Public Member Functions | Public Attributes | Private Attributes
AuboNewDriver Class Reference

#include <aubo_new_driver.h>

List of all members.

Public Member Functions

void addWayPoint (std::vector< double > positions)
 AuboNewDriver (std::condition_variable &rt_msg_cond, std::condition_variable &msg_cond, std::string host, unsigned int reverse_port=8899, double servoj_time=0.020)
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 getRobotPos ()
void halt ()
void initMoveProfile ()
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)
void movej (std::vector< double > positions)
void movel (std::vector< double > positions)
void movelTo (std::vector< double > positions)
void movep (double blendRadius, int trackMode)
bool openServo ()
void servoj (std::vector< double > positions, int keepalive=1)
void setBlock (bool flag)
void setJointNames (std::vector< std::string > jn)
void setMaxAcc (double acc)
void setMaxSpeed (double speed)
void setRobotIO (int type, int mode, int index, float state)
void setServojTime (double t)
void setSpeed (double q0, double q1, double q2, double q3, double q4, double q5, double acc)
bool start ()
void stopTraj ()

Public Attributes

AuboRealtimeCommunicationrt_interface_

Private Attributes

bool executing_traj_
int incoming_sockfd_
std::string ip_addr_
std::vector< std::string > joint_names_
const int MULT_JOINTSTATE_ = 1000000
const int MULT_TIME_ = 1000000
int new_sockfd_
bool reverse_connected_
const unsigned int REVERSE_PORT_
double servoj_time_

Detailed Description

Definition at line 16 of file aubo_new_driver.h.


Constructor & Destructor Documentation

AuboNewDriver::AuboNewDriver ( std::condition_variable &  rt_msg_cond,
std::condition_variable &  msg_cond,
std::string  host,
unsigned int  reverse_port = 8899,
double  servoj_time = 0.020 
)

Definition at line 4 of file aubo_new_driver.cpp.


Member Function Documentation

void AuboNewDriver::addWayPoint ( std::vector< double >  positions)

Definition at line 153 of file aubo_new_driver.cpp.

void AuboNewDriver::closeServo ( std::vector< double >  positions)

Definition at line 184 of file aubo_new_driver.cpp.

bool AuboNewDriver::doTraj ( std::vector< double >  inp_timestamps,
std::vector< std::vector< double > >  inp_positions,
std::vector< std::vector< double > >  inp_velocities 
)

Definition at line 36 of file aubo_new_driver.cpp.

std::vector< std::string > AuboNewDriver::getJointNames ( )

Definition at line 215 of file aubo_new_driver.cpp.

Definition at line 172 of file aubo_new_driver.cpp.

Definition at line 203 of file aubo_new_driver.cpp.

Definition at line 102 of file aubo_new_driver.cpp.

std::vector< double > AuboNewDriver::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 19 of file aubo_new_driver.cpp.

void AuboNewDriver::movej ( std::vector< double >  positions)

Definition at line 127 of file aubo_new_driver.cpp.

void AuboNewDriver::movel ( std::vector< double >  positions)

Definition at line 135 of file aubo_new_driver.cpp.

void AuboNewDriver::movelTo ( std::vector< double >  positions)

Definition at line 144 of file aubo_new_driver.cpp.

void AuboNewDriver::movep ( double  blendRadius,
int  trackMode 
)

Definition at line 162 of file aubo_new_driver.cpp.

Definition at line 179 of file aubo_new_driver.cpp.

void AuboNewDriver::servoj ( std::vector< double >  positions,
int  keepalive = 1 
)

Definition at line 78 of file aubo_new_driver.cpp.

void AuboNewDriver::setBlock ( bool  flag)

Definition at line 106 of file aubo_new_driver.cpp.

void AuboNewDriver::setJointNames ( std::vector< std::string >  jn)

Definition at line 219 of file aubo_new_driver.cpp.

void AuboNewDriver::setMaxAcc ( double  acc)

Definition at line 120 of file aubo_new_driver.cpp.

void AuboNewDriver::setMaxSpeed ( double  speed)

Definition at line 113 of file aubo_new_driver.cpp.

void AuboNewDriver::setRobotIO ( int  type,
int  mode,
int  index,
float  state 
)

Definition at line 224 of file aubo_new_driver.cpp.

void AuboNewDriver::setServojTime ( double  t)

Definition at line 234 of file aubo_new_driver.cpp.

void AuboNewDriver::setSpeed ( double  q0,
double  q1,
double  q2,
double  q3,
double  q4,
double  q5,
double  acc 
)

Definition at line 93 of file aubo_new_driver.cpp.

Definition at line 193 of file aubo_new_driver.cpp.

Definition at line 210 of file aubo_new_driver.cpp.


Member Data Documentation

Definition at line 29 of file aubo_new_driver.h.

Definition at line 22 of file aubo_new_driver.h.

std::string AuboNewDriver::ip_addr_ [private]

Definition at line 19 of file aubo_new_driver.h.

std::vector<std::string> AuboNewDriver::joint_names_ [private]

Definition at line 18 of file aubo_new_driver.h.

const int AuboNewDriver::MULT_JOINTSTATE_ = 1000000 [private]

Definition at line 25 of file aubo_new_driver.h.

const int AuboNewDriver::MULT_TIME_ = 1000000 [private]

Definition at line 26 of file aubo_new_driver.h.

Definition at line 23 of file aubo_new_driver.h.

Definition at line 20 of file aubo_new_driver.h.

const unsigned int AuboNewDriver::REVERSE_PORT_ [private]

Definition at line 24 of file aubo_new_driver.h.

Definition at line 33 of file aubo_new_driver.h.

double AuboNewDriver::servoj_time_ [private]

Definition at line 28 of file aubo_new_driver.h.


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


aubo_new_driver
Author(s): liuxin
autogenerated on Wed Sep 6 2017 03:06:44