ur_client_library
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  • C++ API
    • Page Hierarchy
    • Full C++ API
      • Namespaces
        • Namespace moodycamel
        • Namespace moodycamel::spsc_sema
        • Namespace std
        • Namespace urcl
        • Namespace urcl::comm
        • Namespace urcl::control
        • Namespace urcl::primary_interface
        • Namespace urcl::rtde_interface
      • Classes and Structs
        • Struct ReaderWriterQueue::Block
        • Struct ReaderWriterQueue::ReentrantGuard
        • Struct MotionPrimitive
        • Struct MoveJPrimitive
        • Struct MoveLPrimitive
        • Struct Pose
        • Struct ErrorCode
        • Struct UrDriverConfiguration
        • Template Class BlockingReaderWriterQueue
        • Template Class ReaderWriterQueue
        • Class LightweightSemaphore
        • Template Class WeakAtomic
        • Class CalibrationChecker
        • Class BinParser
        • Class ControlModeTypes
        • Template Class IConsumer
        • Class INotifier
        • Template Class IProducer
        • Template Class MultiConsumer
        • Class PackageSerializer
        • Template Class Parser
        • Template Class Pipeline
        • Template Class ShellConsumer
        • Class TCPServer
        • Class TCPSocket
        • Template Class URPackage
        • Template Class URProducer
        • Template Class URStream
        • Class ReverseInterface
        • Class ScriptCommandInterface
        • Class ScriptSender
        • Class TrajectoryPointInterface
        • Class DashboardClient
        • Class DefaultLogHandler
        • Class ExampleRobotWrapper
        • Class IncompatibleRobotVersion
        • Class InstructionExecutor
        • Class InvalidRange
        • Template Class Limited
        • Class LogHandler
        • Class MissingArgument
        • Class AbstractPrimaryConsumer
        • Class ErrorCodeMessage
        • Class KinematicsInfo
        • Class PackageHeader
        • Class PrimaryClient
        • Class PrimaryConsumer
        • Class PrimaryPackage
        • Class PrimaryParser
        • Class RobotMessage
        • Class RobotState
        • Class VersionMessage
        • Class RobotReceiveTimeout
        • Class ControlPackagePause
        • Class ControlPackagePauseRequest
        • Class ControlPackageSetupInputs
        • Class ControlPackageSetupInputsRequest
        • Class ControlPackageSetupOutputs
        • Class ControlPackageSetupOutputsRequest
        • Class ControlPackageStart
        • Class ControlPackageStartRequest
        • Class DataPackage
        • Class GetUrcontrolVersion
        • Class GetUrcontrolVersionRequest
        • Class PackageHeader
        • Class RequestProtocolVersion
        • Class RequestProtocolVersionRequest
        • Class RTDEClient
        • Class RTDEPackage
        • Class RTDEParser
        • Class RTDEWriter
        • Class TextMessage
        • Class TimeoutException
        • Class ToolCommNotAvailable
        • Class ToolCommSetup
        • Class UrDriver
        • Class UrException
        • Class VersionInformation
        • Class VersionMismatch
      • Enums
        • Enum memory_order
        • Enum AnalogOutputType
        • Enum ControlMode
        • Enum SocketState
        • Enum FreedriveControlMessage
        • Enum MotionType
        • Enum ToolContactResult
        • Enum TrajectoryControlMessage
        • Enum TrajectoryMotionType
        • Enum TrajectoryResult
        • Enum TrajectorySplineType
        • Enum LogLevel
        • Enum Parity
        • Enum ReportLevel
        • Enum RobotMessagePackageType
        • Enum RobotPackageType
        • Enum RobotStateType
        • Enum RobotMode
        • Enum ClientState
        • Enum PackageType
        • Enum RUNTIME_STATE
        • Enum UrRtdeRobotStatusBits
        • Enum UrRtdeSafetyStatusBits
        • Enum SafetyMode
        • Enum SafetyStatus
        • Enum ToolVoltage
      • Functions
        • Function moodycamel::compilerFence
        • Function moodycamel::fence
        • Function urcl::control::trajectoryResultToString
        • Function urcl::log
        • Template Function urcl::operator<<
        • Function urcl::registerLogHandler
        • Function urcl::robotModeString
        • Function urcl::safetyModeString
        • Function urcl::safetyStatusString
        • Function urcl::setFiFoScheduling
        • Function urcl::setLogLevel
        • Function urcl::splitString
        • Template Function urcl::toUnderlying
        • Function urcl::unregisterLogHandler
      • Variables
        • Variable PIPELINE_NAME
        • Variable UR_RTDE_PORT
        • Variable urcl::primary_interface::UR_PRIMARY_PORT
        • Variable urcl::primary_interface::UR_SECONDARY_PORT
        • Variable urcl::rtde_interface::MAX_INITIALIZE_ATTEMPTS
        • Variable urcl::rtde_interface::MAX_REQUEST_RETRIES
        • Variable urcl::rtde_interface::MAX_RTDE_PROTOCOL_VERSION
      • Defines
        • Define AE_ALIGN
        • Define AE_ARCH_UNKNOWN
        • Define AE_FORCEINLINE
        • Define AE_UNUSED
        • Define AE_USE_STD_ATOMIC_FOR_WEAK_ATOMIC
        • Define MOODYCAMEL_CACHE_LINE_SIZE
        • Define MOODYCAMEL_EXCEPTIONS_ENABLED
        • Define URCL_LOG_DEBUG
        • Define URCL_LOG_ERROR
        • Define URCL_LOG_FATAL
        • Define URCL_LOG_INFO
        • Define URCL_LOG_WARN
      • Typedefs
        • Typedef urcl::vector3d_t
        • Typedef urcl::vector6d_t
        • Typedef urcl::vector6int32_t
        • Typedef urcl::vector6uint32_t
      • Directories
        • Directory include
        • Directory ur_client_library
        • Directory comm
        • Directory control
        • Directory primary
        • Directory robot_message
        • Directory robot_state
        • Directory queue
        • Directory rtde
        • Directory ur
      • Files
        • File abstract_primary_consumer.h
        • File atomicops.h
        • File bin_parser.h
        • File calibration_checker.h
        • File control_mode.h
        • File control_package_pause.h
        • File control_package_setup_inputs.h
        • File control_package_setup_outputs.h
        • File control_package_start.h
        • File dashboard_client.h
        • File data_package.h
        • File datatypes.h
        • File default_log_handler.h
        • File error_code_message.h
        • File example_robot_wrapper.h
        • File exceptions.h
        • File get_urcontrol_version.h
        • File helpers.h
        • File instruction_executor.h
        • File kinematics_info.h
        • File LICENSE.md
        • File log.h
        • File motion_primitives.h
        • File package.h
        • File package_header.h
        • File package_header.h
        • File package_serializer.h
        • File parser.h
        • File pipeline.h
        • File primary_client.h
        • File primary_consumer.h
        • File primary_package.h
        • File primary_parser.h
        • File producer.h
        • File readerwriterqueue.h
        • File request_protocol_version.h
        • File reverse_interface.h
        • File robot_message.h
        • File robot_receive_timeout.h
        • File robot_state.h
        • File rtde_client.h
        • File rtde_package.h
        • File rtde_parser.h
        • File rtde_writer.h
        • File script_command_interface.h
        • File script_sender.h
        • File shell_consumer.h
        • File stream.h
        • File tcp_server.h
        • File tcp_socket.h
        • File text_message.h
        • File tool_communication.h
        • File trajectory_point_interface.h
        • File types.h
        • File ur_driver.h
        • File version_information.h
        • File version_message.h
      • Pages
        • LICENSE
        • Deprecated List
  • Standard Documents
    • CHANGELOG
      • Changelog for package ur_client_library
        • 1.6.0 (2025-01-23)
        • 1.5.0 (2024-11-25)
        • 1.4.0 (2024-09-10)
        • 1.3.7 (2024-06-03)
        • 1.3.6 (2024-04-04)
        • 1.3.5 (2024-02-23)
        • 1.3.4 (2023-09-22)
        • 1.3.3 (2023-09-05)
        • 1.3.2 (2023-07-13)
        • 1.3.1 (2022-11-30)
        • 1.3.0 (2022-11-28)
        • 1.2.0 (2022-10-04)
        • 1.1.0 (2022-04-22)
        • 1.0.0 (2021-06-18)
        • 0.1.1 (2020-09-15)
        • 0.1.0 (2020-09-11)
    • PACKAGE
    • README
      • Universal Robots Client Library
        • Requirements
        • Build instructions
        • License
        • Library contents
        • Example driver
        • Architecture
        • A word on the primary / secondary interface
        • A word on Real-Time scheduling
        • Producer / Consumer architecture
        • Logging configuration
        • Contributor Guidelines
        • Acknowledgment
  • Documentation
    • Library architecture
      • DashboardClient
      • ReverseInterface
      • RTDEClient
      • Script Command Interface
      • ScriptSender
      • Trajectory Point Interface
      • UrDriver
      • Instruction Executor
    • Usage examples
      • Dashboard client example
      • Force Mode example
      • Freedrive Mode example
      • Instruction Executor example
      • Primary Pipeline example
      • Primary Pipeline Calibration example
      • RTDE Client example
      • Script Sender example
      • Spline Interpolation example
      • Tool Contact example
      • Trajectory Joint Interface example
      • Example driver
    • ur_client_library
      • Build / installation
      • Setup a robot
        • Robot setup
        • Network setup
        • Setup URSim with Docker
      • PolyScope version compatibility
      • Library architecture
        • DashboardClient
        • ReverseInterface
        • RTDEClient
        • Script Command Interface
        • ScriptSender
        • Trajectory Point Interface
        • UrDriver
        • Instruction Executor
      • Usage examples
        • Dashboard client example
        • Force Mode example
        • Freedrive Mode example
        • Instruction Executor example
        • Primary Pipeline example
        • Primary Pipeline Calibration example
        • RTDE Client example
        • Script Sender example
        • Spline Interpolation example
        • Tool Contact example
        • Trajectory Joint Interface example
        • Example driver
      • Setup for real-time scheduling
    • Build / installation
    • PolyScope version compatibility
    • Setup for real-time scheduling
    • Setup a robot
      • Robot setup
      • Network setup
      • Setup URSim with Docker
  • Index
ur_client_library
  • C++ API
  • Namespace urcl::control
  • View page source

Namespace urcl::control

Contents

  • Classes

  • Enums

  • Functions

Classes

  • Struct MotionPrimitive

  • Struct MoveJPrimitive

  • Struct MoveLPrimitive

  • Class ReverseInterface

  • Class ScriptCommandInterface

  • Class ScriptSender

  • Class TrajectoryPointInterface

Enums

  • Enum FreedriveControlMessage

  • Enum MotionType

  • Enum ToolContactResult

  • Enum TrajectoryControlMessage

  • Enum TrajectoryMotionType

  • Enum TrajectoryResult

  • Enum TrajectorySplineType

Functions

  • Function urcl::control::trajectoryResultToString

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© Copyright The <ur_client_library> Contributors. License: Apache-2.0, BSD-2-Clause, Zlib.

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