#include <robot_state.h>

Public Member Functions
	RobotState ()

virtual	~RobotState ()

RobotModeType	getRobotModeType ()
	Get the robot mode state

SafetyModeType	getSafetyModeType ()
	Get the safety mode

bool	isPowerOn ()
	Get the robot power-on state

bool	isSteady ()
	Whether the robot has stopped

bool	isCollisionOccurred ()
	Whether a collision has occurred

bool	isWithinSafetyLimits ()
	Whether the robot is within safety limits

std::vector< double >	getTcpPose ()
	Get the current TCP pose.

std::vector< double >	getActualTcpOffset ()
	Get the current TCP offset, which is the TCP offset used by the pose returned from getTcpPose

std::vector< double >	getTargetTcpPose ()
	Get the next target waypoint.

std::vector< double >	getToolPose ()
	Get the tool pose (without TCP offset)

std::vector< double >	getTcpSpeed ()
	Get the TCP speed

std::vector< double >	getTcpForce ()
	Get the TCP force/torque

std::vector< double >	getElbowPosistion ()
	Get the position of the elbow

std::vector< double >	getElbowVelocity ()
	Get the elbow velocity

std::vector< double >	getBaseForce ()
	Get the base force/torque

std::vector< double >	getTcpTargetPose ()
	Get the last sent TCP target pose

std::vector< double >	getTcpTargetSpeed ()
	Get the TCP target speed

std::vector< double >	getTcpTargetForce ()
	Get the TCP target force/torque

std::vector< JointStateType >	getJointState ()
	Get the joint state of the manipulator

std::vector< JointServoModeType >	getJointServoMode ()
	Get the servo state of the joints

std::vector< double >	getJointPositions ()
	Get the joint positions of the manipulator

std::vector< double >	getJointPositionsHistory (int steps)
	Get the historical joint positions of the manipulator

std::vector< double >	getJointSpeeds ()
	Get the joint speeds of the manipulator

std::vector< double >	getJointAccelerations ()
	Get the joint accelerations of the manipulator

std::vector< double >	getJointTorqueSensors ()
	Get the joint torques of the manipulator

std::vector< double >	getJointContactTorques ()
	Get the joint contact torques (external torques) of the manipulator

std::vector< double >	getBaseForceSensor ()
	Get the base force sensor readings

std::vector< double >	getTcpForceSensors ()
	Get the TCP force sensor readings

std::vector< double >	getJointCurrents ()
	Get the joint currents of the manipulator

std::vector< double >	getJointVoltages ()
	Get the joint voltages of the manipulator

std::vector< double >	getJointTemperatures ()
	Get the joint temperatures of the manipulator

std::vector< std::string >	getJointUniqueIds ()
	Get the globally unique IDs of the joints

std::vector< int >	getJointFirmwareVersions ()
	Get the joint firmware versions

std::vector< int >	getJointHardwareVersions ()
	Get the joint hardware versions

std::string	getMasterBoardUniqueId ()
	Get the globally unique ID of the MasterBoard

int	getMasterBoardFirmwareVersion ()
	Get the MasterBoard firmware version

int	getMasterBoardHardwareVersion ()
	Get the MasterBoard hardware version

std::string	getSlaveBoardUniqueId ()
	Get the globally unique ID of the SlaveBoard

int	getSlaveBoardFirmwareVersion ()
	Get the SlaveBoard firmware version

int	getSlaveBoardHardwareVersion ()
	Get the SlaveBoard hardware version

std::string	getToolUniqueId ()
	Get the globally unique ID of the tool

int	getToolFirmwareVersion ()
	Get the tool firmware version

int	getToolHardwareVersion ()
	Get the tool hardware version

int	getToolCommMode ()
	Get the tool communication mode

std::string	getPedestalUniqueId ()
	Get the globally unique ID of the pedestal

int	getPedestalFirmwareVersion ()
	Get the pedestal firmware version

int	getPedestalHardwareVersion ()
	Get the pedestal hardware version

std::vector< double >	getJointTargetPositions ()
	Get the target joint positions (angles) of the manipulator

std::vector< double >	getJointTargetSpeeds ()
	Get the target joint speeds of the manipulator

std::vector< double >	getJointTargetAccelerations ()
	Get the target joint accelerations of the manipulator

std::vector< double >	getJointTargetTorques ()
	Get the target joint torques of the manipulator

std::vector< double >	getJointTargetCurrents ()
	Get the target joint currents of the manipulator

bool	isTeachPendantEnabled ()
	Get whether the teach pendant is enabled.

