#include <robot_state_RT.h>

Public Member Functions
double	getControllerTimer ()
bool	getControllerUpdated ()
bool	getDataPublished ()
std::vector< bool >	getDigitalInputBits ()
std::vector< double >	getIActual ()
std::vector< double >	getIControl ()
double	getIRobot ()
std::vector< double >	getITarget ()
std::vector< double >	getJointModes ()
double	getLinearMomentumNorm ()
std::vector< double >	getMotorTemperatures ()
std::vector< double >	getMTarget ()
std::vector< double >	getQActual ()
std::vector< double >	getQdActual ()
std::vector< double >	getQddTarget ()
std::vector< double >	getQdTarget ()
std::vector< double >	getQTarget ()
double	getRobotMode ()
double	getSafety_mode ()
double	getSpeedScaling ()
std::vector< double >	getTcpForce ()
std::vector< double >	getTcpSpeedActual ()
std::vector< double >	getTcpSpeedTarget ()
double	getTime ()
std::vector< double >	getToolAccelerometerValues ()
std::vector< double >	getToolVectorActual ()
std::vector< double >	getToolVectorTarget ()
std::vector< double >	getVActual ()
double	getVersion ()
double	getVMain ()
double	getVRobot ()
	RobotStateRT (std::condition_variable &msg_cond)
void	setControllerUpdated ()
void	setDataPublished ()
void	setVersion (double ver)
void	unpack (uint8_t *buf)
	~RobotStateRT ()
Private Member Functions
double	ntohd (uint64_t nf)
std::vector< bool >	unpackDigitalInputBits (int64_t data)
std::vector< double >	unpackVector (uint8_t *buf, int start_index, int nr_of_vals)
Private Attributes
double	controller_timer_
bool	controller_updated_
bool	data_published_
std::vector< bool >	digital_input_bits_
std::vector< double >	i_actual_
std::vector< double >	i_control_
double	i_robot_
std::vector< double >	i_target_
std::vector< double >	joint_modes_
double	linear_momentum_norm_
std::vector< double >	m_target_
std::vector< double >	motor_temperatures_
std::condition_variable *	pMsg_cond_
std::vector< double >	q_actual_
std::vector< double >	q_target_
std::vector< double >	qd_actual_
std::vector< double >	qd_target_
std::vector< double >	qdd_target_
double	robot_mode_
double	safety_mode_
double	speed_scaling_
std::vector< double >	tcp_force_
std::vector< double >	tcp_speed_actual_
std::vector< double >	tcp_speed_target_
double	time_
std::vector< double >	tool_accelerometer_values_
std::vector< double >	tool_vector_actual_
std::vector< double >	tool_vector_target_
std::vector< double >	v_actual_
double	v_main_
double	v_robot_
std::mutex	val_lock_
double	version_

Detailed Description

Definition at line 30 of file robot_state_RT.h.

Constructor & Destructor Documentation

RobotStateRT::RobotStateRT ( std::condition_variable & msg_cond )

Definition at line 21 of file robot_state_RT.cpp.

RobotStateRT::~RobotStateRT ( )

Definition at line 56 of file robot_state_RT.cpp.

Member Function Documentation

double RobotStateRT::getControllerTimer ( )

Definition at line 235 of file robot_state_RT.cpp.

bool RobotStateRT::getControllerUpdated ( )

Definition at line 73 of file robot_state_RT.cpp.

bool RobotStateRT::getDataPublished ( )

Definition at line 66 of file robot_state_RT.cpp.

std::vector< bool > RobotStateRT::getDigitalInputBits ( )

Definition at line 221 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getIActual ( )

Definition at line 172 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getIControl ( )

Definition at line 179 of file robot_state_RT.cpp.

double RobotStateRT::getIRobot ( )

Definition at line 298 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getITarget ( )

Definition at line 144 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getJointModes ( )

Definition at line 249 of file robot_state_RT.cpp.

double RobotStateRT::getLinearMomentumNorm ( )

Definition at line 277 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getMotorTemperatures ( )

Definition at line 228 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getMTarget ( )

Definition at line 151 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getQActual ( )

Definition at line 158 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getQdActual ( )

Definition at line 165 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getQddTarget ( )

Definition at line 137 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getQdTarget ( )

Definition at line 130 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getQTarget ( )

Definition at line 123 of file robot_state_RT.cpp.

double RobotStateRT::getRobotMode ( )

Definition at line 242 of file robot_state_RT.cpp.

double RobotStateRT::getSafety_mode ( )

Definition at line 256 of file robot_state_RT.cpp.

double RobotStateRT::getSpeedScaling ( )

Definition at line 270 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getTcpForce ( )

Definition at line 200 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getTcpSpeedActual ( )

Definition at line 193 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getTcpSpeedTarget ( )

Definition at line 214 of file robot_state_RT.cpp.

double RobotStateRT::getTime ( )

Definition at line 116 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getToolAccelerometerValues ( )

Definition at line 263 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getToolVectorActual ( )

Definition at line 186 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getToolVectorTarget ( )

Definition at line 207 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::getVActual ( )

