RobotInterface(机器人模块)

RobotInterface. More...

Collaboration diagram for RobotInterface(机器人模块):

Topics
	ForceControl(力控模块)
	Abstract class for force control interface
	IoControl (IO输入输出控制)
	The IoControl class provides a series of interfaces for configuring and reading the robot's standard digital and analog IO, as well as setting output states.
	MotionControl (运动规划与控制)
	MotionControl.
	RobotAlgorithm (机器人算法工具)
	Interfaces related to robot algorithms
	RobotConfig (机器人配置管理)
	RobotConfig.
	RobotManage (机器人生命周期管理)
	RobotManage.
	RobotState (机器人状态查询)
	RobotState.

Functions
RobotConfigPtr	arcs::common_interface::RobotInterface::getRobotConfig ()
	RobotConfig (机器人配置管理) Get RobotConfig interface
MotionControlPtr	arcs::common_interface::RobotInterface::getMotionControl ()
	MotionControl (运动规划与控制) Get motion planning interface
ForceControlPtr	arcs::common_interface::RobotInterface::getForceControl ()
	ForceControl(力控模块) Get force control interface
IoControlPtr	arcs::common_interface::RobotInterface::getIoControl ()
	IoControl (IO输入输出控制) Get IO control interface
SyncMovePtr	arcs::common_interface::RobotInterface::getSyncMove ()
	SyncMove (同步运动控制和轴组管理) Get synchronized motion interface
RobotAlgorithmPtr	arcs::common_interface::RobotInterface::getRobotAlgorithm ()
	RobotAlgorithm (机器人算法工具) Get robot utility algorithm interface
RobotManagePtr	arcs::common_interface::RobotInterface::getRobotManage ()
	RobotManage (机器人生命周期管理) Get robot management interface (power on, start, stop, etc.)
RobotStatePtr	arcs::common_interface::RobotInterface::getRobotState ()
	RobotState (机器人状态查询) Get robot state interface
TracePtr	arcs::common_interface::RobotInterface::getTrace ()
	Trace (日志与弹窗) Get alarm information interface

Detailed Description

RobotInterface.

Function Documentation

getForceControl()

ForceControlPtr arcs::common_interface::RobotInterface::getForceControl

(

)

ForceControl(力控模块) 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();

getIoControl()

IoControlPtr arcs::common_interface::RobotInterface::getIoControl

(

)

IoControl (IO输入输出控制) 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();

getMotionControl()

MotionControlPtr arcs::common_interface::RobotInterface::getMotionControl

(

)

MotionControl (运动规划与控制) 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();

getRobotAlgorithm()

RobotAlgorithmPtr arcs::common_interface::RobotInterface::getRobotAlgorithm

(

)

RobotAlgorithm (机器人算法工具) 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();

getRobotConfig()

RobotConfigPtr arcs::common_interface::RobotInterface::getRobotConfig

(

)

RobotConfig (机器人配置管理) 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();

getRobotManage()

RobotManagePtr arcs::common_interface::RobotInterface::getRobotManage

(

)

RobotManage (机器人生命周期管理) 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();

getRobotState()

RobotStatePtr arcs::common_interface::RobotInterface::getRobotState

(

)

RobotState (机器人状态查询) 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();

getSyncMove()

SyncMovePtr arcs::common_interface::RobotInterface::getSyncMove

(

)

SyncMove (同步运动控制和轴组管理) 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();

getTrace()

TracePtr arcs::common_interface::RobotInterface::getTrace

(

)

Trace (日志与弹窗) 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();