Classes
class	AuboApi

class	AuboException
	Custom exception class AuboException. More...

class	AxisInterface
	External axis API interface. More...

struct	CircleParameters
	Circular motion parameters definition. More...

struct	Enveloping

class	ForceControl
	Abstract class for force control interface More...

class	IoControl
	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. More...

class	Math

class	MotionControl
	MotionControl. More...

class	RegisterControl
	General Registers. More...

class	RobotAlgorithm
	Interfaces related to robot algorithms More...

class	RobotConfig

class	RobotInterface

class	RobotManage

struct	RobotMsg

struct	RobotSafetyParameterRange

class	RobotState

struct	RtdeRecipe
	RTDE menu. More...

class	RuntimeMachine
	The RuntimeMachine class. More...

class	Serial

class	Socket

struct	SpiralParameters

class	SyncMove

class	SystemInfo

class	Trace
	provides a logging system for controller extension programs More...

struct	TrajConfig
	Trajectory configuration for payload identification. More...

struct	WObjectData

Typedefs
using	AuboApiPtr = std::shared_ptr< AuboApi >

using	AxisInterfacePtr = std::shared_ptr< AxisInterface >

using	MathPtr = std::shared_ptr< Math >

using	RegisterControlPtr = std::shared_ptr< RegisterControl >

using	ForceControlPtr = std::shared_ptr< ForceControl >

using	IoControlPtr = std::shared_ptr< IoControl >

using	MotionControlPtr = std::shared_ptr< MotionControl >

using	RobotAlgorithmPtr = std::shared_ptr< RobotAlgorithm >

using	RobotConfigPtr = std::shared_ptr< RobotConfig >

using	RobotManagePtr = std::shared_ptr< RobotManage >

using	RobotStatePtr = std::shared_ptr< RobotState >

using	RobotInterfacePtr = std::shared_ptr< RobotInterface >

using	RuntimeMachinePtr = std::shared_ptr< RuntimeMachine >

using	SerialPtr = std::shared_ptr< Serial >

using	SocketPtr = std::shared_ptr< Socket >

typedef std::unordered_set< std::string >	TaskSet

using	SyncMovePtr = std::shared_ptr< SyncMove >

using	SystemInfoPtr = std::shared_ptr< SystemInfo >

using	TracePtr = std::shared_ptr< Trace >

using	Vector3d = std::array< double, 3 >

using	Vector4d = std::array< double, 4 >

using	Vector3f = std::array< float, 3 >

using	Vector4f = std::array< float, 4 >

using	Vector6f = std::array< float, 6 >

using	ResultWithErrno = std::tuple< std::vector< double >, int >

using	ResultWithErrno1 = std::tuple< std::vector< std::vector< double > >, int >

using	Payload = std::tuple< double, std::vector< double >, std::vector< double >, std::vector< double > >

using	ForceSensorCalibResult = std::tuple< std::vector< double >, std::vector< double >, double, std::vector< double > >

using	ForceSensorCalibResultWithError = std::tuple< std::vector< double >, std::vector< double >, double, std::vector< double >, double >

using	DynamicsModel = std::tuple< std::vector< double >, std::vector< double >, std::vector< double > >

using	Box = std::vector< double >

using	Cylinder = std::vector< double >

using	Sphere = std::vector< double >

using	RobotMsgVector = std::vector< RobotMsg >

Enumerations
enum	PathBufferType { PathBuffer_TOPPRA = 1 , PathBuffer_CubicSpline , PathBuffer_JointSpline = 3 , PathBuffer_JointSplineC = 4 , PathBuffer_JointBSpline = 5 , PathBuffer_JointBSplineC = 6 }
	pathBuffer Type More...

enum	AuboErrorCodes : int { ENUM_AuboErrorCodes_DECLARES }

enum class	RuntimeState : int { ENUM_RuntimeState_DECLARES }

enum class	RobotModeType : int { ENUM_RobotModeType_DECLARES }

enum class	AxisModeType : int { ENUM_AxisModeType_DECLARES }

enum class	SafetyModeType : int { ENUM_SafetyModeType_DECLARES }
	Safety Mode. More...

enum class	OperationalModeType : int { ENUM_OperationalModeType_DECLARES }
	Operational Mode. More...

enum class	RobotControlModeType : int { ENUM_RobotControlModeType_DECLARES }
	Robot Control Mode. More...

enum class	JointServoModeType : int { ENUM_JointServoModeType_DECLARES }
	Joint Servo Mode. More...

enum class	JointStateType : int { ENUM_JointStateType_DECLARES }
	Joint State. More...

