Class RobotModeData

Inheritance Relationships

Base Type

Class Documentation

class RobotModeData : public urcl::primary_interface::RobotState

This messages contains data about the mode of the robot.

Public Functions

RobotModeData() = delete
inline RobotModeData(const RobotStateType type)

Creates a new RobotModeData object.

Parameters:

type – The type of RobotState message received

RobotModeData(const RobotModeData &pkg)

Creates a copy of a RobotModeData object.

Parameters:

pkg – The RobotModeData object to be copied

virtual ~RobotModeData() = default
virtual bool parseWith(comm::BinParser &bp)

Sets the attributes of the package by parsing a serialized representation of the package.

Parameters:

bp – A parser containing a serialized version of the package

Returns:

True, if the package was parsed successfully, false otherwise

virtual bool consumeWith(AbstractPrimaryConsumer &consumer)

Consume this specific package with a specific consumer.

Parameters:

consumer – Placeholder for the consumer calling this

Returns:

true on success

virtual std::string toString() const

Produces a human readable representation of the package object.

Returns:

A string representing the object

Public Members

uint64_t timestamp_
bool is_real_robot_connected_
bool is_real_robot_enabled_
bool is_robot_power_on_
bool is_emergency_stopped_
bool is_protective_stopped_
bool is_program_running_
bool is_program_paused_
int8_t robot_mode_
uint8_t control_mode_
double target_speed_fraction_
double speed_scaling_
double target_speed_fraction_limit_
std::string reserved_