robot_algorithm.h

浏览该文件的文档.

/** @file  robot_algorithm.h
 *  @brief 机器人算法相关的对外接口
 */
#ifndef AUBO_SDK_ROBOT_ALGORITHM_INTERFACE_H
#define AUBO_SDK_ROBOT_ALGORITHM_INTERFACE_H
 
#include <string>
#include <vector>
#include <memory>
#include <functional>
 
#include <aubo/global_config.h>
#include <aubo/type_def.h>
 
namespace arcs {
namespace common_interface {
 
 
/**
 * \chinese
 * 机器人算法相关的对外接口
 * \endchinese
 * \english
 * Interfaces related to robot algorithms
 * \endenglish
 */
 
class ARCS_ABI_EXPORT RobotAlgorithm
{
public:
    RobotAlgorithm();
    virtual ~RobotAlgorithm();
 
    /**
     * \chinese
     * 力传感器标定算法(三点标定法)
     *
     * @param force 力数据
     * @param q 关节角度
     * @return 标定结果
     *
     * @throws arcs::common_interface::AuboException
     * 
     * @par Python函数原型
     * calibrateTcpForceSensor(self: pyaubo_sdk.RobotAlgorithm, arg0:
     * List[List[float]], arg1: List[List[float]]) -> Tuple[List[float],
     * List[float], float, List[float]]
     *
     * @par Lua函数原型
     * calibrateTcpForceSensor(force: table, q: table) -> table
     *
     * \endchinese
     * \english
     * Force sensor calibration algorithm (three-point calibration method)
     *
     * @param force Force data
     * @param q Joint angles
     * @return Calibration result
     *
     * @throws arcs::common_interface::AuboException
     * 
     * @par Python function prototype
     * calibrateTcpForceSensor(self: pyaubo_sdk.RobotAlgorithm, arg0:
     * List[List[float]], arg1: List[List[float]]) -> Tuple[List[float],
     * List[float], float, List[float]]
     *
     * @par Lua function prototype
     * calibrateTcpForceSensor(force: table, q: table) -> table
     *
     * \endenglish
      */
    
    ForceSensorCalibResult calibrateTcpForceSensor(
        const std::vector<std::vector<double>> &forces,
        const std::vector<std::vector<double>> &poses);
 
    /**
     * \chinese
     * 力传感器标定算法(三点标定法)
     * @param forces
     * @param poses
     * @return force_offset, com, mass, angle error
     *
     * @throws arcs::common_interface::AuboException
     * \endchinese
     * \english
     * Force sensor calibration algorithm (three-point calibration method)
     * @param forces
     * @param poses
     * @return force_offset, com, mass, angle error
     *
     * @throws arcs::common_interface::AuboException
     * \endenglish
     */
    ForceSensorCalibResultWithError calibrateTcpForceSensor2(
        const std::vector<std::vector<double>> &forces,
        const std::vector<std::vector<double>> &poses);
 
    /**
     * \chinese
     * 基于电流的负载辨识算法接口
     *
     * 需要采集空载时运行激励轨迹的位置、速度、电流以及带负载时运行激励轨迹的位置、速度、电流
     *
     * @param data_file_no_payload
     * 空载时运行激励轨迹各关节数据的文件路径（.csv格式），共18列，依次为6个关节位置、6个关节速度、6个关节电流
     * @param data_file_with_payload
     * 带负载运行激励轨迹各关节数据的文件路径（.csv格式），共18列，依次为6个关节位置、6个关节速度、6个关节电流
     * @return 辨识的结果
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python函数原型
     * payloadIdentify(self: pyaubo_sdk.RobotAlgorithm, arg0: List[List[float]],
     * arg1: List[List[float]]) -> Tuple[List[float], List[float], float,
     * List[float]]
     *
     * @par Lua函数原型
     * payloadIdentify(data_with_payload: table, data_with_payload: table) ->
     * table
     * \endchinese
     * \english
     * Payload identification algorithm interface based on current
     *
     * Requires collecting position, velocity, and current data when running the excitation trajectory without load, as well as with load.
     *
     * @param data_file_no_payload
     * File path of joint data when running the excitation trajectory without load (.csv format), 18 columns in total: 6 joint positions, 6 joint velocities, 6 joint currents
     * @param data_file_with_payload
     * File path of joint data when running the excitation trajectory with load (.csv format), 18 columns in total: 6 joint positions, 6 joint velocities, 6 joint currents
     * @return Identification result
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python function prototype
     * payloadIdentify(self: pyaubo_sdk.RobotAlgorithm, arg0: List[List[float]],
     * arg1: List[List[float]]) -> Tuple[List[float], List[float], float,
     * List[float]]
     *
     * @par Lua function prototype
     * payloadIdentify(data_with_payload: table, data_with_payload: table) ->
     * table
     * \endenglish
     */
    int payloadIdentify(const std::string &data_file_no_payload,
                        const std::string &data_file_with_payload);
 
    /**
     * \chinese
     * 新版基于电流的负载辨识算法接口
     *
     * 需要采集带载时运行最少三个点的位置、速度、加速度、电流、温度、末端传感器数据、底座数据
     *
     * @param data
     * 带负载的各关节数据的文件路径（.csv格式），共42列，末端传感器数据、底座数据默认为0
     * @return 辨识的结果
     * \endchinese
     * \english
     * New version of payload identification algorithm interface based on current
     *
     * Requires collecting at least three points of position, velocity, acceleration, current, temperature, end sensor data, and base data when running with load
     *
     * @param data
     * File path of joint data with load (.csv format), 42 columns in total, end sensor data and base data default to 0
     * @return Identification result
     * \endenglish
     */
    int payloadIdentify1(const std::string &file_name);
 
