urcl::control::TrajectoryPointInterface Class Reference

The TrajectoryPointInterface class handles trajectory forwarding to the robot. Full trajectories are forwarded to the robot controller and are executed there. More...

#include <trajectory_point_interface.h>

Inheritance diagram for urcl::control::TrajectoryPointInterface:

Public Member Functions
void	setTrajectoryEndCallback (std::function< void(TrajectoryResult)> callback)
	TrajectoryPointInterface ()=delete
	TrajectoryPointInterface (uint32_t port)
	Creates a TrajectoryPointInterface object including a TCPServer. More...
bool	writeTrajectoryPoint (const vector6d_t *positions, const float goal_time, const float blend_radius, const bool cartesian)
	Writes needed information to the robot to be read by the URScript program. More...
bool	writeTrajectorySplinePoint (const vector6d_t *positions, const vector6d_t *velocities, const vector6d_t *accelerations, const float goal_time)
	Writes needed information to the robot to be read by the URScript program including velocity and acceleration information. Depending on the information given the robot will do quadratic (positions only), cubic (positions and velocities) or quintic (positions, velocities and accelerations) interpolation. More...
virtual	~TrajectoryPointInterface ()=default
	Disconnects possible clients so the reverse interface object can be safely destroyed. More...
Public Member Functions inherited from urcl::control::ReverseInterface
	ReverseInterface ()=delete
	ReverseInterface (uint32_t port, std::function< void(bool)> handle_program_state)
	Creates a ReverseInterface object including a TCPServer. More...
virtual void	setKeepaliveCount (const uint32_t &count)
	Set the Keepalive count. This will set the number of allowed timeout reads on the robot. More...
virtual bool	write (const vector6d_t *positions, const comm::ControlMode control_mode=comm::ControlMode::MODE_IDLE)
	Writes needed information to the robot to be read by the URCaps program. More...
bool	writeFreedriveControlMessage (const FreedriveControlMessage freedrive_action)
	Writes needed information to the robot to be read by the URScript program. More...
bool	writeTrajectoryControlMessage (const TrajectoryControlMessage trajectory_action, const int point_number=0)
	Writes needed information to the robot to be read by the URScript program. More...
virtual	~ReverseInterface ()=default
	Disconnects possible clients so the reverse interface object can be safely destroyed. More...

Static Public Attributes
static const int32_t	MULT_TIME = 1000
Static Public Attributes inherited from urcl::control::ReverseInterface
static const int32_t	MULT_JOINTSTATE = 1000000

Protected Member Functions
virtual void	connectionCallback (const int filedescriptor) override
virtual void	disconnectionCallback (const int filedescriptor) override
virtual void	messageCallback (const int filedescriptor, char *buffer, int nbytesrecv) override
Protected Member Functions inherited from urcl::control::ReverseInterface
template<typename T >
size_t	append (uint8_t *buffer, T &val)

Private Attributes
std::function< void(TrajectoryResult)>	handle_trajectory_end_

Static Private Attributes
static const int	MESSAGE_LENGTH = 21

Additional Inherited Members
Protected Attributes inherited from urcl::control::ReverseInterface
int	client_fd_
std::function< void(bool)>	handle_program_state_
uint32_t	keepalive_count_
comm::TCPServer	server_
Static Protected Attributes inherited from urcl::control::ReverseInterface
static const int	MAX_MESSAGE_LENGTH = 8

Detailed Description

The TrajectoryPointInterface class handles trajectory forwarding to the robot. Full trajectories are forwarded to the robot controller and are executed there.

Definition at line 75 of file trajectory_point_interface.h.

Constructor & Destructor Documentation

TrajectoryPointInterface() [1/2]

urcl::control::TrajectoryPointInterface::TrajectoryPointInterface ( )

delete

TrajectoryPointInterface() [2/2]

urcl::control::TrajectoryPointInterface::TrajectoryPointInterface

(

uint32_t

port

)

Creates a TrajectoryPointInterface object including a TCPServer.

Parameters

port	Port the Server is started on

Definition at line 36 of file trajectory_point_interface.cpp.

~TrajectoryPointInterface()

virtual urcl::control::TrajectoryPointInterface::~TrajectoryPointInterface ( )

virtualdefault

Disconnects possible clients so the reverse interface object can be safely destroyed.

Member Function Documentation

connectionCallback()

void urcl::control::TrajectoryPointInterface::connectionCallback ( const int  filedescriptor )

overrideprotectedvirtual

Reimplemented from urcl::control::ReverseInterface.

Definition at line 168 of file trajectory_point_interface.cpp.

disconnectionCallback()

void urcl::control::TrajectoryPointInterface::disconnectionCallback ( const int  filedescriptor )

overrideprotectedvirtual

Reimplemented from urcl::control::ReverseInterface.

Definition at line 182 of file trajectory_point_interface.cpp.

messageCallback()

void urcl::control::TrajectoryPointInterface::messageCallback ( const int  filedescriptor, char *  buffer, int  nbytesrecv  )

overrideprotectedvirtual

Reimplemented from urcl::control::ReverseInterface.

Definition at line 188 of file trajectory_point_interface.cpp.

setTrajectoryEndCallback()

void urcl::control::TrajectoryPointInterface::setTrajectoryEndCallback ( std::function< void(TrajectoryResult)>  callback )

inline

Definition at line 121 of file trajectory_point_interface.h.

writeTrajectoryPoint()

bool urcl::control::TrajectoryPointInterface::writeTrajectoryPoint	(	const vector6d_t *	positions,
		const float	goal_time,
		const float	blend_radius,
		const bool	cartesian
	)

Writes needed information to the robot to be read by the URScript program.

Parameters

positions	A vector of joint or cartesian targets for the robot
goal_time	The goal time to reach the target
blend_radius	The radius to be used for blending between control points
cartesian	True, if the written point is specified in cartesian space, false if in joint space

Returns

True, if the write was performed successfully, false otherwise.

Definition at line 40 of file trajectory_point_interface.cpp.

writeTrajectorySplinePoint()

bool urcl::control::TrajectoryPointInterface::writeTrajectorySplinePoint	(	const vector6d_t *	positions,
		const vector6d_t *	velocities,
		const vector6d_t *	accelerations,
		const float	goal_time
	)

Writes needed information to the robot to be read by the URScript program including velocity and acceleration information. Depending on the information given the robot will do quadratic (positions only), cubic (positions and velocities) or quintic (positions, velocities and accelerations) interpolation.

Parameters

positions	A vector of joint or Cartesian target positions for the robot.
velocities	A vector of joint or Cartesian target velocities for the robot.
accelerations	A vector of joint or Cartesian target accelerations for the robot.
goal_time	The goal time to reach the target point.

Returns

True, if the write was performed successfully, false otherwise.

Definition at line 93 of file trajectory_point_interface.cpp.

Member Data Documentation

handle_trajectory_end_

std::function<void(TrajectoryResult)> urcl::control::TrajectoryPointInterface::handle_trajectory_end_

private

Definition at line 135 of file trajectory_point_interface.h.

MESSAGE_LENGTH

const int urcl::control::TrajectoryPointInterface::MESSAGE_LENGTH = 21

staticprivate

Definition at line 134 of file trajectory_point_interface.h.

MULT_TIME

const int32_t urcl::control::TrajectoryPointInterface::MULT_TIME = 1000

static

Definition at line 78 of file trajectory_point_interface.h.

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

• trajectory_point_interface.h
• trajectory_point_interface.cpp