4 #ifndef AUBO_SDK_ROBOT_ALGORITHM_INTERFACE_H 5 #define AUBO_SDK_ROBOT_ALGORITHM_INTERFACE_H 12 #include <aubo/global_config.h> 16 namespace common_interface {
46 const std::vector<std::vector<double>> &forces,
47 const std::vector<std::vector<double>> &poses);
59 const std::vector<std::vector<double>> &forces,
60 const std::vector<std::vector<double>> &poses);
85 int payloadIdentify(
const std::string &data_file_no_payload,
86 const std::string &data_file_with_payload);
98 int payloadIdentify1(
const std::string &file_name);
107 int payloadCalculateFinished();
116 Payload getPayloadIdentifyResult();
139 bool frictionModelIdentify(
const std::vector<std::vector<double>> &q,
140 const std::vector<std::vector<double>> &qd,
141 const std::vector<std::vector<double>> &qdd,
142 const std::vector<std::vector<double>> &temp);
163 const std::vector<std::vector<double>> &q,
int type);
183 const std::vector<double> &torqs);
203 const std::vector<double> &torqs,
204 const std::vector<double> &tcp_offset);
246 const std::vector<double> &tcp_offset);
287 const std::vector<double> &pose);
308 const std::vector<double> &pose,
309 const std::vector<double> &tcp_offset);
335 const std::vector<double> &pose,
const std::vector<double> &tcp_offset);
347 ResultWithErrno inverseToolKinematics(
const std::vector<double> &qnear,
348 const std::vector<double> &pose);
382 std::vector<std::vector<double>> pathMovej(
const std::vector<double> &q1,
384 const std::vector<double> &q2,
385 double r2,
double d);
446 std::vector<std::vector<double>> pathBlend3Points(
447 int type,
const std::vector<double> &q_start,
448 const std::vector<double> &q_via,
const std::vector<double> &q_to,
475 int generatePayloadIdentifyTraj(
const std::string &name,
485 int payloadIdentifyTrajGenFinished();
493 #define RobotAlgorithm_DECLARES \ 494 _FUNC(RobotAlgorithm, 2, calibrateTcpForceSensor, forces, poses) \ 495 _FUNC(RobotAlgorithm, 2, calibrateTcpForceSensor2, forces, poses) \ 496 _FUNC(RobotAlgorithm, 2, payloadIdentify, data_no_payload, data_with_payload) \ 497 _FUNC(RobotAlgorithm, 1, payloadIdentify1, file_name) \ 498 _FUNC(RobotAlgorithm, 0, payloadCalculateFinished) \ 499 _FUNC(RobotAlgorithm, 0, getPayloadIdentifyResult) \ 500 _FUNC(RobotAlgorithm, 2, generatePayloadIdentifyTraj, name, TrajConfig) \ 501 _FUNC(RobotAlgorithm, 0, payloadIdentifyTrajGenFinished) \ 502 _FUNC(RobotAlgorithm, 4, frictionModelIdentify, q, qd, qdd, temp) \ 503 _FUNC(RobotAlgorithm, 2, calibWorkpieceCoordinatePara, q, type) \ 504 _FUNC(RobotAlgorithm, 2, forwardDynamics, q, torqs) \ 505 _FUNC(RobotAlgorithm, 1, forwardKinematics, q) \ 506 _FUNC(RobotAlgorithm, 1, forwardToolKinematics, q) \ 507 _FUNC(RobotAlgorithm, 3, forwardDynamics1, q, torqs, tcp_offset) \ 508 _FUNC(RobotAlgorithm, 2, forwardKinematics1, q, tcp_offset) \ 509 _FUNC(RobotAlgorithm, 2, inverseKinematics, qnear, pose) \ 510 _FUNC(RobotAlgorithm, 1, inverseKinematicsAll, pose) \ 511 _FUNC(RobotAlgorithm, 3, inverseKinematics1, qnear, pose, tcp_offset) \ 512 _FUNC(RobotAlgorithm, 2, inverseKinematicsAll1, pose, tcp_offset) \ 513 _FUNC(RobotAlgorithm, 2, inverseToolKinematics, qnear, pose) \ 514 _FUNC(RobotAlgorithm, 1, inverseToolKinematicsAll, pose) \ 515 _FUNC(RobotAlgorithm, 5, pathMovej, q1, r1, q2, r2, d) \ 516 _FUNC(RobotAlgorithm, 6, pathBlend3Points, type, q_start, q_via, q_to, r, d) \ 517 _FUNC(RobotAlgorithm, 2, calcJacobian, q, base_or_end) 524 #endif // AUBO_SDK_ROBOT_ALGORITHM_INTERFACE_H
std::tuple< std::vector< double >, int > ResultWithErrno
std::tuple< double, std::vector< double >, std::vector< double >, std::vector< double >> Payload
std::tuple< std::vector< double >, std::vector< double >, double, std::vector< double >> ForceSensorCalibResult
std::tuple< std::vector< std::vector< double >>, int > ResultWithErrno1
std::tuple< std::vector< double >, std::vector< double >, double, std::vector< double >, double > ForceSensorCalibResultWithError
std::shared_ptr< RobotAlgorithm > RobotAlgorithmPtr