#include <robot_state.h>
arcs::common_interface::RobotState::RobotState |
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virtual arcs::common_interface::RobotState::~RobotState |
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std::vector<double> arcs::common_interface::RobotState::getActualTcpOffset |
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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 |
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获取基座力/力矩
- 返回
- 基座力/力矩
- 异常
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- 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 |
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获取底座力传感器读数
- 返回
- 底座力传感器读数
- 异常
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- 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 |
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获取控制柜湿度
- 返回
- 控制柜湿度
- 异常
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- 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 |
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获取控制柜温度
- 返回
- 控制柜温度
- 异常
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- 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 |
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获取肘部的位置
- 返回
- 肘部的位置
- 异常
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- 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 |
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获取肘部速度
- 返回
- 肘部速度
- 异常
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- 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 |
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获取机械臂关节加速度
- 返回
- 机械臂关节加速度
- 异常
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- 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 |
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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
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- 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 |
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获取机械臂关节电流
- 返回
- 机械臂关节电流
- 异常
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- 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 |
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获取关节固件版本
- 返回
- 关节固件版本
- 异常
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- 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 |
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获取关节硬件版本
- 返回
- 关节硬件版本
- 异常
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- 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 |
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获取机械臂关节角度
- 返回
- 机械臂关节角度
- 异常
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- 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 |
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获取关节的伺服状态
- 返回
- 关节的伺服状态
- 异常
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- 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 |
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获取机械臂关节速度
- 返回
- 机械臂关节速度
- 异常
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- 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 |
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获取机械臂关节标志
- 返回
- 机械臂关节标志
- 异常
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- 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 |
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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
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- 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 |
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获取机械臂关节目标电流
- 返回
- 机械臂关节目标电流
- 异常
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- 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 |
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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
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- 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 |
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获取机械臂关节目标速度
- 返回
- 机械臂关节目标速度
- 异常
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- 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 |
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获取机械臂关节目标力矩
- 返回
- 机械臂关节目标力矩
- 异常
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- 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 |
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获取机械臂关节温度
- 返回
- 机械臂关节温度
- 异常
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- 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 |
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获取机械臂关节力矩
- 返回
- 机械臂关节力矩
- 异常
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- 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 |
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获取关节全球唯一ID
- 返回
- 关节全球唯一ID
- 异常
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- 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 |
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获取机械臂关节电压
- 返回
- 机械臂关节电压
- 异常
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- 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 |
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获取母线电流
- 返回
- 母线电流
- 异常
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- 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 |
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获取母线电压
- 返回
- 母线电压
- 异常
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- 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 |
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获取MasterBoard固件版本
- 返回
- MasterBoard固件版本
- 异常
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- 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 |
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获取MasterBoard硬件版本
- 返回
- MasterBoard硬件版本
- 异常
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- 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 |
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获取MasterBoard全球唯一ID
- 返回
- MasterBoard全球唯一ID
- 异常
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- 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 |
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获取底座固件版本
- 返回
- 底座固件版本
- 异常
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- 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 |
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获取底座硬件版本
- 返回
- 底座硬件版本
- 异常
-
- 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 |
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获取底座全球唯一ID
- 返回
- 底座全球唯一ID
- 异常
-
- 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 |
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获取机器人电流
- 返回
- 机器人电流
- 异常
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- 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 |
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获取机器人的模式状态
- 返回
- 机器人的模式状态
- 异常
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- 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 |
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获取机器人电压
- 返回
- 机器人电压
- 异常
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- 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 |
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获取安全模式
- 返回
- 安全模式
- 异常
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- 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 |
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获取SlaveBoard固件版本
- 返回
- SlaveBoard固件版本
- 异常
-
- 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 |
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获取SlaveBoard硬件版本
- 返回
- SlaveBoard硬件版本
- 异常
-
- 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 |
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获取SlaveBoard全球唯一ID
- 返回
- SlaveBoard全球唯一ID
- 异常
-
- 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 |
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获取机器人缓速等级
- 返回
- 异常
-
- 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 |
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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
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- 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 |
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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 |
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获取TCP力传感器读数
- 返回
- TCP力传感器读数
- 异常
-
- 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 |
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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
-
- 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 |
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获取TCP速度
- 返回
- TCP速度
- 异常
-
- 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 |
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获取TCP目标力/力矩
- 返回
- TCP目标力/力矩
- 异常
-
- 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 |
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获取上一次发送的TCP目标位姿
- 返回
- TCP目标位姿
- 异常
-
- 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 |
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获取TCP目标速度
- 返回
- TCP目标速度
- 异常
-
- 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 |
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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
-
- 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 |
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获取工具端固件版本
- 返回
- 工具端固件版本
- 异常
-
- 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 |
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获取工具端硬件版本
- 返回
- 工具端硬件版本
- 异常
-
- 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 |
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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
-
- 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 |
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获取工具端全球唯一ID
- 返回
- 工具端全球唯一ID
- 异常
-
- 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 |
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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
-
- 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 |
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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
-
- 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 |
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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
-
- 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 |
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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
-
- 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}
void* arcs::common_interface::RobotState::d_ |
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