enum class	StandardOutputRunState : int { ENUM_StandardOutputRunState_DECLARES }
	Standard Output Run State. More...

enum class	StandardInputAction : int { ENUM_StandardInputAction_DECLARES }
	The StandardInputAction enum. More...

enum class	SafetyInputAction : int { ENUM_SafetyInputAction_DECLARES }

enum class	SafetyOutputRunState : int { ENUM_SafetyOutputRunState_DECLARES }

enum	TaskFrameType { ENUM_TaskFrameType_DECLARES }

enum	EnvelopingShape : int { ENUM_EnvelopingShape_DECLARES }

enum	PayloadIdentifyMoveAxis : int { ENUM_PayloadIdentifyMoveAxis_DECLARES }

enum	TraceLevel { ENUM_TraceLevel_DECLARES }

enum	SafeguedStopType : int { ENUM_SafeguedStopType_DECLARES }

enum	RobotEmergencyStopType : int { ENUM_RobotEmergencyStopType_DECLARES }

enum class	ForceControlState { Stopped , Starting , Stropping , Running }

enum class	RefFrameType { None , Tool , Path , Base }

enum	error_type { parse_error = -32700 , invalid_request = -32600 , method_not_found = -32601 , invalid_params = -32602 , internal_error = -32603 , server_error , invalid }
	Error type. More...

enum	ExceptionCode { EC_DISCONNECTED = -1 , EC_NOT_LOGINED = -2 , EC_INVAL_SOCKET = -3 , EC_REQUEST_BUSY = -4 , EC_SEND_FAILED = -5 , EC_RECV_TIMEOUT = -6 , EC_RECV_ERROR = -7 , EC_PARSE_ERROR = -8 , EC_INVALID_REQUEST = -9 , EC_METHOD_NOT_FOUND = -10 , EC_INVALID_PARAMS = -11 , EC_INTERNAL_ERROR = -12 , EC_SERVER_ERROR = -13 , EC_INVALID = -14 }
	Exception code. More...

Functions
std::ostream &	operator<< (std::ostream &os, const RobotSafetyParameterRange &vd)

std::ostream &	operator<< (std::ostream &os, WObjectData p)

std::ostream &	operator<< (std::ostream &os, CircleParameters p)

std::ostream &	operator<< (std::ostream &os, SpiralParameters p)

std::ostream &	operator<< (std::ostream &os, Enveloping p)

std::ostream &	operator<< (std::ostream &os, TrajConfig p)

const char *	returnValue2Str (int retval)

Typedef Documentation

◆ AuboApiPtr

using arcs::common_interface::AuboApiPtr = typedef std::shared_ptr<AuboApi>

Definition at line 352 of file aubo_api.h.

◆ AxisInterfacePtr

using arcs::common_interface::AxisInterfacePtr = typedef std::shared_ptr<AxisInterface>

Definition at line 376 of file axis_interface.h.

◆ Box

using arcs::common_interface::Box = typedef std::vector<double>

Definition at line 790 of file type_def.h.

◆ Cylinder

using arcs::common_interface::Cylinder = typedef std::vector<double>

Definition at line 797 of file type_def.h.

◆ DynamicsModel

using arcs::common_interface::DynamicsModel = typedef std::tuple<std::vector<double>, std::vector<double>, std::vector<double> >

Definition at line 781 of file type_def.h.

◆ ForceControlPtr

using arcs::common_interface::ForceControlPtr = typedef std::shared_ptr<ForceControl>

Definition at line 2570 of file force_control.h.

◆ ForceSensorCalibResult

using arcs::common_interface::ForceSensorCalibResult = typedef std::tuple<std::vector<double>, std::vector<double>, double, std::vector<double> >

Definition at line 771 of file type_def.h.

◆ ForceSensorCalibResultWithError

using arcs::common_interface::ForceSensorCalibResultWithError = typedef std::tuple<std::vector<double>, std::vector<double>, double, std::vector<double>, double>

Definition at line 776 of file type_def.h.

◆ IoControlPtr

using arcs::common_interface::IoControlPtr = typedef std::shared_ptr<IoControl>

Definition at line 4563 of file io_control.h.

◆ MathPtr

using arcs::common_interface::MathPtr = typedef std::shared_ptr<Math>

Definition at line 1046 of file math.h.

◆ MotionControlPtr

using arcs::common_interface::MotionControlPtr = typedef std::shared_ptr<MotionControl>

Definition at line 6210 of file motion_control.h.

