Robotics Library  0.7.0
Classes | Public Types | Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
rl::hal::UniversalRobotsRtde Class Reference

Universal Robots RTDE interface (3.3). More...

#include <UniversalRobotsRtde.h>

Inheritance diagram for rl::hal::UniversalRobotsRtde:
Inheritance graph
[legend]

Classes

struct  Input
 
struct  Output
 
struct  Version
 

Public Types

enum  JointMode {
  JOINT_MODE_SHUTTING_DOWN = 236, JOINT_MODE_PART_D_CALIBRATION = 237, JOINT_MODE_BACKDRIVE = 238, JOINT_MODE_POWER_OFF = 239,
  JOINT_MODE_NOT_RESPONDING = 245, JOINT_MODE_MOTOR_INITIALISATION = 246, JOINT_MODE_BOOTING = 247, JOINT_MODE_PART_D_CALIBRATION_ERROR = 248,
  JOINT_MODE_BOOTLOADER = 249, JOINT_MODE_CALIBRATION = 250, JOINT_MODE_FAULT = 252, JOINT_MODE_RUNNING = 253,
  JOINT_MODE_IDLE_MODE = 255
}
 
enum  RobotMode {
  ROBOT_MODE_DISCONNECTED = 0, ROBOT_MODE_CONFIRM_SAFETY = 1, ROBOT_MODE_BOOTING = 2, ROBOT_MODE_POWER_OFF = 3,
  ROBOT_MODE_POWER_ON = 4, ROBOT_MODE_IDLE = 5, ROBOT_MODE_BACKDRIVE = 6, ROBOT_MODE_RUNNING = 7,
  ROBOT_MODE_UPDATING_FIRMWARE = 8
}
 
enum  RobotStatus { ROBOT_STATUS_POWER_ON = 1, ROBOT_STATUS_PROGRAM_RUNNING = 2, ROBOT_STATUS_TEACH_BUTTON_PRESSED = 4, ROBOT_STATUS_POWER_BUTTON_PRESSED = 8 }
 
enum  RuntimeState {
  RUNTIME_STATE_STOPPING = 0, RUNTIME_STATE_STOPPED = 1, RUNTIME_STATE_PLAYING = 2, RUNTIME_STATE_PAUSING = 3,
  RUNTIME_STATE_PAUSED = 4, RUNTIME_STATE_RESUMING = 5
}
 
enum  SafetyMode {
  SAFETY_MODE_NORMAL = 1, SAFETY_MODE_REDUCED = 2, SAFETY_MODE_PROTECTIVE_STOP = 3, SAFETY_MODE_RECOVERY = 4,
  SAFETY_MODE_SAFEGUARD_STOP = 5, SAFETY_MODE_SYSTEM_EMERGENCY_STOP = 6, SAFETY_MODE_ROBOT_EMERGENCY_STOP = 7, SAFETY_MODE_VIOLATION = 8,
  SAFETY_MODE_FAULT = 9
}
 
enum  SafetyStatus {
  SAFETY_STATUS_NORMAL_MODE = 1, SAFETY_STATUS_REDUCED_MODE = 2, SAFETY_STATUS_PROTECTIVE_STOPPED = 4, SAFETY_STATUS_RECOVERY_MODE = 8,
  SAFETY_STATUS_SAFEGUARD_STOPPED = 16, SAFETY_STATUS_SYSTEM_EMERGENCY_STOPPED = 32, SAFETY_STATUS_ROBOT_EMERGENCY_STOPPED = 64, SAFETY_STATUS_EMERGENCY_STOPPED = 128,
  SAFETY_STATUS_VIOLATION = 256, SAFETY_STATUS_FAULT = 512, SAFETY_STATUS_STOPPED_DUE_TO_SAFETY = 1024
}
 

Public Member Functions

 UniversalRobotsRtde (const ::std::string &address)
 
virtual ~UniversalRobotsRtde ()
 
void close ()
 
void doScript (const ::std::string &script)
 
