#include <ur_driver.h>
Public Member Functions | |
void | closeServo (std::vector< double > positions) |
bool | doTraj (std::vector< double > inp_timestamps, std::vector< std::vector< double > > inp_positions, std::vector< std::vector< double > > inp_velocities) |
std::vector< std::string > | getJointNames () |
void | halt () |
std::vector< double > | interp_cubic (double t, double T, std::vector< double > p0_pos, std::vector< double > p1_pos, std::vector< double > p0_vel, std::vector< double > p1_vel) |
bool | openServo () |
void | servoj (std::vector< double > positions, int keepalive=1) |
void | setAnalogOut (unsigned int n, double f) |
void | setDigitalOut (unsigned int n, bool b) |
void | setFlag (unsigned int n, bool b) |
void | setJointNames (std::vector< std::string > jn) |
void | setMaxPayload (double m) |
void | setMinPayload (double m) |
bool | setPayload (double m) |
void | setServojGain (double g) |
void | setServojLookahead (double t) |
void | setServojTime (double t) |
void | setSpeed (double q0, double q1, double q2, double q3, double q4, double q5, double acc=100.) |
void | setToolVoltage (unsigned int v) |
bool | start () |
void | stopTraj () |
bool | uploadProg () |
UrDriver (std::condition_variable &rt_msg_cond, std::condition_variable &msg_cond, std::string host, unsigned int reverse_port=50007, double servoj_time=0.016, unsigned int safety_count_max=12, double max_time_step=0.08, double min_payload=0., double max_payload=1., double servoj_lookahead_time=0.03, double servoj_gain=300.) | |
Public Attributes | |
UrRealtimeCommunication * | rt_interface_ |
UrCommunication * | sec_interface_ |
Private Attributes | |
bool | executing_traj_ |
double | firmware_version_ |
int | incoming_sockfd_ |
std::string | ip_addr_ |
std::vector< std::string > | joint_names_ |
double | maximum_payload_ |
double | maximum_time_step_ |
double | minimum_payload_ |
const int | MULT_JOINTSTATE_ = 1000000 |
const int | MULT_TIME_ = 1000000 |
int | new_sockfd_ |
bool | reverse_connected_ |
const unsigned int | REVERSE_PORT_ |
double | servoj_gain_ |
double | servoj_lookahead_time_ |
double | servoj_time_ |
Definition at line 37 of file ur_driver.h.
UrDriver::UrDriver | ( | std::condition_variable & | rt_msg_cond, |
std::condition_variable & | msg_cond, | ||
std::string | host, | ||
unsigned int | reverse_port = 50007 , |
||
double | servoj_time = 0.016 , |
||
unsigned int | safety_count_max = 12 , |
||
double | max_time_step = 0.08 , |
||
double | min_payload = 0. , |
||
double | max_payload = 1. , |
||
double | servoj_lookahead_time = 0.03 , |
||
double | servoj_gain = 300. |
||
) |
Definition at line 21 of file ur_driver.cpp.
void UrDriver::closeServo | ( | std::vector< double > | positions | ) |
Definition at line 238 of file ur_driver.cpp.
bool UrDriver::doTraj | ( | std::vector< double > | inp_timestamps, |
std::vector< std::vector< double > > | inp_positions, | ||
std::vector< std::vector< double > > | inp_velocities | ||
) |
Definition at line 78 of file ur_driver.cpp.
std::vector< std::string > UrDriver::getJointNames | ( | ) |
Definition at line 277 of file ur_driver.cpp.
void UrDriver::halt | ( | ) |
Definition at line 263 of file ur_driver.cpp.
std::vector< double > UrDriver::interp_cubic | ( | double | t, |
double | T, | ||
std::vector< double > | p0_pos, | ||
std::vector< double > | p1_pos, | ||
std::vector< double > | p0_vel, | ||
std::vector< double > | p1_vel | ||
) |
Definition at line 61 of file ur_driver.cpp.
