|
| | MotionControl () |
| virtual | ~MotionControl () |
| double | getEqradius () |
| | Get the equivalent radius, in meters.
|
| int | setEqradius (double eqradius) |
| | Set the equivalent radius, in meters.
|
| int | setSpeedFraction (double fraction) |
| | Dynamically adjust the robot's speed and acceleration ratio (0., 1.
|
| double | getSpeedFraction () |
| | Get the speed and acceleration ratio, default is 1.
|
| int | speedFractionCritical (bool enable) |
| | Speed fraction critical section.
|
| bool | isSpeedFractionCritical () |
| | Whether it is in the speed fraction critical section
|
| bool | isBlending () |
| | Whether it is in the blending area
|
| int | pathOffsetLimits (double v, double a) |
| | Set the maximum speed and maximum acceleration for offset.
|
| int | pathOffsetCoordinate (int ref_coord) |
| | Set the reference coordinate system for offset.
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| int | pathOffsetEnable () |
| | Enable path offset
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| int | pathOffsetSet (const std::vector< double > &offset, int type=0) |
| | Set path offset
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| int | pathOffsetDisable () |
| | Disable path offset
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| int | pathOffsetSupv (const std::vector< double > &min, const std::vector< double > &max, int strategy) |
| int | jointOffsetEnable () |
| | Enable joint offset
|
| int | jointOffsetSet (const std::vector< double > &offset, int type=1) |
| | Set joint offset
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| int | jointOffsetDisable () |
| | Disable joint offset
|
| int | getQueueSize () |
| | Get the number of enqueued instruction segments (INST), including motion instructions such as moveJoint/moveLine/moveCircle and configuration instructions such as setPayload.
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| int | getTrajectoryQueueSize () |
| | Get the number of enqueued motion planning interpolation points
|
| int | getExecId () |
| | Get the ID of the currently interpolating motion instruction segment.
|
| double | getDuration (int id) |
| | Get the expected execution duration of the motion segment with the specified ID.
|
| double | getMotionLeftTime (int id) |
| | Get the remaining execution time of the motion segment with the specified ID.
|
| int | stopMove (bool quick, bool all_tasks) |
| | StopMove is used to stop robot and external axes movements and any belonging process temporarily.
|
| int | startMove () |
| | StartMove is used to resume robot, external axes movement and belonging process after the movement has been stopped
|
| int | storePath (bool keep_sync) |
| | storePath
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| int | clearPath () |
| | ClearPath clears the whole motion path on the current motion path level (base level or StorePath level).
|
| int | restoPath () |
| | restoPath
|
| double | getProgress () |
| | Get the execution progress of the current motion instruction segment.
|
| int | setWorkObjectHold (const std::string &module_name, const std::vector< double > &mounting_pose) |
| | Specify the name and mounting position when the workpiece is installed on the end of another robot or external axis.
|
| std::tuple< std::string, std::vector< double > > | getWorkObjectHold () |
| | getWorkObjectHold
|
| std::vector< double > | getPauseJointPositions () |
| int | setResumeStartPoint (const std::vector< double > &q, int move_type, double blend_radius, const std::vector< double > &qdmax, const std::vector< double > &qddmax, const std::vector< double > &vmax, const std::vector< double > &amax) |
| | Set resume motion parameters
|
| int | getResumeMode () |
| | Get resume motion mode
|
| ARCS_DEPRECATED int | setServoMode (bool enable) |
| | Set servo mode Use setServoModeSelect instead
|
| ARCS_DEPRECATED bool | isServoModeEnabled () |
| | Determine whether the servo mode is enabled.
|
| int | setServoModeSelect (int mode) |
| | Set servo motion mode
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| int | getServoModeSelect () |
| | Get the servo motion mode
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| int | servoJoint (const std::vector< double > &q, double a, double v, double t, double lookahead_time, double gain) |
| | Joint space servo
|
| int | servoCartesian (const std::vector< double > &pose, double a, double v, double t, double lookahead_time, double gain) |
| | Cartesian space servo
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| int | servoJointWithAxes (const std::vector< double > &q, const std::vector< double > &extq, double a, double v, double t, double lookahead_time, double gain) |
| | Servo motion (with external axes), used for executing offline trajectories, pass-through user planned trajectories, etc.
|
| int | servoJointWithAxisGroup (const std::vector< double > &q, double a, double v, double t, double lookahead_time, double gain, const std::string &group_name, const std::vector< double > &extq) |
| int | servoCartesianWithAxes (const std::vector< double > &pose, const std::vector< double > &extq, double a, double v, double t, double lookahead_time, double gain) |
| | Servo motion (with external axes), used for executing offline trajectories, pass-through user planned trajectories, etc.
