#include <robot_state.h>

Public 成员函数
	RobotState ()

virtual	~RobotState ()

RobotModeType	getRobotModeType ()
	获取机器人的模式状态

SafetyModeType	getSafetyModeType ()
	获取安全模式

bool	isPowerOn ()
	获取机器人通电状态

bool	isSteady ()
	机器人是否已经停止下来

bool	isCollisionOccurred ()
	机器人是否发生了碰撞

bool	isWithinSafetyLimits ()
	机器人是否已经在安全限制之内

std::vector< double >	getTcpPose ()
	获取当前的TCP位姿，其 TCP 偏移可以通过 getActualTcpOffset 获取

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

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

std::vector< double >	getToolPose ()
	获取工具端的位姿（不带TCP偏移）

std::vector< double >	getTcpSpeed ()
	获取TCP速度

std::vector< double >	getTcpForce ()
	获取TCP的力/力矩

std::vector< double >	getElbowPosistion ()
	获取肘部的位置

std::vector< double >	getElbowVelocity ()
	获取肘部速度

std::vector< double >	getBaseForce ()
	获取基座力/力矩

std::vector< double >	getTcpTargetPose ()
	获取上一次发送的TCP目标位姿

std::vector< double >	getTcpTargetSpeed ()
	获取TCP目标速度

std::vector< double >	getTcpTargetForce ()
	获取TCP目标力/力矩

std::vector< JointStateType >	getJointState ()
	获取机械臂关节标志

std::vector< JointServoModeType >	getJointServoMode ()
	获取关节的伺服状态

std::vector< double >	getJointPositions ()
	获取机械臂关节角度

std::vector< double >	getJointPositionsHistory (int steps)
	获取机械臂历史关节角度

std::vector< double >	getJointSpeeds ()
	获取机械臂关节速度

std::vector< double >	getJointAccelerations ()
	获取机械臂关节加速度

std::vector< double >	getJointTorqueSensors ()
	获取机械臂关节力矩

std::vector< double >	getJointContactTorques ()
	获取机械臂关节接触力矩（外力距）

std::vector< double >	getBaseForceSensor ()
	获取底座力传感器读数

std::vector< double >	getTcpForceSensors ()
	获取TCP力传感器读数

std::vector< double >	getJointCurrents ()
	获取机械臂关节电流

std::vector< double >	getJointVoltages ()
	获取机械臂关节电压

std::vector< double >	getJointTemperatures ()
	获取机械臂关节温度

std::vector< std::string >	getJointUniqueIds ()
	获取关节全球唯一ID

std::vector< int >	getJointFirmwareVersions ()
	获取关节固件版本

std::vector< int >	getJointHardwareVersions ()
	获取关节硬件版本

std::string	getMasterBoardUniqueId ()
	获取MasterBoard全球唯一ID

int	getMasterBoardFirmwareVersion ()
	获取MasterBoard固件版本

int	getMasterBoardHardwareVersion ()
	获取MasterBoard硬件版本

std::string	getSlaveBoardUniqueId ()
	获取SlaveBoard全球唯一ID

int	getSlaveBoardFirmwareVersion ()
	获取SlaveBoard固件版本

int	getSlaveBoardHardwareVersion ()
	获取SlaveBoard硬件版本

std::string	getToolUniqueId ()
	获取工具端全球唯一ID

int	getToolFirmwareVersion ()
	获取工具端固件版本

int	getToolHardwareVersion ()
	获取工具端硬件版本

int	getToolCommMode ()
	获取末端通信模式

std::string	getPedestalUniqueId ()
	获取底座全球唯一ID

int	getPedestalFirmwareVersion ()
	获取底座固件版本

int	getPedestalHardwareVersion ()
	获取底座硬件版本

std::vector< double >	getJointTargetPositions ()
	获取机械臂关节目标位置角度

std::vector< double >	getJointTargetSpeeds ()
	获取机械臂关节目标速度

std::vector< double >	getJointTargetAccelerations ()
	获取机械臂关节目标加速度

std::vector< double >	getJointTargetTorques ()
	获取机械臂关节目标力矩

std::vector< double >	getJointTargetCurrents ()
	获取机械臂关节目标电流

double	getControlBoxTemperature ()
	获取控制柜温度

double	getControlBoxHumidity ()
	获取控制柜湿度

double	getMainVoltage ()
	获取母线电压

double	getMainCurrent ()
	获取母线电流

double	getRobotVoltage ()
	获取机器人电压

double	getRobotCurrent ()
	获取机器人电流

int	getSlowDownLevel ()
	获取机器人缓速等级

bool	getTcpForceSensorStatus (const std::string &name)
	获取末端力传感器通信状态

Protected 属性
void *	d_

详细描述

在文件 robot_state.h 第 15 行定义.

