Class InstructionExecutor
Defined in File instruction_executor.h
Class Documentation
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class InstructionExecutor
Public Functions
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InstructionExecutor() = delete
Execute a sequence of motion primitives.
This function will execute a sequence of motion primitives. The robot will move according to the given motion primitives. The function will return once the robot has reached the final target.
- Parameters:
motion_sequence – The sequence of motion primitives to execute
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bool moveJ(const urcl::vector6d_t &target, const double acceleration = 1.4, const double velocity = 1.04, const double time = 0, const double blend_radius = 0)
Move the robot to a joint target.
This function will move the robot to the given joint target. The robot will move with the given acceleration and velocity. The function will return once the robot has reached the target.
- Parameters:
target – The joint target to move to.
acceleration – Joint acceleration of leading axis [rad/s^2]
velocity – Joint speed of leading axis [rad/s]
time – The time to reach the target. If set to 0, the robot will move with the given acceleration and velocity.
blend_radius – The blend radius to use for the motion.
- Returns:
True if the robot has reached the target, false otherwise.
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bool moveL(const urcl::Pose &target, const double acceleration = 1.4, const double velocity = 1.04, const double time = 0, const double blend_radius = 0)
Move the robot to a pose target.
This function will move the robot to the given pose target. The robot will move with the given acceleration and velocity. The function will return once the robot has reached the target.
- Parameters:
target – The pose target to move to.
acceleration – Tool acceleration [m/s^2]
velocity – Tool speed [m/s]
time – The time to reach the target. If set to 0, the robot will move with the given acceleration and velocity.
blend_radius – The blend radius to use for the motion.
- Returns:
True if the robot has reached the target, false otherwise.
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InstructionExecutor() = delete