#include <denso_robot.h>

Public Member Functions
BCAP_HRESULT	bCapClearError ()

BCAP_HRESULT	bCapClose ()

BCAP_HRESULT	bCapControllerConnect ()

BCAP_HRESULT	bCapControllerDisConnect ()

u_int	bCapControllerGetVariable (const std::string &varname)

BCAP_HRESULT	bCapCurJnt (std::vector< double > &jointvalues)

u_int	bCapErrorDescription (std::string &errormsg)

BCAP_HRESULT	bCapFillBuffer ()

bool	bCapGetBoolVariable (const std::string &var_name)

bool	bCapGetEmergencyStop ()

u_int	bCapGetErrorCode ()

u_int	bCapGetIntegerVariable (const std::string &var_name)

u_int	bCapGetMode ()

BCAP_HRESULT	bCapGetRobot ()

BCAP_HRESULT	bCapGiveArm ()

void	bCapInitializeVariableHandlers ()

BCAP_HRESULT	bCapMotor (bool command)

BCAP_HRESULT	bCapOpen ()

BCAP_HRESULT	bCapReleaseRobot ()

BCAP_HRESULT	bCapRobotExecute (char command, char arg)

u_int	bCapRobotGetVariable (const std::string &varname)

BCAP_HRESULT	bCapRobotSlvMove (BCAP_VARIANT pose, BCAP_VARIANT result)

BCAP_HRESULT	bCapServerStart ()

BCAP_HRESULT	bCapServerStop ()

BCAP_HRESULT	bCapSetExternalSpeed (float arg)

BCAP_HRESULT	bCapSlvChangeMode (u_int arg)

BCAP_HRESULT	bCapTakearm ()

	DensoRobot ()

virtual void	finalizeHW ()

bool	initialize (ros::NodeHandle &node, int num_joints)

bool	read (std::vector< double > &pos)

void	setUDPTimeout (long sec, long usec)

bool	write (const std::vector< double > &cmd, std::vector< double > &pos)

virtual	~DensoRobot ()

Public Attributes
u_int	__errorcode__

Private Attributes
bool	dryrunp_

char	errdesc_buffer_ [2048]

int	iSockFD_

std::vector< double >	jntvalues_

u_int	lhController_

u_int	lhRobot_

int	num_joints_

struct timespec	prev_time_

std::string	server_ip_address_

int	server_port_number_

int	udp_timeout_

std::map< std::string, u_int >	var_handlers_

std::map< std::string, u_short >	var_types_

Detailed Description

Definition at line 27 of file denso_robot.h.

Constructor & Destructor Documentation

DensoRobot::DensoRobot ( )

inline

Definition at line 30 of file denso_robot.h.

virtual DensoRobot::~DensoRobot ( )

inlinevirtual

Definition at line 35 of file denso_robot.h.

Member Function Documentation

BCAP_HRESULT DensoRobot::bCapClearError ( )

inline

Definition at line 69 of file denso_robot.h.

BCAP_HRESULT DensoRobot::bCapClose ( )

inline

Definition at line 47 of file denso_robot.h.

BCAP_HRESULT DensoRobot::bCapControllerConnect ( )

inline

Definition at line 54 of file denso_robot.h.

BCAP_HRESULT DensoRobot::bCapControllerDisConnect ( )

inline

Definition at line 62 of file denso_robot.h.

u_int DensoRobot::bCapControllerGetVariable ( const std::string & varname )

inline

Definition at line 178 of file denso_robot.h.

BCAP_HRESULT DensoRobot::bCapCurJnt ( std::vector< double > & jointvalues )

inline

Definition at line 311 of file denso_robot.h.

u_int DensoRobot::bCapErrorDescription ( std::string & errormsg )

inline

Definition at line 258 of file denso_robot.h.

BCAP_HRESULT DensoRobot::bCapFillBuffer ( )

inline

Definition at line 371 of file denso_robot.h.

bool DensoRobot::bCapGetBoolVariable ( const std::string & var_name )

inline

Definition at line 200 of file denso_robot.h.

bool DensoRobot::bCapGetEmergencyStop ( )

inline

Definition at line 253 of file denso_robot.h.

u_int DensoRobot::bCapGetErrorCode ( )

inline

Definition at line 231 of file denso_robot.h.

u_int DensoRobot::bCapGetIntegerVariable ( const std::string & var_name )

inline

Definition at line 215 of file denso_robot.h.

u_int DensoRobot::bCapGetMode ( )

inline

Definition at line 248 of file denso_robot.h.