构造及析构函数说明

◆ RobotState()

arcs::common_interface::RobotState::RobotState ( )

◆ ~RobotState()

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

virtual

成员函数说明

◆ getActualTcpOffset()

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

Lua函数原型: getActualTcpOffset() -> table

Lua示例: ActualTcpOffset = getActualTcpOffset()

◆ getBaseForce()

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

Lua示例: BaseForce = getBaseForce()

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]}

◆ getBaseForceSensor()

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

Lua示例: BaseForceSensor = getBaseForceSensor()

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]}

◆ getControlBoxHumidity()

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

Lua示例: ControlBoxHumidity = getControlBoxHumidity()

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}

◆ getControlBoxTemperature()

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

Lua示例: ControlBoxTemperature = getControlBoxTemperature()

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}

◆ getElbowPosistion()

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

Lua示例: ElbowPosistion = getElbowPosistion()

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]}

◆ getElbowVelocity()

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

Lua示例: ElbowVelocity = getElbowVelocity()

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]}

◆ getJointAccelerations()

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

Lua示例: JointAccelerations = getJointAccelerations()

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]}

◆ getJointContactTorques()

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

Lua示例: JointContactTorques = getJointContactTorques()

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]}

◆ getJointCurrents()

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

Lua示例: JointCurrents = getJointCurrents()

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]}

◆ getJointFirmwareVersions()

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

Lua示例: JointFirmwareVersions = getJointFirmwareVersions()

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]}

◆ getJointHardwareVersions()

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

Lua示例: JointHardwareVersions = getJointHardwareVersions()

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]}

◆ getJointPositions()

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

Lua示例: JointPositions = getJointPositions()

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]}

◆ getJointPositionsHistory()

std::vector< double > arcs::common_interface::RobotState::getJointPositionsHistory ( int steps )

获取机械臂历史关节角度

参数

steps 步数

返回: 机械臂历史关节角度

◆ getJointServoMode()

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

Lua示例: JointServoMode = getJointServoMode()

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"]}

◆ getJointSpeeds()

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

Lua示例: JointSpeeds = getJointSpeeds()

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]}

◆ getJointState()

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

Lua示例: JointState = getJointState()

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"]}

◆ getJointTargetAccelerations()

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

Lua示例: JointTargetAccelerations = getJointTargetAccelerations()

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]}

◆ getJointTargetCurrents()

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

Lua示例: JointTargetCurrents = getJointTargetCurrents()

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]}

◆ getJointTargetPositions()

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

Lua示例: JointTargetPositions = getJointTargetPositions()

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]}

◆ getJointTargetSpeeds()

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

Lua示例: JointTargetSpeeds = getJointTargetSpeeds()

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]}

◆ getJointTargetTorques()

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

Lua示例: JointTargetTorques = getJointTargetTorques()

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]}

◆ getJointTemperatures()

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

Lua示例: JointTemperatures = getJointTemperatures()

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]}

◆ getJointTorqueSensors()

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

Lua示例: JointTorqueSensors = getJointTorqueSensors()

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]}

◆ getJointUniqueIds()

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

Lua示例: JointUniqueIds = getJointUniqueIds()

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"]}

◆ getJointVoltages()

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

Lua示例: JointVoltages = getJointVoltages()

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]}

◆ getMainCurrent()

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

Lua示例: MainCurrent = getMainCurrent()

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}

◆ getMainVoltage()

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

Lua示例: MainVoltage = getMainVoltage()

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}

◆ getMasterBoardFirmwareVersion()

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

Lua示例: MasterBoardFirmwareVersion = getMasterBoardFirmwareVersion()

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}

◆ getMasterBoardHardwareVersion()

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

Lua示例: MasterBoardHardwareVersion = getMasterBoardHardwareVersion()

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}

◆ getMasterBoardUniqueId()

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

Lua示例: MasterBoardUniqueId = getMasterBoardUniqueId()

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"}

◆ getPedestalFirmwareVersion()

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

Lua示例: PedestalFirmwareVersion = getPedestalFirmwareVersion()

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}

◆ getPedestalHardwareVersion()

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

Lua示例: PedestalHardwareVersion = getPedestalHardwareVersion()

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}

◆ getPedestalUniqueId()

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

Lua示例: PedestalUniqueId = getPedestalUniqueId()

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"}

◆ getRobotCurrent()

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

Lua示例: RobotCurrent = getRobotCurrent()

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}

◆ getRobotModeType()

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

Lua示例: RobotModeType = getRobotModeType()

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"}

◆ getRobotVoltage()

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

Lua示例: RobotVoltage = getRobotVoltage()

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}

◆ getSafetyModeType()

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

Lua示例: SafetyModeType = getSafetyModeType()

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"}

◆ getSlaveBoardFirmwareVersion()

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

Lua示例: SlaveBoardFirmwareVersion = getSlaveBoardFirmwareVersion()

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}

◆ getSlaveBoardHardwareVersion()

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

Lua示例: SlaveBoardHardwareVersion = getSlaveBoardHardwareVersion()

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}

◆ getSlaveBoardUniqueId()

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

Lua示例: SlaveBoardUniqueId = getSlaveBoardUniqueId()

