#include <robot_interface.h>

Public 成员函数
	RobotInterface ()

virtual	~RobotInterface ()

RobotConfigPtr	getRobotConfig ()
	获取RobotConfig接口

MotionControlPtr	getMotionControl ()
	获取运动规划接口

ForceControlPtr	getForceControl ()
	获取力控接口

IoControlPtr	getIoControl ()
	获取IO控制的接口

SyncMovePtr	getSyncMove ()
	获取同步运动接口

RobotAlgorithmPtr	getRobotAlgorithm ()
	获取机器人实用算法接口

RobotManagePtr	getRobotManage ()
	获取机器人管理接口(上电、启动、停止等)

RobotStatePtr	getRobotState ()
	获取机器人状态接口

TracePtr	getTrace ()
	获取告警信息接口

Protected 属性
void *	d_

详细描述

在文件 robot_interface.h 第 21 行定义.

构造及析构函数说明

◆ RobotInterface()

arcs::common_interface::RobotInterface::RobotInterface ( )

◆ ~RobotInterface()

virtual arcs::common_interface::RobotInterface::~RobotInterface ( )

virtual

成员函数说明

◆ getForceControl()

ForceControlPtr arcs::common_interface::RobotInterface::getForceControl ( )

获取力控接口

返回: ForceControlPtr对象的指针

Python函数原型: getForceControl(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::ForceControl

C++示例: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

ForceControlPtr ptr =

rpc_cli->getRobotInterface(robot_name)->getForceControl();

arcs::common_interface::ForceControlPtr
std::shared_ptr< ForceControl > ForceControlPtr
Definition force_control.h:1186

◆ getIoControl()

IoControlPtr arcs::common_interface::RobotInterface::getIoControl ( )

获取IO控制的接口

返回: IoControlPtr对象的指针

Python函数原型: getIoControl(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::IoControl

C++示例: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

IoControlPtr ptr =

rpc_cli->getRobotInterface(robot_name)->getIoControl();

arcs::common_interface::IoControlPtr
std::shared_ptr< IoControl > IoControlPtr
Definition io_control.h:2091

◆ getMotionControl()

MotionControlPtr arcs::common_interface::RobotInterface::getMotionControl ( )

获取运动规划接口

返回: MotionControlPtr对象的指针

Python函数原型: getMotionControl(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::MotionControl

C++示例: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

MotionControlPtr ptr =

rpc_cli->getRobotInterface(robot_name)->getMotionControl();

arcs::common_interface::MotionControlPtr
std::shared_ptr< MotionControl > MotionControlPtr
Definition motion_control.h:2062

◆ getRobotAlgorithm()

RobotAlgorithmPtr arcs::common_interface::RobotInterface::getRobotAlgorithm ( )

获取机器人实用算法接口

返回: RobotAlgorithmPtr对象的指针

Python函数原型: getRobotAlgorithm(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::RobotAlgorithm

C++示例: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

RobotAlgorithmPtr ptr =

rpc_cli->getRobotInterface(robot_name)->getRobotAlgorithm();

arcs::common_interface::RobotAlgorithmPtr
std::shared_ptr< RobotAlgorithm > RobotAlgorithmPtr
Definition robot_algorithm.h:597

◆ getRobotConfig()

RobotConfigPtr arcs::common_interface::RobotInterface::getRobotConfig ( )

获取RobotConfig接口

返回: RobotConfigPtr对象的指针

Python函数原型: getRobotConfig(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::RobotConfig

C++示例: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

RobotConfigPtr ptr =

rpc_cli->getRobotInterface(robot_name)->getRobotConfig();

arcs::common_interface::RobotConfigPtr
std::shared_ptr< RobotConfig > RobotConfigPtr
Definition robot_config.h:1556

◆ getRobotManage()

RobotManagePtr arcs::common_interface::RobotInterface::getRobotManage ( )

获取机器人管理接口(上电、启动、停止等)

返回: RobotManagePtr对象的指针

Python函数原型: getRobotManage(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::RobotManage

C++示例: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

RobotManagePtr ptr =

rpc_cli->getRobotInterface(robot_name)->getRobotManage();

arcs::common_interface::RobotManagePtr
std::shared_ptr< RobotManage > RobotManagePtr
Definition robot_manage.h:718

◆ getRobotState()

RobotStatePtr arcs::common_interface::RobotInterface::getRobotState ( )

获取机器人状态接口

返回: RobotStatePtr对象的指针

Python函数原型: getRobotState(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::RobotState

C++示例: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

RobotStatePtr ptr =

rpc_cli->getRobotInterface(robot_name)->getRobotState();

arcs::common_interface::RobotStatePtr
std::shared_ptr< RobotState > RobotStatePtr
Definition robot_state.h:1291

◆ getSyncMove()

SyncMovePtr arcs::common_interface::RobotInterface::getSyncMove ( )

获取同步运动接口

返回: SyncMovePtr对象的指针

Python函数原型: getSyncMove(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::SyncMove

C++示例: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

SyncMovePtr ptr = rpc_cli->getRobotInterface(robot_name)->getSyncMove();

arcs::common_interface::SyncMovePtr
std::shared_ptr< SyncMove > SyncMovePtr
Definition sync_move.h:200

◆ getTrace()

TracePtr arcs::common_interface::RobotInterface::getTrace ( )

获取告警信息接口

返回: TracePtr对象的指针

Python函数原型: getTrace(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::Trace

C++示例: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

TracePtr ptr = rpc_cli->getRobotInterface(robot_name)->getTrace();

arcs::common_interface::TracePtr
std::shared_ptr< Trace > TracePtr
Definition trace.h:154

类成员变量说明

◆ d_

void* arcs::common_interface::RobotInterface::d_

protected

在文件 robot_interface.h 第 205 行定义.

该类的文档由以下文件生成:

include/aubo/robot_interface.h

Public 成员函数

Protected 属性