Classes
class	ReverseInterface
	The ReverseInterface class handles communication to the robot. It starts a server and waits for the robot to connect via its URCaps program. More...

class	ScriptCommandInterface
	The ScriptCommandInterface class starts a TCPServer for a robot to connect to and this connection is then used to forward script commands to the robot, which will be executed locally on the robot. More...

class	ScriptSender
	The ScriptSender class starts a TCPServer for a robot to connect to and waits for a request to receive a program. This program is then delivered to the requesting robot. More...

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

Enumerations
enum	FreedriveControlMessage : int32_t { FreedriveControlMessage::FREEDRIVE_STOP = -1, FreedriveControlMessage::FREEDRIVE_NOOP = 0, FreedriveControlMessage::FREEDRIVE_START = 1 }
	Control messages for starting and stopping freedrive mode. More...

enum	ToolContactResult : int32_t { ToolContactResult::UNTIL_TOOL_CONTACT_RESULT_SUCCESS = 0, ToolContactResult::UNTIL_TOOL_CONTACT_RESULT_CANCELED = 1 }
	Types for encoding until tool contact execution result. More...

enum	TrajectoryControlMessage : int32_t { TrajectoryControlMessage::TRAJECTORY_CANCEL = -1, TrajectoryControlMessage::TRAJECTORY_NOOP = 0, TrajectoryControlMessage::TRAJECTORY_START = 1 }
	Control messages for forwarding and aborting trajectories. More...

enum	TrajectoryMotionType : int32_t { TrajectoryMotionType::JOINT_POINT = 0, TrajectoryMotionType::CARTESIAN_POINT = 1, TrajectoryMotionType::JOINT_POINT_SPLINE = 2 }

enum	TrajectoryResult : int32_t { TrajectoryResult::TRAJECTORY_RESULT_SUCCESS = 0, TrajectoryResult::TRAJECTORY_RESULT_CANCELED = 1, TrajectoryResult::TRAJECTORY_RESULT_FAILURE = 2 }
	Types for encoding trajectory execution result. More...

enum	TrajectorySplineType : int32_t { TrajectorySplineType::SPLINE_CUBIC = 1, TrajectorySplineType::SPLINE_QUINTIC = 2 }

Enumeration Type Documentation

◆ FreedriveControlMessage

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Control messages for starting and stopping freedrive mode.

Enumerator
FREEDRIVE_STOP	Represents command to stop freedrive mode.
FREEDRIVE_NOOP	Represents keep running in freedrive mode.
FREEDRIVE_START	Represents command to start freedrive mode.

Definition at line 57 of file reverse_interface.h.

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Types for encoding until tool contact execution result.

Enumerator
UNTIL_TOOL_CONTACT_RESULT_SUCCESS	Successful execution.
UNTIL_TOOL_CONTACT_RESULT_CANCELED	Canceled by user.

Definition at line 42 of file script_command_interface.h.

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Control messages for forwarding and aborting trajectories.

Enumerator
TRAJECTORY_CANCEL	Represents command to cancel currently active trajectory.
TRAJECTORY_NOOP	Represents no new control command.
TRAJECTORY_START	Represents command to start a new trajectory.

Definition at line 47 of file reverse_interface.h.

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Motion Types

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Types for encoding trajectory execution result.

Enumerator
TRAJECTORY_RESULT_SUCCESS	Successful execution.
TRAJECTORY_RESULT_CANCELED	Canceled by user.
TRAJECTORY_RESULT_FAILURE	Aborted due to error during execution.

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Spline types

Enumerator
SPLINE_CUBIC
SPLINE_QUINTIC