bool	isToolFlangeEnabled ()
	Get whether the tool flange is enabled.

double	getControlBoxTemperature ()
	Get the control box temperature

double	getControlBoxHumidity ()
	Get the control box humidity

double	getMainVoltage ()
	Get the main bus voltage

double	getMainCurrent ()
	Get the main bus current

double	getRobotVoltage ()
	Get the robot voltage

double	getRobotCurrent ()
	Get the robot current

int	getSlowDownLevel ()
	Get the robot slow down level

bool	getTcpForceSensorStatus (const std::string &name)
	Get the communication status of the tool force sensor

Protected Attributes
void *	d_

Detailed Description

Definition at line 15 of file robot_state.h.

Constructor & Destructor Documentation

◆ RobotState()

arcs::common_interface::RobotState::RobotState ( )

◆ ~RobotState()

virtual arcs::common_interface::RobotState::~RobotState ( )

virtual

Member Function Documentation

◆ getActualTcpOffset()

std::vector< double > arcs::common_interface::RobotState::getActualTcpOffset ( )

Get the current TCP offset, which is the TCP offset used by the pose returned from getTcpPose

Returns: The current TCP offset

Lua function prototype: getActualTcpOffset() -> table

Lua example: ActualTcpOffset = getActualTcpOffset()

◆ getBaseForce()

std::vector< double > arcs::common_interface::RobotState::getBaseForce ( )

Get the base force/torque

Returns: Base force/torque

Exceptions

arcs::common_interface::AuboException

Python function prototype: getBaseForce(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getBaseForce() -> table

Lua example: BaseForce = getBaseForce()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getBaseForce","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ getBaseForceSensor()

std::vector< double > arcs::common_interface::RobotState::getBaseForceSensor ( )

Get the base force sensor readings

Returns: Base force sensor readings

Exceptions

arcs::common_interface::AuboException

Python function prototype: getBaseForceSensor(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getBaseForceSensor() -> table

Lua example: BaseForceSensor = getBaseForceSensor()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getBaseForceSensor","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ getControlBoxHumidity()

double arcs::common_interface::RobotState::getControlBoxHumidity ( )

Get the control box humidity

Returns: Control box humidity

Exceptions

arcs::common_interface::AuboException

Python function prototype: getControlBoxHumidity(self: pyaubo_sdk.RobotState) -> float

Lua function prototype: getControlBoxHumidity() -> number

Lua example: ControlBoxHumidity = getControlBoxHumidity()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getControlBoxHumidity","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":20.0}

◆ getControlBoxTemperature()

double arcs::common_interface::RobotState::getControlBoxTemperature ( )

Get the control box temperature

Returns: Control box temperature

Exceptions

arcs::common_interface::AuboException

Python function prototype: getControlBoxTemperature(self: pyaubo_sdk.RobotState) -> float

Lua function prototype: getControlBoxTemperature() -> number

Lua example: ControlBoxTemperature = getControlBoxTemperature()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getControlBoxTemperature","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":25.0}

◆ getElbowPosistion()

std::vector< double > arcs::common_interface::RobotState::getElbowPosistion ( )

Get the position of the elbow

Returns: The position of the elbow

Exceptions

arcs::common_interface::AuboException

Python function prototype: getElbowPosistion(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getElbowPosistion() -> table

Lua example: ElbowPosistion = getElbowPosistion()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getElbowPosistion","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.07355755887512408,-0.1325,0.43200874126125227,-1.5707963267948968,0.433006344376404,0.0]}

◆ getElbowVelocity()

std::vector< double > arcs::common_interface::RobotState::getElbowVelocity ( )

Get the elbow velocity

Returns: Elbow velocity

Exceptions

arcs::common_interface::AuboException

Python function prototype: getElbowVelocity(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getElbowVelocity() -> table

Lua example: ElbowVelocity = getElbowVelocity()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getElbowVelocity","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ getJointAccelerations()

std::vector< double > arcs::common_interface::RobotState::getJointAccelerations ( )

Get the joint accelerations of the manipulator

Returns: Joint accelerations of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointAccelerations(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointAccelerations() -> table

