ARCS SDK API  0.24.0
Public 成员函数 | Protected 属性 | 所有成员列表
arcs::common_interface::RobotState类 参考

#include <robot_state.h>

Public 成员函数

 RobotState ()
 
virtual ~RobotState ()
 
RobotModeType getRobotModeType ()
 获取机器人的模式状态 更多...
 
SafetyModeType getSafetyModeType ()
 获取安全模式 更多...
 
bool isPowerOn ()
 获取机器人通电状态 更多...
 
bool isSteady ()
 机器人是否已经停止下来 更多...
 
bool isCollisionOccurred ()
 机器人是否发生了碰撞 更多...
 
bool isWithinSafetyLimits ()
 机器人是否已经在安全限制之内 更多...
 
std::vector< double > getTcpPose ()
 获取当前的TCP位姿,其 TCP 偏移可以通过 getActualTcpOffset 获取 更多...
 
std::vector< double > getActualTcpOffset ()
 获取当前的 TCP 偏移,也就是 getTcpPose 返回的 pose 用到的 TCP 偏移 更多...
 
std::vector< double > getTargetTcpPose ()
 获取下一个目标路点 注意与 getTcpTargetPose 的区别,此处定义存在歧义,命名需要优化 更多...
 
std::vector< double > getToolPose ()
 获取工具端的位姿(不带TCP偏移) 更多...
 
std::vector< double > getTcpSpeed ()
 获取TCP速度 更多...
 
std::vector< double > getTcpForce ()
 获取TCP的力/力矩 更多...
 
std::vector< double > getElbowPosistion ()
 获取肘部的位置 更多...
 
std::vector< double > getElbowVelocity ()
 获取肘部速度 更多...
 
std::vector< double > getBaseForce ()
 获取基座力/力矩 更多...
 
std::vector< double > getTcpTargetPose ()
 获取上一次发送的TCP目标位姿 更多...
 
std::vector< double > getTcpTargetSpeed ()
 获取TCP目标速度 更多...
 
std::vector< double > getTcpTargetForce ()
 获取TCP目标力/力矩 更多...
 
std::vector< JointStateTypegetJointState ()
 获取机械臂关节标志 更多...
 
std::vector< JointServoModeTypegetJointServoMode ()
 获取关节的伺服状态 更多...
 
std::vector< double > getJointPositions ()
 获取机械臂关节角度 更多...
 
std::vector< double > getJointPositionsHistory (int steps)
 获取机械臂历史关节角度 更多...
 
std::vector< double > getJointSpeeds ()
 获取机械臂关节速度 更多...
 
std::vector< double > getJointAccelerations ()
 获取机械臂关节加速度 更多...
 
std::vector< double > getJointTorqueSensors ()
 获取机械臂关节力矩 更多...
 
std::vector< double > getJointContactTorques ()
 获取机械臂关节接触力矩(外力距) 更多...
 
std::vector< double > getBaseForceSensor ()
 获取底座力传感器读数 更多...
 
std::vector< double > getTcpForceSensors ()
 获取TCP力传感器读数 更多...
 
std::vector< double > getJointCurrents ()
 获取机械臂关节电流 更多...
 
std::vector< double > getJointVoltages ()
 获取机械臂关节电压 更多...
 
std::vector< double > getJointTemperatures ()
 获取机械臂关节温度 更多...
 
std::vector< std::string > getJointUniqueIds ()
 获取关节全球唯一ID 更多...
 
std::vector< int > getJointFirmwareVersions ()
 获取关节固件版本 更多...
 
std::vector< int > getJointHardwareVersions ()
 获取关节硬件版本 更多...
 
std::string getMasterBoardUniqueId ()
 获取MasterBoard全球唯一ID 更多...
 
int getMasterBoardFirmwareVersion ()
 获取MasterBoard固件版本 更多...
 
int getMasterBoardHardwareVersion ()
 获取MasterBoard硬件版本 更多...
 
std::string getSlaveBoardUniqueId ()
 获取SlaveBoard全球唯一ID 更多...
 
