|
| | RobotConfig () |
| virtual | ~RobotConfig () |
| std::string | getName () |
| | Get the robot's name.
|
| int | getDof () |
| | Get the robot's degrees of freedom (from the hardware abstraction layer).
|
| double | getCycletime () |
| | Get the robot's servo control cycle time (from the hardware abstraction layer).
|
| int | setSlowDownFraction (int level, double fraction) |
| | Set the speed reduction ratio for the preset slow-down mode.
|
| double | getSlowDownFraction (int level) |
| | Get the speed reduction ratio for the preset slow-down mode.
|
| double | getDefaultToolAcc () |
| | Get the default tool acceleration, in m/s^2.
|
| double | getDefaultToolSpeed () |
| | Get the default tool speed, in m/s.
|
| double | getDefaultJointAcc () |
| | Get the default joint acceleration, in rad/s^2.
|
| double | getDefaultJointSpeed () |
| | Get the default joint speed, in rad/s.
|
| std::string | getRobotType () |
| | Get the robot type code.
|
| std::string | getRobotSubType () |
| | Get the robot sub-type code.
|
| std::string | getControlBoxType () |
| | Get the control box type code.
|
| int | setMountingPose (const std::vector< double > &pose) |
| | Set the mounting pose (robot base coordinate system relative to world coordinate system) world->base
|
| std::vector< double > | getMountingPose () |
| | Get the mounting pose (robot base coordinate system relative to world coordinate system)
|
| int | attachRobotBaseTo (const std::string &frame) |
| | Attach the robot base to a coordinate frame.
|
| std::string | getRobotBaseParent () |
| int | setWorkObjectData (const WObjectData &wobj) |
| | Set work object data.
|
| int | setCollisionLevel (int level) |
| | Set the collision sensitivity level.
|
| int | getCollisionLevel () |
| | Get the collision sensitivity level.
|
| int | setCollisionStopType (int type) |
| | Set the collision stop type.
|
| int | getCollisionStopType () |
| | Get the collision stop type.
|
| int | setHomePosition (const std::vector< double > &positions) |
| | Set the robot's home position.
|
| std::vector< double > | getHomePosition () |
| | Get the robot's home position.
|
| int | setFreedriveDamp (const std::vector< double > &damp) |
| | Set freedrive damping.
|
| std::vector< double > | getFreedriveDamp () |
| | Get freedrive damping.
|
| int | setHandguidDamp (const std::vector< double > &damp) |
| | Set handguiding damping.
|
| std::vector< double > | getHandguidDamp () |
| | Get handguiding damping.
|
| std::unordered_map< std::string, std::vector< double > > | getKinematicsParam (bool real) |
| | Get the robot's DH parameters: alpha, a, d, theta, beta.
|
| std::unordered_map< std::string, std::vector< double > > | getKinematicsCompensate (double ref_temperature) |
| | Get DH parameter compensation values (alpha, a, d, theta, beta) at the specified temperature.
|
| int | setKinematicsCompensate (const std::unordered_map< std::string, std::vector< double > > ¶m) |
| | Set standard DH compensation to the robot.
|
| int | setPersistentParameters (const std::string ¶m) |
| | Set parameters to be saved to the interface board base.
|
| int | setHardwareCustomParameters (const std::string ¶m) |
| | Set custom parameters for the hardware abstraction layer.
|
| std::string | getHardwareCustomParameters (const std::string ¶m) |
| | Get custom parameters from the hardware abstraction layer.
|
| int | setRobotZero () |
| | Set the robot joint zero position.
|
| std::vector< std::string > | getTcpForceSensorNames () |
| | Get the names of available TCP force sensors.
|
| int | selectTcpForceSensor (const std::string &name) |
| | Set the TCP force sensor.
|
| int | setTcpForceSensorPose (const std::vector< double > &sensor_pose) |
| | Set the sensor mounting pose.
|
| std::vector< double > | getTcpForceSensorPose () |
| | Get the sensor mounting pose.
|
| bool | hasTcpForceSensor () |
| | Whether a TCP force sensor is installed.
|
| int | setTcpForceOffset (const std::vector< double > &force_offset) |
| | Set the TCP force/torque offset.
|
| std::vector< double > | getTcpForceOffset () |
| | Get the TCP force/torque offset.
