Public Attributes | Static Public Attributes | Protected Member Functions | List of all members
RTShared Class Reference

#include <rt_state.h>

Inheritance diagram for RTShared:
Inheritance graph
[legend]

Public Attributes

double controller_time
 
uint64_t digital_inputs
 
std::array< double, 6 > i_actual
 
std::array< double, 6 > i_target
 
std::array< double, 6 > m_target
 
std::array< double, 6 > motor_temperatures
 
std::array< double, 6 > q_actual
 
std::array< double, 6 > q_target
 
std::array< double, 6 > qd_actual
 
std::array< double, 6 > qd_target
 
std::array< double, 6 > qdd_target
 
double robot_mode
 
std::array< double, 6 > tcp_force
 
cartesian_coord_t tcp_speed_actual
 
double time
 
cartesian_coord_t tool_vector_actual
 

Static Public Attributes

static const size_t SIZE
 

Protected Member Functions

void parse_shared1 (BinParser &bp)
 
void parse_shared2 (BinParser &bp)
 

Detailed Description

Definition at line 36 of file rt_state.h.

Member Function Documentation

void RTShared::parse_shared1 ( BinParser bp)
protected

Definition at line 22 of file src/ur/rt_state.cpp.

void RTShared::parse_shared2 ( BinParser bp)
protected

Definition at line 35 of file src/ur/rt_state.cpp.

Member Data Documentation

double RTShared::controller_time

Definition at line 66 of file rt_state.h.

uint64_t RTShared::digital_inputs

Definition at line 64 of file rt_state.h.

std::array<double, 6> RTShared::i_actual

Definition at line 51 of file rt_state.h.

std::array<double, 6> RTShared::i_target

Definition at line 47 of file rt_state.h.

std::array<double, 6> RTShared::m_target

Definition at line 48 of file rt_state.h.

std::array<double, 6> RTShared::motor_temperatures

Definition at line 65 of file rt_state.h.

std::array<double, 6> RTShared::q_actual

Definition at line 49 of file rt_state.h.

std::array<double, 6> RTShared::q_target

Definition at line 44 of file rt_state.h.

std::array<double, 6> RTShared::qd_actual

Definition at line 50 of file rt_state.h.

std::array<double, 6> RTShared::qd_target

Definition at line 45 of file rt_state.h.

std::array<double, 6> RTShared::qdd_target

Definition at line 46 of file rt_state.h.

double RTShared::robot_mode

Definition at line 67 of file rt_state.h.

const size_t RTShared::SIZE
static
Initial value:
=
sizeof(double) * 3 + sizeof(double[6]) * 10 + sizeof(cartesian_coord_t) * 2 + sizeof(uint64_t)

Definition at line 69 of file rt_state.h.

std::array<double, 6> RTShared::tcp_force

Definition at line 55 of file rt_state.h.

cartesian_coord_t RTShared::tcp_speed_actual

Definition at line 60 of file rt_state.h.

double RTShared::time

Definition at line 43 of file rt_state.h.

cartesian_coord_t RTShared::tool_vector_actual

Definition at line 59 of file rt_state.h.


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


ur_modern_driver
Author(s): Thomas Timm Andersen, Simon Rasmussen
autogenerated on Fri Jun 26 2020 03:37:01