    /**
     * \chinese
     * 负载辨识是否计算完成
     * @return 完成返回0; 正在进行中返回1; 计算失败返回<0;
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par JSON-RPC请求示例
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.payloadCalculateFinished","params":[],"id":1}
     *
     * @par JSON-RPC响应示例
     * {"id":1,"jsonrpc":"2.0","result":0}
     *
     * \endchinese
     * \english
     * Whether payload identification calculation is finished
     * @return 0 if finished; 1 if in progress; <0 if failed;
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par JSON-RPC request example
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.payloadCalculateFinished","params":[],"id":1}
     *
     * @par JSON-RPC response example
     * {"id":1,"jsonrpc":"2.0","result":0}
     *
     * \endenglish
     */
    int payloadCalculateFinished();
 
    /**
     * \chinese
     * 获取负载辨识结果
     * @return
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par JSON-RPC请求示例
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.getPayloadIdentifyResult","params":[],"id":1}
     *
     * @par JSON-RPC响应示例
     * {"id":1,"jsonrpc":"2.0","result":[0.0,[],[],[]]}
     *
     * \endchinese
     * \english
     * Get the result of payload identification
     * @return
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par JSON-RPC request example
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.getPayloadIdentifyResult","params":[],"id":1}
     *
     * @par JSON-RPC response example
     * {"id":1,"jsonrpc":"2.0","result":[0.0,[],[],[]]}
     *
     * \endenglish
     */
    Payload getPayloadIdentifyResult();
 
    /**
     * \chinese
     * 关节摩擦力模型辨识算法接口
     *
     * @param q 关节角度
     * @param qd 关节速度
     * @param qdd 关节加速度
     * @param temp 关节温度
     * @return 是否辨识成功
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python函数原型
     * frictionModelIdentify(self: pyaubo_sdk.RobotAlgorithm, arg0:
     * List[List[float]], arg1: List[List[float]], arg2: List[List[float]],
     * arg3: List[List[float]]) -> bool
     *
     * @par Lua函数原型
     * frictionModelIdentify(q: table, qd: table, qdd: table, temp: table) ->
     * boolean
     * \endchinese
     * \english
     * Joint friction model identification algorithm interface
     *
     * @param q Joint positions
     * @param qd Joint velocities
     * @param qdd Joint accelerations
     * @param temp Joint temperatures
     * @return Whether identification succeeded
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python function prototype
     * frictionModelIdentify(self: pyaubo_sdk.RobotAlgorithm, arg0:
     * List[List[float]], arg1: List[List[float]], arg2: List[List[float]],
     * arg3: List[List[float]]) -> bool
     *
     * @par Lua function prototype
     * frictionModelIdentify(q: table, qd: table, qdd: table, temp: table) ->
     * boolean
     * \endenglish
     */
    bool frictionModelIdentify(const std::vector<std::vector<double>> &q,
                               const std::vector<std::vector<double>> &qd,
                               const std::vector<std::vector<double>> &qdd,
                               const std::vector<std::vector<double>> &temp);
 
    /**
     * \chinese
     * 工件坐标系标定算法接口(需要在调用之前正确的设置机器人的TCP偏移)
     * 输入多组关节角度和标定类型，输出工件坐标系位姿(相对于机器人基坐标系)
     *
     * @param q 关节角度
     * @param type 标定类型
     * @return 计算结果(工件坐标系位姿)以及错误代码
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python函数原型
     * calibWorkpieceCoordinatePara(self: pyaubo_sdk.RobotAlgorithm, arg0:
     * List[List[float]], arg1: int) -> Tuple[List[float], int]
     *
     * @par Lua函数原型
     * calibWorkpieceCoordinatePara(q: table, type: number) -> table, number
     * \endchinese
     * \english
     * Workpiece coordinate calibration algorithm interface (requires correct TCP offset set before calling)
     * Input multiple sets of joint angles and calibration type, output workpiece coordinate pose (relative to robot base)
     *
     * @param q Joint angles
     * @param type Calibration type
     * @return Calculation result (workpiece coordinate pose) and error code
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python function prototype
     * calibWorkpieceCoordinatePara(self: pyaubo_sdk.RobotAlgorithm, arg0:
     * List[List[float]], arg1: int) -> Tuple[List[float], int]
     *
     * @par Lua function prototype
     * calibWorkpieceCoordinatePara(q: table, type: number) -> table, number
     * \endenglish
     */
    ResultWithErrno calibWorkpieceCoordinatePara(
        const std::vector<std::vector<double>> &q, int type);
 
    /**
     * \chinese
     * 动力学正解
     *
     * @param q 关节角
     * @param torqs
     * @return 计算结果以及错误代码
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python函数原型
     * forwardDynamics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1:
     * List[float]) -> Tuple[List[float], int]
     *
     * @par Lua函数原型
     * forwardDynamics(q: table, torqs: table) -> table, number
     * \endchinese
     * \english
     * Forward dynamics
     *
     * @param q Joint angles
     * @param torqs
     * @return Calculation result and error code
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python function prototype
     * forwardDynamics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1:
     * List[float]) -> Tuple[List[float], int]
     *
     * @par Lua function prototype
     * forwardDynamics(q: table, torqs: table) -> table, number
     * \endenglish
     */
    ResultWithErrno forwardDynamics(const std::vector<double> &q,
                                    const std::vector<double> &torqs);
 
    /**
     * \chinese
     * 动力学正解，基于给定的TCP偏移
     *
     * @param q 关节角
     * @param torqs
     * @param tcp_offset TCP偏移
     * @return 计算结果以及错误代码，同forwardDynamics
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python函数原型
     * forwardDynamics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1:
     * List[float], arg2: List[float]) -> Tuple[List[float], int]
     *
     * @par Lua函数原型
     * forwardDynamics1(q: table, torqs: table, tcp_offset: table) -> table, number
     * \endchinese
     * \english
     * Forward dynamics based on the given TCP offset
     *
     * @param q Joint angles
     * @param torqs
     * @param tcp_offset TCP offset
     * @return Calculation result and error code, same as forwardDynamics
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python function prototype
     * forwardDynamics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1:
     * List[float], arg2: List[float]) -> Tuple[List[float], int]
     *
     * @par Lua function prototype
     * forwardDynamics1(q: table, torqs: table, tcp_offset: table) -> table, number
     * \endenglish
     */
    ResultWithErrno forwardDynamics1(const std::vector<double> &q,
                                     const std::vector<double> &torqs,
                                     const std::vector<double> &tcp_offset);
 
    /**
     * \chinese
     * 运动学正解, 基于激活的TCP偏移(最近的通过 setTcpOffset 设置的参数)
     * 输入关节角度，输出TCP位姿
     *
     * @param q 关节角
     * @return TCP位姿和正解结果是否有效
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python函数原型
     * forwardKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float]) ->
     * Tuple[List[float], int]
     *
     * @par Lua函数原型
     * forwardKinematics(q: table) -> table, number
     *
     * @par JSON-RPC请求示例
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardKinematics","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627]],"id":1}
     *
     * @par JSON-RPC响应示例
     * {"id":1,"jsonrpc":"2.0","result":[[0.7137448715395925,0.08416057568819092,0.6707994191515292,2.4599818776908724,0.4789772388601265,1.6189630435878408],0]}
     * \endchinese
     * \english
     * Forward kinematics, based on the activated TCP offset (the most recently set via setTcpOffset)
     * Input joint angles, output TCP pose
     *
     * @param q Joint angles
     * @return TCP pose and whether the result is valid
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python function prototype
     * forwardKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float]) ->
     * Tuple[List[float], int]
     *
     * @par Lua function prototype
     * forwardKinematics(q: table) -> table, number
     *
     * @par JSON-RPC request example
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardKinematics","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627]],"id":1}
     *
     * @par JSON-RPC response example
     * {"id":1,"jsonrpc":"2.0","result":[[0.7137448715395925,0.08416057568819092,0.6707994191515292,2.4599818776908724,0.4789772388601265,1.6189630435878408],0]}
     * \endenglish
     */
    ResultWithErrno forwardKinematics(const std::vector<double> &q);
 
    /**
     * \chinese
     * 运动学正解
     * 输入关节角度，输出TCP位姿
     *
     * @param q 关节角
     * @param tcp_offset tcp偏移
     * @return TCP位姿和正解结果是否有效
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python函数原型
     * forwardKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float],
     * arg1: List[float]) -> Tuple[List[float], int]
     *
     * @par Lua函数原型
     * forwardKinematics1(q: table, tcp_offset: table) -> table, number
     *
     * @par JSON-RPC请求示例
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardKinematics1","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627],[0.0,
     * 0.13201,0.03879,0,0,0]],"id":1}
     *
     * @par JSON-RPC响应示例
     * {"id":1,"jsonrpc":"2.0","result":[[0.7137636726659518,0.0837705432006433,0.6710022027216355,2.459981877690872,0.4789772388601267,1.6189630435878408],0]}
     *
     * @since 0.24.1
     * \endchinese
     * \english
     * Forward kinematics
     * Input joint angles, output TCP pose
     *
     * @param q Joint angles
     * @param tcp_offset TCP offset
     * @return TCP pose and whether the result is valid
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python function prototype
     * forwardKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float],
     * arg1: List[float]) -> Tuple[List[float], int]
     *
     * @par Lua function prototype
     * forwardKinematics1(q: table, tcp_offset: table) -> table, number
     *
     * @par JSON-RPC request example
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardKinematics1","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627],[0.0,
     * 0.13201,0.03879,0,0,0]],"id":1}
     *
     * @par JSON-RPC response example
     * {"id":1,"jsonrpc":"2.0","result":[[0.7137636726659518,0.0837705432006433,0.6710022027216355,2.459981877690872,0.4789772388601267,1.6189630435878408],0]}
     *
     * @since 0.24.1
     * \endenglish
     */
    ResultWithErrno forwardKinematics1(const std::vector<double> &q,
                                       const std::vector<double> &tcp_offset);
 