◆ Payload

using arcs::common_interface::Payload = typedef std::tuple<double, std::vector<double>, std::vector<double>, std::vector<double> >

Definition at line 767 of file type_def.h.

◆ RegisterControlPtr

using arcs::common_interface::RegisterControlPtr = typedef std::shared_ptr<RegisterControl>

Definition at line 3023 of file register_control.h.

◆ ResultWithErrno

using arcs::common_interface::ResultWithErrno = typedef std::tuple<std::vector<double>, int>

Definition at line 763 of file type_def.h.

◆ ResultWithErrno1

using arcs::common_interface::ResultWithErrno1 = typedef std::tuple<std::vector<std::vector<double> >, int>

Definition at line 764 of file type_def.h.

◆ RobotAlgorithmPtr

using arcs::common_interface::RobotAlgorithmPtr = typedef std::shared_ptr<RobotAlgorithm>

Definition at line 1389 of file robot_algorithm.h.

◆ RobotConfigPtr

using arcs::common_interface::RobotConfigPtr = typedef std::shared_ptr<RobotConfig>

Definition at line 3632 of file robot_config.h.

◆ RobotInterfacePtr

using arcs::common_interface::RobotInterfacePtr = typedef std::shared_ptr<RobotInterface>

Definition at line 368 of file robot_interface.h.

◆ RobotManagePtr

using arcs::common_interface::RobotManagePtr = typedef std::shared_ptr<RobotManage>

Definition at line 1609 of file robot_manage.h.

◆ RobotMsgVector

using arcs::common_interface::RobotMsgVector = typedef std::vector<RobotMsg>

Definition at line 821 of file type_def.h.

◆ RobotStatePtr

using arcs::common_interface::RobotStatePtr = typedef std::shared_ptr<RobotState>

Definition at line 2953 of file robot_state.h.

◆ RuntimeMachinePtr

using arcs::common_interface::RuntimeMachinePtr = typedef std::shared_ptr<RuntimeMachine>

Definition at line 1488 of file runtime_machine.h.

◆ SerialPtr

using arcs::common_interface::SerialPtr = typedef std::shared_ptr<Serial>

Definition at line 392 of file serial.h.

◆ SocketPtr

using arcs::common_interface::SocketPtr = typedef std::shared_ptr<Socket>

Definition at line 623 of file socket.h.

◆ Sphere

using arcs::common_interface::Sphere = typedef std::vector<double>

Definition at line 802 of file type_def.h.

◆ SyncMovePtr

using arcs::common_interface::SyncMovePtr = typedef std::shared_ptr<SyncMove>

Definition at line 977 of file sync_move.h.

◆ SystemInfoPtr

using arcs::common_interface::SystemInfoPtr = typedef std::shared_ptr<SystemInfo>

Definition at line 338 of file system_info.h.

◆ TaskSet

typedef std::unordered_set<std::string> arcs::common_interface::TaskSet

Definition at line 36 of file sync_move.h.

◆ TracePtr

using arcs::common_interface::TracePtr = typedef std::shared_ptr<Trace>

Definition at line 227 of file trace.h.

◆ Vector3d

using arcs::common_interface::Vector3d = typedef std::array<double, 3>

Definition at line 31 of file type_def.h.

◆ Vector3f

using arcs::common_interface::Vector3f = typedef std::array<float, 3>

Definition at line 33 of file type_def.h.

◆ Vector4d

using arcs::common_interface::Vector4d = typedef std::array<double, 4>

Definition at line 32 of file type_def.h.

◆ Vector4f

using arcs::common_interface::Vector4f = typedef std::array<float, 4>

Definition at line 34 of file type_def.h.

◆ Vector6f

using arcs::common_interface::Vector6f = typedef std::array<float, 6>

Definition at line 35 of file type_def.h.

Enumeration Type Documentation

◆ AuboErrorCodes

enum arcs::common_interface::AuboErrorCodes : int

Enumerator
ENUM_AuboErrorCodes_DECLARES

Definition at line 525 of file type_def.h.

◆ AxisModeType

enum class arcs::common_interface::AxisModeType : int

strong

Enumerator
ENUM_AxisModeType_DECLARES

Definition at line 540 of file type_def.h.

◆ EnvelopingShape

enum arcs::common_interface::EnvelopingShape : int

Enumerator
ENUM_EnvelopingShape_DECLARES

Definition at line 617 of file type_def.h.

◆ error_type

enum arcs::common_interface::error_type

Error type.

Enumerator
parse_error	Parse error.
invalid_request	Invalid request.
method_not_found	Method not found.
invalid_params	Invalid parameters.
internal_error	Internal error.
server_error	Server error.
invalid	Invalid.

