alpha_;
uint32_t calibration_status_; // According to the docs this should be uint8_t, but then I have 3 bytes left.
};
} // namespace primary_interface
} // namespace urcl
#endif // ifndef UR_CLIENT_LIBRARY_KINEMATICS_INFO_H_INCLUDED