    /**
     * \chinese
     * 运动学正解(忽略 TCP 偏移值)
     *
     * @param q 关节角
     * @return 法兰盘中心位姿和正解结果是否有效
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par JSON-RPC请求示例
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardToolKinematics","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627]],"id":1}
     *
     * @par JSON-RPC响应示例
     * {"id":1,"jsonrpc":"2.0","result":[[0.5881351149440136,0.05323734739426938,0.623922550656701,2.4599818776908724,0.4789772388601265,1.6189630435878408],0]}
     * \endchinese
     * \english
     * Forward kinematics (ignoring TCP offset)
     *
     * @param q Joint angles
     * @return Flange center pose and whether the result is valid
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par JSON-RPC request example
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardToolKinematics","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627]],"id":1}
     *
     * @par JSON-RPC response example
     * {"id":1,"jsonrpc":"2.0","result":[[0.5881351149440136,0.05323734739426938,0.623922550656701,2.4599818776908724,0.4789772388601265,1.6189630435878408],0]}
     * \endenglish
     */
    ResultWithErrno forwardToolKinematics(const std::vector<double> &q);
 
    /**
     * \chinese
     * 运动学逆解
     * 输入TCP位姿和参考关节角度，输出关节角度
     *
     * @param qnear 参考关节角
     * @param pose TCP位姿
     * @return 关节角和逆解结果是否有效
     * 返回值的第一个参数为逆解结果，第二个为逆解错误码，错误码返回列表如下
     * 0 - 成功
     * -23 - 逆解计算不收敛，计算出错
     * -24 - 逆解计算超出机器人最大限制
     * -25 - 逆解输入配置存在错误
     * -26 - 逆解雅可比矩阵计算失败
     * -27 - 目标点存在解析解，但均不满足选解条件
     * -28 - 逆解返回未知类型错误
     * 若错误码非0,则返回值的第一个参数为输入参考关节角qnear
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python函数原型
     * inverseKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float],
     * arg1: List[float]) -> Tuple[List[float], int]
     *
     * @par Lua函数原型
     * inverseKinematics(qnear: table, pose: table) -> table, int
     *
     * @par JSON-RPC请求示例
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematics","params":[[0,0,0,0,0,0],[0.71374,0.08417,0.6708,2.46,0.479,1.619]],"id":1}
     *
     * @par JSON-RPC响应示例
     * {"id":1,"jsonrpc":"2.0","result":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627],0]}
     * \endchinese
     * \english
     * Inverse kinematics
     * Input TCP pose and reference joint angles, output joint angles
     *
     * @param qnear Reference joint angles
     * @param pose TCP pose
     * @return Joint angles and whether the inverse kinematics result is valid
     * The first parameter of the return value is the inverse kinematics result, the second is the error code. Error codes are as follows:
     * 0 - Success
     * -23 - Inverse kinematics calculation does not converge, calculation error
     * -24 - Inverse kinematics calculation exceeds robot limits
     * -25 - Inverse kinematics input configuration error
     * -26 - Inverse kinematics Jacobian calculation failed
     * -27 - Analytical solution exists but none satisfy the selection criteria
     * -28 - Unknown error in inverse kinematics
     * If the error code is not 0, the first parameter of the return value is the input reference joint angles qnear
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python function prototype
     * inverseKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float],
     * arg1: List[float]) -> Tuple[List[float], int]
     *
     * @par Lua function prototype
     * inverseKinematics(qnear: table, pose: table) -> table, int
     *
     * @par JSON-RPC request example
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematics","params":[[0,0,0,0,0,0],[0.71374,0.08417,0.6708,2.46,0.479,1.619]],"id":1}
     *
     * @par JSON-RPC response example
     * {"id":1,"jsonrpc":"2.0","result":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627],0]}
     * \endenglish
     */
    ResultWithErrno inverseKinematics(const std::vector<double> &qnear,
                                      const std::vector<double> &pose);
 
    /**
     * \chinese
     * 运动学逆解
     * 输入TCP位姿和参考关节角度，输出关节角度
     *
     * @param qnear 参考关节角
     * @param pose TCP位姿
     * @param tcp_offset TCP偏移
     * @return 关节角和逆解结果是否有效，同 inverseKinematics
     * @throws arcs::common_interface::AuboException
     *
     * @par Python函数原型
     * inverseKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float],
     * arg1: List[float]) -> Tuple[List[float], int]
     *
     * @par Lua函数原型
     * inverseKinematics(qnear: table, pose: table) -> table, int
     *
     * @par JSON-RPC请求示例
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematics1","params":[[0,0,0,0,0,0],[0.71374,0.08417,0.6708,2.46,0.479,1.619],[0.0,
     * 0.13201,0.03879,0,0,0]],"id":1}
     *
     * @par JSON-RPC响应示例
     * {"id":1,"jsonrpc":"2.0","result":[[3.084454549595208,1.2278265883747776,1.0986586440159576,0.6708221281915528,-1.8712459848518375,-0.3965111476861782],0]}
     * \endchinese
     * \english
     * Inverse kinematics
     * Input TCP pose and reference joint angles, output joint angles
     *
     * @param qnear Reference joint angles
     * @param pose TCP pose
     * @param tcp_offset TCP offset
     * @return Joint angles and whether the result is valid, same as inverseKinematics
     * @throws arcs::common_interface::AuboException
     *
     * @par Python function prototype
     * inverseKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float],
     * arg1: List[float]) -> Tuple[List[float], int]
     *
     * @par Lua function prototype
     * inverseKinematics(qnear: table, pose: table) -> table, int
     *
     * @par JSON-RPC request example
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematics1","params":[[0,0,0,0,0,0],[0.71374,0.08417,0.6708,2.46,0.479,1.619],[0.0,
     * 0.13201,0.03879,0,0,0]],"id":1}
     *
     * @par JSON-RPC response example
     * {"id":1,"jsonrpc":"2.0","result":[[3.084454549595208,1.2278265883747776,1.0986586440159576,0.6708221281915528,-1.8712459848518375,-0.3965111476861782],0]}
     * \endenglish
     */
    ResultWithErrno inverseKinematics1(const std::vector<double> &qnear,
                                       const std::vector<double> &pose,
                                       const std::vector<double> &tcp_offset);
 
