dsr_basic_test.cpp File Reference

#include <ros/ros.h>
#include <signal.h>
#include <boost/thread/thread.hpp>
#include <cstdlib>
#include <array>
#include <vector>
#include <algorithm>
#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_util.h"
#include "dsr_robot.h"

Include dependency graph for dsr_basic_test.cpp:

Go to the source code of this file.

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	msgRobotState_cb (const dsr_msgs::RobotState::ConstPtr &msg)
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

amove_periodic()

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 440 of file dsr_basic_test.cpp.

amove_spiral()

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 404 of file dsr_basic_test.cpp.

amoveb()

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 368 of file dsr_basic_test.cpp.

amovec()

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 220 of file dsr_basic_test.cpp.

amovej()

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 78 of file dsr_basic_test.cpp.

amovejx()

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 159 of file dsr_basic_test.cpp.

amovel()

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 122 of file dsr_basic_test.cpp.

amovesj()

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 264 of file dsr_basic_test.cpp.

amovesx()

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 312 of file dsr_basic_test.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

ros::Subscriber subRobotState = nh.subscribe("/"+ROBOT_ID +ROBOT_MODEL+"/state", 100, msgRobotState_cb);

Definition at line 529 of file dsr_basic_test.cpp.

move_periodic()

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 411 of file dsr_basic_test.cpp.

move_spiral()

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 375 of file dsr_basic_test.cpp.

move_wait()

int move_wait

(

)

Definition at line 446 of file dsr_basic_test.cpp.

moveb()

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 319 of file dsr_basic_test.cpp.

movec()

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 166 of file dsr_basic_test.cpp.

movej()

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 42 of file dsr_basic_test.cpp.

movejx()

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 129 of file dsr_basic_test.cpp.

movel()

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 85 of file dsr_basic_test.cpp.

movesj()

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 227 of file dsr_basic_test.cpp.

movesx()

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 271 of file dsr_basic_test.cpp.

msgRobotState_cb()

void msgRobotState_cb

(

const dsr_msgs::RobotState::ConstPtr &

msg

)

Definition at line 467 of file dsr_basic_test.cpp.

SET_ROBOT()

void SET_ROBOT	(	string	id,
		string	model
	)

Definition at line 39 of file dsr_basic_test.cpp.

SigHandler()

void SigHandler

(

int

sig

)

Definition at line 507 of file dsr_basic_test.cpp.

thread_subscriber()

void thread_subscriber

(

)

Definition at line 492 of file dsr_basic_test.cpp.

Variable Documentation

ROBOT_ID

string ROBOT_ID = "dsr01"

Definition at line 37 of file dsr_basic_test.cpp.

ROBOT_MODEL

string ROBOT_MODEL = "m1013"

Definition at line 38 of file dsr_basic_test.cpp.