4 #ifndef AUBO_SDK_ROBOT_CONTROL_INTERFACE_H 5 #define AUBO_SDK_ROBOT_CONTROL_INTERFACE_H 10 #include <aubo/global_config.h> 14 namespace common_interface {
119 int backdrive(
bool enable);
150 int freedrive(
bool enable);
167 int handguideMode(
const std::vector<int> &freeAxes,
168 const std::vector<double> &feature);
183 int exitHandguideMode();
198 int getHandguideStatus();
210 int getHandguideTrigger();
220 bool isHandguideEnabled();
249 int setSim(
bool enable);
349 bool isFreedriveEnabled();
372 bool isBackdriveEnabled();
395 bool isSimulationEnabled();
420 int setUnlockProtectiveStop();
445 int restartInterfaceBoard();
461 int startRecord(
const std::string &file_name);
489 int pauseRecord(
bool pause);
518 int setLinkModeEnable(
bool enable);
541 bool isLinkModeEnabled();
549 #define RobotManage_DECLARES \ 550 _FUNC(RobotManage, 0, poweron) \ 551 _FUNC(RobotManage, 0, startup) \ 552 _FUNC(RobotManage, 0, poweroff) \ 553 _FUNC(RobotManage, 1, backdrive, enable) \ 554 _FUNC(RobotManage, 1, freedrive, enable) \ 555 _FUNC(RobotManage, 2, handguideMode, freeAxes,feature) \ 556 _FUNC(RobotManage, 0, exitHandguideMode) \ 557 _FUNC(RobotManage, 0, getHandguideStatus) \ 558 _FUNC(RobotManage, 0, getHandguideTrigger) \ 559 _FUNC(RobotManage, 0, isHandguideEnabled) \ 560 _FUNC(RobotManage, 1, setSim, enable) \ 561 _FUNC(RobotManage, 1, setOperationalMode, mode) \ 562 _FUNC(RobotManage, 0, getOperationalMode) \ 563 _FUNC(RobotManage, 0, getRobotControlMode) \ 564 _FUNC(RobotManage, 0, isSimulationEnabled) \ 565 _FUNC(RobotManage, 0, isFreedriveEnabled) \ 566 _FUNC(RobotManage, 0, isBackdriveEnabled) \ 567 _FUNC(RobotManage, 0, setUnlockProtectiveStop) \ 568 _INST(RobotManage, 1, startRecord, file_name) \ 569 _INST(RobotManage, 0, stopRecord) \ 570 _INST(RobotManage, 1, pauseRecord, pause) \ 571 _FUNC(RobotManage, 0, restartInterfaceBoard) \ 572 _FUNC(RobotManage, 1, setLinkModeEnable, enable) \ 573 _FUNC(RobotManage, 0, isLinkModeEnabled) 578 #endif // AUBO_SDK_ROBOT_CONTROL_INTERFACE_H
RobotControlModeType
机器人控制模式
std::shared_ptr< RobotManage > RobotManagePtr