ur_client_library
1.3
C++ API
Page Hierarchy
File Hierarchy
Full C++ API
Namespaces
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
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 ReverseInterface
Class ScriptCommandInterface
Class ScriptSender
Class TrajectoryPointInterface
Class DashboardClient
Class DefaultLogHandler
Template Class Limited
Class LogHandler
Class AbstractPrimaryConsumer
Class KinematicsInfo
Class PackageHeader
Class PrimaryPackage
Class PrimaryParser
Class RobotMessage
Class RobotState
Class VersionMessage
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 TimeoutException
Class ToolCommNotAvailable
Class ToolCommSetup
Class UrDriver
Class UrException
Class VersionInformation
Class VersionMismatch
Enums
Enum memory_order
Enum ControlMode
Enum SocketState
Enum FreedriveControlMessage
Enum ToolContactResult
Enum TrajectoryControlMessage
Enum TrajectoryMotionType
Enum TrajectoryResult
Enum TrajectorySplineType
Enum LogLevel
Enum Parity
Enum RobotMessagePackageType
Enum RobotPackageType
Enum RobotStateType
Enum RobotMode
Enum ClientState
Enum PackageType
Enum RUNTIME_STATE
Enum UrRtdeRobotStatusBits
Enum UrRtdeSafetyStatusBits
Enum SafetyMode
Enum SafetyStatus
Enum ToolVoltage
Functions
Function moodycamel::compilerFence
Function moodycamel::fence
Function urcl::log
Template Function urcl::operator<<
Function urcl::registerLogHandler
Function urcl::robotModeString
Function urcl::safetyModeString
Function urcl::safetyStatusString
Function urcl::setFiFoScheduling
Function urcl::setLogLevel
Function urcl::splitString
Template Function urcl::toUnderlying
Function urcl::unregisterLogHandler
Variables
Variable PIPELINE_NAME
Variable UR_RTDE_PORT
Variable urcl::primary_interface::UR_PRIMARY_PORT
Variable urcl::primary_interface::UR_SECONDARY_PORT
Variable urcl::rtde_interface::MAX_INITIALIZE_ATTEMPTS
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 MOODYCAMEL_CACHE_LINE_SIZE
Define MOODYCAMEL_EXCEPTIONS_ENABLED
Define URCL_LOG_DEBUG
Define URCL_LOG_ERROR
Define URCL_LOG_FATAL
Define URCL_LOG_INFO
Define URCL_LOG_WARN
Typedefs
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
Files
File abstract_primary_consumer.h
File atomicops.h
File bin_parser.h
File calibration_checker.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 data_package.h
File datatypes.h
File default_log_handler.h
File exceptions.h
File get_urcontrol_version.h
File helpers.h
File kinematics_info.h
File LICENSE.md
File log.h
File package.h
File package_header.h
File package_header.h
File package_serializer.h
File parser.h
File pipeline.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_receive_timeout.h
File robot_state.h
File rtde_client.h
File rtde_package.h
File rtde_parser.h
File rtde_writer.h
File script_command_interface.h
File script_sender.h
File shell_consumer.h
File stream.h
File tcp_server.h
File tcp_socket.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
LICENSE
Standard Documents
CHANGELOG
Changelog for package ur_client_library
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
Use this library in other projects
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
Documentation
Polyscope version compatibility
Setting up Ubuntu with a PREEMPT_RT kernel
Index
ur_client_library
C++ API
Enum TrajectoryMotionType
View page source
Enum TrajectoryMotionType
Defined in
File trajectory_point_interface.h
Enum Documentation
enum
class
urcl
::
control
::
TrajectoryMotionType
:
int32_t
Motion Types
Values:
enumerator
JOINT_POINT
enumerator
CARTESIAN_POINT
enumerator
JOINT_POINT_SPLINE