Lua example: JointAccelerations = getJointAccelerations()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointAccelerations","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ getJointContactTorques()

std::vector< double > arcs::common_interface::RobotState::getJointContactTorques ( )

Get the joint contact torques (external torques) of the manipulator

Returns: Joint contact torques of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointContactTorques(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointContactTorques() -> table

Lua example: JointContactTorques = getJointContactTorques()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointContactTorques","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ getJointCurrents()

std::vector< double > arcs::common_interface::RobotState::getJointCurrents ( )

Get the joint currents of the manipulator

Returns: Joint currents of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointCurrents(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointCurrents() -> table

Lua example: JointCurrents = getJointCurrents()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointCurrents","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,1.25885009765625,-1.5289306640625,0.71868896484375,0.1007080078125,0.3021240234375]}

◆ getJointFirmwareVersions()

std::vector< int > arcs::common_interface::RobotState::getJointFirmwareVersions ( )

Get the joint firmware versions

Returns: Joint firmware versions

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointFirmwareVersions(self: pyaubo_sdk.RobotState) -> List[int]

Lua function prototype: getJointFirmwareVersions() -> table

Lua example: JointFirmwareVersions = getJointFirmwareVersions()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointFirmwareVersions","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[1000010,1000010,1000010,1000010,1000010,1000010]}

◆ getJointHardwareVersions()

std::vector< int > arcs::common_interface::RobotState::getJointHardwareVersions ( )

Get the joint hardware versions

Returns: Joint hardware versions

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointHardwareVersions(self: pyaubo_sdk.RobotState) -> List[int]

Lua function prototype: getJointHardwareVersions() -> table

Lua example: JointHardwareVersions = getJointHardwareVersions()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointHardwareVersions","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[1000000,1000000,1004000,1004000,1004000,1004000]}

◆ getJointPositions()

std::vector< double > arcs::common_interface::RobotState::getJointPositions ( )

Get the joint positions of the manipulator

Returns: Joint positions of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointPositions(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointPositions() -> table

Lua example: JointPositions = getJointPositions()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointPositions","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,-0.26199241371495835,1.7418102574563423,0.4330197667082982,1.5707963267948966,0.0]}

◆ getJointPositionsHistory()

std::vector< double > arcs::common_interface::RobotState::getJointPositionsHistory ( int steps )

Get the historical joint positions of the manipulator

Parameters

steps Number of steps

Returns: Historical joint positions of the manipulator

◆ getJointServoMode()

std::vector< JointServoModeType > arcs::common_interface::RobotState::getJointServoMode ( )

Get the servo state of the joints

Returns: The servo state of the joints

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointServoMode(self: pyaubo_sdk.RobotState) -> List[arcs::common_interface::JointServoModeType]

Lua function prototype: getJointServoMode() -> table

Lua example: JointServoMode = getJointServoMode()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointServoMode","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":["Position","Position","Position","Position","Position","Position"]}

◆ getJointSpeeds()

std::vector< double > arcs::common_interface::RobotState::getJointSpeeds ( )

Get the joint speeds of the manipulator

Returns: Joint speeds of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointSpeeds(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointSpeeds() -> table

Lua example: JointSpeeds = getJointSpeeds()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointSpeeds","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ getJointState()

std::vector< JointStateType > arcs::common_interface::RobotState::getJointState ( )

Get the joint state of the manipulator

Returns: Joint state of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointState(self: pyaubo_sdk.RobotState) -> List[arcs::common_interface::JointStateType]

Lua function prototype: getJointState() -> table

Lua example: JointState = getJointState()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointState","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":["Running","Running","Running","Running","Running","Running"]}

◆ getJointTargetAccelerations()

std::vector< double > arcs::common_interface::RobotState::getJointTargetAccelerations ( )

Get the target joint accelerations of the manipulator

Returns: Target joint accelerations of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointTargetAccelerations(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointTargetAccelerations() -> table

Lua example: JointTargetAccelerations = getJointTargetAccelerations()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetAccelerations","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,-0.6737932929246071,-12.610253240108449,0.0,0.0,0.0]}

◆ getJointTargetCurrents()

std::vector< double > arcs::common_interface::RobotState::getJointTargetCurrents ( )

Get the target joint currents of the manipulator

Returns: Target joint currents of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointTargetCurrents(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointTargetCurrents() -> table

