#include <instruction_executor.h>

Public Member Functions
bool	cancelMotion ()
	Cancel the current motion. More...

bool	executeMotion (const std::vector< std::shared_ptr< control::MotionPrimitive >> &motion_sequence)
	Execute a sequence of motion primitives. More...

	InstructionExecutor ()=delete

	InstructionExecutor (std::shared_ptr< urcl::UrDriver > driver)

bool	isTrajectoryRunning () const
	Check if a trajectory is currently running. More...

bool	moveC (const urcl::Pose &via, const urcl::Pose &target, const double acceleration=1.4, const double velocity=1.04, const double blend_radius=0.0, const int32_t mode=0)
	Move the robot to a pose target using movec. More...

bool	moveJ (const urcl::vector6d_t &target, const double acceleration=1.4, const double velocity=1.04, const double time=0, const double blend_radius=0)
	Move the robot to a joint target. More...

bool	moveL (const urcl::Pose &target, const double acceleration=1.4, const double velocity=1.04, const double time=0, const double blend_radius=0)
	Move the robot to a pose target using movel. More...

bool	moveP (const urcl::Pose &target, const double acceleration=1.4, const double velocity=1.04, const double blend_radius=0.0)
	Move the robot to a pose target using movep. More...

	~InstructionExecutor ()

Private Member Functions
void	trajDisconnectCallback (const int filedescriptor)

void	trajDoneCallback (const urcl::control::TrajectoryResult &result)

Private Attributes
std::atomic< bool >	cancel_requested_ = false

std::shared_ptr< urcl::UrDriver >	driver_

std::condition_variable	trajectory_done_cv_

urcl::control::TrajectoryResult	trajectory_result_

std::mutex	trajectory_result_mutex_

std::atomic< bool >	trajectory_running_ = false

Detailed Description

Definition at line 39 of file instruction_executor.h.

Constructor & Destructor Documentation

◆ InstructionExecutor() [1/2]

urcl::InstructionExecutor::InstructionExecutor ( )

delete

◆ InstructionExecutor() [2/2]

urcl::InstructionExecutor::InstructionExecutor ( std::shared_ptr< urcl::UrDriver > driver )

inline

Definition at line 43 of file instruction_executor.h.

◆ ~InstructionExecutor()

urcl::InstructionExecutor::~InstructionExecutor ( )

inline

Definition at line 51 of file instruction_executor.h.

Member Function Documentation

◆ cancelMotion()

bool urcl::InstructionExecutor::cancelMotion ( )

Cancel the current motion.

If no motion is running, false will be returned. If a motion is running, it will be canceled and it will wait for a TRAJECTORY_CANCELED result with a timeout of one second.

If another result or no result is received, false will be returned.

Definition at line 122 of file src/ur/instruction_executor.cpp.

◆ executeMotion()

bool urcl::InstructionExecutor::executeMotion ( const std::vector< std::shared_ptr< control::MotionPrimitive >> & motion_sequence )

Execute a sequence of motion primitives.

This function will execute a sequence of motion primitives. The robot will move according to the given motion primitives. The function will return once the robot has reached the final target.

Parameters

motion_sequence The sequence of motion primitives to execute

Definition at line 55 of file src/ur/instruction_executor.cpp.

◆ isTrajectoryRunning()

bool urcl::InstructionExecutor::isTrajectoryRunning ( ) const

inline

Check if a trajectory is currently running.

Definition at line 149 of file instruction_executor.h.

◆ moveC()

bool urcl::InstructionExecutor::moveC	(	const urcl::Pose &	via,
		const urcl::Pose &	target,
		const double	acceleration = `1.4`,
		const double	velocity = `1.04`,
		const double	blend_radius = `0.0`,
		const int32_t	mode = `0`
	)

Move the robot to a pose target using movec.

This function will move the robot to the given pose target in a circular motion going through via. The robot will move with the given acceleration and velocity. The function will return once the robot has reached the target.

Parameters

via	The circle will be defined by the current pose (the end pose of the previous motion), the target and the via point.
target	The pose target to move to.
acceleration	Tool acceleration [m/s^2]
velocity	Tool speed [m/s]
blend_radius	The blend radius to use for the motion.

Returns: True if the robot has reached the target, false otherwise.

Definition at line 115 of file src/ur/instruction_executor.cpp.

