#include <robot_state_RT.h>
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_ |
Definition at line 30 of file robot_state_RT.h.
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.
double RobotStateRT::getControllerTimer | ( | ) |
Definition at line 235 of file robot_state_RT.cpp.
bool RobotStateRT::getControllerUpdated | ( | ) |
Definition at line 73 of file robot_state_RT.cpp.
bool RobotStateRT::getDataPublished | ( | ) |
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.
double RobotStateRT::getIRobot | ( | ) |
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.
double RobotStateRT::getLinearMomentumNorm | ( | ) |
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.
double RobotStateRT::getRobotMode | ( | ) |
Definition at line 242 of file robot_state_RT.cpp.
double RobotStateRT::getSafety_mode | ( | ) |
Definition at line 256 of file robot_state_RT.cpp.
double RobotStateRT::getSpeedScaling | ( | ) |
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.
double RobotStateRT::getTime | ( | ) |
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.
double RobotStateRT::getVersion | ( | ) |
Definition at line 109 of file robot_state_RT.cpp.
double RobotStateRT::getVMain | ( | ) |
Definition at line 284 of file robot_state_RT.cpp.
double RobotStateRT::getVRobot | ( | ) |
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.
void RobotStateRT::setControllerUpdated | ( | ) |
Definition at line 70 of file robot_state_RT.cpp.
void RobotStateRT::setDataPublished | ( | ) |
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.
double RobotStateRT::controller_timer_ [private] |
Definition at line 51 of file robot_state_RT.h.
bool RobotStateRT::controller_updated_ [private] |
Definition at line 67 of file robot_state_RT.h.
bool RobotStateRT::data_published_ [private] |
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.
double RobotStateRT::linear_momentum_norm_ [private] |
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.