::rl::math::Real getAnalogInput (const ::std::size_t &i) const
 
::std::size_t getAnalogInputCount () const
 
::rl::math::Real getAnalogInputMaximum (const ::std::size_t &i) const
 
::rl::math::Real getAnalogInputMinimum (const ::std::size_t &i) const
 
::std::vector< ::rl::math::UnitgetAnalogInputUnit () const
 
::rl::math::Unit getAnalogInputUnit (const ::std::size_t &i) const
 
::rl::math::Real getAnalogOutput (const ::std::size_t &i) const
 
::std::size_t getAnalogOutputCount () const
 
::rl::math::Real getAnalogOutputMaximum (const ::std::size_t &i) const
 
::rl::math::Real getAnalogOutputMinimum (const ::std::size_t &i) const
 
::std::vector< ::rl::math::UnitgetAnalogOutputUnit () const
 
::rl::math::Unit getAnalogOutputUnit (const ::std::size_t &i) const
 
::rl::math::ForceVector getCartesianForce () const
 
::rl::math::Transform getCartesianPosition () const
 
::rl::math::Transform getCartesianPositionTarget () const
 
::rl::math::MotionVector getCartesianVelocity () const
 
::rl::math::MotionVector getCartesianVelocityTarget () const
 
::boost::dynamic_bitset getDigitalInput () const
 
bool getDigitalInput (const ::std::size_t &i) const
 
::std::size_t getDigitalInputCount () const
 
::boost::dynamic_bitset getDigitalOutput () const
 
bool getDigitalOutput (const ::std::size_t &i) const
 
::std::size_t getDigitalOutputCount () const
 
::rl::math::Vector getJointCurrent () const
 
::std::int32_t getJointMode (const ::std::size_t &i) const
 
::rl::math::Vector getJointPosition () const
 
::rl::math::Vector getJointTemperature () const
 
::rl::math::Vector getJointVelocity () const
 
RobotMode getRobotMode () const
 
::std::uint32_t getRobotStatusBits () const
 
RuntimeState getRuntimeState () const
 
SafetyMode getSafetyMode () const
 
::std::uint32_t getSafetyStatusBits () const
 
void open ()
 
void setAnalogOutput (const ::std::size_t &i, const ::rl::math::Real &value)
 
void setAnalogOutputUnit (const ::std::vector< ::rl::math::Unit > &values)
 
void setAnalogOutputUnit (const ::std::size_t &i, const ::rl::math::Unit &value)
 
void setDigitalOutput (const ::std::size_t &i, const bool &value)
 
void setJointAcceleration (const ::rl::math::Vector &qdd)
 
void setJointPosition (const ::rl::math::Vector &q)
 
void setJointVelocity (const ::rl::math::Vector &qd)
 
void start ()
 
void step ()
 
void stop ()
 
- Public Member Functions inherited from rl::hal::CyclicDevice
 CyclicDevice (const ::std::chrono::nanoseconds &updateRate)
 
virtual ~CyclicDevice ()
 
virtual ::std::chrono::nanoseconds getUpdateRate () const
 
- Public Member Functions inherited from rl::hal::Device
 Device ()
 
virtual ~Device ()
 
bool isConnected () const
 
bool isRunning () const
 
- Public Member Functions inherited from rl::hal::AnalogInputReader
 AnalogInputReader ()
 
virtual ~AnalogInputReader ()
 
virtual ::std::vector< ::rl::math::RealgetAnalogInput () const
 
- Public Member Functions inherited from rl::hal::AnalogInput
 AnalogInput ()
 
virtual ~AnalogInput ()
 
- Public Member Functions inherited from rl::hal::AnalogOutputReader
 AnalogOutputReader ()
 
virtual ~AnalogOutputReader ()
 
virtual ::std::vector< ::rl::math::RealgetAnalogOutput () const
 
- Public Member Functions inherited from rl::hal::AnalogOutput
 AnalogOutput ()
 
virtual ~AnalogOutput ()
 