Definition at line 305 of file robot_state_RT.cpp.

double RobotStateRT::getVersion ( )

Definition at line 109 of file robot_state_RT.cpp.

double RobotStateRT::getVMain ( )

Definition at line 284 of file robot_state_RT.cpp.

double RobotStateRT::getVRobot ( )

Definition at line 291 of file robot_state_RT.cpp.

double RobotStateRT::ntohd ( uint64_t nf ) [private]

Definition at line 77 of file robot_state_RT.cpp.

void RobotStateRT::setControllerUpdated ( )

Definition at line 70 of file robot_state_RT.cpp.

void RobotStateRT::setDataPublished ( )

Definition at line 63 of file robot_state_RT.cpp.

void RobotStateRT::setVersion ( double ver )

Definition at line 103 of file robot_state_RT.cpp.

void RobotStateRT::unpack ( uint8_t * buf )

Definition at line 312 of file robot_state_RT.cpp.

std::vector< bool > RobotStateRT::unpackDigitalInputBits ( int64_t data ) [private]

Definition at line 95 of file robot_state_RT.cpp.

std::vector< double > RobotStateRT::unpackVector	(	uint8_t *	buf,
		int	start_index,
		int	nr_of_vals
	)		`[private]`

Definition at line 84 of file robot_state_RT.cpp.

Member Data Documentation

double RobotStateRT::controller_timer_ [private]

Definition at line 51 of file robot_state_RT.h.

bool RobotStateRT::controller_updated_ [private]

Definition at line 67 of file robot_state_RT.h.

bool RobotStateRT::data_published_ [private]

Definition at line 66 of file robot_state_RT.h.

std::vector<bool> RobotStateRT::digital_input_bits_ [private]

Definition at line 49 of file robot_state_RT.h.

std::vector<double> RobotStateRT::i_actual_ [private]

Definition at line 42 of file robot_state_RT.h.

std::vector<double> RobotStateRT::i_control_ [private]

Definition at line 43 of file robot_state_RT.h.

double RobotStateRT::i_robot_ [private]

Definition at line 60 of file robot_state_RT.h.

std::vector<double> RobotStateRT::i_target_ [private]

Definition at line 38 of file robot_state_RT.h.

std::vector<double> RobotStateRT::joint_modes_ [private]

Definition at line 53 of file robot_state_RT.h.

double RobotStateRT::linear_momentum_norm_ [private]

Definition at line 57 of file robot_state_RT.h.

std::vector<double> RobotStateRT::m_target_ [private]

Definition at line 39 of file robot_state_RT.h.

std::vector<double> RobotStateRT::motor_temperatures_ [private]

Definition at line 50 of file robot_state_RT.h.

std::condition_variable* RobotStateRT::pMsg_cond_ [private]

Definition at line 65 of file robot_state_RT.h.

std::vector<double> RobotStateRT::q_actual_ [private]

Definition at line 40 of file robot_state_RT.h.

std::vector<double> RobotStateRT::q_target_ [private]

Definition at line 35 of file robot_state_RT.h.

std::vector<double> RobotStateRT::qd_actual_ [private]

Definition at line 41 of file robot_state_RT.h.

std::vector<double> RobotStateRT::qd_target_ [private]

Definition at line 36 of file robot_state_RT.h.

std::vector<double> RobotStateRT::qdd_target_ [private]

Definition at line 37 of file robot_state_RT.h.

double RobotStateRT::robot_mode_ [private]

Definition at line 52 of file robot_state_RT.h.

double RobotStateRT::safety_mode_ [private]

Definition at line 54 of file robot_state_RT.h.

double RobotStateRT::speed_scaling_ [private]

Definition at line 56 of file robot_state_RT.h.

std::vector<double> RobotStateRT::tcp_force_ [private]

Definition at line 46 of file robot_state_RT.h.

std::vector<double> RobotStateRT::tcp_speed_actual_ [private]

Definition at line 45 of file robot_state_RT.h.

std::vector<double> RobotStateRT::tcp_speed_target_ [private]

Definition at line 48 of file robot_state_RT.h.

double RobotStateRT::time_ [private]

Definition at line 34 of file robot_state_RT.h.

std::vector<double> RobotStateRT::tool_accelerometer_values_ [private]

Definition at line 55 of file robot_state_RT.h.

std::vector<double> RobotStateRT::tool_vector_actual_ [private]

Definition at line 44 of file robot_state_RT.h.

std::vector<double> RobotStateRT::tool_vector_target_ [private]

Definition at line 47 of file robot_state_RT.h.

std::vector<double> RobotStateRT::v_actual_ [private]

Definition at line 61 of file robot_state_RT.h.

double RobotStateRT::v_main_ [private]

Definition at line 58 of file robot_state_RT.h.

double RobotStateRT::v_robot_ [private]

Definition at line 59 of file robot_state_RT.h.

std::mutex RobotStateRT::val_lock_ [private]

Definition at line 63 of file robot_state_RT.h.

double RobotStateRT::version_ [private]

Definition at line 32 of file robot_state_RT.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation