robot_state.h
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00001 #ifndef ROBOT_STATE_H_
00002 #define ROBOT_STATE_H_
00003 
00004 #include <inttypes.h>
00005 #include <vector>
00006 #include <stdlib.h>
00007 #include <string.h>
00008 #include <mutex>
00009 #include <netinet/in.h>
00010 #include <condition_variable>
00011 
00012 class RobotState{
00013 private:
00014         std::vector<double> joint_position_actual_; //Actual joint positions
00015         std::vector<double> joint_velocity_actual_; //Actual joint velocity
00016         std::vector<double> tool_position_actual_; //Actual Cartesian coordinates of the tool: (x,y,z)
00017         std::vector<double> tool_orientation_actual_; //Actual Cartesian orientation of the tool: (w,x,y,z)
00018         std::vector<double> joint_temperatures_actual_; //Temperature of each joint in degrees celsius
00019         std::vector<double> joint_current_actual_; //Current of each joint
00020         std::vector<double> joint_voltage_actual_; //Voltage of each joint
00021         std::vector<double> tcp_force_actual_; //Actual tcp force
00022 
00023         double end_speed_actual_; //Actual speed of the tool given in Cartesian coordinates
00024 
00025         
00026         std::mutex val_lock_; // Locks the variables while unpack parses data;
00027 
00028         std::condition_variable* pMsg_cond_; //Signals that new vars are available
00029         bool data_published_; //to avoid spurious wakes
00030         bool controller_updated_; //to avoid spurious wakes
00031 
00032 public:
00033         RobotState(std::condition_variable& msg_cond);
00034         ~RobotState();
00035 
00036         std::vector<double> getJonitPosition();
00037         std::vector<double> getJonitVelocity();
00038         std::vector<double> getTcpForce();
00039         std::vector<double> getToolPosition();
00040         std::vector<double> getToolOrientation();
00041         std::vector<double> getJointTemperatures();
00042         std::vector<double> getJointCurrent();
00043         std::vector<double> getJointVoltage();
00044 
00045         double getEndSpeed();
00046 
00047         void setDataPublished();
00048         bool getDataPublished();
00049         bool getControllerUpdated();
00050         void setControllerUpdated();
00051         void unpack(uint8_t * buf);
00052 };
00053 
00054 #endif /* ROBOT_STATE_H_ */


aubo_new_driver
Author(s): liuxin
autogenerated on Sat Jun 8 2019 19:06:02