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
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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
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LBRClient()
Constructor.
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~LBRClient()
Destructor.
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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
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virtual void monitor()
Callback for the FRI session states ‘Monitoring Wait’ and ‘Monitoring Ready’.
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virtual void waitForCommand()
Callback for the FRI session state ‘Commanding Wait’.
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virtual void command()
Callback for the FRI session state ‘Commanding’.
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inline const LBRState &robotState() const
Provide read access to the current robot state.
- Returns:
Reference to the LBRState instance
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inline LBRCommand &robotCommand()
Provide write access to the robot commands.
- Returns:
Reference to the LBRCommand instance
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LBRClient()