YumiRapidInterface Class Reference

#include <yumi_hw_rapid.h>

List of all members.

Public Member Functions
void	getCurrentJointStates (float(&joints)[N_YUMI_JOINTS])
bool	init (std::string ip="", int port=industrial::simple_socket::StandardSocketPorts::STATE)
void	setJointTargets (float(&joints)[N_YUMI_JOINTS], int mode)
void	startThreads ()
void	stopThreads ()
	YumiRapidInterface ()
	~YumiRapidInterface ()
Private Member Functions
virtual void	RapidCommThreadCallback ()
Private Attributes
industrial::smpl_msg_connection::SmplMsgConnection *	connection_
industrial::tcp_client::TcpClient	default_tcp_connection_
	industrial connection
YumiJointStateHandler	js_handler
industrial::message_manager::MessageManager	manager_
boost::thread	RapidCommThread_
bool	stopComm_

---

Detailed Description

Keep a connection to the robot and send and receive joint states

Definition at line 154 of file yumi_hw_rapid.h.

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Constructor & Destructor Documentation

YumiRapidInterface::YumiRapidInterface

(

)

[inline]

Definition at line 177 of file yumi_hw_rapid.h.

YumiRapidInterface::~YumiRapidInterface

(

)

[inline]

Definition at line 182 of file yumi_hw_rapid.h.

---

Member Function Documentation

void YumiRapidInterface::getCurrentJointStates

(

float(&)

joints[N_YUMI_JOINTS]

)

[inline]

Definition at line 197 of file yumi_hw_rapid.h.

bool YumiRapidInterface::init	(	std::string	ip = "",
		int	port = industrial::simple_socket::StandardSocketPorts::STATE
	)		[inline]

Definition at line 206 of file yumi_hw_rapid.h.

virtual void YumiRapidInterface::RapidCommThreadCallback

(

)

[inline, private, virtual]

Definition at line 168 of file yumi_hw_rapid.h.

void YumiRapidInterface::setJointTargets	(	float(&)	joints[N_YUMI_JOINTS],
		int	mode
	)		[inline]

Definition at line 201 of file yumi_hw_rapid.h.

void YumiRapidInterface::startThreads

(

)

[inline]

Definition at line 191 of file yumi_hw_rapid.h.

void YumiRapidInterface::stopThreads

(

)

[inline]

Definition at line 186 of file yumi_hw_rapid.h.

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Member Data Documentation

industrial::smpl_msg_connection::SmplMsgConnection* YumiRapidInterface::connection_ [private]

Definition at line 162 of file yumi_hw_rapid.h.

industrial::tcp_client::TcpClient YumiRapidInterface::default_tcp_connection_ [private]

industrial connection

Definition at line 159 of file yumi_hw_rapid.h.

YumiJointStateHandler YumiRapidInterface::js_handler [private]

Definition at line 164 of file yumi_hw_rapid.h.

industrial::message_manager::MessageManager YumiRapidInterface::manager_ [private]

Definition at line 163 of file yumi_hw_rapid.h.

boost::thread YumiRapidInterface::RapidCommThread_ [private]

Definition at line 156 of file yumi_hw_rapid.h.

bool YumiRapidInterface::stopComm_ [private]

Definition at line 166 of file yumi_hw_rapid.h.

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

• yumi_hw_rapid.h