int getSlaveBoardFirmwareVersion ()
 获取SlaveBoard固件版本 更多...
 
int getSlaveBoardHardwareVersion ()
 获取SlaveBoard硬件版本 更多...
 
std::string getToolUniqueId ()
 获取工具端全球唯一ID 更多...
 
int getToolFirmwareVersion ()
 获取工具端固件版本 更多...
 
int getToolHardwareVersion ()
 获取工具端硬件版本 更多...
 
int getToolCommMode ()
 获取末端通信模式 更多...
 
std::string getPedestalUniqueId ()
 获取底座全球唯一ID 更多...
 
int getPedestalFirmwareVersion ()
 获取底座固件版本 更多...
 
int getPedestalHardwareVersion ()
 获取底座硬件版本 更多...
 
std::vector< double > getJointTargetPositions ()
 获取机械臂关节目标位置角度 更多...
 
std::vector< double > getJointTargetSpeeds ()
 获取机械臂关节目标速度 更多...
 
std::vector< double > getJointTargetAccelerations ()
 获取机械臂关节目标加速度 更多...
 
std::vector< double > getJointTargetTorques ()
 获取机械臂关节目标力矩 更多...
 
std::vector< double > getJointTargetCurrents ()
 获取机械臂关节目标电流 更多...
 
double getControlBoxTemperature ()
 获取控制柜温度 更多...
 
double getControlBoxHumidity ()
 获取控制柜湿度 更多...
 
double getMainVoltage ()
 获取母线电压 更多...
 
double getMainCurrent ()
 获取母线电流 更多...
 
double getRobotVoltage ()
 获取机器人电压 更多...
 
double getRobotCurrent ()
 获取机器人电流 更多...
 
int getSlowDownLevel ()
 获取机器人缓速等级 更多...
 

Protected 属性

void * d_
 

详细描述

在文件 robot_state.h15 行定义.

构造及析构函数说明

arcs::common_interface::RobotState::RobotState ( )
virtual arcs::common_interface::RobotState::~RobotState ( )
virtual

成员函数说明

std::vector<double> arcs::common_interface::RobotState::getActualTcpOffset ( )

获取当前的 TCP 偏移,也就是 getTcpPose 返回的 pose 用到的 TCP 偏移

返回
当前的 TCP 偏移
std::vector<double> arcs::common_interface::RobotState::getBaseForce ( )

获取基座力/力矩

返回
基座力/力矩
异常
arcs::common_interface::AuboException
Python函数原型
getBaseForce(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getBaseForce() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getBaseForce","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
std::vector<double> arcs::common_interface::RobotState::getBaseForceSensor ( )

获取底座力传感器读数

返回
底座力传感器读数
异常
arcs::common_interface::AuboException
Python函数原型
getBaseForceSensor(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getBaseForceSensor() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getBaseForceSensor","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
double arcs::common_interface::RobotState::getControlBoxHumidity ( )

获取控制柜湿度

返回
控制柜湿度
异常
arcs::common_interface::AuboException
Python函数原型
getControlBoxHumidity(self: pyaubo_sdk.RobotState) -> float
Lua函数原型
getControlBoxHumidity() -> number
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getControlBoxHumidity","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":20.0}
double arcs::common_interface::RobotState::getControlBoxTemperature ( )

获取控制柜温度

返回
控制柜温度
异常
arcs::common_interface::AuboException
Python函数原型
getControlBoxTemperature(self: pyaubo_sdk.RobotState) -> float
Lua函数原型
getControlBoxTemperature() -> number
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getControlBoxTemperature","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":25.0}
std::vector<double> arcs::common_interface::RobotState::getElbowPosistion ( )

获取肘部的位置

返回
肘部的位置
异常
arcs::common_interface::AuboException
Python函数原型
getElbowPosistion(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getElbowPosistion() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getElbowPosistion","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.07355755887512408,-0.1325,0.43200874126125227,-1.5707963267948968,0.433006344376404,0.0]}
std::vector<double> arcs::common_interface::RobotState::getElbowVelocity ( )

