#include <robot_interface.h>

Public Member Functions
	RobotInterface ()

virtual	~RobotInterface ()

RobotConfigPtr	getRobotConfig ()
	Get RobotConfig interface

MotionControlPtr	getMotionControl ()
	Get motion planning interface

ForceControlPtr	getForceControl ()
	Get force control interface

IoControlPtr	getIoControl ()
	Get IO control interface

SyncMovePtr	getSyncMove ()
	Get synchronized motion interface

RobotAlgorithmPtr	getRobotAlgorithm ()
	Get robot utility algorithm interface

RobotManagePtr	getRobotManage ()
	Get robot management interface (power on, start, stop, etc.)

RobotStatePtr	getRobotState ()
	Get robot state interface

TracePtr	getTrace ()
	Get alarm information interface

Protected Attributes
void *	d_

Detailed Description

Definition at line 21 of file robot_interface.h.

Constructor & Destructor Documentation

◆ RobotInterface()

arcs::common_interface::RobotInterface::RobotInterface ( )

◆ ~RobotInterface()

virtual arcs::common_interface::RobotInterface::~RobotInterface ( )

virtual

Member Function Documentation

◆ getForceControl()

ForceControlPtr arcs::common_interface::RobotInterface::getForceControl ( )

Get force control interface

Returns: Pointer to ForceControl object

Python function prototype: getForceControl(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::ForceControl

C++ example: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

ForceControlPtr ptr =

rpc_cli->getRobotInterface(robot_name)->getForceControl();

arcs::common_interface::ForceControlPtr
std::shared_ptr< ForceControl > ForceControlPtr
Definition force_control.h:2570

◆ getIoControl()

IoControlPtr arcs::common_interface::RobotInterface::getIoControl ( )

Get IO control interface

Returns: Pointer to IoControl object

Python function prototype: getIoControl(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::IoControl

C++ example: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

IoControlPtr ptr =

rpc_cli->getRobotInterface(robot_name)->getIoControl();

arcs::common_interface::IoControlPtr
std::shared_ptr< IoControl > IoControlPtr
Definition io_control.h:4563

◆ getMotionControl()

MotionControlPtr arcs::common_interface::RobotInterface::getMotionControl ( )

Get motion planning interface

Returns: Pointer to MotionControl object

Python function prototype: getMotionControl(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::MotionControl

C++ example: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

MotionControlPtr ptr =

rpc_cli->getRobotInterface(robot_name)->getMotionControl();

arcs::common_interface::MotionControlPtr
std::shared_ptr< MotionControl > MotionControlPtr
Definition motion_control.h:6210

◆ getRobotAlgorithm()

RobotAlgorithmPtr arcs::common_interface::RobotInterface::getRobotAlgorithm ( )

Get robot utility algorithm interface

Returns: Pointer to RobotAlgorithm object

Python function prototype: getRobotAlgorithm(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::RobotAlgorithm

C++ example: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

RobotAlgorithmPtr ptr =

rpc_cli->getRobotInterface(robot_name)->getRobotAlgorithm();

arcs::common_interface::RobotAlgorithmPtr
std::shared_ptr< RobotAlgorithm > RobotAlgorithmPtr
Definition robot_algorithm.h:1389

◆ getRobotConfig()

RobotConfigPtr arcs::common_interface::RobotInterface::getRobotConfig ( )

Get RobotConfig interface

Returns: Pointer to RobotConfig object

Python function prototype: getRobotConfig(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::RobotConfig

C++ example: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

RobotConfigPtr ptr =

rpc_cli->getRobotInterface(robot_name)->getRobotConfig();

arcs::common_interface::RobotConfigPtr
std::shared_ptr< RobotConfig > RobotConfigPtr
Definition robot_config.h:3632

◆ getRobotManage()

RobotManagePtr arcs::common_interface::RobotInterface::getRobotManage ( )

Get robot management interface (power on, start, stop, etc.)

Returns: Pointer to RobotManage object

Python function prototype: getRobotManage(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::RobotManage

C++ example: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

RobotManagePtr ptr =

rpc_cli->getRobotInterface(robot_name)->getRobotManage();

arcs::common_interface::RobotManagePtr
std::shared_ptr< RobotManage > RobotManagePtr
Definition robot_manage.h:1609

◆ getRobotState()

RobotStatePtr arcs::common_interface::RobotInterface::getRobotState ( )

Get robot state interface

Returns: Pointer to RobotState object

Python function prototype: getRobotState(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::RobotState

C++ example: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

RobotStatePtr ptr =

rpc_cli->getRobotInterface(robot_name)->getRobotState();

arcs::common_interface::RobotStatePtr
std::shared_ptr< RobotState > RobotStatePtr
Definition robot_state.h:2953

◆ getSyncMove()

SyncMovePtr arcs::common_interface::RobotInterface::getSyncMove ( )

Get synchronized motion interface

Returns: Pointer to SyncMove object

Python function prototype: getSyncMove(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::SyncMove

C++ example: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

SyncMovePtr ptr = rpc_cli->getRobotInterface(robot_name)->getSyncMove();

arcs::common_interface::SyncMovePtr
std::shared_ptr< SyncMove > SyncMovePtr
Definition sync_move.h:977

◆ getTrace()

TracePtr arcs::common_interface::RobotInterface::getTrace ( )

Get alarm information interface

Returns: Pointer to Trace object

Python function prototype: getTrace(self: pyaubo_sdk.RobotInterface) -> arcs::common_interface::Trace

C++ example: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

TracePtr ptr = rpc_cli->getRobotInterface(robot_name)->getTrace();

arcs::common_interface::TracePtr
std::shared_ptr< Trace > TracePtr
Definition trace.h:227

Member Data Documentation

◆ d_

void* arcs::common_interface::RobotInterface::d_

protected

Definition at line 366 of file robot_interface.h.

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

include/aubo/robot_interface.h

Public Member Functions

Protected Attributes