Class LBRClient

• Defined in File friLBRClient.h

Inheritance Relationships

Base Type

• public KUKA::FRI::IClient (Class IClient)

Derived Type

• public kuka_sunrise_fri_driver::KukaFRIHardwareInterface (Class KukaFRIHardwareInterface)

Class Documentation

class LBRClient : public KUKA::FRI::IClient

Implementation of the IClient interface for the KUKA LBR (lightweight) robots.

Provides access to the current LBR state and the possibility to send new commands to the LBR.

Subclassed by kuka_sunrise_fri_driver::KukaFRIHardwareInterface

Public Functions

LBRClient()

Constructor.

~LBRClient()

Destructor.

virtual void onStateChange(ESessionState oldState, ESessionState newState)

Callback that is called whenever the FRI session state changes.

Parameters:

• oldState – previous FRI session state

• newState – current FRI session state

virtual void monitor()

Callback for the FRI session states ‘Monitoring Wait’ and ‘Monitoring Ready’.

virtual void waitForCommand()

Callback for the FRI session state ‘Commanding Wait’.

virtual void command()

Callback for the FRI session state ‘Commanding’.

inline const LBRState &robotState() const

Provide read access to the current robot state.

Returns:

Reference to the LBRState instance

inline LBRCommand &robotCommand()

Provide write access to the robot commands.

Returns:

Reference to the LBRCommand instance