#include <aubo_new_driver.h>
Public Member Functions | |
| void | addWayPoint (std::vector< double > positions) |
| AuboNewDriver (std::condition_variable &rt_msg_cond, std::condition_variable &msg_cond, std::string host, unsigned int reverse_port=8899, double servoj_time=0.020) | |
| void | closeServo (std::vector< double > positions) |
| bool | doTraj (std::vector< double > inp_timestamps, std::vector< std::vector< double > > inp_positions, std::vector< std::vector< double > > inp_velocities) |
| std::vector< std::string > | getJointNames () |
| void | getRobotPos () |
| void | halt () |
| void | initMoveProfile () |
| std::vector< double > | interp_cubic (double t, double T, std::vector< double > p0_pos, std::vector< double > p1_pos, std::vector< double > p0_vel, std::vector< double > p1_vel) |
| void | movej (std::vector< double > positions) |
| void | movel (std::vector< double > positions) |
| void | movelTo (std::vector< double > positions) |
| void | movep (double blendRadius, int trackMode) |
| bool | openServo () |
| void | servoj (std::vector< double > positions, int keepalive=1) |
| void | setBlock (bool flag) |
| void | setJointNames (std::vector< std::string > jn) |
| void | setMaxAcc (double acc) |
| void | setMaxSpeed (double speed) |
| void | setRobotIO (int type, int mode, int index, float state) |
| void | setServojTime (double t) |
| void | setSpeed (double q0, double q1, double q2, double q3, double q4, double q5, double acc) |
| bool | start () |
| void | stopTraj () |
Public Attributes | |
| AuboRealtimeCommunication * | rt_interface_ |
Private Attributes | |
| bool | executing_traj_ |
| int | incoming_sockfd_ |
| std::string | ip_addr_ |
| std::vector< std::string > | joint_names_ |
| const int | MULT_JOINTSTATE_ = 1000000 |
| const int | MULT_TIME_ = 1000000 |
| int | new_sockfd_ |
| bool | reverse_connected_ |
| const unsigned int | REVERSE_PORT_ |
| double | servoj_time_ |
Definition at line 16 of file aubo_new_driver.h.
| AuboNewDriver::AuboNewDriver | ( | std::condition_variable & | rt_msg_cond, |
| std::condition_variable & | msg_cond, | ||
| std::string | host, | ||
| unsigned int | reverse_port = 8899, |
||
| double | servoj_time = 0.020 |
||
| ) |
Definition at line 4 of file aubo_new_driver.cpp.
| void AuboNewDriver::addWayPoint | ( | std::vector< double > | positions | ) |
Definition at line 153 of file aubo_new_driver.cpp.
| void AuboNewDriver::closeServo | ( | std::vector< double > | positions | ) |
Definition at line 184 of file aubo_new_driver.cpp.
| bool AuboNewDriver::doTraj | ( | std::vector< double > | inp_timestamps, |
| std::vector< std::vector< double > > | inp_positions, | ||
| std::vector< std::vector< double > > | inp_velocities | ||
| ) |
Definition at line 36 of file aubo_new_driver.cpp.
| std::vector< std::string > AuboNewDriver::getJointNames | ( | ) |
Definition at line 215 of file aubo_new_driver.cpp.
| void AuboNewDriver::getRobotPos | ( | ) |
Definition at line 172 of file aubo_new_driver.cpp.
| void AuboNewDriver::halt | ( | ) |
Definition at line 203 of file aubo_new_driver.cpp.
| void AuboNewDriver::initMoveProfile | ( | ) |
Definition at line 102 of file aubo_new_driver.cpp.
| std::vector< double > AuboNewDriver::interp_cubic | ( | double | t, |
| double | T, | ||
| std::vector< double > | p0_pos, | ||
| std::vector< double > | p1_pos, | ||
| std::vector< double > | p0_vel, | ||
| std::vector< double > | p1_vel | ||
| ) |
Definition at line 19 of file aubo_new_driver.cpp.
| void AuboNewDriver::movej | ( | std::vector< double > | positions | ) |
Definition at line 127 of file aubo_new_driver.cpp.
| void AuboNewDriver::movel | ( | std::vector< double > | positions | ) |
Definition at line 135 of file aubo_new_driver.cpp.
| void AuboNewDriver::movelTo | ( | std::vector< double > | positions | ) |
Definition at line 144 of file aubo_new_driver.cpp.
| void AuboNewDriver::movep | ( | double | blendRadius, |
| int | trackMode | ||
| ) |
Definition at line 162 of file aubo_new_driver.cpp.
| bool AuboNewDriver::openServo | ( | ) |
Definition at line 179 of file aubo_new_driver.cpp.
| void AuboNewDriver::servoj | ( | std::vector< double > | positions, |
| int | keepalive = 1 |
||
| ) |
Definition at line 78 of file aubo_new_driver.cpp.
| void AuboNewDriver::setBlock | ( | bool | flag | ) |
Definition at line 106 of file aubo_new_driver.cpp.
| void AuboNewDriver::setJointNames | ( | std::vector< std::string > | jn | ) |
Definition at line 219 of file aubo_new_driver.cpp.
| void AuboNewDriver::setMaxAcc | ( | double | acc | ) |
Definition at line 120 of file aubo_new_driver.cpp.
| void AuboNewDriver::setMaxSpeed | ( | double | speed | ) |
Definition at line 113 of file aubo_new_driver.cpp.
| void AuboNewDriver::setRobotIO | ( | int | type, |
| int | mode, | ||
| int | index, | ||
| float | state | ||
| ) |
Definition at line 224 of file aubo_new_driver.cpp.
| void AuboNewDriver::setServojTime | ( | double | t | ) |
Definition at line 234 of file aubo_new_driver.cpp.
| void AuboNewDriver::setSpeed | ( | double | q0, |
| double | q1, | ||
| double | q2, | ||
| double | q3, | ||
| double | q4, | ||
| double | q5, | ||
| double | acc | ||
| ) |
Definition at line 93 of file aubo_new_driver.cpp.
| bool AuboNewDriver::start | ( | ) |
Definition at line 193 of file aubo_new_driver.cpp.
| void AuboNewDriver::stopTraj | ( | ) |
Definition at line 210 of file aubo_new_driver.cpp.
bool AuboNewDriver::executing_traj_ [private] |
Definition at line 29 of file aubo_new_driver.h.
int AuboNewDriver::incoming_sockfd_ [private] |
Definition at line 22 of file aubo_new_driver.h.
std::string AuboNewDriver::ip_addr_ [private] |
Definition at line 19 of file aubo_new_driver.h.
std::vector<std::string> AuboNewDriver::joint_names_ [private] |
Definition at line 18 of file aubo_new_driver.h.
const int AuboNewDriver::MULT_JOINTSTATE_ = 1000000 [private] |
Definition at line 25 of file aubo_new_driver.h.
const int AuboNewDriver::MULT_TIME_ = 1000000 [private] |
Definition at line 26 of file aubo_new_driver.h.
int AuboNewDriver::new_sockfd_ [private] |
Definition at line 23 of file aubo_new_driver.h.
bool AuboNewDriver::reverse_connected_ [private] |
Definition at line 20 of file aubo_new_driver.h.
const unsigned int AuboNewDriver::REVERSE_PORT_ [private] |
Definition at line 24 of file aubo_new_driver.h.
Definition at line 33 of file aubo_new_driver.h.
double AuboNewDriver::servoj_time_ [private] |
Definition at line 28 of file aubo_new_driver.h.