Definition at line 836 of file type_def.h.

◆ ExceptionCode

enum arcs::common_interface::ExceptionCode

Exception code.

Enumerator
EC_DISCONNECTED	Disconnected.
EC_NOT_LOGINED	Not logged in.
EC_INVAL_SOCKET	Invalid socket.
EC_REQUEST_BUSY	Request busy.
EC_SEND_FAILED	Send failed.
EC_RECV_TIMEOUT	Receive timeout.
EC_RECV_ERROR	Receive error.
EC_PARSE_ERROR	Parse error.
EC_INVALID_REQUEST	Invalid request.
EC_METHOD_NOT_FOUND	Method not found.
EC_INVALID_PARAMS	Invalid parameters.
EC_INTERNAL_ERROR	Internal error.
EC_SERVER_ERROR	Server error.
EC_INVALID	Invalid.

Definition at line 848 of file type_def.h.

◆ ForceControlState

enum class arcs::common_interface::ForceControlState

strong

Enumerator
Stopped
Starting
Stropping
Running

Definition at line 680 of file type_def.h.

◆ JointServoModeType

enum class arcs::common_interface::JointServoModeType : int

strong

Joint Servo Mode.

Enumerator
ENUM_JointServoModeType_DECLARES

Definition at line 573 of file type_def.h.

◆ JointStateType

enum class arcs::common_interface::JointStateType : int

strong

Joint State.

Enumerator
ENUM_JointStateType_DECLARES

Definition at line 581 of file type_def.h.

◆ OperationalModeType

enum class arcs::common_interface::OperationalModeType : int

strong

Operational Mode.

Enumerator
ENUM_OperationalModeType_DECLARES

Definition at line 557 of file type_def.h.

◆ PathBufferType

enum arcs::common_interface::PathBufferType

pathBuffer Type

The robot movements are programmed as pose-to-pose movements, that is move from the current position to a new position. The path between these two positions is then automatically calculated by the robot.

Enumerator
PathBuffer_TOPPRA	1: toppra time optimal path planning
PathBuffer_CubicSpline	2: cubic_spline (recorded trajectory)
PathBuffer_JointSpline	3: Joint B-spline interpolation, at least three points Deprecated, use 5 instead, currently it is joint space CUBIC_SPLINE
PathBuffer_JointSplineC	4: Joint B-spline interpolation, at least three points, but the input is Cartesian space pose 废弃，建议用6替代，现在实际是关节空间 CUBIC_SPLINE 5: Joint B-spline interpolation, at least three points
PathBuffer_JointBSpline
PathBuffer_JointBSplineC	6: Joint B-spline interpolation, at least three points, but the input is Cartesian space pose

Definition at line 34 of file motion_control.h.

◆ PayloadIdentifyMoveAxis

enum arcs::common_interface::PayloadIdentifyMoveAxis : int

Enumerator
ENUM_PayloadIdentifyMoveAxis_DECLARES

Definition at line 622 of file type_def.h.

◆ RefFrameType

enum class arcs::common_interface::RefFrameType

strong

Enumerator
None
Tool	Tool coordinate system.
Path	Trajectory coordinate system.
Base	Base coordinate system.

Definition at line 688 of file type_def.h.

◆ RobotControlModeType

enum class arcs::common_interface::RobotControlModeType : int

strong

Robot Control Mode.

Enumerator
ENUM_RobotControlModeType_DECLARES

Definition at line 565 of file type_def.h.

◆ RobotEmergencyStopType

enum arcs::common_interface::RobotEmergencyStopType : int

Enumerator
ENUM_RobotEmergencyStopType_DECLARES

Definition at line 637 of file type_def.h.

◆ RobotModeType

enum class arcs::common_interface::RobotModeType : int

strong

Enumerator
ENUM_RobotModeType_DECLARES

Definition at line 535 of file type_def.h.

◆ RuntimeState

enum class arcs::common_interface::RuntimeState : int

strong

Enumerator
ENUM_RuntimeState_DECLARES

Definition at line 530 of file type_def.h.

◆ SafeguedStopType

enum arcs::common_interface::SafeguedStopType : int

Enumerator
ENUM_SafeguedStopType_DECLARES

Definition at line 632 of file type_def.h.

◆ SafetyInputAction

enum class arcs::common_interface::SafetyInputAction : int

strong

Enumerator
ENUM_SafetyInputAction_DECLARES

Definition at line 602 of file type_def.h.

◆ SafetyModeType

enum class arcs::common_interface::SafetyModeType : int

strong

Safety Mode.