Lua example: JointTargetCurrents = getJointTargetCurrents()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetCurrents","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ getJointTargetPositions()

std::vector< double > arcs::common_interface::RobotState::getJointTargetPositions ( )

Get the target joint positions (angles) of the manipulator

Returns: Target joint positions (angles) of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointTargetPositions(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointTargetPositions() -> table

Lua example: JointTargetPositions = getJointTargetPositions()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetPositions","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,-0.2619944355631239,1.7418124015308052,0.4330219266665035,1.5707963267948966,0.0]}

◆ getJointTargetSpeeds()

std::vector< double > arcs::common_interface::RobotState::getJointTargetSpeeds ( )

Get the target joint speeds of the manipulator

Returns: Target joint speeds of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointTargetSpeeds(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointTargetSpeeds() -> table

Lua example: JointTargetSpeeds = getJointTargetSpeeds()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetSpeeds","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.00024227101509399773,0.0016521760307419697,0.0026521060731088397,0.0,0.0]}

◆ getJointTargetTorques()

std::vector< double > arcs::common_interface::RobotState::getJointTargetTorques ( )

Get the target joint torques of the manipulator

Returns: Target joint torques of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointTargetTorques(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointTargetTorques() -> table

Lua example: JointTargetTorques = getJointTargetTorques()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetTorques","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ getJointTemperatures()

std::vector< double > arcs::common_interface::RobotState::getJointTemperatures ( )

Get the joint temperatures of the manipulator

Returns: Joint temperatures of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointTemperatures(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointTemperatures() -> table

Lua example: JointTemperatures = getJointTemperatures()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTemperatures","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[38.0,38.0,38.0,39.0,38.0,39.0]}

◆ getJointTorqueSensors()

std::vector< double > arcs::common_interface::RobotState::getJointTorqueSensors ( )

Get the joint torques of the manipulator

Returns: Joint torques of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointTorqueSensors(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointTorqueSensors() -> table

Lua example: JointTorqueSensors = getJointTorqueSensors()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTorqueSensors","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,6275.367736816406,-7704.2816162109375,3586.9766235351563,503.0364990234375,1506.0882568359375]}

◆ getJointUniqueIds()

std::vector< std::string > arcs::common_interface::RobotState::getJointUniqueIds ( )

Get the globally unique IDs of the joints

Returns: Globally unique IDs of the joints

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointUniqueIds(self: pyaubo_sdk.RobotState) -> List[str]

Lua function prototype: getJointUniqueIds() -> table

Lua example: JointUniqueIds = getJointUniqueIds()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointUniqueIds","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":["00800020ffffffff31405153","00800020ffffffff3e3f5153","00800020ffffffff414b5153","00800020ffffffff31065153","00800020ffffffff41535153","00800020ffffffff41545153"]}

◆ getJointVoltages()

std::vector< double > arcs::common_interface::RobotState::getJointVoltages ( )

Get the joint voltages of the manipulator

Returns: Joint voltages of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointVoltages(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointVoltages() -> table

Lua example: JointVoltages = getJointVoltages()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointVoltages","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[2.0,2.5,3.0,2.0,2.5,2.0]}

◆ getMainCurrent()

double arcs::common_interface::RobotState::getMainCurrent ( )

Get the main bus current

Returns: Main bus current

Exceptions

arcs::common_interface::AuboException

Python function prototype: getMainCurrent(self: pyaubo_sdk.RobotState) -> float

Lua function prototype: getMainCurrent() -> number

Lua example: MainCurrent = getMainCurrent()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getMainCurrent","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0.3204345703125}

◆ getMainVoltage()

double arcs::common_interface::RobotState::getMainVoltage ( )

Get the main bus voltage

Returns: Main bus voltage

Exceptions

arcs::common_interface::AuboException

Python function prototype: getMainVoltage(self: pyaubo_sdk.RobotState) -> float

Lua function prototype: getMainVoltage() -> number

Lua example: MainVoltage = getMainVoltage()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getMainVoltage","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":52.75}

◆ getMasterBoardFirmwareVersion()

int arcs::common_interface::RobotState::getMasterBoardFirmwareVersion ( )

Get the MasterBoard firmware version

Returns: MasterBoard firmware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getMasterBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getMasterBoardFirmwareVersion() -> number

