4 #ifndef AUBO_SDK_ROBOT_CONFIG_H 5 #define AUBO_SDK_ROBOT_CONFIG_H 8 #include <unordered_map> 10 #include <aubo/global_config.h> 14 namespace common_interface {
36 std::string getName();
68 double getCycletime();
85 int setSlowDownFraction(
int level,
double fraction);
96 double getSlowDownFraction(
int level);
112 double getDefaultToolAcc();
128 double getDefaultToolSpeed();
144 double getDefaultJointAcc();
160 double getDefaultJointSpeed();
176 std::string getRobotType();
192 std::string getRobotSubType();
208 std::string getControlBoxType();
231 int setMountingPose(
const std::vector<double> &pose);
247 std::vector<double> getMountingPose();
271 int setCollisionLevel(
int level);
287 int getCollisionLevel();
310 int setCollisionStopType(
int type);
326 int getCollisionStopType();
341 int setHomePosition(
const std::vector<double> &positions);
351 std::vector<double> getHomePosition();
373 int setFreedriveDamp(
const std::vector<double> &damp);
389 std::vector<double> getFreedriveDamp();
408 std::unordered_map<std::string, std::vector<double>> getKinematicsParam(
427 std::unordered_map<std::string, std::vector<double>>
428 getKinematicsCompensate(
double ref_temperature);
444 int setKinematicsCompensate(
445 const std::unordered_map<std::string, std::vector<double>> ¶m);
467 int setPersistentParameters(
const std::string ¶m);
484 int setHardwareCustomParameters(
const std::string ¶m);
495 std::string getHardwareCustomParameters(
const std::string ¶m);
530 std::vector<std::string> getTcpForceSensorNames();
553 int selectTcpForceSensor(
const std::string &name);
569 int setTcpForceSensorPose(
const std::vector<double> &sensor_pose);
579 std::vector<double> getTcpForceSensorPose();
594 bool hasTcpForceSensor();
611 int setTcpForceOffset(
const std::vector<double> &force_offset);
627 std::vector<double> getTcpForceOffset();
643 std::vector<std::string> getBaseForceSensorNames();
666 int selectBaseForceSensor(
const std::string &name);
682 bool hasBaseForceSensor();
705 int setBaseForceOffset(
const std::vector<double> &force_offset);
721 std::vector<double> getBaseForceOffset();
737 uint32_t getSafetyParametersCheckSum();
771 uint32_t calcSafetyParametersCheckSum(
788 std::vector<double> getJointMaxPositions();
804 std::vector<double> getJointMinPositions();
820 std::vector<double> getJointMaxSpeeds();
836 std::vector<double> getJointMaxAccelerations();
852 std::vector<double> getTcpMaxSpeeds();
868 std::vector<double> getTcpMaxAccelerations();
890 int setGravity(
const std::vector<double> &gravity);
908 std::vector<double> getGravity();
934 int setTcpOffset(
const std::vector<double> &offset);
954 std::vector<double> getTcpOffset();
979 int setToolInertial(
double m,
const std::vector<double> &com,
980 const std::vector<double> &inertial);
1016 int setPayload(
double m,
const std::vector<double> &cog,
1017 const std::vector<double> &aom,
1018 const std::vector<double> &inertia);
1066 bool toolSpaceInRange(
const std::vector<double> &pose);
1090 int firmwareUpdate(
const std::string &fw);
1109 std::tuple<std::string, double> getFirmwareUpdateProcess();
1125 std::vector<double> getLimitJointMaxPositions();
1141 std::vector<double> getLimitJointMinPositions();
1157 std::vector<double> getLimitJointMaxSpeeds();
1174 std::vector<double> getLimitJointMaxAccelerations();
1190 double getLimitTcpMaxSpeed();
1213 int getSafeguardStopSource();
