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include
motoman_driver
motion_ctrl.h
Go to the documentation of this file.
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2013, Southwest Research Institute
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Southwest Research Institute, nor the names
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* of its contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef MOTOMAN_DRIVER_MOTION_CTRL_H
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#define MOTOMAN_DRIVER_MOTION_CTRL_H
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#include "
simple_message/smpl_msg_connection.h
"
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#include "
motoman_driver/simple_message/motoman_motion_ctrl.h
"
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#include "
motoman_driver/simple_message/motoman_motion_reply.h
"
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#include <string>
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namespace
motoman
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{
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namespace
motion_ctrl
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{
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using
industrial::smpl_msg_connection::SmplMsgConnection
;
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using
motoman::simple_message::motion_reply::MotionReply
;
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typedef
motoman::simple_message::motion_ctrl::MotionControlCmd
MotionControlCmd
;
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class
MotomanMotionCtrl
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{
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public
:
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MotomanMotionCtrl
() {}
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bool
init
(
SmplMsgConnection
* connection,
int
robot_id);
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public
:
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bool
controllerReady
();
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bool
setTrajMode
(
bool
enable);
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bool
stopTrajectory
();
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static
std::string
getErrorString
(
const
MotionReply
&reply);
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protected
:
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SmplMsgConnection
*
connection_
;
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int
robot_id_
;
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bool
sendAndReceive
(MotionControlCmd
command
,
MotionReply
&reply);
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};
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}
// namespace motion_ctrl
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}
// namespace motoman
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#endif // MOTOMAN_DRIVER_MOTION_CTRL_H
motoman::simple_message::motion_ctrl::MotionControlCmds::MotionControlCmd
MotionControlCmd
Definition:
motoman_motion_ctrl.h:58
motoman::motion_ctrl::MotionControlCmd
motoman::simple_message::motion_ctrl::MotionControlCmd MotionControlCmd
Definition:
motion_ctrl.h:45
motoman::motion_ctrl::MotomanMotionCtrl::stopTrajectory
bool stopTrajectory()
Definition:
motion_ctrl.cpp:93
industrial::smpl_msg_connection::SmplMsgConnection
motoman::motion_ctrl::MotomanMotionCtrl
Wrapper class around Motoman-specific motion control commands.
Definition:
motion_ctrl.h:51
command
SmCommandType command
Definition:
SimpleMessage.h:176
motoman::motion_ctrl::MotomanMotionCtrl::sendAndReceive
bool sendAndReceive(MotionControlCmd command, MotionReply &reply)
Definition:
motion_ctrl.cpp:112
motoman
Definition:
io_ctrl.h:44
motoman_motion_reply.h
motoman::motion_ctrl::MotomanMotionCtrl::init
bool init(SmplMsgConnection *connection, int robot_id)
Definition:
motion_ctrl.cpp:51
motoman::motion_ctrl::MotomanMotionCtrl::setTrajMode
bool setTrajMode(bool enable)
Definition:
motion_ctrl.cpp:73
motoman::motion_ctrl::MotomanMotionCtrl::MotomanMotionCtrl
MotomanMotionCtrl()
Default constructor.
Definition:
motion_ctrl.h:57
motoman::motion_ctrl::MotomanMotionCtrl::getErrorString
static std::string getErrorString(const MotionReply &reply)
Definition:
motion_ctrl.cpp:135
motoman::simple_message::motion_reply::MotionReply
Class encapsulated motion control reply data. These messages are sent by the FS100 controller in resp...
Definition:
motoman_motion_reply.h:141
motoman::motion_ctrl::MotomanMotionCtrl::controllerReady
bool controllerReady()
Definition:
motion_ctrl.cpp:58
smpl_msg_connection.h
motoman::motion_ctrl::MotomanMotionCtrl::connection_
SmplMsgConnection * connection_
Definition:
motion_ctrl.h:69
motoman::motion_ctrl::MotomanMotionCtrl::robot_id_
int robot_id_
Definition:
motion_ctrl.h:70
motoman_motion_ctrl.h
motoman_driver
Author(s): Jeremy Zoss (Southwest Research Institute), Ted Miller (MotoROS) (Yaskawa Motoman), Eric Marcil (MotoROS) (Yaskawa Motoman)
autogenerated on Sat May 8 2021 02:27:43