|
| int | servoCartesianWithAxisGroup (const std::vector< double > &pose, double a, double v, double t, double lookahead_time, double gain, const std::string &group_name, const std::vector< double > &extq) |
| int | trackJoint (const std::vector< double > &q, double t, double smooth_scale, double delay_sacle) |
| | Tracking motion, used for executing offline trajectories or passing through user-planned trajectories, etc.
|
| int | trackCartesian (const std::vector< double > &pose, double t, double smooth_scale, double delay_sacle) |
| | Tracking motion, used for executing offline trajectories or passing through user-planned trajectories, etc.
|
| int | followJoint (const std::vector< double > &q) |
| | Joint space following
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| int | followLine (const std::vector< double > &pose) |
| | Cartesian space following
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| int | speedJoint (const std::vector< double > &qd, double a, double t) |
| | Joint space velocity following
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| int | resumeSpeedJoint (const std::vector< double > &qd, double a, double t) |
| | Joint space velocity following (used to move to a safe position after a collision during process execution)
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| int | speedLine (const std::vector< double > &xd, double a, double t) |
| | Cartesian space velocity following
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| int | resumeSpeedLine (const std::vector< double > &xd, double a, double t) |
| | Cartesian space velocity following (used to move to a safe position after a collision during process execution)
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| int | moveSpline (const std::vector< double > &q, double a, double v, double duration) |
| | Perform spline interpolation in joint space
|
| int | moveJoint (const std::vector< double > &q, double a, double v, double blend_radius, double duration) |
| | Add joint motion
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| int | moveJointWithAxisGroup (const std::vector< double > &q, double a, double v, double blend_radius, double duration, const std::string &group_name, const std::vector< double > &extq) |
| | Synchronous motion of robot and external axes
|
| int | resumeMoveJoint (const std::vector< double > &q, double a, double v, double duration) |
| | Move to the pause point using joint motion.
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| int | moveLine (const std::vector< double > &pose, double a, double v, double blend_radius, double duration) |
| | Add linear motion
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| int | moveLineWithAxisGroup (const std::vector< double > &pose, double a, double v, double blend_radius, double duration, const std::string &group_name, const std::vector< double > &extq) |
| | Linear motion synchronized with external axes
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| int | moveProcess (const std::vector< double > &pose, double a, double v, double blend_radius) |
| | Add process motion
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| int | resumeMoveLine (const std::vector< double > &pose, double a, double v, double duration) |
| | Move to the pause point using linear motion.
|
| int | moveCircle (const std::vector< double > &via_pose, const std::vector< double > &end_pose, double a, double v, double blend_radius, double duration) |
| | Add circular arc motion
|
| int | moveCircleWithAxisGroup (const std::vector< double > &via_pose, const std::vector< double > &end_pose, double a, double v, double blend_radius, double duration, const std::string &group_name, const std::vector< double > &extq) |
| | moveCircle with external axes synchronized motion
|
| int | setCirclePathMode (int mode) |
| | Set circle path mode
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| int | moveCircle2 (const CircleParameters ¶m) |
| | Advanced arc or circular motion
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| int | pathBufferAlloc (const std::string &name, int type, int size) |
| | Create a new path point buffer
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| int | pathBufferAppend (const std::string &name, const std::vector< std::vector< double > > &waypoints) |
| | Add waypoints to the path buffer
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| int | pathBufferEval (const std::string &name, const std::vector< double > &a, const std::vector< double > &v, double t) |
| | Perform computation and optimization (time-consuming operations).
|
| bool | pathBufferValid (const std::string &name) |
| | Whether the buffer with the specified name is valid
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| int | pathBufferFree (const std::string &name) |
| | Release path buffer
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| int | pathBufferFilter (const std::string &name, int order, double fd, double fs) |
| | Joint space path filter
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| std::vector< std::string > | pathBufferList () |
| | List all cached path names
|
| int | movePathBuffer (const std::string &name) |
| | Execute the cached path
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| int | moveIntersection (const std::vector< std::vector< double > > &poses, double a, double v, double main_pipe_radius, double sub_pipe_radius, double normal_distance, double normal_alpha) |
| | Intersection interface
|
| int | stopJoint (double acc) |
| | Stop motion in joint space
|
| int | resumeStopJoint (double acc) |
| | Stop motion in joint space (used after moving to a safe position via resumeSpeedJoint following a collision during process execution)
|
| int | stopLine (double acc, double acc_rot) |
| | Stop motions in Cartesian space such as moveLine/moveCircle.
