Public Member Functions | Private Member Functions | Private Attributes | List of all members
LowBandwidthTrajectoryFollower Class Reference

#include <lowbandwidth_trajectory_follower.h>

Inheritance diagram for LowBandwidthTrajectoryFollower:
Inheritance graph
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Public Member Functions

bool execute (std::vector< TrajectoryPoint > &trajectory, std::atomic< bool > &interrupt)
 
 LowBandwidthTrajectoryFollower (URCommander &commander, std::string &reverse_ip, int reverse_port, bool version_3)
 
bool start ()
 
void stop ()
 
virtual ~LowBandwidthTrajectoryFollower ()
 
- Public Member Functions inherited from ActionTrajectoryFollowerInterface
virtual ~ActionTrajectoryFollowerInterface ()
 

Private Member Functions

bool execute (const std::array< double, 6 > &positions, const std::array< double, 6 > &velocities, double sample_number, double time_in_seconds)
 

Private Attributes

URCommander & commander_
 
std::array< double, 6 > last_positions_
 
double max_joint_difference_
 
double max_waiting_time_
 
std::string program_
 
std::atomic< bool > running_
 
URServer server_
 
double servoj_gain_
 
double servoj_lookahead_time_
 
double servoj_time_
 
double servoj_time_waiting_
 
double time_interval_
 

Detailed Description

Definition at line 32 of file lowbandwidth_trajectory_follower.h.

Constructor & Destructor Documentation

LowBandwidthTrajectoryFollower::LowBandwidthTrajectoryFollower ( URCommander &  commander,
std::string &  reverse_ip,
int  reverse_port,
bool  version_3 
)

Definition at line 252 of file lowbandwidth_trajectory_follower.cpp.

virtual LowBandwidthTrajectoryFollower::~LowBandwidthTrajectoryFollower ( )
inlinevirtual

Definition at line 55 of file lowbandwidth_trajectory_follower.h.

Member Function Documentation

bool LowBandwidthTrajectoryFollower::execute ( const std::array< double, 6 > &  positions,
const std::array< double, 6 > &  velocities,
double  sample_number,
double  time_in_seconds 
)
private

Definition at line 326 of file lowbandwidth_trajectory_follower.cpp.

bool LowBandwidthTrajectoryFollower::execute ( std::vector< TrajectoryPoint > &  trajectory,
std::atomic< bool > &  interrupt 
)
virtual

Implements ActionTrajectoryFollowerInterface.

Definition at line 359 of file lowbandwidth_trajectory_follower.cpp.

bool LowBandwidthTrajectoryFollower::start ( )
virtual

Implements ActionTrajectoryFollowerInterface.

Definition at line 299 of file lowbandwidth_trajectory_follower.cpp.

void LowBandwidthTrajectoryFollower::stop ( )
virtual

Implements ActionTrajectoryFollowerInterface.

Definition at line 397 of file lowbandwidth_trajectory_follower.cpp.

Member Data Documentation

URCommander& LowBandwidthTrajectoryFollower::commander_
private

Definition at line 37 of file lowbandwidth_trajectory_follower.h.

std::array<double, 6> LowBandwidthTrajectoryFollower::last_positions_
private

Definition at line 36 of file lowbandwidth_trajectory_follower.h.

double LowBandwidthTrajectoryFollower::max_joint_difference_
private

Definition at line 40 of file lowbandwidth_trajectory_follower.h.

double LowBandwidthTrajectoryFollower::max_waiting_time_
private

Definition at line 40 of file lowbandwidth_trajectory_follower.h.

std::string LowBandwidthTrajectoryFollower::program_
private

Definition at line 43 of file lowbandwidth_trajectory_follower.h.

std::atomic<bool> LowBandwidthTrajectoryFollower::running_
private

Definition at line 35 of file lowbandwidth_trajectory_follower.h.

URServer LowBandwidthTrajectoryFollower::server_
private

Definition at line 38 of file lowbandwidth_trajectory_follower.h.

double LowBandwidthTrajectoryFollower::servoj_gain_
private

Definition at line 40 of file lowbandwidth_trajectory_follower.h.

double LowBandwidthTrajectoryFollower::servoj_lookahead_time_
private

Definition at line 40 of file lowbandwidth_trajectory_follower.h.

double LowBandwidthTrajectoryFollower::servoj_time_
private

Definition at line 40 of file lowbandwidth_trajectory_follower.h.

double LowBandwidthTrajectoryFollower::servoj_time_waiting_
private

Definition at line 40 of file lowbandwidth_trajectory_follower.h.

double LowBandwidthTrajectoryFollower::time_interval_
private

Definition at line 40 of file lowbandwidth_trajectory_follower.h.

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

ur_modern_driver
Author(s): Thomas Timm Andersen, Simon Rasmussen
autogenerated on Fri Jun 26 2020 03:37:01