Public Member Functions | Private Member Functions | Private Attributes
RobotStateRT Class Reference

#include <robot_state_RT.h>

List of all members.

Public Member Functions

double getControllerTimer ()
bool getControllerUpdated ()
bool getDataPublished ()
std::vector< bool > getDigitalInputBits ()
std::vector< double > getIActual ()
std::vector< double > getIControl ()
double getIRobot ()
std::vector< double > getITarget ()
std::vector< double > getJointModes ()
double getLinearMomentumNorm ()
std::vector< double > getMotorTemperatures ()
std::vector< double > getMTarget ()
std::vector< double > getQActual ()
std::vector< double > getQdActual ()
std::vector< double > getQddTarget ()
std::vector< double > getQdTarget ()
std::vector< double > getQTarget ()
double getRobotMode ()
double getSafety_mode ()
double getSpeedScaling ()
std::vector< double > getTcpForce ()
std::vector< double > getTcpSpeedActual ()
std::vector< double > getTcpSpeedTarget ()
double getTime ()
std::vector< double > getToolAccelerometerValues ()
std::vector< double > getToolVectorActual ()
std::vector< double > getToolVectorTarget ()
std::vector< double > getVActual ()
double getVersion ()
double getVMain ()
double getVRobot ()
 RobotStateRT (std::condition_variable &msg_cond)
void setControllerUpdated ()
void setDataPublished ()
void setVersion (double ver)
void unpack (uint8_t *buf)
 ~RobotStateRT ()

Private Member Functions

double ntohd (uint64_t nf)
std::vector< bool > unpackDigitalInputBits (int64_t data)
std::vector< double > unpackVector (uint8_t *buf, int start_index, int nr_of_vals)

Private Attributes

double controller_timer_
bool controller_updated_
bool data_published_
std::vector< bool > digital_input_bits_
std::vector< double > i_actual_
std::vector< double > i_control_
double i_robot_
std::vector< double > i_target_
std::vector< double > joint_modes_
double linear_momentum_norm_
std::vector< double > m_target_
std::vector< double > motor_temperatures_
std::condition_variable * pMsg_cond_
std::vector< double > q_actual_
std::vector< double > q_target_
std::vector< double > qd_actual_
std::vector< double > qd_target_
std::vector< double > qdd_target_
double robot_mode_
double safety_mode_
double speed_scaling_
std::vector< double > tcp_force_
std::vector< double > tcp_speed_actual_
std::vector< double > tcp_speed_target_
double time_
std::vector< double > tool_accelerometer_values_
std::vector< double > tool_vector_actual_
std::vector< double > tool_vector_target_
std::vector< double > v_actual_
double v_main_
double v_robot_
std::mutex val_lock_
double version_

Detailed Description

Definition at line 30 of file robot_state_RT.h.


Constructor & Destructor Documentation

RobotStateRT::RobotStateRT ( std::condition_variable &  msg_cond)

Definition at line 21 of file robot_state_RT.cpp.

Definition at line 56 of file robot_state_RT.cpp.


Member Function Documentation

Definition at line 235 of file robot_state_RT.cpp.

Definition at line 73 of file robot_state_RT.cpp.

Definition at line 66 of file robot_state_RT.cpp.

std::vector< bool > RobotStateRT::getDigitalInputBits ( )

Definition at line 221 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getIActual ( )

Definition at line 172 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getIControl ( )

Definition at line 179 of file robot_state_RT.cpp.

Definition at line 298 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getITarget ( )

Definition at line 144 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getJointModes ( )

Definition at line 249 of file robot_state_RT.cpp.

Definition at line 277 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getMotorTemperatures ( )

Definition at line 228 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getMTarget ( )

Definition at line 151 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getQActual ( )

Definition at line 158 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getQdActual ( )

Definition at line 165 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getQddTarget ( )

Definition at line 137 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getQdTarget ( )

Definition at line 130 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getQTarget ( )

Definition at line 123 of file robot_state_RT.cpp.

Definition at line 242 of file robot_state_RT.cpp.

Definition at line 256 of file robot_state_RT.cpp.

Definition at line 270 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getTcpForce ( )

Definition at line 200 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getTcpSpeedActual ( )

Definition at line 193 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getTcpSpeedTarget ( )

Definition at line 214 of file robot_state_RT.cpp.

Definition at line 116 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getToolAccelerometerValues ( )

Definition at line 263 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getToolVectorActual ( )

Definition at line 186 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getToolVectorTarget ( )

Definition at line 207 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getVActual ( )

Definition at line 305 of file robot_state_RT.cpp.

Definition at line 109 of file robot_state_RT.cpp.