bool UrDriver::openServo | ( | ) |
Definition at line 225 of file ur_driver.cpp.
void UrDriver::servoj | ( | std::vector< double > | positions, |
int | keepalive = 1 |
||
) |
Definition at line 118 of file ur_driver.cpp.
void UrDriver::setAnalogOut | ( | unsigned int | n, |
double | f | ||
) |
Definition at line 320 of file ur_driver.cpp.
void UrDriver::setDigitalOut | ( | unsigned int | n, |
bool | b | ||
) |
Definition at line 298 of file ur_driver.cpp.
void UrDriver::setFlag | ( | unsigned int | n, |
bool | b | ||
) |
Definition at line 291 of file ur_driver.cpp.
void UrDriver::setJointNames | ( | std::vector< std::string > | jn | ) |
Definition at line 281 of file ur_driver.cpp.
void UrDriver::setMaxPayload | ( | double | m | ) |
Definition at line 351 of file ur_driver.cpp.
void UrDriver::setMinPayload | ( | double | m | ) |
Definition at line 343 of file ur_driver.cpp.
bool UrDriver::setPayload | ( | double | m | ) |
Definition at line 332 of file ur_driver.cpp.
void UrDriver::setServojGain | ( | double | g | ) |
Definition at line 372 of file ur_driver.cpp.
void UrDriver::setServojLookahead | ( | double | t | ) |
Definition at line 361 of file ur_driver.cpp.
void UrDriver::setServojTime | ( | double | t | ) |
Definition at line 354 of file ur_driver.cpp.
void UrDriver::setSpeed | ( | double | q0, |
double | q1, | ||
double | q2, | ||
double | q3, | ||
double | q4, | ||
double | q5, | ||
double | acc = 100. |
||
) |
Definition at line 272 of file ur_driver.cpp.
void UrDriver::setToolVoltage | ( | unsigned int | v | ) |
Definition at line 285 of file ur_driver.cpp.
bool UrDriver::start | ( | ) |
Definition at line 248 of file ur_driver.cpp.
void UrDriver::stopTraj | ( | ) |
Definition at line 143 of file ur_driver.cpp.
bool UrDriver::uploadProg | ( | ) |
Definition at line 148 of file ur_driver.cpp.
bool UrDriver::executing_traj_ [private] |
Definition at line 51 of file ur_driver.h.
double UrDriver::firmware_version_ [private] |
Definition at line 52 of file ur_driver.h.
int UrDriver::incoming_sockfd_ [private] |
Definition at line 47 of file ur_driver.h.
std::string UrDriver::ip_addr_ [private] |
Definition at line 43 of file ur_driver.h.
std::vector<std::string> UrDriver::joint_names_ [private] |
Definition at line 42 of file ur_driver.h.
double UrDriver::maximum_payload_ [private] |
Definition at line 41 of file ur_driver.h.
double UrDriver::maximum_time_step_ [private] |
Definition at line 39 of file ur_driver.h.
double UrDriver::minimum_payload_ [private] |
Definition at line 40 of file ur_driver.h.
const int UrDriver::MULT_JOINTSTATE_ = 1000000 [private] |
Definition at line 44 of file ur_driver.h.
const int UrDriver::MULT_TIME_ = 1000000 [private] |
Definition at line 45 of file ur_driver.h.
int UrDriver::new_sockfd_ [private] |
Definition at line 48 of file ur_driver.h.
bool UrDriver::reverse_connected_ [private] |
Definition at line 49 of file ur_driver.h.
const unsigned int UrDriver::REVERSE_PORT_ [private] |
Definition at line 46 of file ur_driver.h.
Definition at line 56 of file ur_driver.h.
Definition at line 57 of file ur_driver.h.
double UrDriver::servoj_gain_ [private] |
Definition at line 54 of file ur_driver.h.
double UrDriver::servoj_lookahead_time_ [private] |
Definition at line 53 of file ur_driver.h.
double UrDriver::servoj_time_ [private] |
Definition at line 50 of file ur_driver.h.