FRIData.hh
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00001 #ifndef FRIDATA_HH
00002 #define FRIDATA_HH
00003 
00004 class RobotStatus
00005 {
00006 public:
00007   RobotStatus();
00008 
00009   //TODO: add uptime information
00010 
00011   bool connected;    
00012 
00013   // connection statistics
00014   float time;        
00015   float answerRate;  
00016   float latency;     
00017   float jitter;      
00018   float missRate;    
00019   int missCounter; 
00020 
00021   // interface info
00022   int state; 
00023   int quality; 
00024   float msrSampleTime; 
00025   float cmdSampleTime; 
00026   float safety; 
00027 
00028   int calcTimeMean; 
00029   int calcTimeMax;  
00030 
00031   // general robot info
00032   int power; 
00033   int controlMode; 
00034   int error; 
00035   int warning; 
00036   float temperature[7]; 
00037 
00038   // driver stuff
00039   bool runstop;
00040 };
00041 
00043 class RobotData
00044 {
00045 public:
00046   RobotData();
00047   int seq;
00048   float commanded[7];
00049   float position[7];
00050   float torque[7];
00051   float torque_raw[7];
00052   float torqueTCP[6];
00053 };
00054 
00055 
00057 class CartesianImpedance
00058 {
00059 public:
00060   static const float DEFAULT_TRANS_STIFFNESS=50;
00061   static const float DEFAULT_ROT_STIFFNESS=50;
00062   static const float DEFAULT_DAMPING=0.7;
00063   CartesianImpedance();
00064   float K[6*6]; 
00065   float D[6*6]; 
00066   float ft[6];  
00067   float K_null; 
00068 };
00069 
00070 
00072 class RobotCommand
00073 {
00074   static const float DEFAULT_STIFFNESS=40;
00075   static const float DEFAULT_DAMPING=0.7;
00076 public:
00077   RobotCommand();
00078   void incrementPosition(float* newPos, float* currentPos, float rate); 
00079   float command[7];   
00080   float stiffness[7]; 
00081   float damping[7];   
00082   float addTorque[7]; 
00083 
00084   bool useCartesianImpedance;
00085   CartesianImpedance cartImpedance;
00086 };
00087 
00088 #endif // FRIDATA_HH
00089 


kuka_fri
Author(s): Ingo Kresse, Alexis Maldonado
autogenerated on Mon Oct 6 2014 09:27:40