Enumerator
ENUM_SafetyModeType_DECLARES

Definition at line 549 of file type_def.h.

◆ SafetyOutputRunState

enum class arcs::common_interface::SafetyOutputRunState : int

strong

Enumerator
ENUM_SafetyOutputRunState_DECLARES

Definition at line 607 of file type_def.h.

◆ StandardInputAction

enum class arcs::common_interface::StandardInputAction : int

strong

The StandardInputAction enum.

Enumerator
ENUM_StandardInputAction_DECLARES

Definition at line 597 of file type_def.h.

◆ StandardOutputRunState

enum class arcs::common_interface::StandardOutputRunState : int

strong

Standard Output Run State.

Enumerator
ENUM_StandardOutputRunState_DECLARES

Definition at line 589 of file type_def.h.

◆ TaskFrameType

enum arcs::common_interface::TaskFrameType

Enumerator
ENUM_TaskFrameType_DECLARES

Definition at line 612 of file type_def.h.

◆ TraceLevel

enum arcs::common_interface::TraceLevel

Enumerator
ENUM_TraceLevel_DECLARES

Definition at line 627 of file type_def.h.

Function Documentation

◆ operator<<() [1/6]

std::ostream & arcs::common_interface::operator<<	(	std::ostream &	os,
		CircleParameters	p
	)

inline

Definition at line 711 of file type_def.h.

◆ operator<<() [2/6]

std::ostream & arcs::common_interface::operator<<	(	std::ostream &	os,
		const RobotSafetyParameterRange &	vd
	)

inline

Definition at line 180 of file type_def.h.

◆ operator<<() [3/6]

std::ostream & arcs::common_interface::operator<<	(	std::ostream &	os,
		Enveloping	p
	)

inline

Definition at line 739 of file type_def.h.

◆ operator<<() [4/6]

std::ostream & arcs::common_interface::operator<<	(	std::ostream &	os,
		SpiralParameters	p
	)

inline

Definition at line 725 of file type_def.h.

◆ operator<<() [5/6]

std::ostream & arcs::common_interface::operator<<	(	std::ostream &	os,
		TrajConfig	p
	)

inline

Definition at line 757 of file type_def.h.

◆ operator<<() [6/6]

std::ostream & arcs::common_interface::operator<<	(	std::ostream &	os,
		WObjectData	p
	)

inline

Definition at line 208 of file type_def.h.

◆ returnValue2Str()

const char * arcs::common_interface::returnValue2Str ( int retval )

inline

Definition at line 902 of file type_def.h.

References ENUM_AuboErrorCodes_DECLARES.

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ AuboApiPtr

◆ AxisInterfacePtr

◆ Box

◆ Cylinder

◆ DynamicsModel

◆ ForceControlPtr

◆ ForceSensorCalibResult

◆ ForceSensorCalibResultWithError

◆ IoControlPtr

◆ MathPtr

◆ MotionControlPtr

◆ Payload

◆ RegisterControlPtr

◆ ResultWithErrno

◆ ResultWithErrno1

◆ RobotAlgorithmPtr

◆ RobotConfigPtr

◆ RobotInterfacePtr

◆ RobotManagePtr

◆ RobotMsgVector

◆ RobotStatePtr

◆ RuntimeMachinePtr

◆ SerialPtr

◆ SocketPtr

◆ Sphere

◆ SyncMovePtr

◆ SystemInfoPtr

◆ TaskSet

◆ TracePtr

◆ Vector3d

◆ Vector3f

◆ Vector4d

◆ Vector4f

◆ Vector6f

Enumeration Type Documentation

◆ AuboErrorCodes

◆ AxisModeType

◆ EnvelopingShape

◆ error_type

◆ ExceptionCode

◆ ForceControlState

◆ JointServoModeType

◆ JointStateType

◆ OperationalModeType

◆ PathBufferType

◆ PayloadIdentifyMoveAxis

◆ RefFrameType

◆ RobotControlModeType

◆ RobotEmergencyStopType

◆ RobotModeType

◆ RuntimeState

◆ SafeguedStopType

◆ SafetyInputAction

◆ SafetyModeType

◆ SafetyOutputRunState

◆ StandardInputAction

◆ StandardOutputRunState

◆ TaskFrameType

◆ TraceLevel

Function Documentation

◆ operator<<() [1/6]

◆ operator<<() [2/6]

◆ operator<<() [3/6]

◆ operator<<() [4/6]

◆ operator<<() [5/6]

◆ operator<<() [6/6]

◆ returnValue2Str()