ur_client_library: Humble
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C++ API
Page Hierarchy
Full C++ API
Namespaces
Namespace httplib
Namespace moodycamel
Namespace moodycamel::spsc_sema
Namespace std
Namespace urcl
Namespace urcl::comm
Namespace urcl::control
Namespace urcl::primary_interface
Namespace urcl::rtde_interface
Classes and Structs
Struct ReaderWriterQueue::Block
Struct ReaderWriterQueue::ReentrantGuard
Struct ReverseInterfaceConfig
Struct ScriptReader::BlockState
Struct SplinePrimitive
Struct DashboardCommandG5
Struct DashboardResponse
Template Struct HandlerFunction
Struct ConfigurationData::JointMotionLimits
Struct ConfigurationData::JointPositionLimits
Struct ErrorCode
Struct ScriptInfo
Struct ProgramInformation
Struct UrDriverConfiguration
Template Class BlockingReaderWriterQueue
Template Class ReaderWriterQueue
Class LightweightSemaphore
Template Class WeakAtomic
Class CalibrationChecker
Class BinParser
Class ControlModeTypes
Template Class IConsumer
Class INotifier
Template Class IProducer
Template Class MultiConsumer
Class PackageSerializer
Template Class Parser
Template Class Pipeline
Template Class ShellConsumer
Class TCPServer
Class TCPSocket
Template Class URPackage
Template Class URProducer
Template Class URStream
Class MotionPrimitive
Class MotionPrimitiveWithTarget
Class MoveCPrimitive
Class MoveJPrimitive
Class MoveLPrimitive
Class MovePPrimitive
Class OptimoveJPrimitive
Class OptimoveLPrimitive
Class ReverseInterface
Class ScriptCommandInterface
Class ScriptReader
Class ScriptSender
Class TrajectoryPointInterface
Class DashboardClient
Class DashboardClientImpl
Class DashboardClientImplG5
Class DashboardClientImplX
Class DefaultLogHandler
Class ExampleRobotWrapper
Class IncompatibleRobotVersion
Class InstructionExecutor
Class InvalidRange
Template Class Limited
Class LogHandler
Class MissingArgument
Class NotImplementedException
Class Pose
Class AbstractPrimaryConsumer
Class ConfigurationData
Class ErrorCodeMessage
Class KeyMessage
Class KinematicsInfo
Class MasterboardData
Class PackageHeader
Class PrimaryClient
Class PrimaryConsumer
Class PrimaryPackage
Class PrimaryParser
Class RobotMessage
Class RobotModeData
Class RobotState
Class RuntimeExceptionMessage
Class SafetyModeMessage
Class TextMessage
Class VersionMessage
Class Q
Class RobotReceiveTimeout
Class ControlPackagePause
Class ControlPackagePauseRequest
Class ControlPackageSetupInputs
Class ControlPackageSetupInputsRequest
Class ControlPackageSetupOutputs
Class ControlPackageSetupOutputsRequest
Class ControlPackageStart
Class ControlPackageStartRequest
Class DataPackage
Class GetUrcontrolVersion
Class GetUrcontrolVersionRequest
Class PackageHeader
Class RequestProtocolVersion
Class RequestProtocolVersionRequest
Class RTDEClient
Class RTDEPackage
Class RTDEParser
Class RTDEWriter
Class TextMessage
Class RTDEInputConflictException
Class RTDEInvalidKeyException
Class ScriptCodeSyntaxException
Class TimeoutException
Class ToolCommNotAvailable
Class ToolCommSetup
Class UnexpectedResponse
Class UnknownVariable
Class UnsupportedMotionType
Class UrDriver
Class UrException
Class VersionInformation
Class VersionMismatch
Enums
Enum memory_order
Enum AnalogOutputType
Enum ControlMode
Enum SocketState
Enum FreedriveControlMessage
Enum MotionType
Enum ToolContactResult
Enum TrajectoryControlMessage