获取肘部速度

返回
肘部速度
异常
arcs::common_interface::AuboException
Python函数原型
getElbowVelocity(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getElbowVelocity() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getElbowVelocity","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
std::vector<double> arcs::common_interface::RobotState::getJointAccelerations ( )

获取机械臂关节加速度

返回
机械臂关节加速度
异常
arcs::common_interface::AuboException
Python函数原型
getJointAccelerations(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getJointAccelerations() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointAccelerations","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
std::vector<double> arcs::common_interface::RobotState::getJointContactTorques ( )

获取机械臂关节接触力矩(外力距)

返回
机械臂关节接触力矩
异常
arcs::common_interface::AuboException
Python函数原型
getJointContactTorques(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getJointContactTorques() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointContactTorques","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
std::vector<double> arcs::common_interface::RobotState::getJointCurrents ( )

获取机械臂关节电流

返回
机械臂关节电流
异常
arcs::common_interface::AuboException
Python函数原型
getJointCurrents(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getJointCurrents() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointCurrents","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,1.25885009765625,-1.5289306640625,0.71868896484375,0.1007080078125,0.3021240234375]}
std::vector<int> arcs::common_interface::RobotState::getJointFirmwareVersions ( )

获取关节固件版本

返回
关节固件版本
异常
arcs::common_interface::AuboException
Python函数原型
getJointFirmwareVersions(self: pyaubo_sdk.RobotState) -> List[int]
Lua函数原型
getJointFirmwareVersions() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointFirmwareVersions","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[1000010,1000010,1000010,1000010,1000010,1000010]}
std::vector<int> arcs::common_interface::RobotState::getJointHardwareVersions ( )

获取关节硬件版本

返回
关节硬件版本
异常
arcs::common_interface::AuboException
Python函数原型
getJointHardwareVersions(self: pyaubo_sdk.RobotState) -> List[int]
Lua函数原型
getJointHardwareVersions() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointHardwareVersions","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[1000000,1000000,1004000,1004000,1004000,1004000]}
std::vector<double> arcs::common_interface::RobotState::getJointPositions ( )

获取机械臂关节角度

返回
机械臂关节角度
异常
arcs::common_interface::AuboException
Python函数原型
getJointPositions(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getJointPositions() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointPositions","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,-0.26199241371495835,1.7418102574563423,0.4330197667082982,1.5707963267948966,0.0]}
std::vector<double> arcs::common_interface::RobotState::getJointPositionsHistory ( int  steps)

获取机械臂历史关节角度

参数
steps
返回
std::vector<JointServoModeType> arcs::common_interface::RobotState::getJointServoMode ( )

获取关节的伺服状态

返回
关节的伺服状态
异常
arcs::common_interface::AuboException
Python函数原型
getJointServoMode(self: pyaubo_sdk.RobotState) -> List[arcs::common_interface::JointServoModeType]
Lua函数原型
getJointServoMode() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointServoMode","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":["Position","Position","Position","Position","Position","Position"]}
std::vector<double> arcs::common_interface::RobotState::getJointSpeeds ( )

获取机械臂关节速度

返回
机械臂关节速度
异常
arcs::common_interface::AuboException
Python函数原型
getJointSpeeds(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getJointSpeeds() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointSpeeds","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
std::vector<JointStateType> arcs::common_interface::RobotState::getJointState ( )

获取机械臂关节标志

返回
机械臂关节标志
异常
arcs::common_interface::AuboException
Python函数原型
getJointState(self: pyaubo_sdk.RobotState) -> List[arcs::common_interface::JointStateType]
Lua函数原型
getJointState() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointState","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":["Running","Running","Running","Running","Running","Running"]}
std::vector<double> arcs::common_interface::RobotState::getJointTargetAccelerations ( )

获取机械臂关节目标加速度

返回
机械臂关节目标加速度
异常
arcs::common_interface::AuboException
Python函数原型
getJointTargetAccelerations(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getJointTargetAccelerations() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetAccelerations","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,-0.6737932929246071,-12.610253240108449,0.0,0.0,0.0]}
std::vector<double> arcs::common_interface::RobotState::getJointTargetCurrents ( )

