kinematics_info.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2019 FZI Forschungszentrum Informatik
// Created on behalf of Universal Robots A/S
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------

#ifndef UR_CLIENT_LIBRARY_KINEMATICS_INFO_H_INCLUDED
#define UR_CLIENT_LIBRARY_KINEMATICS_INFO_H_INCLUDED

#include "ur_client_library/types.h"
#include "ur_client_library/primary/robot_state.h"
namespace urcl
{
namespace primary_interface
{
class KinematicsInfo : public RobotState
{
public:
  KinematicsInfo() = delete;
  KinematicsInfo(const RobotStateType type) : RobotState(type)
  {
  }
  virtual ~KinematicsInfo() = default;

  virtual bool parseWith(comm::BinParser& bp);

  virtual bool consumeWith(AbstractPrimaryConsumer& consumer);

  virtual std::string toString() const;

  std::string toHash() const;

  vector6uint32_t checksum_;
  vector6d_t dh_theta_;
  vector6d_t dh_a_;
  vector6d_t dh_d_;
  vector6d_t dh_alpha_;
  uint32_t calibration_status_;  // According to the docs this should be uint8_t, but then I have 3 bytes left.
};

}  // namespace primary_interface
}  // namespace urcl

#endif  // ifndef UR_CLIENT_LIBRARY_KINEMATICS_INFO_H_INCLUDED