Class KinematicsInfo

Defined in File kinematics_info.h

Inheritance Relationships

Base Type

public urcl::primary_interface::RobotState (Class RobotState)

Class Documentation

class KinematicsInfo : public urcl::primary_interface::RobotState 

This messages contains information about the robot’s calibration. The DH parameters are a combination between the perfect model parameters and the correction deltas as noted in the configuration files on the robot controller.

Public Functions

KinematicsInfo() = delete

inline KinematicsInfo(const RobotStateType type)

Creates a new KinematicsInfo object.

Parameters:: type – The type of RobotState message received

virtual ~KinematicsInfo() = 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

std::string toHash() const

Calculates a hash value of the parameters to allow for identification of a calibration.

Returns:: A hash value of the parameters

Public Members

vector6uint32_t checksum_

vector6d_t dh_theta_

vector6d_t dh_a_

vector6d_t dh_d_

vector6d_t dh_alpha_

uint32_t calibration_status_