Lua example: MasterBoardFirmwareVersion = getMasterBoardFirmwareVersion()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardFirmwareVersion","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":1000004}

◆ getMasterBoardHardwareVersion()

int arcs::common_interface::RobotState::getMasterBoardHardwareVersion ( )

Get the MasterBoard hardware version

Returns: MasterBoard hardware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getMasterBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getMasterBoardHardwareVersion() -> number

Lua example: MasterBoardHardwareVersion = getMasterBoardHardwareVersion()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardHardwareVersion","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":1000000}

◆ getMasterBoardUniqueId()

std::string arcs::common_interface::RobotState::getMasterBoardUniqueId ( )

Get the globally unique ID of the MasterBoard

Returns: Globally unique ID of the MasterBoard

Exceptions

arcs::common_interface::AuboException

Python function prototype: getMasterBoardUniqueId(self: pyaubo_sdk.RobotState) -> str

Lua function prototype: getMasterBoardUniqueId() -> string

Lua example: MasterBoardUniqueId = getMasterBoardUniqueId()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardUniqueId","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"001e0044510f343037323637"}

◆ getPedestalFirmwareVersion()

int arcs::common_interface::RobotState::getPedestalFirmwareVersion ( )

Get the pedestal firmware version

Returns: Pedestal firmware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getPedestalFirmwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getPedestalFirmwareVersion() -> number

Lua example: PedestalFirmwareVersion = getPedestalFirmwareVersion()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalFirmwareVersion","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":1000004}

◆ getPedestalHardwareVersion()

int arcs::common_interface::RobotState::getPedestalHardwareVersion ( )

Get the pedestal hardware version

Returns: Pedestal hardware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getPedestalHardwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getPedestalHardwareVersion() -> number

Lua example: PedestalHardwareVersion = getPedestalHardwareVersion()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalHardwareVersion","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":1007000}

◆ getPedestalUniqueId()

std::string arcs::common_interface::RobotState::getPedestalUniqueId ( )

Get the globally unique ID of the pedestal

Returns: Globally unique ID of the pedestal

Exceptions

arcs::common_interface::AuboException

Python function prototype: getPedestalUniqueId(self: pyaubo_sdk.RobotState) -> str

Lua function prototype: getPedestalUniqueId() -> string

Lua example: PedestalUniqueId = getPedestalUniqueId()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalUniqueId","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"205257533543065248544339"}

◆ getRobotCurrent()

double arcs::common_interface::RobotState::getRobotCurrent ( )

Get the robot current

Returns: Robot current

Exceptions

arcs::common_interface::AuboException

Python function prototype: getRobotCurrent(self: pyaubo_sdk.RobotState) -> float

Lua function prototype: getRobotCurrent() -> number

Lua example: RobotCurrent = getRobotCurrent()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getRobotCurrent","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0.3204345703125}

◆ getRobotModeType()

RobotModeType arcs::common_interface::RobotState::getRobotModeType ( )

Get the robot mode state

Returns: The robot's mode state

Exceptions

arcs::common_interface::AuboException

Python function prototype: getRobotModeType(self: pyaubo_sdk.RobotState) -> arcs::common_interface::RobotModeType

Lua function prototype: getRobotModeType() -> number

Lua example: RobotModeType = getRobotModeType()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getRobotModeType","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"Running"}

◆ getRobotVoltage()

double arcs::common_interface::RobotState::getRobotVoltage ( )

Get the robot voltage

Returns: Robot voltage

Exceptions

arcs::common_interface::AuboException

Python function prototype: getRobotVoltage(self: pyaubo_sdk.RobotState) -> float

Lua function prototype: getRobotVoltage() -> number

Lua example: RobotVoltage = getRobotVoltage()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getRobotVoltage","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":52.75}

◆ getSafetyModeType()

SafetyModeType arcs::common_interface::RobotState::getSafetyModeType ( )

Get the safety mode

Returns: The safety mode

Exceptions

arcs::common_interface::AuboException

Python function prototype: getSafetyModeType(self: pyaubo_sdk.RobotState) -> arcs::common_interface::SafetyModeType

Lua function prototype: getSafetyModeType() -> number

Lua example: SafetyModeType = getSafetyModeType()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getSafetyModeType","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"Normal"}

◆ getSlaveBoardFirmwareVersion()

int arcs::common_interface::RobotState::getSlaveBoardFirmwareVersion ( )