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"}

◆ getSlowDownLevel()

int arcs::common_interface::RobotState::getSlowDownLevel ( )

获取机器人缓速等级

返回: 机器人缓速等级

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}

◆ getTargetTcpPose()

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

Lua示例: TargetTcpPose = getTargetTcpPose()

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]}

◆ getTcpForce()

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

Lua示例: TcpForce = getTcpForce()

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]}

◆ getTcpForceSensors()

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

Lua示例: TcpForceSensors = getTcpForceSensors()

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]}

◆ getTcpForceSensorStatus()

bool arcs::common_interface::RobotState::getTcpForceSensorStatus ( const std::string & name )

获取末端力传感器通信状态

参数

name	力传感器名称，与 selectTcpForceSensor 的参数一致

返回: 通信正常返回 true; 反之返回 false

异常

arcs::common_interface::AuboException

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForceSensorStatus","params":["tool.KWR75A"],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ getTcpPose()

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

Lua示例: TcpPose = getTcpPose()

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]}

◆ getTcpSpeed()

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

Lua示例: TcpSpeed = getTcpSpeed()

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]}

◆ getTcpTargetForce()

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

Lua示例: TcpTargetForce = getTcpTargetForce()

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]}

◆ getTcpTargetPose()

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

Lua示例: TcpTargetPose = getTcpTargetPose()

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]}

◆ getTcpTargetSpeed()

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

Lua示例: TcpTargetSpeed = getTcpTargetSpeed()

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]}

◆ getToolCommMode()

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

Lua示例: ToolCommMode = getToolCommMode()

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}

◆ getToolFirmwareVersion()

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

Lua示例: ToolFirmwareVersion = getToolFirmwareVersion()

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}

◆ getToolHardwareVersion()

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

Lua示例: ToolHardwareVersion = getToolHardwareVersion()

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}

◆ getToolPose()

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

Lua示例: ToolPose = getToolPose()

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]}

◆ getToolUniqueId()

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

Lua示例: ToolUniqueId = getToolUniqueId()

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"}

◆ isCollisionOccurred()

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

Lua函数原型: isCollisionOccurred() -> boolean

Lua示例: CollisionOccurred = isCollisionOccurred()

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}

◆ isPowerOn()

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

Lua函数原型: isPowerOn() -> boolean

Lua示例: PowerOn = isPowerOn()

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}

◆ isSteady()

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

Lua示例: Steady = isSteady()

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}

◆ isWithinSafetyLimits()

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

Lua示例: WithinSafetyLimits = isWithinSafetyLimits()

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

◆ d_

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

protected

在文件 robot_state.h 第 2843 行定义.

该类的文档由以下文件生成:

include/aubo/robot/robot_state.h

Public 成员函数

Protected 属性

详细描述

构造及析构函数说明

◆ RobotState()

◆ ~RobotState()

成员函数说明

◆ getActualTcpOffset()

◆ getBaseForce()

◆ getBaseForceSensor()

◆ getControlBoxHumidity()

◆ getControlBoxTemperature()

◆ getElbowPosistion()

◆ getElbowVelocity()

◆ getJointAccelerations()

◆ getJointContactTorques()

◆ getJointCurrents()

◆ getJointFirmwareVersions()

◆ getJointHardwareVersions()

◆ getJointPositions()

◆ getJointPositionsHistory()

◆ getJointServoMode()

◆ getJointSpeeds()

◆ getJointState()

◆ getJointTargetAccelerations()

◆ getJointTargetCurrents()

◆ getJointTargetPositions()

◆ getJointTargetSpeeds()

◆ getJointTargetTorques()

◆ getJointTemperatures()

◆ getJointTorqueSensors()

◆ getJointUniqueIds()

◆ getJointVoltages()

◆ getMainCurrent()

◆ getMainVoltage()

◆ getMasterBoardFirmwareVersion()

◆ getMasterBoardHardwareVersion()

◆ getMasterBoardUniqueId()

◆ getPedestalFirmwareVersion()

◆ getPedestalHardwareVersion()

◆ getPedestalUniqueId()

◆ getRobotCurrent()

◆ getRobotModeType()

◆ getRobotVoltage()

◆ getSafetyModeType()

◆ getSlaveBoardFirmwareVersion()

◆ getSlaveBoardHardwareVersion()

◆ getSlaveBoardUniqueId()

◆ getSlowDownLevel()

◆ getTargetTcpPose()

◆ getTcpForce()

◆ getTcpForceSensors()

◆ getTcpForceSensorStatus()

◆ getTcpPose()

◆ getTcpSpeed()

◆ getTcpTargetForce()

◆ getTcpTargetPose()

◆ getTcpTargetSpeed()

◆ getToolCommMode()

◆ getToolFirmwareVersion()

◆ getToolHardwareVersion()

◆ getToolPose()

◆ getToolUniqueId()

◆ isCollisionOccurred()

◆ isPowerOn()

◆ isSteady()

◆ isWithinSafetyLimits()

类成员变量说明

◆ d_