fanuc_post_processor::FanucPose Class Reference

#include <pose.hpp>

Public Types
enum	BackFront { BackFront::Back, BackFront::Front }
typedef std::tuple< FlipNonFlip, Elbow, BackFront >	Config
enum	Elbow { Elbow::Up, Elbow::Down }
enum	FlipNonFlip { FlipNonFlip::Flip, FlipNonFlip::NonFlip }
enum	MovementType { JOINT, LINEAR }
enum	SpeedType {   MM_SEC, CM_SEC, M_SEC, MM_MIN,   CM_MIN, M_MIN, PERCENTAGE }

Public Member Functions
	FanucPose (const std::vector< FanucAxis > extended_axes={}, const std::vector< FanucGroup > extra_groups={})
std::string	getMainLineString () const
std::string	getPoseLinesString () const
bool	hasSameGroupsAxes (const FanucPose &other) const
bool	isValid () const
void	setRobotPose (const Eigen::Isometry3d &pose)
virtual	~FanucPose ()

Public Attributes
unsigned	backfront_rotations_ = 0
unsigned	cnt_ = 100
Config	configuration_
unsigned	elbow_rotations_ = 0
unsigned	flipnonflip_rotations_ = 0
std::vector< FanucGroup >	groups_
bool	is_pose_id_ = false
MovementType	move_type_ = MovementType::LINEAR
std::string	option_
unsigned	pose_id_ = 1
double	speed_ = 10
bool	speed_register_ = false
SpeedType	speed_type_ = SpeedType::CM_MIN

Private Member Functions
std::string	configurationToString () const
std::string	movementTypeToString () const
std::string	speedTypeToString () const

Detailed Description

Definition at line 12 of file pose.hpp.

Member Typedef Documentation

typedef std::tuple<FlipNonFlip, Elbow, BackFront> fanuc_post_processor::FanucPose::Config

Robot configuration

Definition at line 61 of file pose.hpp.

Member Enumeration Documentation

enum fanuc_post_processor::FanucPose::BackFront

strong

Robot configuration

Enumerator
Back
Front

Definition at line 52 of file pose.hpp.

enum fanuc_post_processor::FanucPose::Elbow

strong

Robot configuration

Enumerator
Up
Down

Definition at line 43 of file pose.hpp.

enum fanuc_post_processor::FanucPose::FlipNonFlip

strong

Robot configuration

Enumerator
Flip	Flip.
NonFlip	NonFlip.

Definition at line 34 of file pose.hpp.

enum fanuc_post_processor::FanucPose::MovementType

Fanuc movement types

Enumerator
JOINT
LINEAR

Definition at line 18 of file pose.hpp.

enum fanuc_post_processor::FanucPose::SpeedType

Fanuc speed types

Enumerator
MM_SEC
CM_SEC
M_SEC
MM_MIN
CM_MIN
M_MIN
PERCENTAGE

Definition at line 26 of file pose.hpp.

Constructor & Destructor Documentation

fanuc_post_processor::FanucPose::FanucPose	(	const std::vector< FanucAxis >	extended_axes = {},
		const std::vector< FanucGroup >	extra_groups = {}
	)

Construct a Fanuc pose

Parameters

extended_axes	1 or more axis added to group 1
extra_groups	group 2, 3 etc.

Definition at line 6 of file pose.cpp.

fanuc_post_processor::FanucPose::~FanucPose ( )

virtual

Definition at line 35 of file pose.cpp.

Member Function Documentation

std::string fanuc_post_processor::FanucPose::configurationToString ( ) const

private

Definition at line 69 of file pose.cpp.

std::string fanuc_post_processor::FanucPose::getMainLineString

(

)

const

Returns

a string containing the /MN program line corresponding to this pose

Definition at line 242 of file pose.cpp.

std::string fanuc_post_processor::FanucPose::getPoseLinesString

(

)

const

Returns

a string containing the /POS program lines corresponding to this pose

Definition at line 270 of file pose.cpp.

bool fanuc_post_processor::FanucPose::hasSameGroupsAxes

(

const FanucPose &

other

)

const

Checks if poses have the same groups/axes per groups Does NOT check that user frame, user tool, pose are identical!

Parameters

other

Returns

true if poses have the same groups/axes per groups

Definition at line 91 of file pose.cpp.

bool fanuc_post_processor::FanucPose::isValid

(

)

const

Check if all units/fields are valid

Returns

true if valid, false otherwise

Definition at line 113 of file pose.cpp.

std::string fanuc_post_processor::FanucPose::movementTypeToString ( ) const

private

Definition at line 39 of file pose.cpp.

void fanuc_post_processor::FanucPose::setRobotPose

(

const Eigen::Isometry3d &

pose

)

Modifies the first 6 axes values of the group 1 to the specified pose

Parameters

pose	specified pose

Definition at line 381 of file pose.cpp.

std::string fanuc_post_processor::FanucPose::speedTypeToString ( ) const

private

Definition at line 49 of file pose.cpp.

Member Data Documentation

unsigned fanuc_post_processor::FanucPose::backfront_rotations_ = 0

Definition at line 128 of file pose.hpp.

unsigned fanuc_post_processor::FanucPose::cnt_ = 100

Definition at line 125 of file pose.hpp.

Config fanuc_post_processor::FanucPose::configuration_

Definition at line 127 of file pose.hpp.

unsigned fanuc_post_processor::FanucPose::elbow_rotations_ = 0

Definition at line 128 of file pose.hpp.

unsigned fanuc_post_processor::FanucPose::flipnonflip_rotations_ = 0

Definition at line 128 of file pose.hpp.

std::vector<FanucGroup> fanuc_post_processor::FanucPose::groups_

Definition at line 129 of file pose.hpp.

bool fanuc_post_processor::FanucPose::is_pose_id_ = false

Definition at line 118 of file pose.hpp.

MovementType fanuc_post_processor::FanucPose::move_type_ = MovementType::LINEAR

Definition at line 120 of file pose.hpp.

std::string fanuc_post_processor::FanucPose::option_

Definition at line 130 of file pose.hpp.

unsigned fanuc_post_processor::FanucPose::pose_id_ = 1

Definition at line 119 of file pose.hpp.

double fanuc_post_processor::FanucPose::speed_ = 10

Definition at line 121 of file pose.hpp.

bool fanuc_post_processor::FanucPose::speed_register_ = false

Definition at line 126 of file pose.hpp.

SpeedType fanuc_post_processor::FanucPose::speed_type_ = SpeedType::CM_MIN

Definition at line 122 of file pose.hpp.

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

• pose.hpp
• pose.cpp