Get the SlaveBoard firmware version

Returns: SlaveBoard firmware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getSlaveBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getSlaveBoardFirmwareVersion() -> number

Lua example: SlaveBoardFirmwareVersion = getSlaveBoardFirmwareVersion()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardFirmwareVersion","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ getSlaveBoardHardwareVersion()

int arcs::common_interface::RobotState::getSlaveBoardHardwareVersion ( )

Get the SlaveBoard hardware version

Returns: SlaveBoard hardware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getSlaveBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getSlaveBoardHardwareVersion() -> number

Lua example: SlaveBoardHardwareVersion = getSlaveBoardHardwareVersion()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardHardwareVersion","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":6030098}

◆ getSlaveBoardUniqueId()

std::string arcs::common_interface::RobotState::getSlaveBoardUniqueId ( )

Get the globally unique ID of the SlaveBoard

Returns: Globally unique ID of the SlaveBoard

Exceptions

arcs::common_interface::AuboException

Python function prototype: getSlaveBoardUniqueId(self: pyaubo_sdk.RobotState) -> str

Lua function prototype: getSlaveBoardUniqueId() -> string

Lua example: SlaveBoardUniqueId = getSlaveBoardUniqueId()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardUniqueId","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"736572630080000000000000"}

◆ getSlowDownLevel()

int arcs::common_interface::RobotState::getSlowDownLevel ( )

Get the robot slow down level

Returns: Robot slow down level

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getSlowDownLevel","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ getTargetTcpPose()

std::vector< double > arcs::common_interface::RobotState::getTargetTcpPose ( )

Get the next target waypoint.

Note the difference from getTcpTargetPose; the definition here is ambiguous and the naming needs improvement.

The pose is represented as (x, y, z, rx, ry, rz). x, y, z are the target position of the Tool Center Point (TCP) in the base coordinate system, in meters. rx, ry, rz are the target orientation of the TCP in the base coordinate system, as ZYX Euler angles in radians.

Returns: The current target pose, in the form (x, y, z, rx, ry, rz)

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTargetTcpPose(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getTargetTcpPose() -> table

Lua example: TargetTcpPose = getTargetTcpPose()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getTargetTcpPose","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.4173932217619493,-0.13250000000000012,0.43296496133045825,3.141577313781914,0.0,1.5707963267948963]}

◆ getTcpForce()

std::vector< double > arcs::common_interface::RobotState::getTcpForce ( )

Get the TCP force/torque

Returns: TCP force/torque

Python function prototype: getTcpForce(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getTcpForce() -> table

Lua example: TcpForce = getTcpForce()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForce","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ getTcpForceSensors()

std::vector< double > arcs::common_interface::RobotState::getTcpForceSensors ( )

Get the TCP force sensor readings

Returns: TCP force sensor readings

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTcpForceSensors(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getTcpForceSensors() -> table

Lua example: TcpForceSensors = getTcpForceSensors()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForceSensors","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ getTcpForceSensorStatus()

bool arcs::common_interface::RobotState::getTcpForceSensorStatus ( const std::string & name )

Get the communication status of the tool force sensor

Parameters

name	force sensor name, it is consistent with the parameters of 'selectTcpForceSensor'

Returns: Returns true if communication is normal; otherwise returns false

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getSlowDownLevel","params":["tool.KWR75A"],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ getTcpPose()

std::vector< double > arcs::common_interface::RobotState::getTcpPose ( )

Get the current TCP pose.

The TCP offset can be obtained by getActualTcpOffset.

The pose is represented as (x, y, z, rx, ry, rz). x, y, z are the position of the Tool Center Point (TCP) in the base coordinate system, in meters. rx, ry, rz are the orientation of the TCP in the base coordinate system, as ZYX Euler angles in radians.

Returns: The TCP pose, in the form (x, y, z, rx, ry, rz)

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTcpPose(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getTcpPose() -> table

Lua example: TcpPose = getTcpPose()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpPose","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.41777839846910425,-0.13250000000000012,0.20928451364415995,3.1415792312578987,0.0,1.5707963267948963]}

◆ getTcpSpeed()

std::vector< double > arcs::common_interface::RobotState::getTcpSpeed ( )

Get the TCP speed

Returns: TCP speed

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTcpSpeed(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getTcpSpeed() -> table

Lua example: TcpSpeed = getTcpSpeed()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpSpeed","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ getTcpTargetForce()

std::vector< double > arcs::common_interface::RobotState::getTcpTargetForce ( )

Get the TCP target force/torque

Returns: TCP target force/torque

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTcpTargetForce(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getTcpTargetForce() -> table

Lua example: TcpTargetForce = getTcpTargetForce()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetForce","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ getTcpTargetPose()

std::vector< double > arcs::common_interface::RobotState::getTcpTargetPose ( )

Get the last sent TCP target pose

Returns: TCP target pose

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTcpTargetPose(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getTcpTargetPose() -> table

Lua example: TcpTargetPose = getTcpTargetPose()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetPose","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.41777829240862013,-0.13250000000000012,0.2092832117232601,3.1415812372223217,0.0,1.5707963267948963]}

◆ getTcpTargetSpeed()

std::vector< double > arcs::common_interface::RobotState::getTcpTargetSpeed ( )

Get the TCP target speed

Returns: TCP target speed

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTcpTargetSpeed(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getTcpTargetSpeed() -> table

Lua example: TcpTargetSpeed = getTcpTargetSpeed()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetSpeed","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ getToolCommMode()

int arcs::common_interface::RobotState::getToolCommMode ( )

Get the tool communication mode

Returns: Tool communication mode 0: No serial port 1: Serial port only 2: With force sensor and serial port

Exceptions

arcs::common_interface::AuboException

Python function prototype: getToolCommMode(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getToolCommMode() -> number

Lua example: ToolCommMode = getToolCommMode()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getToolCommMode","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":1}

◆ getToolFirmwareVersion()

int arcs::common_interface::RobotState::getToolFirmwareVersion ( )

Get the tool firmware version

Returns: Tool firmware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getToolFirmwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getToolFirmwareVersion() -> number

Lua example: ToolFirmwareVersion = getToolFirmwareVersion()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getToolFirmwareVersion","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":1001003}

◆ getToolHardwareVersion()

int arcs::common_interface::RobotState::getToolHardwareVersion ( )

Get the tool hardware version

Returns: Tool hardware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getToolHardwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getToolHardwareVersion() -> number

Lua example: ToolHardwareVersion = getToolHardwareVersion()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getToolHardwareVersion","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":1000000}

◆ getToolPose()

std::vector< double > arcs::common_interface::RobotState::getToolPose ( )

Get the tool pose (without TCP offset)

The pose is represented as (x, y, z, rx, ry, rz). x, y, z are the target position of the flange center in the base coordinate system, in meters. rx, ry, rz are the target orientation of the flange center in the base coordinate system, as ZYX Euler angles in radians.

Returns: The tool pose, in the form (x, y, z, rx, ry, rz)

Exceptions

arcs::common_interface::AuboException

Python function prototype: getToolPose(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getToolPose() -> table

Lua example: ToolPose = getToolPose()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getToolPose","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.41777820858878617,-0.13250000000000012,0.20928410288421018,3.141579231257899,0.0,1.5707963267948963]}

◆ getToolUniqueId()

std::string arcs::common_interface::RobotState::getToolUniqueId ( )

Get the globally unique ID of the tool

Returns: Globally unique ID of the tool

Exceptions

arcs::common_interface::AuboException

Python function prototype: getToolUniqueId(self: pyaubo_sdk.RobotState) -> str

Lua function prototype: getToolUniqueId() -> string

Lua example: ToolUniqueId = getToolUniqueId()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getToolUniqueId","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"397d4e5331541252314d3042"}

◆ isCollisionOccurred()

bool arcs::common_interface::RobotState::isCollisionOccurred ( )

Whether a collision has occurred

Returns: Returns true if a collision occurred; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Lua function prototype: isCollisionOccurred() -> boolean

Lua example: CollisionOccurred = isCollisionOccurred()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.isCollisionOccurred","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":false}

◆ isPowerOn()

bool arcs::common_interface::RobotState::isPowerOn ( )

Get the robot power-on state

Returns: Returns true if the robot is powered on; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Lua function prototype: isPowerOn() -> boolean

Lua example: PowerOn = isPowerOn()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.isPowerOn","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":true}

◆ isSteady()

bool arcs::common_interface::RobotState::isSteady ( )

Whether the robot has stopped

Returns: Returns true if stopped; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Python function prototype: isSteady(self: pyaubo_sdk.RobotState) -> bool

Lua function prototype: isSteady() -> boolean

Lua exaple: Steady = isSteady()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.isSteady","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":true}

◆ isTeachPendantEnabled()

bool arcs::common_interface::RobotState::isTeachPendantEnabled ( )

Get whether the teach pendant is enabled.

Indicates whether the enable button of teach pendant is in the pressed state.

Returns: Returns false if the enable button of teach pendant is pressed; otherwise returns true

Exceptions

arcs::common_interface::AuboException

Python function prototype: isTeachPendantEnabled(self: pyaubo_sdk.RobotState) -> bool

Lua function prototype: isTeachPendantEnabled() -> boolean

Lua example: TeachPendantEnabled = isTeachPendantEnabled()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.isTeachPendantEnabled","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":true}

◆ isToolFlangeEnabled()

bool arcs::common_interface::RobotState::isToolFlangeEnabled ( )

Get whether the tool flange is enabled.

Returns: Returns false if the tool flange is disabled; otherwise returns true

Exceptions

arcs::common_interface::AuboException

Python function prototype: isToolFlangeEnabled(self: pyaubo_sdk.RobotState) -> bool

Lua function prototype: isToolFlangeEnabled() -> boolean

Lua example: toolEnabled = isToolFlangeEnabled()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.isToolFlangeEnabled","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":true}

◆ isWithinSafetyLimits()

bool arcs::common_interface::RobotState::isWithinSafetyLimits ( )

Whether the robot is within safety limits

Returns: Returns true if within safety limits; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Python function prototype: isWithinSafetyLimits(self: pyaubo_sdk.RobotState) -> bool

Lua function prototype: isWithinSafetyLimits() -> boolean

Lua example: WithinSafetyLimits = isWithinSafetyLimits()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.isWithinSafetyLimits","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":true}

Member Data Documentation

◆ d_

void* arcs::common_interface::RobotState::d_

protected

Definition at line 2951 of file robot_state.h.

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

include/aubo/robot/robot_state.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RobotState()

◆ ~RobotState()

Member Function Documentation

◆ getActualTcpOffset()

◆ getBaseForce()

◆ getBaseForceSensor()

◆ getControlBoxHumidity()

◆ getControlBoxTemperature()

◆ getElbowPosistion()

◆ getElbowVelocity()

◆ getJointAccelerations()

◆ getJointContactTorques()

◆ getJointCurrents()

◆ getJointFirmwareVersions()

◆ getJointHardwareVersions()

◆ getJointPositions()

◆ getJointPositionsHistory()

◆ getJointServoMode()

◆ getJointSpeeds()

◆ getJointState()

◆ getJointTargetAccelerations()

◆ getJointTargetCurrents()

◆ getJointTargetPositions()

◆ getJointTargetSpeeds()

◆ getJointTargetTorques()

◆ getJointTemperatures()

◆ getJointTorqueSensors()

◆ getJointUniqueIds()

◆ getJointVoltages()

◆ getMainCurrent()

◆ getMainVoltage()

◆ getMasterBoardFirmwareVersion()

◆ getMasterBoardHardwareVersion()

◆ getMasterBoardUniqueId()

◆ getPedestalFirmwareVersion()

◆ getPedestalHardwareVersion()

◆ getPedestalUniqueId()

◆ getRobotCurrent()

◆ getRobotModeType()

◆ getRobotVoltage()

◆ getSafetyModeType()

◆ getSlaveBoardFirmwareVersion()

◆ getSlaveBoardHardwareVersion()

◆ getSlaveBoardUniqueId()

◆ getSlowDownLevel()

◆ getTargetTcpPose()

◆ getTcpForce()

◆ getTcpForceSensors()

◆ getTcpForceSensorStatus()

◆ getTcpPose()

◆ getTcpSpeed()

◆ getTcpTargetForce()

◆ getTcpTargetPose()

◆ getTcpTargetSpeed()

◆ getToolCommMode()

◆ getToolFirmwareVersion()

◆ getToolHardwareVersion()

◆ getToolPose()

◆ getToolUniqueId()

◆ isCollisionOccurred()

◆ isPowerOn()

◆ isSteady()

◆ isTeachPendantEnabled()

◆ isToolFlangeEnabled()

◆ isWithinSafetyLimits()

Member Data Documentation

◆ d_