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| int | resumeStopLine (double acc, double acc_rot) |
| | Stop motion in Cartesian space (used after moving to a safe position via resumeSpeedLine following a collision during process execution)
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| int | weaveStart (const std::string ¶ms) |
| | Start weaving: between weaveStart and weaveEnd, moveLine/moveCircle/moveProcess follows params.
|
| int | weaveEnd () |
| | End weaving
|
| int | setFuturePointSamplePeriod (double sample_time) |
| | Set the sampling interval for points on the future path
|
| std::vector< std::vector< double > > | getFuturePathPointsJoint () |
| | Get trajectory points on the future path
|
| int | setConveyorTrackEncoder (int encoder_id, int tick_per_meter) |
| | Set conveyor encoder parameters
|
| int | conveyorTrackCircle (int encoder_id, const std::vector< double > ¢er, bool rotate_tool) |
| | Circular conveyor tracking
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| int | conveyorTrackLine (int encoder_id, const std::vector< double > &direction) |
| | Linear conveyor tracking
|
| int | conveyorTrackStop (int encoder_id, double a) |
| | Stop conveyor tracking
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| bool | conveyorTrackSwitch (int encoder_id) |
| | Switch conveyor tracking item.
|
| bool | hasItemOnConveyorToTrack (int encoder_id) |
| | Whether there is an item on the conveyor that can be tracked
|
| int | conveyorTrackCreatItem (int encoder_id, int item_id, const std::vector< double > &offset) |
| | Add an item to the conveyor queue
|
| int | setConveyorTrackCompensate (int encoder_id, double comp) |
| | Set the compensation value for conveyor tracking
|
| bool | isConveyorTrackSync (int encoder_id) |
| | Determine whether the conveyor and the robot arm have reached relative rest
|
| int | setConveyorTrackLimit (int encoder_id, double limit) |
| | Set the maximum distance limit for conveyor tracking
|
| int | setConveyorTrackStartWindow (int encoder_id, double window_min, double window_max) |
| | Set the start window for conveyor tracking
|
| int | setConveyorTrackSensorOffset (int encoder_id, double offset) |
| | Set the distance from the conveyor teaching position to the sync switch
|
| int | setConveyorTrackSyncSeparation (int encoder_id, double distance, double time) |
| | Set conveyor sync separation, used to filter out unwanted signals from the sync switch.
|
| bool | isConveyorTrackExceed (int encoder_id) |
| | Whether the workpiece on the conveyor has moved beyond the maximum limit
|
| int | conveyorTrackClearItems (int encoder_id) |
| | Clear all items in the conveyor queue
|
| std::vector< int > | getConveyorTrackQueue (int encoder_id) |
| | Get encoder values of the conveyor queue
|
| int | getConveyorTrackNextItem (int encoder_id) |
| | Get the ID of the next item on the conveyor to be tracked
|
| int | moveSpiral (const SpiralParameters ¶m, double blend_radius, double v, double a, double t) |
| | Spiral motion
|
| int | getLookAheadSize () |
| | Get look-ahead segment size
|
| int | setLookAheadSize (int size) |
| | Set look-ahead segment size
|
| int | weaveUpdateParameters (const std::string ¶ms) |
| | Update frequency and amplitude during weaving process
|
| int | enableJointSoftServo (const std::vector< double > &stiffness) |
| | Set joint current loop stiffness coefficient
|
| int | disableJointSoftServo () |
| | Disable joint current loop stiffness coefficient
|
| bool | isJointSoftServoEnabled () |
| | Determine whether the joint current loop stiffness coefficient is enabled.
|
| int | enableVibrationSuppress (const std::vector< double > &omega, const std::vector< double > &zeta, int level) |
| int | disbaleVibrationSuppress () |
| int | setTimeOptimalEnable (bool enable) |
| bool | isTimeOptimalEnabled () |
| | Get the time optimal algorithm state: true - enable false - disable
|
| bool | isSupportedTimeOptimal () |
| | Check whether the time optimal algorithm is supported true - supported false - not supported
|
| int | setTcpMaxLinearVelocity (double v) |
| | Set TCP maximum linear velocity
|
| double | getTcpMaxLinearVelocity () |
| | Get TCP maximum linear velocity
|
| int | resetTcpMaxLinearVelocity () |
| | Reset TCP maximum linear velocity
|
| int | setEndPath () |
| | Set end path (terminate blending at current trajectory segment)
|
1.16.1