    /**
     * \chinese
     * 求出所有的逆解, 基于激活的 TCP 偏移
     *
     * @param pose TCP位姿
     * @return 关节角和逆解结果是否有效
     * 返回的错误码同inverseKinematics
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par JSON-RPC请求示例
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematicsAll","params":[[0.71374,0.08417,0.6708,2.46,0.479,1.619]],"id":1}
     *
     * @par JSON-RPC响应示例
     * {"id":1,"jsonrpc":"2.0","result":[[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627],
     * [3.081056801097411,0.17985038037652645,-1.0991717292664145,-0.4806460200109001,-1.869182975312333,-0.402066016835411],
     * [0.4090095277807992,-0.1623365054641728,1.081775890307679,0.26993250263224805,0.9738255833642309,0.000572556627720845],
     * [0.4116449425067969,-1.1931664523907126,-1.0822709833775688,-0.8665964106161371,0.9732141569888207,0.006484919654891586]],0]}
     * \endchinese
     * \english
     * Solve all inverse kinematics solutions based on the activated TCP offset
     *
     * @param pose TCP pose
     * @return Joint angles and whether the result is valid
     * The returned error code is the same as inverseKinematics
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par JSON-RPC request example
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematicsAll","params":[[0.71374,0.08417,0.6708,2.46,0.479,1.619]],"id":1}
     *
     * @par JSON-RPC response example
     * {"id":1,"jsonrpc":"2.0","result":[[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627],
     * [3.081056801097411,0.17985038037652645,-1.0991717292664145,-0.4806460200109001,-1.869182975312333,-0.402066016835411],
     * [0.4090095277807992,-0.1623365054641728,1.081775890307679,0.26993250263224805,0.9738255833642309,0.000572556627720845],
     * [0.4116449425067969,-1.1931664523907126,-1.0822709833775688,-0.8665964106161371,0.9732141569888207,0.006484919654891586]],0]}
     * \endenglish
     */
    ResultWithErrno1 inverseKinematicsAll(const std::vector<double> &pose);
 
    /**
     * \chinese
     * 求出所有的逆解, 基于提供的 TCP 偏移
     *
     * @param pose TCP位姿
     * @param tcp_offset TCP偏移
     * @return 关节角和逆解结果是否有效，同 inverseKinematicsAll
     * 返回的错误码同inverseKinematics
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par JSON-RPC请求示例
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematicsAll1","params":[[0.71374,0.08417,0.6708,2.46,0.479,1.619],[0.0,
     * 0.13201,0.03879,0,0,0]],"id":1}
     *
     * @par JSON-RPC响应示例
     * {"id":1,"jsonrpc":"2.0","result":[[[3.084454549595208,1.2278265883747776,1.0986586440159576,0.6708221281915528,-1.8712459848518375,-0.3965111476861782],
     * [3.0818224058231602,0.17980369843203092,-1.0997576631122077,-0.48102131527371267,-1.8697135490338517,-0.40149459722060593],
     * [0.40972960018231047,-0.16226026285489026,1.0823403816496,0.2700204411869427,0.9734251963887868,0.0012903686498106507],
     * [0.41236549588802296,-1.193621392918341,-1.0828346680836718,-0.8671097369314354,0.972815367289568,0.007206851371073478]],0]}
     * \endchinese
     * \english
     * Solve all inverse kinematics solutions based on the provided TCP offset
     *
     * @param pose TCP pose
     * @param tcp_offset TCP offset
     * @return Joint angles and whether the result is valid, same as inverseKinematicsAll
     * The returned error code is the same as inverseKinematics
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par JSON-RPC request example
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematicsAll1","params":[[0.71374,0.08417,0.6708,2.46,0.479,1.619],[0.0,
     * 0.13201,0.03879,0,0,0]],"id":1}
     *
     * @par JSON-RPC response example
     * {"id":1,"jsonrpc":"2.0","result":[[[3.084454549595208,1.2278265883747776,1.0986586440159576,0.6708221281915528,-1.8712459848518375,-0.3965111476861782],
     * [3.0818224058231602,0.17980369843203092,-1.0997576631122077,-0.48102131527371267,-1.8697135490338517,-0.40149459722060593],
     * [0.40972960018231047,-0.16226026285489026,1.0823403816496,0.2700204411869427,0.9734251963887868,0.0012903686498106507],
     * [0.41236549588802296,-1.193621392918341,-1.0828346680836718,-0.8671097369314354,0.972815367289568,0.007206851371073478]],0]}
     * \endenglish
     */
    ResultWithErrno1 inverseKinematicsAll1(
        const std::vector<double> &pose, const std::vector<double> &tcp_offset);
 
