urcl::control Namespace Reference

Classes
struct	MotionPrimitive
struct	MoveCPrimitive
struct	MoveJPrimitive
struct	MoveLPrimitive
struct	MovePPrimitive
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...
struct	SplinePrimitive
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	MotionType : uint8_t {   MotionType::MOVEJ = 0, MotionType::MOVEL = 1, MotionType::MOVEP = 2, MotionType::MOVEC = 3,   MotionType::SPLINE = 51, MotionType::UNKNOWN = 255 }
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	TrajectoryResult : int32_t { TrajectoryResult::TRAJECTORY_RESULT_UNKNOWN = -1, 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 }

Functions
std::string	trajectoryResultToString (const TrajectoryResult result)

Enumeration Type Documentation

FreedriveControlMessage

enum urcl::control::FreedriveControlMessage : int32_t

strong

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 58 of file reverse_interface.h.

MotionType

enum urcl::control::MotionType : uint8_t

strong

Enumerator
MOVEJ
MOVEL
MOVEP
MOVEC
SPLINE
UNKNOWN

Definition at line 43 of file motion_primitives.h.

ToolContactResult

enum urcl::control::ToolContactResult : int32_t

strong

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.

TrajectoryControlMessage

enum urcl::control::TrajectoryControlMessage : int32_t

strong

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 48 of file reverse_interface.h.

TrajectoryResult

enum urcl::control::TrajectoryResult : int32_t

strong

Types for encoding trajectory execution result.

Enumerator
TRAJECTORY_RESULT_UNKNOWN	No result received, yet.
TRAJECTORY_RESULT_SUCCESS	Successful execution.
TRAJECTORY_RESULT_CANCELED	Canceled by user.
TRAJECTORY_RESULT_FAILURE	Aborted due to error during execution.

Definition at line 47 of file trajectory_point_interface.h.

TrajectorySplineType

enum urcl::control::TrajectorySplineType : int32_t

strong

Spline types

Enumerator
SPLINE_CUBIC
SPLINE_QUINTIC

Definition at line 56 of file motion_primitives.h.

Function Documentation

trajectoryResultToString()

std::string urcl::control::trajectoryResultToString

(

const TrajectoryResult

result

)

Definition at line 42 of file src/control/trajectory_point_interface.cpp.