Program Listing for File robot_state.h
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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2019 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_ROBOT_STATE_H_INCLUDED
#define UR_CLIENT_LIBRARY_ROBOT_STATE_H_INCLUDED
#include "ur_client_library/primary/primary_package.h"
#include "ur_client_library/primary/package_header.h"
namespace urcl
{
namespace primary_interface
{
enum class RobotStateType : uint8_t
{
ROBOT_MODE_DATA = 0,
JOINT_DATA = 1,
TOOL_DATA = 2,
MASTERBOARD_DATA = 3,
CARTESIAN_INFO = 4,
KINEMATICS_INFO = 5,
CONFIGURATION_DATA = 6,
FORCE_MODE_DATA = 7,
ADDITIONAL_INFO = 8,
CALIBRATION_DATA = 9
};
class RobotState : public PrimaryPackage
{
public:
RobotState() = delete;
RobotState(const RobotStateType type) : state_type_(type)
{
}
virtual ~RobotState() = default;
virtual bool parseWith(comm::BinParser& bp);
virtual bool consumeWith(AbstractPrimaryConsumer& consumer);
virtual std::string toString() const;
private:
RobotStateType state_type_;
};
} // namespace primary_interface
} // namespace urcl
#endif /* UR_CLIENT_LIBRARY_ROBOT_STATE_H_INCLUDED */