    /**
     * \chinese
     * 运动学逆解(忽略 TCP 偏移值)
     *
     * @param qnear 参考关节角
     * @param pose 法兰盘中心的位姿
     * @return 关节角和逆解结果是否有效
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par JSON-RPC请求示例
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseToolKinematics","params":[[0,0,0,0,0,0],[0.58815,0.0532,0.62391,2.46,0.479,1.619]],"id":1}
     *
     * @par JSON-RPC响应示例
     * {"id":1,"jsonrpc":"2.0","result":[[3.083609363838651,1.22736129158332,1.098095443698268,0.6705395395487186,-1.8706605026855632,-0.39714507002376465],0]}
     * \endchinese
     * \english
     * Inverse kinematics (ignoring TCP offset)
     *
     * @param qnear Reference joint angles
     * @param pose Flange center pose
     * @return Joint angles and whether the result is valid
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par JSON-RPC request example
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseToolKinematics","params":[[0,0,0,0,0,0],[0.58815,0.0532,0.62391,2.46,0.479,1.619]],"id":1}
     *
     * @par JSON-RPC response example
     * {"id":1,"jsonrpc":"2.0","result":[[3.083609363838651,1.22736129158332,1.098095443698268,0.6705395395487186,-1.8706605026855632,-0.39714507002376465],0]}
     * \endenglish
     */
    ResultWithErrno inverseToolKinematics(const std::vector<double> &qnear,
                                          const std::vector<double> &pose);
 
    /**
     * \chinese
     * 运动学逆解(忽略 TCP 偏移值)
     *
     * @param qnear 参考关节角
     * @param pose 法兰盘中心的位姿
     * @return 关节角和逆解结果是否有效
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par JSON-RPC请求示例
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseToolKinematicsAll","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619]],"id":1}
     *
     * @par JSON-RPC响应示例
     * {"id":1,"jsonrpc":"2.0","result":[[[3.083609363838651,1.22736129158332,1.098095443698268,0.6705395395487186,-1.8706605026855632,-0.39714507002376465],
     * [3.0809781797426523,0.17987122696706134,-1.0991932793263717,-0.4807053707530958,-1.8691282890274434,-0.40212516672751814],
     * [0.40892195618737215,-0.16235398607358653,1.081812753177426,0.27003586475871766,0.9738744130114284,0.00048462518316674287],
     * [0.41155633414333076,-1.1932173012004512,-1.082306542045813,-0.8665312056504818,0.9732632365861417,0.0063958311601771175]],0]}
     * \endchinese
     * \english
     * Inverse kinematics (ignoring TCP offset)
     *
     * @param qnear Reference joint angles
     * @param pose Flange center pose
     * @return Joint angles and whether the result is valid
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par JSON-RPC request example
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseToolKinematicsAll","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619]],"id":1}
     *
     * @par JSON-RPC response example
     * {"id":1,"jsonrpc":"2.0","result":[[[3.083609363838651,1.22736129158332,1.098095443698268,0.6705395395487186,-1.8706605026855632,-0.39714507002376465],
     * [3.0809781797426523,0.17987122696706134,-1.0991932793263717,-0.4807053707530958,-1.8691282890274434,-0.40212516672751814],
     * [0.40892195618737215,-0.16235398607358653,1.081812753177426,0.27003586475871766,0.9738744130114284,0.00048462518316674287],
     * [0.41155633414333076,-1.1932173012004512,-1.082306542045813,-0.8665312056504818,0.9732632365861417,0.0063958311601771175]],0]}
     * \endenglish
     */
    ResultWithErrno1 inverseToolKinematicsAll(const std::vector<double> &pose);
 