Enum TrajectoryResult
Enum TrajectorySplineType
Enum LogLevel
Enum Parity
Enum ReportLevel
Enum RobotMessagePackageType
Enum RobotPackageType
Enum RobotStateType
Enum ScriptTypes
Enum RobotMode
Enum RobotSeries
Enum RobotType
Enum ClientState
Enum PackageType
Enum RUNTIME_STATE
Enum UrRtdeRobotStatusBits
Enum UrRtdeSafetyStatusBits
Enum SafetyMode
Enum SafetyStatus
Enum ToolVoltage
Functions
Function getLastSocketErrorCode
Function makeSocketError
Function moodycamel::compilerFence
Function moodycamel::fence
Template Function urcl::clampToUnitRange
Function urcl::control::motionTypeToString
Function urcl::control::operator!=
Function urcl::control::operator<
Function urcl::control::operator<=
Function urcl::control::operator==
Function urcl::control::operator>
Function urcl::control::operator>=
Function urcl::control::trajectoryResultToString
Function urcl::log
Template Function urcl::operator<<(std::ostream&, const std::array<T, N>&)
Function urcl::operator<<(std::ostream&, const ProgramInformation&)
Function urcl::operator<<(std::ostream&, const std::vector<ProgramInformation>)
Function urcl::operator==(const Q&, const Q&)
Function urcl::operator==(const Q&, const vector6d_t&)
Function urcl::parseBoolean
Function urcl::primary_interface::robotStateString
Function urcl::registerLogHandler
Function urcl::robotModeString
Function urcl::robotSeriesFromTypeAndVersion
Function urcl::robotSeriesString
Function urcl::robotTypeFromString
Function urcl::robotTypeString
Function urcl::safetyModeString
Function urcl::safetyStatusString
Function urcl::setFiFoScheduling
Function urcl::setLogLevel
Function urcl::splitString
Function urcl::strerror_portable
Template Function urcl::toUnderlying
Function urcl::unregisterLogHandler
Function urcl::waitFor
Variables
Variable UR_RTDE_PORT
Variable urcl::primary_interface::UR_PRIMARY_PORT
Variable urcl::primary_interface::UR_SECONDARY_PORT
Variable urcl::rtde_interface::MAX_REQUEST_RETRIES
Variable urcl::rtde_interface::MAX_RTDE_PROTOCOL_VERSION
Defines
Define AE_ALIGN
Define AE_ARCH_UNKNOWN
Define AE_FORCEINLINE
Define AE_UNUSED
Define AE_USE_STD_ATOMIC_FOR_WEAK_ATOMIC
Define INVALID_SOCKET
Define MOODYCAMEL_CACHE_LINE_SIZE
Define MOODYCAMEL_EXCEPTIONS_ENABLED
Define MSG_NOSIGNAL
Define ur_close
Define ur_setsockopt
Define URCL_LOG_DEBUG
Define URCL_LOG_ERROR
Define URCL_LOG_FATAL
Define URCL_LOG_INFO
Define URCL_LOG_WARN
Define URCL_SILENCE_DEPRECATED_BEGIN
Define URCL_SILENCE_DEPRECATED_END
Typedefs
Typedef httplib::UploadFormDataItems
Typedef socket_t
Typedef urcl::MotionTarget
Typedef urcl::vector3d_t
Typedef urcl::vector6d_t
Typedef urcl::vector6int32_t
Typedef urcl::vector6uint32_t
Directories
Directory include
Directory ur_client_library
Directory comm
Directory control
Directory primary
Directory robot_message
Directory robot_state
Directory queue
Directory rtde
Directory ur
Directory urcl_3rdparty
Files
File abstract_primary_consumer.h
File atomicops.h
File bin_parser.h
File calibration_checker.h
File configuration_data.h
File control_mode.h
File control_package_pause.h
File control_package_setup_inputs.h
File control_package_setup_outputs.h
File control_package_start.h
File dashboard_client.h
File dashboard_client_implementation.h
File dashboard_client_implementation_g5.h
File dashboard_client_implementation_x.h
File data_package.h
