kinematics_info.h
Go to the documentation of this file.
1 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
2 
3 // -- BEGIN LICENSE BLOCK ----------------------------------------------
4 // Copyright 2019 FZI Forschungszentrum Informatik
5 // Created on behalf of Universal Robots A/S
6 //
7 // Licensed under the Apache License, Version 2.0 (the "License");
8 // you may not use this file except in compliance with the License.
9 // You may obtain a copy of the License at
10 //
11 // http://www.apache.org/licenses/LICENSE-2.0
12 //
13 // Unless required by applicable law or agreed to in writing, software
14 // distributed under the License is distributed on an "AS IS" BASIS,
15 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
16 // See the License for the specific language governing permissions and
17 // limitations under the License.
18 // -- END LICENSE BLOCK ------------------------------------------------
19 
20 //----------------------------------------------------------------------
27 //----------------------------------------------------------------------
28 
29 #ifndef UR_CLIENT_LIBRARY_KINEMATICS_INFO_H_INCLUDED
30 #define UR_CLIENT_LIBRARY_KINEMATICS_INFO_H_INCLUDED
31 
34 namespace urcl
35 {
36 namespace primary_interface
37 {
43 class KinematicsInfo : public RobotState
44 {
45 public:
47  {
48  }
54  explicit KinematicsInfo(const RobotStateType type) : RobotState(type)
55  {
56  }
57 
59  {
60  checksum_ = other.checksum_;
61  dh_theta_ = other.dh_theta_;
62  dh_a_ = other.dh_a_;
63  dh_d_ = other.dh_d_;
64  dh_alpha_ = other.dh_alpha_;
66  }
67  virtual ~KinematicsInfo() = default;
68 
77  virtual bool parseWith(comm::BinParser& bp);
78 
86  virtual bool consumeWith(AbstractPrimaryConsumer& consumer);
87 
93  virtual std::string toString() const;
94 
100  std::string toHash() const;
101 
107  uint32_t calibration_status_; // According to the docs this should be uint8_t, but then I have 3 bytes left.
108 };
109 
110 } // namespace primary_interface
111 } // namespace urcl
112 
113 #endif // ifndef UR_CLIENT_LIBRARY_KINEMATICS_INFO_H_INCLUDED
urcl::primary_interface::KinematicsInfo::KinematicsInfo
KinematicsInfo(const KinematicsInfo &other)
Definition: kinematics_info.h:58
urcl::primary_interface::KinematicsInfo::dh_theta_
vector6d_t dh_theta_
Definition: kinematics_info.h:103
urcl::primary_interface::KinematicsInfo::toHash
std::string toHash() const
Calculates a hash value of the parameters to allow for identification of a calibration.
Definition: kinematics_info.cpp:98
types.h
urcl::primary_interface::KinematicsInfo::dh_d_
vector6d_t dh_d_
Definition: kinematics_info.h:105
urcl
Definition: bin_parser.h:36
urcl::primary_interface::KinematicsInfo::consumeWith
virtual bool consumeWith(AbstractPrimaryConsumer &consumer)
Consume this specific package with a specific consumer.
Definition: kinematics_info.cpp:51
urcl::primary_interface::KinematicsInfo::calibration_status_
uint32_t calibration_status_
Definition: kinematics_info.h:107
urcl::primary_interface::KinematicsInfo::~KinematicsInfo
virtual ~KinematicsInfo()=default
urcl::primary_interface::KinematicsInfo::parseWith
virtual bool parseWith(comm::BinParser &bp)
Sets the attributes of the package by parsing a serialized representation of the package.
Definition: kinematics_info.cpp:39
urcl::vector6d_t
std::array< double, 6 > vector6d_t
Definition: types.h:30
urcl::vector6uint32_t
std::array< uint32_t, 6 > vector6uint32_t
Definition: types.h:32
urcl::primary_interface::KinematicsInfo::KinematicsInfo
KinematicsInfo(const RobotStateType type)
Creates a new KinematicsInfo object.
Definition: kinematics_info.h:54
urcl::primary_interface::KinematicsInfo::toString
virtual std::string toString() const
Produces a human readable representation of the package object.
Definition: kinematics_info.cpp:56
urcl::primary_interface::RobotStateType::KINEMATICS_INFO
@ KINEMATICS_INFO
urcl::primary_interface::KinematicsInfo::dh_alpha_
vector6d_t dh_alpha_
Definition: kinematics_info.h:106
urcl::primary_interface::KinematicsInfo::KinematicsInfo
KinematicsInfo()
Definition: kinematics_info.h:46
urcl::primary_interface::RobotStateType
RobotStateType
Possible RobotState types.
Definition: robot_state.h:42
urcl::primary_interface::RobotState
Base class for a RobotState data packages will be used directly.
Definition: robot_state.h:59
urcl::comm::BinParser
The BinParser class handles a byte buffer and functionality to iteratively parse the content.
Definition: bin_parser.h:44
urcl::primary_interface::KinematicsInfo
This messages contains information about the robot's calibration. The DH parameters are a combination...
Definition: kinematics_info.h:43
robot_state.h
urcl::primary_interface::KinematicsInfo::dh_a_
vector6d_t dh_a_
Definition: kinematics_info.h:104
urcl::primary_interface::KinematicsInfo::checksum_
vector6uint32_t checksum_
Definition: kinematics_info.h:102
urcl::primary_interface::AbstractPrimaryConsumer
Base consumer for primary packages.
Definition: abstract_primary_consumer.h:50


ur_client_library
Author(s): Thomas Timm Andersen, Simon Rasmussen, Felix Exner, Lea Steffen, Tristan Schnell
autogenerated on Mon May 26 2025 02:35:58