获取机械臂关节目标电流

返回
机械臂关节目标电流
异常
arcs::common_interface::AuboException
Python函数原型
getJointTargetCurrents(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getJointTargetCurrents() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetCurrents","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
std::vector<double> arcs::common_interface::RobotState::getJointTargetPositions ( )

获取机械臂关节目标位置角度

返回
机械臂关节目标位置角度
异常
arcs::common_interface::AuboException
Python函数原型
getJointTargetPositions(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getJointTargetPositions() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetPositions","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,-0.2619944355631239,1.7418124015308052,0.4330219266665035,1.5707963267948966,0.0]}
std::vector<double> arcs::common_interface::RobotState::getJointTargetSpeeds ( )

获取机械臂关节目标速度

返回
机械臂关节目标速度
异常
arcs::common_interface::AuboException
Python函数原型
getJointTargetSpeeds(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getJointTargetSpeeds() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetSpeeds","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,0.00024227101509399773,0.0016521760307419697,0.0026521060731088397,0.0,0.0]}
std::vector<double> arcs::common_interface::RobotState::getJointTargetTorques ( )

获取机械臂关节目标力矩

返回
机械臂关节目标力矩
异常
arcs::common_interface::AuboException
Python函数原型
getJointTargetTorques(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getJointTargetTorques() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetTorques","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
std::vector<double> arcs::common_interface::RobotState::getJointTemperatures ( )

获取机械臂关节温度

返回
机械臂关节温度
异常
arcs::common_interface::AuboException
Python函数原型
getJointTemperatures(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getJointTemperatures() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointTemperatures","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[38.0,38.0,38.0,39.0,38.0,39.0]}
std::vector<double> arcs::common_interface::RobotState::getJointTorqueSensors ( )

获取机械臂关节力矩

返回
机械臂关节力矩
异常
arcs::common_interface::AuboException
Python函数原型
getJointTorqueSensors(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getJointTorqueSensors() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointTorqueSensors","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,6275.367736816406,-7704.2816162109375,3586.9766235351563,503.0364990234375,1506.0882568359375]}
std::vector<std::string> arcs::common_interface::RobotState::getJointUniqueIds ( )

获取关节全球唯一ID

返回
关节全球唯一ID
异常
arcs::common_interface::AuboException
Python函数原型
getJointUniqueIds(self: pyaubo_sdk.RobotState) -> List[str]
Lua函数原型
getJointUniqueIds() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointUniqueIds","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":["00800020ffffffff31405153","00800020ffffffff3e3f5153","00800020ffffffff414b5153","00800020ffffffff31065153","00800020ffffffff41535153","00800020ffffffff41545153"]}
std::vector<double> arcs::common_interface::RobotState::getJointVoltages ( )

获取机械臂关节电压

返回
机械臂关节电压
异常
arcs::common_interface::AuboException
Python函数原型
getJointVoltages(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getJointVoltages() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getJointVoltages","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[2.0,2.5,3.0,2.0,2.5,2.0]}
double arcs::common_interface::RobotState::getMainCurrent ( )

获取母线电流

返回
母线电流
异常
arcs::common_interface::AuboException
Python函数原型
getMainCurrent(self: pyaubo_sdk.RobotState) -> float
Lua函数原型
getMainCurrent() -> number
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getMainCurrent","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":0.3204345703125}
double arcs::common_interface::RobotState::getMainVoltage ( )

获取母线电压

返回
母线电压
异常
arcs::common_interface::AuboException
Python函数原型
getMainVoltage(self: pyaubo_sdk.RobotState) -> float
Lua函数原型
getMainVoltage() -> number
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getMainVoltage","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":52.75}
int arcs::common_interface::RobotState::getMasterBoardFirmwareVersion ( )

获取MasterBoard固件版本

返回
MasterBoard固件版本
异常
arcs::common_interface::AuboException
Python函数原型
getMasterBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int
Lua函数原型
getMasterBoardFirmwareVersion() -> number
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardFirmwareVersion","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":1000004}
int arcs::common_interface::RobotState::getMasterBoardHardwareVersion ( )