File datatypes.h
File default_log_handler.h
File error_code_message.h
File example_robot_wrapper.h
File exceptions.h
File get_urcontrol_version.h
File helpers.h
File instruction_executor.h
File key_message.h
File kinematics_info.h
File log.h
File masterboard_data.h
File motion_primitives.h
File package.h
File package_header.h
File package_header.h
File package_serializer.h
File parser.h
File pipeline.h
File portable_endian.h
File primary_client.h
File primary_consumer.h
File primary_package.h
File primary_parser.h
File producer.h
File readerwriterqueue.h
File request_protocol_version.h
File reverse_interface.h
File robot_message.h
File robot_mode_data.h
File robot_receive_timeout.h
File robot_state.h
File rtde_client.h
File rtde_package.h
File rtde_parser.h
File rtde_writer.h
File runtime_exception_message.h
File safety_mode_message.h
File script_command_interface.h
File script_reader.h
File script_sender.h
File shell_consumer.h
File socket_t.h
File stream.h
File tcp_server.h
File tcp_socket.h
File text_message.h
File text_message.h
File tool_communication.h
File trajectory_point_interface.h
File types.h
File ur_driver.h
File version_information.h
File version_message.h
Pages
Deprecated List
Standard Documents
CHANGELOG
Changelog for package ur_client_library
2.12.0 (2026-05-19)
2.11.0 (2026-05-05)
2.10.0 (2026-04-17)
2.9.0 (2026-03-27)
2.8.0 (2026-03-20)
2.7.0 (2026-02-18)
2.6.1 (2025-12-01)
2.6.0 (2025-11-10)
2.5.0 (2025-10-24)
2.4.0 (2025-10-13)
2.3.0 (2025-09-15)
2.2.0 (2025-07-21)
2.1.0 (2025-06-18)
2.0.0 (2025-04-16)
1.9.0 (2025-03-28)
1.8.0 (2025-03-17)
1.7.1 (2025-02-25)
1.7.0 (2025-02-19)
1.6.0 (2025-01-23)
1.5.0 (2024-11-25)
1.4.0 (2024-09-10)
1.3.7 (2024-06-03)
1.3.6 (2024-04-04)
1.3.5 (2024-02-23)
1.3.4 (2023-09-22)
1.3.3 (2023-09-05)
1.3.2 (2023-07-13)
1.3.1 (2022-11-30)
1.3.0 (2022-11-28)
1.2.0 (2022-10-04)
1.1.0 (2022-04-22)
1.0.0 (2021-06-18)
0.1.1 (2020-09-15)
0.1.0 (2020-09-11)
PACKAGE
README
Universal Robots Client Library
Requirements
Build instructions
License
Library contents
Example driver
Architecture
A word on the primary / secondary interface
A word on Real-Time scheduling
Producer / Consumer architecture
Logging configuration
Contributor Guidelines
Acknowledgment
ROS Package Dependencies
ament_cmake
Documentation
ur_client_library
Build / installation
Setup a robot
Robot setup
Network setup
Setup URSim with Docker
PolyScope version compatibility
Library architecture
DashboardClient
PrimaryClient
ReverseInterface
RTDEClient
Script Command Interface
ScriptReader
ScriptSender
Trajectory Point Interface
UrDriver
Instruction Executor
Usage examples
Dashboard client example
Force Mode example
Freedrive Mode example
Instruction Executor example
Primary Pipeline example
Primary Pipeline Calibration example
RTDE Client example
External FTS example
Script command interface
Script Sender example
Send script example
Spline Interpolation example
Tool Contact example
Torque control example
Trajectory Joint Interface example
Example driver
Setup for real-time scheduling
Migration notes
C++ API Reference
Index
ur_client_library: Humble
C++ API
Function urcl::control::motionTypeToString
View page source
Function urcl::control::motionTypeToString
Defined in
File motion_primitives.h
Function Documentation
std
::
string
urcl
::
control
::
motionTypeToString
(
const
MotionType
type
)