    /**
     * \chinese
     * 求解movej之间的轨迹点
     *
     * @param q1 movej的起点
     * @param r1 在q1处的交融半径
     * @param q2 movej的终点
     * @param r2 在q2处的交融半径
     * @param d 采样距离
     * @return q1~q2 之间笛卡尔空间离散轨迹点(x,y,z,rx,ry,rz)集合
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python函数原型
     * pathMovej(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1:
     * float, arg2: List[float], arg3: float, arg4: float) -> List[List[float]]
     *
     * @par Lua函数原型
     * pathMovej(q1: table, r1: number, q2: table, r2: number, d: number) ->
     * table, number
     * \endchinese
     * \english
     * Solve the trajectory points between movej
     *
     * @param q1 Start point of movej
     * @param r1 Blend radius at q1
     * @param q2 End point of movej
     * @param r2 Blend radius at q2
     * @param d Sampling distance
     * @return Discrete trajectory points (x, y, z, rx, ry, rz) between q1 and q2 in Cartesian space
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python function prototype
     * pathMovej(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1:
     * float, arg2: List[float], arg3: float, arg4: float) -> List[List[float]]
     *
     * @par Lua function prototype
     * pathMovej(q1: table, r1: number, q2: table, r2: number, d: number) ->
     * table, number
     * \endenglish
     */
    std::vector<std::vector<double>> pathMovej(const std::vector<double> &q1,
                                               double r1,
                                               const std::vector<double> &q2,
                                               double r2, double d);
    /**
     * \chinese
     * 计算机械臂末端的雅克比矩阵
     *
     * @param q 关节角
     * @param base_or_end 参考坐标系为基坐标系（或者末端坐标系）
     *        true: 在 base 下描述
     *        false: 在 末端坐标系 下描述
     * @return 雅克比矩阵是否有效
     * 返回值的第一个参数为该构型下对应的雅克比矩阵，第二个为逆解错误码
     * 此接口的错误码返回值在0.28.1-rc.21 0.29.0-alpha.25版本之后做了修改。
     * 此前逆解错误时返回 30082 ，修改后错误码返回列表如下
     * 0 - 成功
     * -23 - 逆解计算不收敛，计算出错
     * -24 - 逆解计算超出机器人最大限制
     * -25 - 逆解输入配置存在错误
     * -26 - 逆解雅可比矩阵计算失败
     * -27 - 目标点存在解析解，但均不满足选解条件
     * -28 - 逆解返回未知类型错误
     * 若错误码非0,则返回值的第一个参数为输入参考关节角qnear
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python函数原型
     * calJacobian(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float],
     * arg1: bool) -> Tuple[List[float], int]
     *
     * @par Lua函数原型
     * calJacobian(q: table, base_or_end: boolean) -> table
     *
     * @par JSON-RPC请求示例
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.calcJacobian","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619],true],"id":1}
     *
     * @par JSON-RPC响应示例
     * {"id":1,"jsonrpc":"2.0","result":[[0.20822779551242535,-0.5409416184208162,0.2019786999613013,0.061264982268770196,-0.026269884327316487,
     * 0.10131708699859962,0.26388933410019777,-0.36074292664199115,0.1346954733416397,0.04085636647597124,-0.07244204452918337,0.0708466286633346,
     * 0.0,0.10401808481666497,-0.12571344758923886,-0.07741290545882097,0.18818543519232858,0.04628646442706299,0.0,0.5548228314607867,
     * -0.5548228314607868,0.5548228314607868,-0.7901273140338193,0.37230961532208007,0.0,-0.8319685244586092,0.8319685244586091,-0.8319685244586091,
     * -0.5269197820578843,-0.8184088260676008,1.0,3.749399456654644e-33,-6.512048180336603e-18,1.0956823467534067e-16,-0.31313634553301894,
     * 0.43771285536682175],0]}
     * \endchinese
     * \english
     * Calculate the Jacobian matrix at the robot end-effector
     *
     * @param q Joint angles
     * @param base_or_end Reference frame: base (or end-effector)
     *        true: described in base frame
     *        false: described in end-effector frame
     * @return Whether the Jacobian matrix is valid
     * The first parameter of the return value is the Jacobian matrix for this configuration, the second is the error code.
     * The error code list was updated after versions 0.28.1-rc.21 and 0.29.0-alpha.25.
     * Previously, inverse kinematics errors returned 30082. The updated error codes are:
     * 0 - Success
     * -23 - Inverse kinematics calculation does not converge, calculation error
     * -24 - Inverse kinematics calculation exceeds robot limits
     * -25 - Inverse kinematics input configuration error
     * -26 - Inverse kinematics Jacobian calculation failed
     * -27 - Analytical solution exists but none satisfy the selection criteria
     * -28 - Unknown error in inverse kinematics
     * If the error code is not 0, the first parameter of the return value is the input reference joint angles qnear
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python function prototype
     * calJacobian(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float],
     * arg1: bool) -> Tuple[List[float], int]
     *
     * @par Lua function prototype
     * calJacobian(q: table, base_or_end: boolean) -> table
     *
     * @par JSON-RPC request example
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.calcJacobian","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619],true],"id":1}
     *
     * @par JSON-RPC response example
     * {"id":1,"jsonrpc":"2.0","result":[[0.20822779551242535,-0.5409416184208162,0.2019786999613013,0.061264982268770196,-0.026269884327316487,
     * 0.10131708699859962,0.26388933410019777,-0.36074292664199115,0.1346954733416397,0.04085636647597124,-0.07244204452918337,0.0708466286633346,
     * 0.0,0.10401808481666497,-0.12571344758923886,-0.07741290545882097,0.18818543519232858,0.04628646442706299,0.0,0.5548228314607867,
     * -0.5548228314607868,0.5548228314607868,-0.7901273140338193,0.37230961532208007,0.0,-0.8319685244586092,0.8319685244586091,-0.8319685244586091,
     * -0.5269197820578843,-0.8184088260676008,1.0,3.749399456654644e-33,-6.512048180336603e-18,1.0956823467534067e-16,-0.31313634553301894,
     * 0.43771285536682175],0]}
     * \endenglish
     */
    ResultWithErrno calcJacobian(const std::vector<double> &q,
                                 bool base_or_end);
 
    /**
     * \chinese
     * 求解交融的轨迹点
     *
     * @param type
     * 0-movej 和 movej
     * 1-movej 和 movel
     * 2-movel 和 movej
     * 3-movel 和 movel
     * @param q_start 交融前路径的起点
     * @param q_via 交融点
     * @param q_to 交融后路径的终点
     * @param r 在q_via处的交融半径
     * @param d 采样距离
     * @return q_via处的交融段笛卡尔空间离散轨迹点(x,y,z)集合
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python函数原型
     * pathBlend3Points(self: pyaubo_sdk.RobotAlgorithm, arg0: int, arg1:
     * List[float], arg2: List[float], arg3: List[float], arg4: float, arg5:
     * float) -> List[List[float]]
     *
     * @par Lua函数原型
     * pathBlend3Points(type: number, q_start: table, q_via: table, q_to: table,
     * r: number, d: number) -> table, number
     * \endchinese
     * \english
     * Solve the blended trajectory points
     *
     * @param type
     * 0-movej and movej
     * 1-movej and movel
     * 2-movel and movej
     * 3-movel and movel
     * @param q_start Start point before blending
     * @param q_via Blending point
     * @param q_to End point after blending
     * @param r Blend radius at q_via
     * @param d Sampling distance
     * @return Discrete trajectory points (x, y, z) of the blend segment at q_via in Cartesian space
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par Python function prototype
     * pathBlend3Points(self: pyaubo_sdk.RobotAlgorithm, arg0: int, arg1:
     * List[float], arg2: List[float], arg3: List[float], arg4: float, arg5:
     * float) -> List[List[float]]
     *
     * @par Lua function prototype
     * pathBlend3Points(type: number, q_start: table, q_via: table, q_to: table,
     * r: number, d: number) -> table, number
     * \endenglish
     */
    std::vector<std::vector<double>> pathBlend3Points(
        int type, const std::vector<double> &q_start,
        const std::vector<double> &q_via, const std::vector<double> &q_to,
        double r, double d);
 