获取MasterBoard硬件版本

返回
MasterBoard硬件版本
异常
arcs::common_interface::AuboException
Python函数原型
getMasterBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int
Lua函数原型
getMasterBoardHardwareVersion() -> number
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardHardwareVersion","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":1000000}
std::string arcs::common_interface::RobotState::getMasterBoardUniqueId ( )

获取MasterBoard全球唯一ID

返回
MasterBoard全球唯一ID
异常
arcs::common_interface::AuboException
Python函数原型
getMasterBoardUniqueId(self: pyaubo_sdk.RobotState) -> str
Lua函数原型
getMasterBoardUniqueId() -> string
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardUniqueId","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":"001e0044510f343037323637"}
int arcs::common_interface::RobotState::getPedestalFirmwareVersion ( )

获取底座固件版本

返回
底座固件版本
异常
arcs::common_interface::AuboException
Python函数原型
getPedestalFirmwareVersion(self: pyaubo_sdk.RobotState) -> int
Lua函数原型
getPedestalFirmwareVersion() -> number
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalFirmwareVersion","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":1000004}
int arcs::common_interface::RobotState::getPedestalHardwareVersion ( )

获取底座硬件版本

返回
底座硬件版本
异常
arcs::common_interface::AuboException
Python函数原型
getPedestalHardwareVersion(self: pyaubo_sdk.RobotState) -> int
Lua函数原型
getPedestalHardwareVersion() -> number
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalHardwareVersion","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":1007000}
std::string arcs::common_interface::RobotState::getPedestalUniqueId ( )

获取底座全球唯一ID

返回
底座全球唯一ID
异常
arcs::common_interface::AuboException
Python函数原型
getPedestalUniqueId(self: pyaubo_sdk.RobotState) -> str
Lua函数原型
getPedestalUniqueId() -> string
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalUniqueId","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":"205257533543065248544339"}
double arcs::common_interface::RobotState::getRobotCurrent ( )

获取机器人电流

返回
机器人电流
异常
arcs::common_interface::AuboException
Python函数原型
getRobotCurrent(self: pyaubo_sdk.RobotState) -> float
Lua函数原型
getRobotCurrent() -> number
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getRobotCurrent","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":0.3204345703125}
RobotModeType arcs::common_interface::RobotState::getRobotModeType ( )

获取机器人的模式状态

返回
机器人的模式状态
异常
arcs::common_interface::AuboException
Python函数原型
getRobotModeType(self: pyaubo_sdk.RobotState) -> arcs::common_interface::RobotModeType
Lua函数原型
getRobotModeType() -> number
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getRobotModeType","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":"Running"}
double arcs::common_interface::RobotState::getRobotVoltage ( )

获取机器人电压

返回
机器人电压
异常
arcs::common_interface::AuboException
Python函数原型
getRobotVoltage(self: pyaubo_sdk.RobotState) -> float
Lua函数原型
getRobotVoltage() -> number
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getRobotVoltage","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":52.75}
SafetyModeType arcs::common_interface::RobotState::getSafetyModeType ( )

获取安全模式

返回
安全模式
异常
arcs::common_interface::AuboException
Python函数原型
getSafetyModeType(self: pyaubo_sdk.RobotState) -> arcs::common_interface::SafetyModeType
Lua函数原型
getSafetyModeType() -> number
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getSafetyModeType","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":"Normal"}
int arcs::common_interface::RobotState::getSlaveBoardFirmwareVersion ( )

获取SlaveBoard固件版本

返回
SlaveBoard固件版本
异常
arcs::common_interface::AuboException
Python函数原型
getSlaveBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int
Lua函数原型
getSlaveBoardFirmwareVersion() -> number
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardFirmwareVersion","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":0}
int arcs::common_interface::RobotState::getSlaveBoardHardwareVersion ( )