BCAP_HRESULT DensoRobot::bCapGetRobot ( )

inline

Definition at line 78 of file denso_robot.h.

BCAP_HRESULT DensoRobot::bCapGiveArm ( )

inline

Definition at line 114 of file denso_robot.h.

void DensoRobot::bCapInitializeVariableHandlers ( )

inline

Definition at line 138 of file denso_robot.h.

BCAP_HRESULT DensoRobot::bCapMotor ( bool command )

inline

Definition at line 286 of file denso_robot.h.

BCAP_HRESULT DensoRobot::bCapOpen ( )

inline

Definition at line 40 of file denso_robot.h.

BCAP_HRESULT DensoRobot::bCapReleaseRobot ( )

inline

Definition at line 85 of file denso_robot.h.

BCAP_HRESULT DensoRobot::bCapRobotExecute	(	char *	command,
		char *	arg
	)

inline

Definition at line 92 of file denso_robot.h.

u_int DensoRobot::bCapRobotGetVariable ( const std::string & varname )

inline

Definition at line 189 of file denso_robot.h.

BCAP_HRESULT DensoRobot::bCapRobotSlvMove	(	BCAP_VARIANT *	pose,
		BCAP_VARIANT *	result
	)

inline

Definition at line 338 of file denso_robot.h.

BCAP_HRESULT DensoRobot::bCapServerStart ( )

inline

Definition at line 1019 of file denso_robot.h.

BCAP_HRESULT DensoRobot::bCapServerStop ( )

inline

Definition at line 1024 of file denso_robot.h.

BCAP_HRESULT DensoRobot::bCapSetExternalSpeed ( float arg )

inline

Definition at line 122 of file denso_robot.h.

BCAP_HRESULT DensoRobot::bCapSlvChangeMode ( u_int arg )

inline

Definition at line 324 of file denso_robot.h.

BCAP_HRESULT DensoRobot::bCapTakearm ( )

inline

Definition at line 100 of file denso_robot.h.

virtual void DensoRobot::finalizeHW ( )

inlinevirtual

Definition at line 422 of file denso_robot.h.

bool DensoRobot::initialize	(	ros::NodeHandle &	node,
		int	num_joints
	)

inline

Definition at line 1030 of file denso_robot.h.

bool DensoRobot::read ( std::vector< double > & pos )

inline

Definition at line 505 of file denso_robot.h.

void DensoRobot::setUDPTimeout	(	long	sec,
		long	usec
	)

inline

Definition at line 1002 of file denso_robot.h.

bool DensoRobot::write	(	const std::vector< double > &	cmd,
		std::vector< double > &	pos
	)

inline

Definition at line 521 of file denso_robot.h.

Member Data Documentation

u_int DensoRobot::__errorcode__

Definition at line 230 of file denso_robot.h.

bool DensoRobot::dryrunp_

private

Definition at line 1207 of file denso_robot.h.

char DensoRobot::errdesc_buffer_[2048]

private

Definition at line 1206 of file denso_robot.h.

int DensoRobot::iSockFD_

private

Definition at line 1200 of file denso_robot.h.

std::vector<double> DensoRobot::jntvalues_

private

Definition at line 1196 of file denso_robot.h.

u_int DensoRobot::lhController_

private

Definition at line 1201 of file denso_robot.h.

u_int DensoRobot::lhRobot_

private

Definition at line 1202 of file denso_robot.h.

int DensoRobot::num_joints_

private

Definition at line 1208 of file denso_robot.h.

struct timespec DensoRobot::prev_time_

private

Definition at line 1210 of file denso_robot.h.

std::string DensoRobot::server_ip_address_

private

Definition at line 1197 of file denso_robot.h.

int DensoRobot::server_port_number_

private

Definition at line 1198 of file denso_robot.h.

int DensoRobot::udp_timeout_

private

Definition at line 1203 of file denso_robot.h.

std::map<std::string, u_int> DensoRobot::var_handlers_

private

Definition at line 1204 of file denso_robot.h.

std::map<std::string, u_short> DensoRobot::var_types_

private

Definition at line 1205 of file denso_robot.h.

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

denso_robot.h

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation