#include <ros/ros.h>
#include <signal.h>
#include <boost/thread/thread.hpp>
#include <cstdlib>
#include <array>
#include <vector>
#include <algorithm>
#include <string>
#include <iostream>
#include <dsr_msgs/RobotState.h>
#include <dsr_msgs/RobotStop.h>
#include <dsr_msgs/MoveJoint.h>
#include <dsr_msgs/MoveLine.h>
#include <dsr_msgs/MoveJointx.h>
#include <dsr_msgs/MoveCircle.h>
#include <dsr_msgs/MoveSplineJoint.h>
#include <dsr_msgs/MoveSplineTask.h>
#include <dsr_msgs/MoveBlending.h>
#include <dsr_msgs/MoveSpiral.h>
#include <dsr_msgs/MovePeriodic.h>
#include <dsr_msgs/MoveWait.h>
#include <dsr_msgs/ConfigCreateTcp.h>
#include <dsr_msgs/ConfigDeleteTcp.h>
#include <dsr_msgs/GetCurrentTcp.h>
#include <dsr_msgs/SetCurrentTcp.h>
#include <dsr_msgs/SetCurrentTool.h>
#include <dsr_msgs/GetCurrentTool.h>
#include <dsr_msgs/ConfigCreateTool.h>
#include <dsr_msgs/ConfigDeleteTool.h>
#include <dsr_msgs/SetCtrlBoxDigitalOutput.h>
#include <dsr_msgs/GetCtrlBoxDigitalInput.h>
#include <dsr_msgs/SetToolDigitalOutput.h>
#include <dsr_msgs/GetToolDigitalInput.h>
#include <dsr_msgs/SetCtrlBoxAnalogOutput.h>
#include <dsr_msgs/GetCtrlBoxAnalogInput.h>
#include <dsr_msgs/SetCtrlBoxAnalogOutputType.h>
#include <dsr_msgs/SetCtrlBoxAnalogInputType.h>
#include <dsr_msgs/SetModbusOutput.h>
#include <dsr_msgs/GetModbusInput.h>
#include <dsr_msgs/ConfigCreateModbus.h>
#include <dsr_msgs/ConfigDeleteModbus.h>
#include <dsr_msgs/DrlPause.h>
#include <dsr_msgs/DrlStart.h>
#include <dsr_msgs/DrlStop.h>
#include <dsr_msgs/DrlResume.h>
#include "DRFL.h"
#include "DRFC.h"
#include "DRFS.h"

Include dependency graph for dsr_service_motion_basic.cpp:

Functions
int	amove_periodic (float fAmplitude[NUM_TASK], float fPeriodic[NUM_TASK], float fAccelTime=0.f, int nRepeat=1, int nMoveReference=MOVE_REFERENCE_TOOL, int nSyncType=1)

int	amove_spiral (float fRevolution, float fMaxRadius, float fMaxLength, float fTargetVel[2], float fTargetAcc[2], float fTargetTime=0.f, int nTaskAxis=TASK_AXIS_Z, int nMoveReference=MOVE_REFERENCE_TOOL, int nSyncType=1)

int	amoveb (MOVE_POSB *fTargetPos, int nPosCount, float fTargetVel[2], float fTargetAcc[2], float fTargetTime=0.f, int nMoveReference=MOVE_REFERENCE_BASE, int nMoveMode=MOVE_MODE_ABSOLUTE, int nSyncType=1)

int	amovec (float fTargetPos[2][NUM_TASK], float fTargetVel[2], float fTargetAcc[2], float fTargetTime=0.f, float fBlendingRadius=0.f, int nMoveReference=MOVE_REFERENCE_BASE, int nMoveMode=MOVE_MODE_ABSOLUTE, int nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, int nSyncType=1)

int	amovej (float fTargetPos[NUM_JOINT], float fTargetVel, float fTargetAcc, float fTargetTime=0.f, float fBlendingRadius=0.f, int nMoveMode=MOVE_MODE_ABSOLUTE, int nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, int nSyncType=1)

int	amovejx (float fTargetPos[NUM_TASK], float fTargetVel, float fTargetAcc, float fTargetTime=0.f, float fBlendingRadius=0.f, int nMoveReference=MOVE_REFERENCE_BASE, int nMoveMode=MOVE_MODE_ABSOLUTE, int nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, int nSolSpace=0, int nSyncType=1)

int	amovel (float fTargetPos[NUM_JOINT], float fTargetVel[2], float fTargetAcc[2], float fTargetTime=0.f, float fBlendingRadius=0.f, int nMoveReference=MOVE_REFERENCE_BASE, int nMoveMode=MOVE_MODE_ABSOLUTE, int nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, int nSyncType=1)

