|
| | 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
|
| ResultWithErrno | inverseKinematics2 (const std::vector< double > &qnear, const std::vector< double > &pose) |
| | Inverse kinematics with the same robot configuration and minimum joint change Calculate the inverse kinematics solution for the target TCP pose according to the robot configuration of qnear, and select the solution with the minimum joint change relative to qnear among solutions with the same configuration.
|
| 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 ¶m1, const VibrationRecalibrationParameter ¶m2, double threshold) |
| int | addCollisionBox (const std::string &name, const std::string &link_name, const std::vector< std::vector< double > > &sizes, const std::vector< std::vector< double > > &poses) |
| | Add a box collision object
|
| int | removeCollisionObject (const std::string &name) |
| | Remove a collision object by name
|
| 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 without external collision checks.
|
| int | validatePath1 (int type, const std::vector< double > &start, double r1, const std::vector< double > &end, double r2, double d, bool check_external_collision) |
| | Validate the reachability of the robot's motion path from start point to end point, with optional external collision checks.
|
1.16.1 