#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 tool_contact_example.cpp:

Functions
void	handleRobotProgramState (bool program_running)

void	handleToolContactResult (control::ToolContactResult result)

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

Variables
const std::string	CALIBRATION_CHECKSUM = "calib_12788084448423163542"

const std::string	DEFAULT_ROBOT_IP = "192.168.56.101"

std::unique_ptr< DashboardClient >	g_my_dashboard

std::unique_ptr< UrDriver >	g_my_driver

control::ToolContactResult	g_tool_contact_result

bool	g_tool_contact_result_triggered

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

◆ handleRobotProgramState()

void handleRobotProgramState ( bool program_running )

Definition at line 44 of file tool_contact_example.cpp.

◆ handleToolContactResult()

void handleToolContactResult ( control::ToolContactResult result )

Definition at line 50 of file tool_contact_example.cpp.

◆ main()

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

Definition at line 58 of file tool_contact_example.cpp.

Variable Documentation

◆ CALIBRATION_CHECKSUM

const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542"

Definition at line 36 of file tool_contact_example.cpp.

◆ DEFAULT_ROBOT_IP

const std::string DEFAULT_ROBOT_IP = "192.168.56.101"

Definition at line 32 of file tool_contact_example.cpp.

◆ g_my_dashboard

std::unique_ptr<DashboardClient> g_my_dashboard

Definition at line 39 of file tool_contact_example.cpp.

◆ g_my_driver

std::unique_ptr<UrDriver> g_my_driver

Definition at line 38 of file tool_contact_example.cpp.

◆ g_tool_contact_result

control::ToolContactResult g_tool_contact_result

Definition at line 41 of file tool_contact_example.cpp.

◆ g_tool_contact_result_triggered

bool g_tool_contact_result_triggered

Definition at line 40 of file tool_contact_example.cpp.

◆ INPUT_RECIPE

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

Definition at line 35 of file tool_contact_example.cpp.

◆ OUTPUT_RECIPE

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

Definition at line 34 of file tool_contact_example.cpp.

◆ SCRIPT_FILE

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

Definition at line 33 of file tool_contact_example.cpp.

Functions

Variables