1221 #define RobotConfig_DECLARES \ 1222 _FUNC(RobotConfig, 0, getDof) \ 1223 _FUNC(RobotConfig, 0, getName) \ 1224 _FUNC(RobotConfig, 0, getCycletime) \ 1225 _FUNC(RobotConfig, 2, setSlowDownFraction, level, fraction) \ 1226 _FUNC(RobotConfig, 1, getSlowDownFraction, level) \ 1227 _FUNC(RobotConfig, 0, getRobotType) \ 1228 _FUNC(RobotConfig, 0, getRobotSubType) \ 1229 _FUNC(RobotConfig, 0, getControlBoxType) \ 1230 _FUNC(RobotConfig, 0, getDefaultToolAcc) \ 1231 _FUNC(RobotConfig, 0, getDefaultToolSpeed) \ 1232 _FUNC(RobotConfig, 0, getDefaultJointAcc) \ 1233 _FUNC(RobotConfig, 0, getDefaultJointSpeed) \ 1234 _INST(RobotConfig, 1, setMountingPose, pose) \ 1235 _FUNC(RobotConfig, 0, getMountingPose) \ 1236 _INST(RobotConfig, 1, setCollisionLevel, level); \ 1237 _FUNC(RobotConfig, 0, getCollisionLevel); \ 1238 _INST(RobotConfig, 1, setCollisionStopType, type); \ 1239 _FUNC(RobotConfig, 0, getCollisionStopType); \ 1240 _FUNC(RobotConfig, 1, setHomePosition, positions); \ 1241 _FUNC(RobotConfig, 0, getHomePosition); \ 1242 _INST(RobotConfig, 1, setFreedriveDamp, damp); \ 1243 _FUNC(RobotConfig, 0, getFreedriveDamp); \ 1244 _FUNC(RobotConfig, 0, getTcpForceSensorNames) \ 1245 _INST(RobotConfig, 1, selectTcpForceSensor, name) \ 1246 _FUNC(RobotConfig, 0, hasTcpForceSensor) \ 1247 _INST(RobotConfig, 1, setTcpForceOffset, force_offset) \ 1248 _FUNC(RobotConfig, 0, getTcpForceOffset) \ 1249 _FUNC(RobotConfig, 0, getBaseForceSensorNames) \ 1250 _INST(RobotConfig, 1, selectBaseForceSensor, name) \ 1251 _FUNC(RobotConfig, 0, hasBaseForceSensor) \ 1252 _INST(RobotConfig, 1, setBaseForceOffset, force_offset) \ 1253 _FUNC(RobotConfig, 0, getBaseForceOffset) \ 1254 _INST(RobotConfig, 1, setPersistentParameters, param) \ 1255 _INST(RobotConfig, 1, setKinematicsCompensate, param) \ 1256 _INST(RobotConfig, 1, setHardwareCustomParameters, param) \ 1257 _FUNC(RobotConfig, 1, getHardwareCustomParameters, param) \ 1258 _INST(RobotConfig, 0, setRobotZero) \ 1259 _FUNC(RobotConfig, 1, getKinematicsParam, real) \ 1260 _FUNC(RobotConfig, 1, getKinematicsCompensate, ref_temperature) \ 1261 _FUNC(RobotConfig, 0, getSafetyParametersCheckSum) \ 1262 _FUNC(RobotConfig, 1, confirmSafetyParameters, parameters) \ 1263 _FUNC(RobotConfig, 1, calcSafetyParametersCheckSum, parameters) \ 1264 _FUNC(RobotConfig, 0, getJointMaxPositions) \ 1265 _FUNC(RobotConfig, 0, getJointMinPositions) \ 1266 _FUNC(RobotConfig, 0, getJointMaxSpeeds) \ 1267 _FUNC(RobotConfig, 0, getJointMaxAccelerations) \ 1268 _FUNC(RobotConfig, 0, getTcpMaxSpeeds) \ 1269 _FUNC(RobotConfig, 0, getTcpMaxAccelerations) \ 1270 _FUNC(RobotConfig, 1, toolSpaceInRange, pose) \ 1271 _INST(RobotConfig, 4, setPayload, m, cog, aom, inertia) \ 1272 _FUNC(RobotConfig, 0, getPayload) \ 1273 _FUNC(RobotConfig, 0, getTcpOffset) \ 1274 _FUNC(RobotConfig, 0, getGravity) \ 1275 _INST(RobotConfig, 1, setGravity, gravity) \ 1276 _INST(RobotConfig, 1, setTcpOffset, offset) \ 1277 _INST(RobotConfig, 3, setToolInertial, m, com, inertial) \ 1278 _FUNC(RobotConfig, 1, firmwareUpdate, fw) \ 1279 _FUNC(RobotConfig, 0, getFirmwareUpdateProcess) \ 1280 _FUNC(RobotConfig, 1, setTcpForceSensorPose, sensor_pose) \ 1281 _FUNC(RobotConfig, 0, getTcpForceSensorPose) \ 1282 _FUNC(RobotConfig, 0, getLimitJointMaxPositions) \ 1283 _FUNC(RobotConfig, 0, getLimitJointMinPositions) \ 1284 _FUNC(RobotConfig, 0, getLimitJointMaxSpeeds) \ 1285 _FUNC(RobotConfig, 0, getLimitJointMaxAccelerations) \ 1286 _FUNC(RobotConfig, 0, getLimitTcpMaxSpeed) \ 1287 _FUNC(RobotConfig, 0, getSafeguardStopType) \ 1288 _FUNC(RobotConfig, 0, getSafeguardStopSource) 1293 #endif // AUBO_SDK_ROBOT_CONFIG_H
std::tuple< double, std::vector< double >, std::vector< double >, std::vector< double >> Payload
std::shared_ptr< RobotConfig > RobotConfigPtr