获取SlaveBoard硬件版本

返回
SlaveBoard硬件版本
异常
arcs::common_interface::AuboException
Python函数原型
getSlaveBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int
Lua函数原型
getSlaveBoardHardwareVersion() -> number
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardHardwareVersion","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":6030098}
std::string arcs::common_interface::RobotState::getSlaveBoardUniqueId ( )

获取SlaveBoard全球唯一ID

返回
SlaveBoard全球唯一ID
异常
arcs::common_interface::AuboException
Python函数原型
getSlaveBoardUniqueId(self: pyaubo_sdk.RobotState) -> str
Lua函数原型
getSlaveBoardUniqueId() -> string
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardUniqueId","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":"736572630080000000000000"}
int arcs::common_interface::RobotState::getSlowDownLevel ( )

获取机器人缓速等级

返回
异常
arcs::common_interface::AuboException
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getSlowDownLevel","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":0}
std::vector<double> arcs::common_interface::RobotState::getTargetTcpPose ( )

获取下一个目标路点 注意与 getTcpTargetPose 的区别,此处定义存在歧义,命名需要优化

位姿表示形式为(x,y,z,rx,ry,rz)。 其中x、y、z是工具中心点(TCP)在基坐标系下的目标位置,单位是m。 rx、ry、rz是工具中心点(TCP)在基坐标系下的目标姿态,是ZYX欧拉角,单位是rad。

返回
当前目标位姿,形式为(x,y,z,rx,ry,rz)
异常
arcs::common_interface::AuboException
Python函数原型
getTargetTcpPose(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getTargetTcpPose() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getTargetTcpPose","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.4173932217619493,-0.13250000000000012,0.43296496133045825,3.141577313781914,0.0,1.5707963267948963]}
std::vector<double> arcs::common_interface::RobotState::getTcpForce ( )

获取TCP的力/力矩

返回
TCP的力/力矩
Python函数原型
getTcpForce(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getTcpForce() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForce","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
std::vector<double> arcs::common_interface::RobotState::getTcpForceSensors ( )

获取TCP力传感器读数

返回
TCP力传感器读数
异常
arcs::common_interface::AuboException
Python函数原型
getTcpForceSensors(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getTcpForceSensors() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForceSensors","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
std::vector<double> arcs::common_interface::RobotState::getTcpPose ( )

获取当前的TCP位姿,其 TCP 偏移可以通过 getActualTcpOffset 获取

位姿表示形式为(x,y,z,rx,ry,rz)。 其中x、y、z是工具中心点(TCP)在基坐标系下的位置,单位是m。 rx、ry、rz是工具中心点(TCP)在基坐标系下的姿态,是ZYX欧拉角,单位是rad。

返回
TCP的位姿,形式为(x,y,z,rx,ry,rz)
异常
arcs::common_interface::AuboException
Python函数原型
getTcpPose(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getTcpPose() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getTcpPose","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.41777839846910425,-0.13250000000000012,0.20928451364415995,3.1415792312578987,0.0,1.5707963267948963]}
std::vector<double> arcs::common_interface::RobotState::getTcpSpeed ( )

获取TCP速度

返回
TCP速度
异常
arcs::common_interface::AuboException
Python函数原型
getTcpSpeed(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getTcpSpeed() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getTcpSpeed","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
std::vector<double> arcs::common_interface::RobotState::getTcpTargetForce ( )

获取TCP目标力/力矩

返回
TCP目标力/力矩
异常
arcs::common_interface::AuboException
Python函数原型
getTcpTargetForce(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getTcpTargetForce() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetForce","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
std::vector<double> arcs::common_interface::RobotState::getTcpTargetPose ( )

获取上一次发送的TCP目标位姿

返回
TCP目标位姿
异常
arcs::common_interface::AuboException
Python函数原型
getTcpTargetPose(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getTcpTargetPose() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetPose","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.41777829240862013,-0.13250000000000012,0.2092832117232601,3.1415812372223217,0.0,1.5707963267948963]}
std::vector<double> arcs::common_interface::RobotState::getTcpTargetSpeed ( )