    /**
     * \chinese
     * 生成用于负载辨识的激励轨迹
     * 此接口内部调用pathBufferAppend
     * 将离线轨迹存入buffer中，后续可通过movePathBuffer运行离线轨迹
     * @param name 轨迹名字
     * @param traj_conf 各关节轨迹的限制条件
     * traj_conf.move_axis: 运动的轴
     * 由于实际用户现场可能不希望在负载辨识时控制机械臂多关节大幅度运动，故最好选用traj_conf.move_axis=LoadIdentifyMoveAxis::Joint_4_6;
     * traj_conf.init_joint:
     * 运动初始关节角,为了避免关节5接近零位时的奇异问题，应设置traj_conf.init_joint[4]的绝对值不小于0.3(rad)，接近1.57(rad)为宜。其余关节的关节角可任意设置
     * traj_conf.lower_joint_bound, traj_conf.upper_joint_bound:
     * 关节角上下限,维度应与config.move_axis维度保持一致,推荐设置upper_joint_bound为2，lower_joint_bound为-2
     * config.max_velocity, config.max_acceleration:
     * 关节角速度角加速度限制,维度应与config.move_axis维度保持一致,出于安全和驱动器跟随性能的考虑,推荐设置max_velocity=3,max_acceleration=5
     *
     * @return 成功返回0；失败返回错误码
     * AUBO_BUSY
     * AUBO_BAD_STATE
     * -AUBO_INVL_ARGUMENT
     * -AUBO_BAD_STATE
     *
     * @throws arcs::common_interface::AuboException
     * \endchinese
     * \english
     * Generate excitation trajectory for payload identification
     * This interface internally calls pathBufferAppend
     * The offline trajectory is stored in the buffer, and can be executed later via movePathBuffer
     * @param name Trajectory name
     * @param traj_conf Joint trajectory constraints
     * traj_conf.move_axis: Moving axes
     * Since users may not want large multi-joint movements during payload identification, it is recommended to use traj_conf.move_axis=LoadIdentifyMoveAxis::Joint_4_6;
     * traj_conf.init_joint:
     * Initial joint angles. To avoid singularity issues near joint 5 zero position, set abs(traj_conf.init_joint[4]) >= 0.3(rad), preferably close to 1.57(rad). Other joints can be set arbitrarily.
     * traj_conf.lower_joint_bound, traj_conf.upper_joint_bound:
     * Joint angle limits, dimensions should match config.move_axis. Recommended: upper_joint_bound=2, lower_joint_bound=-2
     * config.max_velocity, config.max_acceleration:
     * Joint velocity and acceleration limits, dimensions should match config.move_axis. For safety and driver performance, recommended: max_velocity=3, max_acceleration=5
     *
     * @return Returns 0 on success; error code on failure
     * AUBO_BUSY
     * AUBO_BAD_STATE
     * -AUBO_INVL_ARGUMENT
     * -AUBO_BAD_STATE
     *
     * @throws arcs::common_interface::AuboException
     * \endenglish
     */
    int generatePayloadIdentifyTraj(const std::string &name,
                                    const TrajConfig &traj_conf);
    /**
     * \chinese
     * 负载辨识轨迹是否生成完成
     *
     * @return 完成返回0; 正在进行中返回1; 计算失败返回<0;
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par JSON-RPC请求示例
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.payloadIdentifyTrajGenFinished","params":[],"id":1}
     *
     * @par JSON-RPC响应示例
     * {"id":1,"jsonrpc":"2.0","result":0}
     *
     * \endchinese
     * \english
     * Whether payload identification trajectory generation is finished
     *
     * @return 0 if finished; 1 if in progress; <0 if failed;
     *
     * @throws arcs::common_interface::AuboException
     *
     * @par JSON-RPC request example
     * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.payloadIdentifyTrajGenFinished","params":[],"id":1}
     *
     * @par JSON-RPC response example
     * {"id":1,"jsonrpc":"2.0","result":0}
     *
     * \endenglish
     */
    int payloadIdentifyTrajGenFinished();
 
    /**
     * \chinese
     * 求解 moveS 的轨迹点
     *
     * @brief pathMoveS
     * @param qs 样条轨迹生成点集合
     * @param d 采样距离
     * @return
     *
     * @throws arcs::common_interface::AuboException
     * \endchinese
     * \english
     * Solve the trajectory points for moveS
     *
     * @brief pathMoveS
     * @param qs Spline trajectory generation point set
     * @param d Sampling distance
     * @return
     *
     * @throws arcs::common_interface::AuboException
     * \endenglish
     */
    std::vector<std::vector<double>> pathMoveS(
        const std::vector<std::vector<double>> &qs, double d);
 
protected:
    void *d_;
};
using RobotAlgorithmPtr = std::shared_ptr<RobotAlgorithm>;
 
} // namespace common_interface
} // namespace arcs
 
#endif // AUBO_SDK_ROBOT_ALGORITHM_INTERFACE_H