|
| | SyncMove () |
| virtual | ~SyncMove () |
| int | syncMoveOn (const std::string &syncident, const TaskSet &taskset) |
| | syncMoveOn is used to start synchronized movement mode.
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| bool | syncMoveSegment (int id) |
| | Set the ID for the synchronized path segment.
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| int | syncMoveOff (const std::string &syncident) |
| | syncMoveOff is used to end synchronized movement mode.
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| int | syncMoveUndo () |
| | syncMoveUndo is used to turn off synchronized movements, even if not all the other task programs execute the syncMoveUndo instruction.
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| int | waitSyncTasks (const std::string &syncident, const TaskSet &taskset) |
| | waitSyncTasks is used to synchronize several task programs at a specific point in the program.
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| bool | isSyncMoveOn () |
| | isSyncMoveOn is used to tell if the mechanical unit group is in synchronized movement mode.
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| int | syncMoveSuspend () |
| | Suspend synchronized movement mode.
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| int | syncMoveResume () |
| | Resume synchronized movement mode.
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| int | frameAdd (const std::string &name, const std::vector< double > &pose, const std::string &ref_name) |
| | Add a frame with the name "name" initialized at the specified pose expressed in the ref_frame coordinate frame.
|
| int | frameAttach (const std::string &child, const std::string &parent) |
| | Attaches the child frame to the parent world model object.
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| int | frameDeleteAll () |
| | Delete all frames that have been added to the world model.
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| int | frameDelete (const std::string &name) |
| | Delete the frame with name from the world model.
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| int | frameMove (const std::string &name, const std::vector< double > &pose, const std::string &ref_name) |
| | Changes the placement of the coordinate frame named name to the new placement given by pose that is defined in the ref_name coordinate frame.
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| std::vector< double > | frameGetPose (const std::string &name, const std::string &rel_frame, const std::string &ref_frame) |
| | Get the pose of the name frame relative to the rel_frame frame but expressed in the coordinates of the ref_frame frame.
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| std::vector< double > | frameConvertPose (const std::vector< double > &pose, const std::string &from_frame, const std::string &to_frame) |
| | Convert pose from from_frame to to_frame.
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| bool | frameExist (const std::string &name) |
| | Queries for the existence of a frame by the given name.
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| std::string | frameGetParent (const std::string &name) |
| | Get the parent of the frame named name in the world model.
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| std::vector< std::string > | frameGetChildren (const std::string &name) |
| | Returns a list of immediate child object frame names.
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| int | axisGroupAdd (const std::string &name, const std::vector< double > &pose, const std::string &ref_frame) |
| | Adds a new axis group with the given name to the world model.
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| int | axisGroupDelete (const std::string &name) |
| | Deletes the axis group with the given name from the world model.
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| int | axisGroupAddAxis (const std::string &group_name, const std::string &name, const std::string &parent, const std::vector< double > &pose) |
| | Adds an external axis with the given name to the axis group named group_name.
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| int | axisGroupUpdateAxis (const std::string &name, const std::vector< double > &pose) |
| | Updates the corresponding properties of axis with name.
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| int | axisGroupGetAxisIndex (const std::string &name) |
| | Returns the index of the axis with given axis_name in the RTDE target positions and actual positions arrays.
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| std::string | axisGroupGetAxisName (int index) |
| | Returns the name of the axis with the given axis_index.
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| std::vector< double > | axisGroupGetTargetPositions (const std::string &group_name) |
| | Returns the current target positions of the axis group with group_name.
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| std::vector< double > | axisGroupGetActualPositions (const std::string &group_name) |
| | Returns the current actual positions of the axis group with group_name.
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| int | axisGroupOffsetPositions (const std::string &group_name, const std::vector< double > &offset) |
| | Shifts the target and actual positions of the axis group group_name by the given offset.
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| int | axisGroupMoveJoint (const std::string &group_name, const std::vector< double > &q, double a, double v) |
| | Moves the axes of axis group named group_name to new positions q, using a trapezoidal velocity profile.
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| int | axisGroupSpeedJoint (const std::string &group_name, const std::vector< double > &qd, double a, double t) |
| | Accelerates the axes of axis group named group_name up to the target velocities qd.
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Definition at line 42 of file sync_move.h.
1.16.1