#include <robot_algorithm.h>

Public Member Functions
	RobotAlgorithm ()
virtual	~RobotAlgorithm ()
ForceSensorCalibResult	calibrateTcpForceSensor (const std::vector< std::vector< double > > &forces, const std::vector< std::vector< double > > &poses)
	Force sensor calibration algorithm (three-point calibration method)
ForceSensorCalibResultWithError	calibrateTcpForceSensor2 (const std::vector< std::vector< double > > &forces, const std::vector< std::vector< double > > &poses)
	Force sensor calibration algorithm (three-point calibration method)
ResultWithErrno	calibrateTcpForceSensor3 (const std::vector< std::vector< double > > &forces, const std::vector< std::vector< double > > &poses, const double &mass, const std::vector< double > &cog)
	Force sensor offset calibration algorithm
int	payloadIdentify (const std::string &data_file_no_payload, const std::string &data_file_with_payload)
	Payload identification algorithm interface based on current
int	payloadIdentify1 (const std::string &file_name)
	New version of payload identification algorithm interface based on current
int	payloadCalculateFinished ()
	Whether payload identification calculation is finished
Payload	getPayloadIdentifyResult ()
	Get the result of payload identification
bool	frictionModelIdentify (const std::vector< std::vector< double > > &q, const std::vector< std::vector< double > > &qd, const std::vector< std::vector< double > > &qdd, const std::vector< std::vector< double > > &temp)
	Joint friction model identification algorithm interface
ResultWithErrno	calibWorkpieceCoordinatePara (const std::vector< std::vector< double > > &q, int type)
	Workpiece coordinate calibration algorithm interface (requires correct TCP offset set before calling) Input multiple sets of joint angles and calibration type, output workpiece coordinate pose (relative to robot base)
ResultWithErrno	forwardDynamics (const std::vector< double > &q, const std::vector< double > &torqs)
	Forward dynamics
ResultWithErrno	forwardDynamics1 (const std::vector< double > &q, const std::vector< double > &torqs, const std::vector< double > &tcp_offset)
	Forward dynamics based on the given TCP offset
ResultWithErrno	forwardKinematics (const std::vector< double > &q)
	Forward kinematics, based on the activated TCP offset (the most recently set via setTcpOffset) Input joint angles, output TCP pose
ResultWithErrno	forwardKinematics1 (const std::vector< double > &q, const std::vector< double > &tcp_offset)
	Forward kinematics Input joint angles, output TCP pose
ResultWithErrno	forwardToolKinematics (const std::vector< double > &q)
	Forward kinematics (ignoring TCP offset)
ResultWithErrno1	forwardKinematicsAll (const std::vector< double > &q)
	Forward kinematics, based on the activated TCP offset (the most recently set via setTcpOffset) Input joint angles, output links poses
ResultWithErrno	inverseKinematics (const std::vector< double > &qnear, const std::vector< double > &pose)
	Inverse kinematics Input TCP pose and reference joint angles, output joint angles
ResultWithErrno	inverseKinematics1 (const std::vector< double > &qnear, const std::vector< double > &pose, const std::vector< double > &tcp_offset)
	Inverse kinematics Input TCP pose and reference joint angles, output joint angles
ResultWithErrno1	inverseKinematicsAll (const std::vector< double > &pose)
	Solve all inverse kinematics solutions based on the activated TCP offset
ResultWithErrno1	inverseKinematicsAll1 (const std::vector< double > &pose, const std::vector< double > &tcp_offset)
	Solve all inverse kinematics solutions based on the provided TCP offset
ResultWithErrno	inverseToolKinematics (const std::vector< double > &qnear, const std::vector< double > &pose)
	Inverse kinematics (ignoring TCP offset)
ResultWithErrno1	inverseToolKinematicsAll (const std::vector< double > &pose)
	Inverse kinematics (ignoring TCP offset)
ResultWithErrno3	getRobotConfiguration (const std::vector< double > &q)
	Calculate and return the corresponding robot configuration based on input joint angles
std::vector< std::vector< double > >	pathMovej (const std::vector< double > &q1, double r1, const std::vector< double > &q2, double r2, double d)
	Solve the trajectory points between movej
ResultWithErrno	calcJacobian (const std::vector< double > &q, bool base_or_end)
	Calculate the Jacobian matrix at the robot end-effector
std::vector< std::vector< double > >	pathBlend3Points (int type, const std::vector< double > &q_start, const std::vector< double > &q_via, const std::vector< double > &q_to, double r, double d)
	Solve the blended trajectory points
int	generatePayloadIdentifyTraj (const std::string &name, const TrajConfig &traj_conf)
	Generate excitation trajectory for payload identification This interface internally calls pathBufferAppend The offline trajectory is stored in the buffer, and can be executed later via movePathBuffer
int	payloadIdentifyTrajGenFinished ()
	Whether payload identification trajectory generation is finished
std::vector< std::vector< double > >	pathMoveS (const std::vector< std::vector< double > > &qs, double d)
	Solve the trajectory points for moveS
ResultWithErrno1	calibVibrationParams (const std::vector< std::vector< double > > &q, const std::vector< std::vector< double > > &qd, const std::vector< std::vector< double > > &target_q, const std::vector< std::vector< double > > &target_qd, const std::vector< std::vector< double > > &target_qdd, const std::vector< double > &tool_offset)
ResultWithErrno1	calibVibrationParams1 (const std::string &record_cache_name, const std::vector< double > &tool_offset)
int	needVibrationRecalib (const VibrationRecalibrationParameter &param1, const VibrationRecalibrationParameter &param2, double threshold)
int	validatePath (int type, const std::vector< double > &start, double r1, const std::vector< double > &end, double r2, double d)
	Validate the reachability of the robot's motion path from start point to end point

Protected Attributes
void *	d_

Detailed Description

Definition at line 30 of file robot_algorithm.h.

Constructor & Destructor Documentation

◆ RobotAlgorithm()

arcs::common_interface::RobotAlgorithm::RobotAlgorithm ( )

◆ ~RobotAlgorithm()

virtual arcs::common_interface::RobotAlgorithm::~RobotAlgorithm ( )

virtual

Member Function Documentation

◆ pathMovej()

std::vector< std::vector< double > > arcs::common_interface::RobotAlgorithm::pathMovej	(	const std::vector< double > &	q1,
		double	r1,
		const std::vector< double > &	q2,
		double	r2,
		double	d )

Solve the trajectory points between movej

Parameters

q1	Start point of movej
r1	Blend radius at q1
q2	End point of movej
r2	Blend radius at q2
d	Sampling distance

Returns: Discrete trajectory points (x, y, z, rx, ry, rz) between q1 and q2 in Cartesian space

Exceptions

arcs::common_interface::AuboException

Python function prototype: pathMovej(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: float, arg2: List[float], arg3: float, arg4: float) -> List[List[float]]

Lua function prototype: pathMovej(q1: table, r1: number, q2: table, r2: number, d: number) -> table, number

Lua example: path , num = pathMovej({0.0,-0.2618,1.7453,0.4364,1.5711,0.0},0.25,{0.3234,-0.5405,1.5403,0.5881,1.2962,0.7435},0.03,0.2)

Member Data Documentation

◆ d_

void* arcs::common_interface::RobotAlgorithm::d_

protected

Definition at line 1691 of file robot_algorithm.h.

The documentation for this class was generated from the following file:

include/aubo/robot/robot_algorithm.h

	AUBO SDK 0.26.0

Public Member Functions

Protected Attributes