Class LBRCommand

Defined in File friLBRCommand.h

Class Documentation

class LBRCommand

Wrapper class for the FRI command message for a KUKA LBR (lightweight) robot.

Public Functions

void setJointPosition(const double *values)

Set the joint positions for the current interpolation step.

This method is only effective when the client is in a commanding state.

Parameters:: values – Array with the new joint positions (in rad)

void setWrench(const double *wrench)

Set the applied wrench vector of the current interpolation step.

The wrench vector consists of: [F_x, F_y, F_z, tau_A, tau_B, tau_C]

F … forces (in N) applied along the Cartesian axes of the currently used motion center. tau … torques (in Nm) applied along the orientation angles (Euler angles A, B, C) of the currently used motion center.

This method is only effective when the client is in a commanding state. The ControlMode of the robot has to be Cartesian impedance control mode. The Client Command Mode has to be wrench.

Parameters:: wrench – Applied Cartesian wrench vector.

void setTorque(const double *torques)

Set the applied joint torques for the current interpolation step.

This method is only effective when the client is in a commanding state. The ControlMode of the robot has to be joint impedance control mode. The Client Command Mode has to be torque.

Parameters:: torques – Array with the applied torque values (in Nm)

void setBooleanIOValue(const char *name, const bool value)

Set boolean output value.

Throws:

FRIException – Throws a FRIException if more outputs are set than can be registered.
FRIException – May throw an FRIException if the IO is of wrong type, unknown or not an output.

Parameters:

name – Full name of the IO (Syntax “IOGroupName.IOName”).
value – Boolean value to set.

void setDigitalIOValue(const char *name, const unsigned long long value)

Set digital output value.

Throws:

FRIException – Throws a FRIException if more outputs are set than can be registered.
FRIException – May throw an FRIException if the IO is of wrong type, unknown or not an output.

Parameters:

name – Full name of the IO (Syntax “IOGroupName.IOName”).
value – Digital value to set.

void setAnalogIOValue(const char *name, const double value)

Set analog output value.

Throws:

FRIException – Throws a FRIException if more outputs are set than can be registered.
FRIException – May throw an FRIException if the IO is of wrong type, unknown or not an output.

Parameters:

name – Full name of the IO (Syntax “IOGroupName.IOName”).
value – Analog value to set.

Protected Attributes

FRICommandMessage *_cmdMessage: FRI command message (protobuf struct)

FRIMonitoringMessage *_monMessage: FRI monitoring message (protobuf struct)

Protected Static Attributes

static const int LBRCOMMANDMESSAGEID = 0x34001: type identifier for the FRI command message corresponding to a KUKA LBR robot