获取TCP目标速度

返回
TCP目标速度
异常
arcs::common_interface::AuboException
Python函数原型
getTcpTargetSpeed(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getTcpTargetSpeed() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetSpeed","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
int arcs::common_interface::RobotState::getToolCommMode ( )

获取末端通信模式

返回
末端通信模式 0: 表示无串口 1: 表示只有串口 2: 表示带力传感器和串口
异常
arcs::common_interface::AuboException
Python函数原型
getToolCommMode(self: pyaubo_sdk.RobotState) -> int
Lua函数原型
getToolCommMode() -> number
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getToolCommMode","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":1}
int arcs::common_interface::RobotState::getToolFirmwareVersion ( )

获取工具端固件版本

返回
工具端固件版本
异常
arcs::common_interface::AuboException
Python函数原型
getToolFirmwareVersion(self: pyaubo_sdk.RobotState) -> int
Lua函数原型
getToolFirmwareVersion() -> number
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getToolFirmwareVersion","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":1001003}
int arcs::common_interface::RobotState::getToolHardwareVersion ( )

获取工具端硬件版本

返回
工具端硬件版本
异常
arcs::common_interface::AuboException
Python函数原型
getToolHardwareVersion(self: pyaubo_sdk.RobotState) -> int
Lua函数原型
getToolHardwareVersion() -> number
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getToolHardwareVersion","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":1000000}
std::vector<double> arcs::common_interface::RobotState::getToolPose ( )

获取工具端的位姿(不带TCP偏移)

位姿表示形式为(x,y,z,rx,ry,rz)。 其中x、y、z是法兰盘中心在基坐标系下的目标位置,单位是m。 rx、ry、rz是法兰盘中心在基坐标系下的目标姿态,是ZYX欧拉角,单位是rad。

返回
工具端的位姿,形式为(x,y,z,rx,ry,rz)
异常
arcs::common_interface::AuboException
Python函数原型
getToolPose(self: pyaubo_sdk.RobotState) -> List[float]
Lua函数原型
getToolPose() -> table
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getToolPose","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":[0.41777820858878617,-0.13250000000000012,0.20928410288421018,3.141579231257899,0.0,1.5707963267948963]}
std::string arcs::common_interface::RobotState::getToolUniqueId ( )

获取工具端全球唯一ID

返回
工具端全球唯一ID
异常
arcs::common_interface::AuboException
Python函数原型
getToolUniqueId(self: pyaubo_sdk.RobotState) -> str
Lua函数原型
getToolUniqueId() -> string
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.getToolUniqueId","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":"397d4e5331541252314d3042"}
bool arcs::common_interface::RobotState::isCollisionOccurred ( )

机器人是否发生了碰撞

返回
发生碰撞返回 true; 反之返回 false
异常
arcs::common_interface::AuboException
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.isCollisionOccurred","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":false}
bool arcs::common_interface::RobotState::isPowerOn ( )

获取机器人通电状态

返回
机器人通电返回 true; 反之返回 false
异常
arcs::common_interface::AuboException
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.isPowerOn","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":true}
bool arcs::common_interface::RobotState::isSteady ( )

机器人是否已经停止下来

返回
停止返回true; 反之返回false
异常
arcs::common_interface::AuboException
Python函数原型
isSteady(self: pyaubo_sdk.RobotState) -> bool
Lua函数原型
isSteady() -> boolean
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.isSteady","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":true}
bool arcs::common_interface::RobotState::isWithinSafetyLimits ( )

机器人是否已经在安全限制之内

返回
在安全限制之内返回true; 反之返回false
异常
arcs::common_interface::AuboException
Python函数原型
isWithinSafetyLimits(self: pyaubo_sdk.RobotState) -> bool
Lua函数原型
isWithinSafetyLimits() -> boolean
JSON-RPC请求示例
{"jsonrpc":"2.0","method":"rob1.RobotState.isWithinSafetyLimits","params":[],"id":1}
JSON-RPC响应示例
{"id":1,"jsonrpc":"2.0","result":true}

类成员变量说明

void* arcs::common_interface::RobotState::d_
protected

在文件 robot_state.h1289 行定义.


该类的文档由以下文件生成: