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AUBO SDK
0.26.0
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AUBO SDK
0.26.0
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#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 > | getJointGravityTorques () |
| Get the joint gravity torque 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_ |
Definition at line 20 of file robot_state.h.
| arcs::common_interface::RobotState::RobotState | ( | ) |
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virtual |
| std::vector< double > arcs::common_interface::RobotState::getBaseForceSensor | ( | ) |
Get the base force sensor readings
| arcs::common_interface::AuboException |
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protected |
Definition at line 3067 of file robot_state.h.
1.16.1