|
| std::vector< std::string > | getBaseForceSensorNames () |
| | Get the names of available base force sensors.
|
| int | selectBaseForceSensor (const std::string &name) |
| | Set the base force sensor.
|
| bool | hasBaseForceSensor () |
| | Whether a base force sensor is installed.
|
| int | setBaseForceOffset (const std::vector< double > &force_offset) |
| | Set the base force/torque offset.
|
| std::vector< double > | getBaseForceOffset () |
| | Get the base force/torque offset.
|
| uint32_t | getSafetyParametersCheckSum () |
| | Get the safety parameter checksum CRC32.
|
| int | confirmSafetyParameters (const RobotSafetyParameterRange ¶meters) |
| | Initiate a request to confirm safety configuration parameters: Write safety configuration parameters to the safety interface board flash or file.
|
| uint32_t | calcSafetyParametersCheckSum (const RobotSafetyParameterRange ¶meters) |
| | Calculate the CRC32 checksum of safety parameters.
|
| std::vector< double > | getJointMaxPositions () |
| | Get the joint maximum positions (physical limits).
|
| std::vector< double > | getJointMinPositions () |
| | Get the joint minimum positions (physical limits).
|
| std::vector< double > | getJointMaxSpeeds () |
| | Get the joint maximum speeds (physical limits).
|
| std::vector< double > | getJointMaxAccelerations () |
| | Get the joint maximum accelerations (physical limits).
|
| std::vector< double > | getTcpMaxSpeeds () |
| | Get the TCP maximum speed (physical limits).
|
| std::vector< double > | getTcpMaxAccelerations () |
| | Get the TCP maximum acceleration (physical limits).
|
| int | setGravity (const std::vector< double > &gravity) |
| | Set the robot installation attitude (gravity vector).
|
| std::vector< double > | getGravity () |
| | Get the robot's installation attitude (gravity vector).
|
| int | setTcpOffset (const std::vector< double > &offset) |
| | Set the current TCP offset.
|
| std::vector< double > | getTcpOffset () |
| | Get the current TCP offset.
|
| int | setToolInertial (double m, const std::vector< double > &com, const std::vector< double > &inertial) |
| | Set tool mass, center of mass, and inertia.
|
| int | setPayload (double m, const std::vector< double > &cog, const std::vector< double > &aom, const std::vector< double > &inertia) |
| | Set the payload.
|
| Payload | getPayload () |
| | Get the payload.
|
| bool | toolSpaceInRange (const std::vector< double > &pose) |
| | Whether the end-effector pose is within the safety range.
|
| int | firmwareUpdate (const std::string &fw) |
| | Initiate a firmware upgrade request.
|
| std::tuple< std::string, double > | getFirmwareUpdateProcess () |
| | Get the current firmware upgrade process.
|
| std::vector< double > | getLimitJointMaxPositions () |
| | Get the joint maximum positions (currently used limit values).
|
| std::vector< double > | getLimitJointMinPositions () |
| | Get the joint minimum positions (currently used limit values).
|
| std::vector< double > | getLimitJointMaxSpeeds () |
| | Get the joint maximum speeds (currently used limit values).
|
| std::vector< double > | getLimitJointMaxAccelerations () |
| | Get the joint maximum accelerations (currently used limit values).
|
| double | getLimitTcpMaxSpeed () |
| | Get the TCP maximum speed (currently used limit value).
|
| SafeguedStopType | getSafeguardStopType () |
| | Get the current safeguard stop type.
|
| int | getSafeguardStopSource () |
| | Get the complete safeguard stop source as a bitmask.
|
| int | getRobotEmergencyStopSource () |
| | Get the complete robot emergency stop source as a bitmask.
|
| std::string | getSelectedTcpForceSensorName () |
| | Get the name of the selected TCP force sensor.
|
| int | attachWeldingGun (double m, const std::vector< double > &cog, const std::vector< double > &inertia) |
| int | setCollisionThreshold (const std::vector< double > &threshold) |
| | Enable optimized collision force.
|
| std::vector< double > | getCollisionThreshold () |
| | Get collision threshold.
|
| int | enableAxisGroup (const std::string &group_name) |
| int | disableAxisGroup () |
| int | enableEndCollisionCheck (bool enable) |
| | Set end collision threshold.
|
| bool | isEndCollisionCheckEnabled () |
| | Get collision check is enabled.
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1.16.1