RTState_V3_0__1 Class Reference

#include <rt_state.h>

Inheritance diagram for RTState_V3_0__1:

Public Member Functions
virtual bool	consumeWith (URRTPacketConsumer &consumer)
bool	parseWith (BinParser &bp)

Public Attributes
std::array< double, 6 >	i_control
double	i_robot
std::array< double, 6 >	joint_modes
double	linear_momentum_norm
double	safety_mode
double	speed_scaling
cartesian_coord_t	tcp_speed_target
double3_t	tool_accelerometer_values
cartesian_coord_t	tool_vector_target
std::array< double, 6 >	v_actual
double	v_main
double	v_robot
Public Attributes inherited from RTShared
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
Static Public Attributes inherited from RTShared
static const size_t	SIZE

Additional Inherited Members
Protected Member Functions inherited from RTShared
void	parse_shared1 (BinParser &bp)
void	parse_shared2 (BinParser &bp)

Detailed Description

Definition at line 99 of file rt_state.h.

Member Function Documentation

bool RTState_V3_0__1::consumeWith ( URRTPacketConsumer &  consumer )

virtual

Implements RTPacket.

Reimplemented in RTState_V3_2__3.

Definition at line 128 of file src/ur/rt_state.cpp.

bool RTState_V3_0__1::parseWith ( BinParser &  bp )

virtual

Implements RTPacket.

Reimplemented in RTState_V3_2__3.

Definition at line 74 of file src/ur/rt_state.cpp.

Member Data Documentation

std::array<double, 6> RTState_V3_0__1::i_control

Definition at line 105 of file rt_state.h.

double RTState_V3_0__1::i_robot

Definition at line 116 of file rt_state.h.

std::array<double, 6> RTState_V3_0__1::joint_modes

Definition at line 109 of file rt_state.h.

double RTState_V3_0__1::linear_momentum_norm

Definition at line 113 of file rt_state.h.

double RTState_V3_0__1::safety_mode

Definition at line 110 of file rt_state.h.

const size_t RTState_V3_0__1::SIZE

static

Initial value:

=
      RTShared::SIZE + sizeof(double[6]) * 3 + sizeof(double3_t) + sizeof(cartesian_coord_t) * 2 + sizeof(double) * 6

Definition at line 119 of file rt_state.h.

double RTState_V3_0__1::speed_scaling

Definition at line 112 of file rt_state.h.

cartesian_coord_t RTState_V3_0__1::tcp_speed_target

Definition at line 107 of file rt_state.h.

double3_t RTState_V3_0__1::tool_accelerometer_values

Definition at line 111 of file rt_state.h.

cartesian_coord_t RTState_V3_0__1::tool_vector_target

Definition at line 106 of file rt_state.h.

std::array<double, 6> RTState_V3_0__1::v_actual

Definition at line 117 of file rt_state.h.

double RTState_V3_0__1::v_main

Definition at line 114 of file rt_state.h.

double RTState_V3_0__1::v_robot

Definition at line 115 of file rt_state.h.

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

• rt_state.h
• src/ur/rt_state.cpp