◆ moveJ()

bool urcl::InstructionExecutor::moveJ	(	const urcl::vector6d_t &	target,
		const double	acceleration = `1.4`,
		const double	velocity = `1.04`,
		const double	time = `0`,
		const double	blend_radius = `0`
	)

Move the robot to a joint target.

This function will move the robot to the given joint target. The robot will move with the given acceleration and velocity. The function will return once the robot has reached the target.

Parameters

target	The joint target to move to.
acceleration	Joint acceleration of leading axis [rad/s^2]
velocity	Joint speed of leading axis [rad/s]
time	The time to reach the target. If set to 0, the robot will move with the given acceleration and velocity.
blend_radius	The blend radius to use for the motion.

Returns: True if the robot has reached the target, false otherwise.

Definition at line 96 of file src/ur/instruction_executor.cpp.

◆ moveL()

bool urcl::InstructionExecutor::moveL	(	const urcl::Pose &	target,
		const double	acceleration = `1.4`,
		const double	velocity = `1.04`,
		const double	time = `0`,
		const double	blend_radius = `0`
	)

Move the robot to a pose target using movel.

This function will move the robot to the given pose target. The robot will move with the given acceleration and velocity or a motion time. The function will return once the robot has reached the target.

Parameters

target	The pose target to move to.
acceleration	Tool acceleration [m/s^2]
velocity	Tool speed [m/s]
time	The time to reach the target. If set to 0, the robot will move with the given acceleration and velocity.
blend_radius	The blend radius to use for the motion.

Returns: True if the robot has reached the target, false otherwise.

Definition at line 102 of file src/ur/instruction_executor.cpp.

◆ moveP()

bool urcl::InstructionExecutor::moveP	(	const urcl::Pose &	target,
		const double	acceleration = `1.4`,
		const double	velocity = `1.04`,
		const double	blend_radius = `0.0`
	)

Move the robot to a pose target using movep.

This function will move the robot to the given pose target. The robot will move with the given acceleration and velocity. The function will return once the robot has reached the target.

Parameters

target	The pose target to move to.
acceleration	Tool acceleration [m/s^2]
velocity	Tool speed [m/s]
blend_radius	The blend radius to use for the motion.

Returns: True if the robot has reached the target, false otherwise.

Definition at line 109 of file src/ur/instruction_executor.cpp.

◆ trajDisconnectCallback()

void urcl::InstructionExecutor::trajDisconnectCallback ( const int filedescriptor )

private

Definition at line 44 of file src/ur/instruction_executor.cpp.

◆ trajDoneCallback()

void urcl::InstructionExecutor::trajDoneCallback ( const urcl::control::TrajectoryResult & result )

private

Definition at line 36 of file src/ur/instruction_executor.cpp.

Member Data Documentation

◆ cancel_requested_

std::atomic<bool> urcl::InstructionExecutor::cancel_requested_ = false

private

Definition at line 159 of file instruction_executor.h.

◆ driver_

std::shared_ptr<urcl::UrDriver> urcl::InstructionExecutor::driver_

private

Definition at line 157 of file instruction_executor.h.

◆ trajectory_done_cv_

std::condition_variable urcl::InstructionExecutor::trajectory_done_cv_

private

Definition at line 161 of file instruction_executor.h.

◆ trajectory_result_

urcl::control::TrajectoryResult urcl::InstructionExecutor::trajectory_result_

private

Definition at line 162 of file instruction_executor.h.

◆ trajectory_result_mutex_

std::mutex urcl::InstructionExecutor::trajectory_result_mutex_

private

Definition at line 160 of file instruction_executor.h.

◆ trajectory_running_

std::atomic<bool> urcl::InstructionExecutor::trajectory_running_ = false

private

Definition at line 158 of file instruction_executor.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ InstructionExecutor() [1/2]

◆ InstructionExecutor() [2/2]

◆ ~InstructionExecutor()

Member Function Documentation

◆ cancelMotion()

◆ executeMotion()

◆ isTrajectoryRunning()

◆ moveC()

◆ moveJ()

◆ moveL()

◆ moveP()

◆ trajDisconnectCallback()

◆ trajDoneCallback()

Member Data Documentation

◆ cancel_requested_

◆ driver_

◆ trajectory_done_cv_

◆ trajectory_result_

◆ trajectory_result_mutex_

◆ trajectory_running_