#include <ur_driver.h>

Public Member Functions
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	halt ()
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)
bool	openServo ()
void	servoj (std::vector< double > positions, int keepalive=1)
void	setAnalogOut (unsigned int n, double f)
void	setDigitalOut (unsigned int n, bool b)
void	setFlag (unsigned int n, bool b)
void	setJointNames (std::vector< std::string > jn)
void	setMaxPayload (double m)
void	setMinPayload (double m)
bool	setPayload (double m)
void	setServojGain (double g)
void	setServojLookahead (double t)
void	setServojTime (double t)
void	setSpeed (double q0, double q1, double q2, double q3, double q4, double q5, double acc=100.)
void	setToolVoltage (unsigned int v)
bool	start ()
void	stopTraj ()
bool	uploadProg ()
	UrDriver (std::condition_variable &rt_msg_cond, std::condition_variable &msg_cond, std::string host, unsigned int reverse_port=50007, double servoj_time=0.016, unsigned int safety_count_max=12, double max_time_step=0.08, double min_payload=0., double max_payload=1., double servoj_lookahead_time=0.03, double servoj_gain=300.)
Public Attributes
UrRealtimeCommunication *	rt_interface_
UrCommunication *	sec_interface_
Private Attributes
bool	executing_traj_
double	firmware_version_
int	incoming_sockfd_
std::string	ip_addr_
std::vector< std::string >	joint_names_
double	maximum_payload_
double	maximum_time_step_
double	minimum_payload_
const int	MULT_JOINTSTATE_ = 1000000
const int	MULT_TIME_ = 1000000
int	new_sockfd_
bool	reverse_connected_
const unsigned int	REVERSE_PORT_
double	servoj_gain_
double	servoj_lookahead_time_
double	servoj_time_

Detailed Description

Definition at line 37 of file ur_driver.h.

Constructor & Destructor Documentation

UrDriver::UrDriver	(	std::condition_variable &	rt_msg_cond,
		std::condition_variable &	msg_cond,
		std::string	host,
		unsigned int	reverse_port = `50007`,
		double	servoj_time = `0.016`,
		unsigned int	safety_count_max = `12`,
		double	max_time_step = `0.08`,
		double	min_payload = `0.`,
		double	max_payload = `1.`,
		double	servoj_lookahead_time = `0.03`,
		double	servoj_gain = `300.`
	)

Definition at line 21 of file ur_driver.cpp.

Member Function Documentation

void UrDriver::closeServo ( std::vector< double > positions )

Definition at line 238 of file ur_driver.cpp.

bool UrDriver::doTraj	(	std::vector< double >	inp_timestamps,
		std::vector< std::vector< double > >	inp_positions,
		std::vector< std::vector< double > >	inp_velocities
	)

Definition at line 78 of file ur_driver.cpp.

std::vector< std::string > UrDriver::getJointNames ( )

Definition at line 277 of file ur_driver.cpp.

void UrDriver::halt ( )

Definition at line 263 of file ur_driver.cpp.

std::vector< double > UrDriver::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
	)