urcl::primary_interface::KinematicsInfo Class Reference

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. More...

#include <kinematics_info.h>

Inheritance diagram for urcl::primary_interface::KinematicsInfo:

Public Member Functions
virtual bool	consumeWith (AbstractPrimaryConsumer &consumer)
	Consume this specific package with a specific consumer. More...
	KinematicsInfo ()=delete
	KinematicsInfo (const RobotStateType type)
	Creates a new KinematicsInfo object. More...
virtual bool	parseWith (comm::BinParser &bp)
	Sets the attributes of the package by parsing a serialized representation of the package. More...
std::string	toHash () const
	Calculates a hash value of the parameters to allow for identification of a calibration. More...
virtual std::string	toString () const
	Produces a human readable representation of the package object. More...
virtual	~KinematicsInfo ()=default
Public Member Functions inherited from urcl::primary_interface::RobotState
	RobotState ()=delete
	RobotState (const RobotStateType type)
	Creates a new RobotState object, setting the type of state message. More...
virtual	~RobotState ()=default
Public Member Functions inherited from urcl::primary_interface::PrimaryPackage
	PrimaryPackage ()
	Creates a new PrimaryPackage object. More...
virtual	~PrimaryPackage ()=default
Public Member Functions inherited from urcl::comm::URPackage< PackageHeader >
	URPackage ()=default
	Creates a new URPackage object. More...
virtual	~URPackage ()=default

Public Attributes
uint32_t	calibration_status_
vector6uint32_t	checksum_
vector6d_t	dh_a_
vector6d_t	dh_alpha_
vector6d_t	dh_d_
vector6d_t	dh_theta_

Additional Inherited Members
Public Types inherited from urcl::comm::URPackage< PackageHeader >
using	HeaderType = PackageHeader
Protected Attributes inherited from urcl::primary_interface::PrimaryPackage
std::unique_ptr< uint8_t >	buffer_
size_t	buffer_length_

Detailed Description

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.

Definition at line 42 of file kinematics_info.h.

Constructor & Destructor Documentation

urcl::primary_interface::KinematicsInfo::KinematicsInfo ( )

delete

urcl::primary_interface::KinematicsInfo::KinematicsInfo ( const RobotStateType  type )

inline

Creates a new KinematicsInfo object.

Parameters

type	The type of RobotState message received

Definition at line 51 of file kinematics_info.h.

virtual urcl::primary_interface::KinematicsInfo::~KinematicsInfo ( )

virtualdefault

Member Function Documentation

bool urcl::primary_interface::KinematicsInfo::consumeWith ( AbstractPrimaryConsumer &  consumer )

virtual

Consume this specific package with a specific consumer.

Parameters

consumer

Placeholder for the consumer calling this

Returns

true on success

Reimplemented from urcl::primary_interface::RobotState.

Definition at line 50 of file kinematics_info.cpp.

bool urcl::primary_interface::KinematicsInfo::parseWith ( comm::BinParser &  bp )

virtual

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

Reimplemented from urcl::primary_interface::RobotState.

Definition at line 38 of file kinematics_info.cpp.

std::string urcl::primary_interface::KinematicsInfo::toHash

(

)

const

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

Returns

A hash value of the parameters

Definition at line 97 of file kinematics_info.cpp.

std::string urcl::primary_interface::KinematicsInfo::toString ( ) const

virtual

Produces a human readable representation of the package object.

Returns

A string representing the object

Reimplemented from urcl::primary_interface::RobotState.

Definition at line 55 of file kinematics_info.cpp.

Member Data Documentation

uint32_t urcl::primary_interface::KinematicsInfo::calibration_status_

Definition at line 94 of file kinematics_info.h.

vector6uint32_t urcl::primary_interface::KinematicsInfo::checksum_

Definition at line 89 of file kinematics_info.h.

vector6d_t urcl::primary_interface::KinematicsInfo::dh_a_

Definition at line 91 of file kinematics_info.h.

vector6d_t urcl::primary_interface::KinematicsInfo::dh_alpha_

Definition at line 93 of file kinematics_info.h.

vector6d_t urcl::primary_interface::KinematicsInfo::dh_d_

Definition at line 92 of file kinematics_info.h.

vector6d_t urcl::primary_interface::KinematicsInfo::dh_theta_

Definition at line 90 of file kinematics_info.h.

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The documentation for this class was generated from the following files:

• kinematics_info.h
• kinematics_info.cpp