Definition at line 284 of file robot_state_RT.cpp.

Definition at line 291 of file robot_state_RT.cpp.

double RobotStateRT::ntohd ( uint64_t  nf) [private]

Definition at line 77 of file robot_state_RT.cpp.

Definition at line 70 of file robot_state_RT.cpp.

Definition at line 63 of file robot_state_RT.cpp.

void RobotStateRT::setVersion ( double  ver)

Definition at line 103 of file robot_state_RT.cpp.

void RobotStateRT::unpack ( uint8_t *  buf)

Definition at line 312 of file robot_state_RT.cpp.

std::vector< bool > RobotStateRT::unpackDigitalInputBits ( int64_t  data) [private]

Definition at line 95 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::unpackVector ( uint8_t *  buf,
int  start_index,
int  nr_of_vals 
) [private]

Definition at line 84 of file robot_state_RT.cpp.


Member Data Documentation

Definition at line 51 of file robot_state_RT.h.

Definition at line 67 of file robot_state_RT.h.

Definition at line 66 of file robot_state_RT.h.

std::vector<bool> RobotStateRT::digital_input_bits_ [private]

Definition at line 49 of file robot_state_RT.h.

std::vector<double> RobotStateRT::i_actual_ [private]

Definition at line 42 of file robot_state_RT.h.

std::vector<double> RobotStateRT::i_control_ [private]

Definition at line 43 of file robot_state_RT.h.

double RobotStateRT::i_robot_ [private]

Definition at line 60 of file robot_state_RT.h.

std::vector<double> RobotStateRT::i_target_ [private]

Definition at line 38 of file robot_state_RT.h.

std::vector<double> RobotStateRT::joint_modes_ [private]

Definition at line 53 of file robot_state_RT.h.

Definition at line 57 of file robot_state_RT.h.

std::vector<double> RobotStateRT::m_target_ [private]

Definition at line 39 of file robot_state_RT.h.

std::vector<double> RobotStateRT::motor_temperatures_ [private]

Definition at line 50 of file robot_state_RT.h.

std::condition_variable* RobotStateRT::pMsg_cond_ [private]

Definition at line 65 of file robot_state_RT.h.

std::vector<double> RobotStateRT::q_actual_ [private]

Definition at line 40 of file robot_state_RT.h.

std::vector<double> RobotStateRT::q_target_ [private]

Definition at line 35 of file robot_state_RT.h.

std::vector<double> RobotStateRT::qd_actual_ [private]

Definition at line 41 of file robot_state_RT.h.

std::vector<double> RobotStateRT::qd_target_ [private]

Definition at line 36 of file robot_state_RT.h.

std::vector<double> RobotStateRT::qdd_target_ [private]

Definition at line 37 of file robot_state_RT.h.

double RobotStateRT::robot_mode_ [private]

Definition at line 52 of file robot_state_RT.h.

double RobotStateRT::safety_mode_ [private]

Definition at line 54 of file robot_state_RT.h.

double RobotStateRT::speed_scaling_ [private]

Definition at line 56 of file robot_state_RT.h.

std::vector<double> RobotStateRT::tcp_force_ [private]

Definition at line 46 of file robot_state_RT.h.

std::vector<double> RobotStateRT::tcp_speed_actual_ [private]

Definition at line 45 of file robot_state_RT.h.

std::vector<double> RobotStateRT::tcp_speed_target_ [private]

Definition at line 48 of file robot_state_RT.h.

double RobotStateRT::time_ [private]

Definition at line 34 of file robot_state_RT.h.

std::vector<double> RobotStateRT::tool_accelerometer_values_ [private]

Definition at line 55 of file robot_state_RT.h.

std::vector<double> RobotStateRT::tool_vector_actual_ [private]

Definition at line 44 of file robot_state_RT.h.

std::vector<double> RobotStateRT::tool_vector_target_ [private]

Definition at line 47 of file robot_state_RT.h.

std::vector<double> RobotStateRT::v_actual_ [private]

Definition at line 61 of file robot_state_RT.h.

double RobotStateRT::v_main_ [private]

Definition at line 58 of file robot_state_RT.h.

double RobotStateRT::v_robot_ [private]

Definition at line 59 of file robot_state_RT.h.

std::mutex RobotStateRT::val_lock_ [private]

Definition at line 63 of file robot_state_RT.h.

double RobotStateRT::version_ [private]

Definition at line 32 of file robot_state_RT.h.


The documentation for this class was generated from the following files:


ur_modern_driver
Author(s): Thomas Timm Andersen
autogenerated on Wed Apr 3 2019 02:55:31