RTShared Class Reference

#include <rt_state.h>

Inheritance diagram for RTShared:

Public Attributes
double	controller_time
uint64_t	digital_inputs
std::array< double, 6 >	i_actual
std::array< double, 6 >	i_target
std::array< double, 6 >	m_target
std::array< double, 6 >	motor_temperatures
std::array< double, 6 >	q_actual
std::array< double, 6 >	q_target
std::array< double, 6 >	qd_actual
std::array< double, 6 >	qd_target
std::array< double, 6 >	qdd_target
double	robot_mode
std::array< double, 6 >	tcp_force
cartesian_coord_t	tcp_speed_actual
double	time
cartesian_coord_t	tool_vector_actual

Static Public Attributes
static const size_t	SIZE

Protected Member Functions
void	parse_shared1 (BinParser &bp)
void	parse_shared2 (BinParser &bp)

Detailed Description

Definition at line 36 of file rt_state.h.

Member Function Documentation

void RTShared::parse_shared1 ( BinParser &  bp )

protected

Definition at line 22 of file src/ur/rt_state.cpp.

void RTShared::parse_shared2 ( BinParser &  bp )

protected

Definition at line 35 of file src/ur/rt_state.cpp.

Member Data Documentation

double RTShared::controller_time

Definition at line 66 of file rt_state.h.

uint64_t RTShared::digital_inputs

Definition at line 64 of file rt_state.h.

std::array<double, 6> RTShared::i_actual

Definition at line 51 of file rt_state.h.

std::array<double, 6> RTShared::i_target

Definition at line 47 of file rt_state.h.

std::array<double, 6> RTShared::m_target

Definition at line 48 of file rt_state.h.

std::array<double, 6> RTShared::motor_temperatures

Definition at line 65 of file rt_state.h.

std::array<double, 6> RTShared::q_actual

Definition at line 49 of file rt_state.h.

std::array<double, 6> RTShared::q_target

Definition at line 44 of file rt_state.h.

std::array<double, 6> RTShared::qd_actual

Definition at line 50 of file rt_state.h.

std::array<double, 6> RTShared::qd_target

Definition at line 45 of file rt_state.h.

std::array<double, 6> RTShared::qdd_target

Definition at line 46 of file rt_state.h.

double RTShared::robot_mode

Definition at line 67 of file rt_state.h.

const size_t RTShared::SIZE

static

Initial value:

=
      sizeof(double) * 3 + sizeof(double[6]) * 10 + sizeof(cartesian_coord_t) * 2 + sizeof(uint64_t)

Definition at line 69 of file rt_state.h.

std::array<double, 6> RTShared::tcp_force

Definition at line 55 of file rt_state.h.

cartesian_coord_t RTShared::tcp_speed_actual

Definition at line 60 of file rt_state.h.

double RTShared::time

Definition at line 43 of file rt_state.h.

cartesian_coord_t RTShared::tool_vector_actual

Definition at line 59 of file rt_state.h.

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

• rt_state.h
• src/ur/rt_state.cpp