int	amovesj (float fTargetPos[MAX_SPLINE_POINT][NUM_JOINT], int nPosCount, float fTargetVel, float fTargetAcc, float fTargetTime=0.f, int nMoveMode=MOVE_MODE_ABSOLUTE, int nSyncType=1)

int	amovesx (float fTargetPos[MAX_SPLINE_POINT][NUM_TASK], int nPosCount, float fTargetVel[2], float fTargetAcc[2], float fTargetTime=0.f, int nMoveReference=MOVE_REFERENCE_BASE, int nMoveMode=MOVE_MODE_ABSOLUTE, int nVelOpt=SPLINE_VELOCITY_OPTION_DEFAULT, int nSyncType=1)

int	main (int argc, char **argv)

int	move_periodic (float fAmplitude[NUM_TASK], float fPeriodic[NUM_TASK], float fAccelTime=0.f, int nRepeat=1, int nMoveReference=MOVE_REFERENCE_TOOL, int nSyncType=0)

int	move_spiral (float fRevolution, float fMaxRadius, float fMaxLength, float fTargetVel[2], float fTargetAcc[2], float fTargetTime=0.f, int nTaskAxis=TASK_AXIS_Z, int nMoveReference=MOVE_REFERENCE_TOOL, int nSyncType=0)

int	move_wait ()

int	moveb (MOVE_POSB *fTargetPos, int nPosCount, float fTargetVel[2], float fTargetAcc[2], float fTargetTime=0.f, int nMoveReference=MOVE_REFERENCE_BASE, int nMoveMode=MOVE_MODE_ABSOLUTE, int nSyncType=0)

int	movec (float fTargetPos[2][NUM_TASK], float fTargetVel[2], float fTargetAcc[2], float fTargetTime=0.f, float fBlendingRadius=0.f, int nMoveReference=MOVE_REFERENCE_BASE, int nMoveMode=MOVE_MODE_ABSOLUTE, int nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, int nSyncType=0)

int	movej (float fTargetPos[NUM_JOINT], float fTargetVel, float fTargetAcc, float fTargetTime=0.f, float fBlendingRadius=0.f, int nMoveMode=MOVE_MODE_ABSOLUTE, int nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, int nSyncType=0)

int	movejx (float fTargetPos[NUM_TASK], float fTargetVel, float fTargetAcc, float fTargetTime=0.f, float fBlendingRadius=0.f, int nMoveReference=MOVE_REFERENCE_BASE, int nMoveMode=MOVE_MODE_ABSOLUTE, int nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, int nSolSpace=0, int nSyncType=0)

int	movel (float fTargetPos[NUM_JOINT], float fTargetVel[2], float fTargetAcc[2], float fTargetTime=0.f, float fBlendingRadius=0.f, int nMoveReference=MOVE_REFERENCE_BASE, int nMoveMode=MOVE_MODE_ABSOLUTE, int nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, int nSyncType=0)

int	movesj (float fTargetPos[MAX_SPLINE_POINT][NUM_JOINT], int nPosCount, float fTargetVel, float fTargetAcc, float fTargetTime=0.f, int nMoveMode=MOVE_MODE_ABSOLUTE, int nSyncType=0)

int	movesx (float fTargetPos[MAX_SPLINE_POINT][NUM_TASK], int nPosCount, float fTargetVel[2], float fTargetAcc[2], float fTargetTime=0.f, int nMoveReference=MOVE_REFERENCE_BASE, int nMoveMode=MOVE_MODE_ABSOLUTE, int nVelOpt=SPLINE_VELOCITY_OPTION_DEFAULT, int nSyncType=0)

void	SET_ROBOT (string id, string model)

void	SigHandler (int sig)

void	thread_subscriber ()

Variables
string	ROBOT_ID = "dsr01"

string	ROBOT_MODEL = "m1013"

Function Documentation

int amove_periodic	(	float	fAmplitude[NUM_TASK],
		float	fPeriodic[NUM_TASK],
		float	fAccelTime = `0.f`,
		int	nRepeat = `1`,
		int	nMoveReference = `MOVE_REFERENCE_TOOL`,
		int	nSyncType = `1`
	)

Definition at line 448 of file dsr_service_motion_basic.cpp.

int amove_spiral	(	float	fRevolution,
		float	fMaxRadius,
		float	fMaxLength,
		float	fTargetVel[2],
		float	fTargetAcc[2],
		float	fTargetTime = `0.f`,
		int	nTaskAxis = `TASK_AXIS_Z`,
		int	nMoveReference = `MOVE_REFERENCE_TOOL`,
		int	nSyncType = `1`
	)

Definition at line 412 of file dsr_service_motion_basic.cpp.

int amoveb	(	MOVE_POSB *	fTargetPos,
		int	nPosCount,
		float	fTargetVel[2],
		float	fTargetAcc[2],
		float	fTargetTime = `0.f`,
		int	nMoveReference = `MOVE_REFERENCE_BASE`,
		int	nMoveMode = `MOVE_MODE_ABSOLUTE`,
		int	nSyncType = `1`
	)

Definition at line 376 of file dsr_service_motion_basic.cpp.

int amovec	(	float	fTargetPos[2][NUM_TASK],
		float	fTargetVel[2],
		float	fTargetAcc[2],
		float	fTargetTime = `0.f`,
		float	fBlendingRadius = `0.f`,
		int	nMoveReference = `MOVE_REFERENCE_BASE`,
		int	nMoveMode = `MOVE_MODE_ABSOLUTE`,
		int	nBlendingType = `BLENDING_SPEED_TYPE_DUPLICATE`,
		int	nSyncType = `1`
	)

Definition at line 228 of file dsr_service_motion_basic.cpp.

int amovej	(	float	fTargetPos[NUM_JOINT],
		float	fTargetVel,
		float	fTargetAcc,
		float	fTargetTime = `0.f`,
		float	fBlendingRadius = `0.f`,
		int	nMoveMode = `MOVE_MODE_ABSOLUTE`,
		int	nBlendingType = `BLENDING_SPEED_TYPE_DUPLICATE`,
		int	nSyncType = `1`
	)

Definition at line 105 of file dsr_service_motion_basic.cpp.

int amovejx	(	float	fTargetPos[NUM_TASK],
		float	fTargetVel,
		float	fTargetAcc,
		float	fTargetTime = `0.f`,
		float	fBlendingRadius = `0.f`,
		int	nMoveReference = `MOVE_REFERENCE_BASE`,
		int	nMoveMode = `MOVE_MODE_ABSOLUTE`,
		int	nBlendingType = `BLENDING_SPEED_TYPE_DUPLICATE`,
		int	nSolSpace = `0`,
		int	nSyncType = `1`
	)

Definition at line 180 of file dsr_service_motion_basic.cpp.

int amovel	(	float	fTargetPos[NUM_JOINT],
		float	fTargetVel[2],
		float	fTargetAcc[2],
		float	fTargetTime = `0.f`,
		float	fBlendingRadius = `0.f`,
		int	nMoveReference = `MOVE_REFERENCE_BASE`,
		int	nMoveMode = `MOVE_MODE_ABSOLUTE`,
		int	nBlendingType = `BLENDING_SPEED_TYPE_DUPLICATE`,
		int	nSyncType = `1`
	)

Definition at line 143 of file dsr_service_motion_basic.cpp.

int amovesj	(	float	fTargetPos[MAX_SPLINE_POINT][NUM_JOINT],
		int	nPosCount,
		float	fTargetVel,
		float	fTargetAcc,
		float	fTargetTime = `0.f`,
		int	nMoveMode = `MOVE_MODE_ABSOLUTE`,
		int	nSyncType = `1`
	)

Definition at line 272 of file dsr_service_motion_basic.cpp.

int amovesx	(	float	fTargetPos[MAX_SPLINE_POINT][NUM_TASK],
		int	nPosCount,
		float	fTargetVel[2],
		float	fTargetAcc[2],
		float	fTargetTime = `0.f`,
		int	nMoveReference = `MOVE_REFERENCE_BASE`,
		int	nMoveMode = `MOVE_MODE_ABSOLUTE`,
		int	nVelOpt = `SPLINE_VELOCITY_OPTION_DEFAULT`,
		int	nSyncType = `1`
	)

Definition at line 320 of file dsr_service_motion_basic.cpp.

int main	(	int	argc,
		char **	argv
	)

thread_sub.join();

Definition at line 507 of file dsr_service_motion_basic.cpp.

int move_periodic	(	float	fAmplitude[NUM_TASK],
		float	fPeriodic[NUM_TASK],
		float	fAccelTime = `0.f`,
		int	nRepeat = `1`,
		int	nMoveReference = `MOVE_REFERENCE_TOOL`,
		int	nSyncType = `0`
	)

Definition at line 419 of file dsr_service_motion_basic.cpp.

int move_spiral	(	float	fRevolution,
		float	fMaxRadius,
		float	fMaxLength,
		float	fTargetVel[2],
		float	fTargetAcc[2],
		float	fTargetTime = `0.f`,
		int	nTaskAxis = `TASK_AXIS_Z`,
		int	nMoveReference = `MOVE_REFERENCE_TOOL`,
		int	nSyncType = `0`
	)

Definition at line 383 of file dsr_service_motion_basic.cpp.

int move_wait ( )

Definition at line 454 of file dsr_service_motion_basic.cpp.

int moveb	(	MOVE_POSB *	fTargetPos,
		int	nPosCount,
		float	fTargetVel[2],
		float	fTargetAcc[2],
		float	fTargetTime = `0.f`,
		int	nMoveReference = `MOVE_REFERENCE_BASE`,
		int	nMoveMode = `MOVE_MODE_ABSOLUTE`,
		int	nSyncType = `0`
	)

Definition at line 327 of file dsr_service_motion_basic.cpp.

int movec	(	float	fTargetPos[2][NUM_TASK],
		float	fTargetVel[2],
		float	fTargetAcc[2],
		float	fTargetTime = `0.f`,
		float	fBlendingRadius = `0.f`,
		int	nMoveReference = `MOVE_REFERENCE_BASE`,
		int	nMoveMode = `MOVE_MODE_ABSOLUTE`,
		int	nBlendingType = `BLENDING_SPEED_TYPE_DUPLICATE`,
		int	nSyncType = `0`
	)

Definition at line 187 of file dsr_service_motion_basic.cpp.

int movej	(	float	fTargetPos[NUM_JOINT],
		float	fTargetVel,
		float	fTargetAcc,
		float	fTargetTime = `0.f`,
		float	fBlendingRadius = `0.f`,
		int	nMoveMode = `MOVE_MODE_ABSOLUTE`,
		int	nBlendingType = `BLENDING_SPEED_TYPE_DUPLICATE`,
		int	nSyncType = `0`
	)

Definition at line 74 of file dsr_service_motion_basic.cpp.

int movejx	(	float	fTargetPos[NUM_TASK],
		float	fTargetVel,
		float	fTargetAcc,
		float	fTargetTime = `0.f`,
		float	fBlendingRadius = `0.f`,
		int	nMoveReference = `MOVE_REFERENCE_BASE`,
		int	nMoveMode = `MOVE_MODE_ABSOLUTE`,
		int	nBlendingType = `BLENDING_SPEED_TYPE_DUPLICATE`,
		int	nSolSpace = `0`,
		int	nSyncType = `0`
	)

Definition at line 150 of file dsr_service_motion_basic.cpp.

int movel	(	float	fTargetPos[NUM_JOINT],
		float	fTargetVel[2],
		float	fTargetAcc[2],
		float	fTargetTime = `0.f`,
		float	fBlendingRadius = `0.f`,
		int	nMoveReference = `MOVE_REFERENCE_BASE`,
		int	nMoveMode = `MOVE_MODE_ABSOLUTE`,
		int	nBlendingType = `BLENDING_SPEED_TYPE_DUPLICATE`,
		int	nSyncType = `0`
	)

Definition at line 111 of file dsr_service_motion_basic.cpp.

int movesj	(	float	fTargetPos[MAX_SPLINE_POINT][NUM_JOINT],
		int	nPosCount,
		float	fTargetVel,
		float	fTargetAcc,
		float	fTargetTime = `0.f`,
		int	nMoveMode = `MOVE_MODE_ABSOLUTE`,
		int	nSyncType = `0`
	)

Definition at line 235 of file dsr_service_motion_basic.cpp.

int movesx	(	float	fTargetPos[MAX_SPLINE_POINT][NUM_TASK],
		int	nPosCount,
		float	fTargetVel[2],
		float	fTargetAcc[2],
		float	fTargetTime = `0.f`,
		int	nMoveReference = `MOVE_REFERENCE_BASE`,
		int	nMoveMode = `MOVE_MODE_ABSOLUTE`,
		int	nVelOpt = `SPLINE_VELOCITY_OPTION_DEFAULT`,
		int	nSyncType = `0`
	)

Definition at line 279 of file dsr_service_motion_basic.cpp.

void SET_ROBOT	(	string	id,
		string	model
	)

Definition at line 71 of file dsr_service_motion_basic.cpp.

void SigHandler ( int sig )

Definition at line 485 of file dsr_service_motion_basic.cpp.

void thread_subscriber ( )

Definition at line 478 of file dsr_service_motion_basic.cpp.

Variable Documentation

string ROBOT_ID = "dsr01"

Definition at line 69 of file dsr_service_motion_basic.cpp.

string ROBOT_MODEL = "m1013"

Definition at line 70 of file dsr_service_motion_basic.cpp.

Functions

Variables

Function Documentation

Variable Documentation