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include
ur_client_library
primary
robot_state.h
Go to the documentation of this file.
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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
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// -- BEGIN LICENSE BLOCK ----------------------------------------------
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// Copyright 2019 FZI Forschungszentrum Informatik
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// -- END LICENSE BLOCK ------------------------------------------------
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//----------------------------------------------------------------------
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//----------------------------------------------------------------------
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#ifndef UR_CLIENT_LIBRARY_ROBOT_STATE_H_INCLUDED
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#define UR_CLIENT_LIBRARY_ROBOT_STATE_H_INCLUDED
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#include "
ur_client_library/primary/primary_package.h
"
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#include "
ur_client_library/primary/package_header.h
"
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namespace
urcl
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{
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namespace
primary_interface
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{
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enum class
RobotStateType
: uint8_t
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{
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ROBOT_MODE_DATA
= 0,
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JOINT_DATA
= 1,
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TOOL_DATA
= 2,
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MASTERBOARD_DATA
= 3,
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CARTESIAN_INFO
= 4,
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KINEMATICS_INFO
= 5,
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CONFIGURATION_DATA
= 6,
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FORCE_MODE_DATA
= 7,
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ADDITIONAL_INFO
= 8,
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CALIBRATION_DATA
= 9
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};
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class
RobotState
:
public
PrimaryPackage
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{
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public
:
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RobotState
() =
delete
;
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RobotState
(
const
RobotStateType
type) : state_type_(type)
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{
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}
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virtual
~
RobotState
() =
default
;
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virtual
bool
parseWith(
comm::BinParser
& bp);
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virtual
bool
consumeWith(
AbstractPrimaryConsumer
& consumer);
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virtual
std::string toString()
const
;
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private
:
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RobotStateType
state_type_
;
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};
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}
// namespace primary_interface
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}
// namespace urcl
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#endif
/* UR_CLIENT_LIBRARY_ROBOT_STATE_H_INCLUDED */
urcl::primary_interface::RobotStateType::ROBOT_MODE_DATA
urcl::primary_interface::AbstractPrimaryConsumer
Base consumer for primary packages.
Definition:
abstract_primary_consumer.h:46
urcl::primary_interface::RobotStateType::TOOL_DATA
urcl::primary_interface::RobotStateType::CARTESIAN_INFO
urcl::primary_interface::RobotStateType::JOINT_DATA
urcl::primary_interface::RobotStateType::KINEMATICS_INFO
urcl::comm::BinParser
The BinParser class handles a byte buffer and functionality to iteratively parse the content...
Definition:
bin_parser.h:44
urcl::primary_interface::RobotStateType::CONFIGURATION_DATA
urcl::primary_interface::RobotStateType::MASTERBOARD_DATA
urcl::primary_interface::RobotState
Base class for a RobotState data packages will be used directly.
Definition:
robot_state.h:58
urcl::primary_interface::PrimaryPackage
The PrimaryPackage is solely an abstraction level. It inherits form the URPackage and is also a paren...
Definition:
primary_package.h:45
urcl::primary_interface::RobotStateType::CALIBRATION_DATA
urcl::primary_interface::RobotState::RobotState
RobotState(const RobotStateType type)
Creates a new RobotState object, setting the type of state message.
Definition:
robot_state.h:67
urcl::primary_interface::RobotState::state_type_
RobotStateType state_type_
Definition:
robot_state.h:99
urcl::primary_interface::RobotStateType
RobotStateType
Possible RobotState types.
Definition:
robot_state.h:41
urcl
Definition:
bin_parser.h:36
urcl::primary_interface::RobotStateType::FORCE_MODE_DATA
urcl::primary_interface::RobotStateType::ADDITIONAL_INFO
primary_package.h
package_header.h
ur_client_library
Author(s): Thomas Timm Andersen, Simon Rasmussen, Felix Exner, Lea Steffen, Tristan Schnell
autogenerated on Sun May 9 2021 02:16:26