#include <ur_client_library/control/trajectory_point_interface.h>
#include <ur_client_library/ur/dashboard_client.h>
#include <ur_client_library/ur/ur_driver.h>
#include <ur_client_library/types.h>
#include <iostream>
#include <memory>

Include dependency graph for spline_example.cpp:

Functions
bool	g_trajectory_running (false)

void	handleRobotProgramState (bool program_running)

void	handleTrajectoryState (control::TrajectoryResult state)

int	main (int argc, char *argv[])

void	SendTrajectory (const std::vector< vector6d_t > &p_p, const std::vector< vector6d_t > &p_v, const std::vector< vector6d_t > &p_a, const std::vector< double > &time, bool use_spline_interpolation_)

Variables
const std::string	CALIBRATION_CHECKSUM = "calib_12788084448423163542"

const std::string	DEFAULT_ROBOT_IP = "192.168.56.101"

vector6d_t	g_joint_positions

std::unique_ptr< DashboardClient >	g_my_dashboard

std::unique_ptr< UrDriver >	g_my_driver

const std::string	INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt"

const std::string	OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt"

const std::string	SCRIPT_FILE = "resources/external_control.urscript"

Function Documentation

◆ g_trajectory_running()

bool g_trajectory_running ( false )

◆ handleRobotProgramState()

void handleRobotProgramState ( bool program_running )

Definition at line 79 of file spline_example.cpp.

◆ handleTrajectoryState()

void handleTrajectoryState ( control::TrajectoryResult state )

Definition at line 87 of file spline_example.cpp.

◆ main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 108 of file spline_example.cpp.

◆ SendTrajectory()

void SendTrajectory	(	const std::vector< vector6d_t > &	p_p,
		const std::vector< vector6d_t > &	p_v,
		const std::vector< vector6d_t > &	p_a,
		const std::vector< double > &	time,
		bool	use_spline_interpolation_
	)

Definition at line 42 of file spline_example.cpp.

Variable Documentation

◆ CALIBRATION_CHECKSUM

const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542"

Definition at line 36 of file spline_example.cpp.

◆ DEFAULT_ROBOT_IP

const std::string DEFAULT_ROBOT_IP = "192.168.56.101"

Definition at line 32 of file spline_example.cpp.

◆ g_joint_positions

vector6d_t g_joint_positions

Definition at line 40 of file spline_example.cpp.

◆ g_my_dashboard

std::unique_ptr<DashboardClient> g_my_dashboard

Definition at line 39 of file spline_example.cpp.

◆ g_my_driver

std::unique_ptr<UrDriver> g_my_driver

Definition at line 38 of file spline_example.cpp.

◆ INPUT_RECIPE

const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt"

Definition at line 35 of file spline_example.cpp.

◆ OUTPUT_RECIPE

const std::string OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt"

Definition at line 34 of file spline_example.cpp.

◆ SCRIPT_FILE

const std::string SCRIPT_FILE = "resources/external_control.urscript"

Definition at line 33 of file spline_example.cpp.

Functions

Variables