Program Listing for File trajectory_point_interface.h
↰ Return to documentation for file (/tmp/ws/src/ur_client_library/include/ur_client_library/control/trajectory_point_interface.h
)
// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2021 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_TRAJECTORY_INTERFACE_H_INCLUDED
#define UR_CLIENT_LIBRARY_TRAJECTORY_INTERFACE_H_INCLUDED
#include "ur_client_library/control/reverse_interface.h"
#include "ur_client_library/comm/control_mode.h"
#include "ur_client_library/types.h"
#include "ur_client_library/log.h"
namespace urcl
{
namespace control
{
enum class TrajectoryResult : int32_t
{
TRAJECTORY_RESULT_SUCCESS = 0,
TRAJECTORY_RESULT_CANCELED = 1,
TRAJECTORY_RESULT_FAILURE = 2
};
enum class TrajectorySplineType : int32_t
{
SPLINE_CUBIC = 1,
SPLINE_QUINTIC = 2
};
enum class TrajectoryMotionType : int32_t
{
JOINT_POINT = 0,
CARTESIAN_POINT = 1,
JOINT_POINT_SPLINE = 2
};
class TrajectoryPointInterface : public ReverseInterface
{
public:
static const int32_t MULT_TIME = 1000;
TrajectoryPointInterface() = delete;
TrajectoryPointInterface(uint32_t port);
virtual ~TrajectoryPointInterface() = default;
bool writeTrajectoryPoint(const vector6d_t* positions, const float goal_time, const float blend_radius,
const bool cartesian);
bool writeTrajectorySplinePoint(const vector6d_t* positions, const vector6d_t* velocities,
const vector6d_t* accelerations, const float goal_time);
void setTrajectoryEndCallback(std::function<void(TrajectoryResult)> callback)
{
handle_trajectory_end_ = callback;
}
protected:
virtual void connectionCallback(const int filedescriptor) override;
virtual void disconnectionCallback(const int filedescriptor) override;
virtual void messageCallback(const int filedescriptor, char* buffer, int nbytesrecv) override;
private:
static const int MESSAGE_LENGTH = 21;
std::function<void(TrajectoryResult)> handle_trajectory_end_;
};
} // namespace control
} // namespace urcl
#endif // UR_CLIENT_LIBRARY_TRAJECTORY_INTERFACE_H_INCLUDED