- Public Member Functions inherited from rl::hal::AnalogOutputWriter
 AnalogOutputWriter ()
 
virtual ~AnalogOutputWriter ()
 
virtual void setAnalogOutput (const ::std::vector< ::rl::math::Real > &values)
 
- Public Member Functions inherited from rl::hal::CartesianForceSensor
 CartesianForceSensor (const ::std::size_t &dof)
 
virtual ~CartesianForceSensor ()
 
- Public Member Functions inherited from rl::hal::AxisController
 AxisController (const ::std::size_t &dof)
 
virtual ~AxisController ()
 
::std::size_t getDof () const
 
- Public Member Functions inherited from rl::hal::CartesianPositionSensor
 CartesianPositionSensor (const ::std::size_t &dof)
 
virtual ~CartesianPositionSensor ()
 
- Public Member Functions inherited from rl::hal::CartesianVelocitySensor
 CartesianVelocitySensor (const ::std::size_t &dof)
 
virtual ~CartesianVelocitySensor ()
 
- Public Member Functions inherited from rl::hal::DigitalInputReader
 DigitalInputReader ()
 
virtual ~DigitalInputReader ()
 
- Public Member Functions inherited from rl::hal::DigitalInput
 DigitalInput ()
 
virtual ~DigitalInput ()
 
- Public Member Functions inherited from rl::hal::DigitalOutputReader
 DigitalOutputReader ()
 
virtual ~DigitalOutputReader ()
 
- Public Member Functions inherited from rl::hal::DigitalOutput
 DigitalOutput ()
 
virtual ~DigitalOutput ()
 
- Public Member Functions inherited from rl::hal::DigitalOutputWriter
 DigitalOutputWriter ()
 
virtual ~DigitalOutputWriter ()
 
virtual void setDigitalOutput (const ::boost::dynamic_bitset<> &bitset)
 
virtual void setDigitalOutput (const ::boost::dynamic_bitset<> &bitset, const ::boost::dynamic_bitset<> &bitmask)
 
- Public Member Functions inherited from rl::hal::JointAccelerationActuator
 JointAccelerationActuator (const ::std::size_t &dof)
 
virtual ~JointAccelerationActuator ()
 
- Public Member Functions inherited from rl::hal::JointCurrentSensor
 JointCurrentSensor (const ::std::size_t &dof)
 
virtual ~JointCurrentSensor ()
 
- Public Member Functions inherited from rl::hal::JointPositionActuator
 JointPositionActuator (const ::std::size_t &dof)
 
virtual ~JointPositionActuator ()
 
- Public Member Functions inherited from rl::hal::JointPositionSensor
 JointPositionSensor (const ::std::size_t &dof)
 
virtual ~JointPositionSensor ()
 
- Public Member Functions inherited from rl::hal::JointVelocityActuator
 JointVelocityActuator (const ::std::size_t &dof)
 
virtual ~JointVelocityActuator ()
 
- Public Member Functions inherited from rl::hal::JointVelocitySensor
 JointVelocitySensor (const ::std::size_t &dof)
 
virtual ~JointVelocitySensor ()
 

Private Types

enum  Command {
  COMMAND_CONTROL_PACKAGE_PAUSE = 80, COMMAND_CONTROL_PACKAGE_SETUP_INPUTS = 73, COMMAND_CONTROL_PACKAGE_SETUP_OUTPUTS = 79, COMMAND_CONTROL_PACKAGE_START = 83,
  COMMAND_DATA_PACKAGE = 85, COMMAND_GET_URCONTROL_VERSION = 118, COMMAND_REQUEST_PROTOCOL_VERSION = 86, COMMAND_TEXT_MESSAGE = 77
}
 

Private Member Functions

void recv ()
 
void send (::std::uint8_t *buffer, const ::std::size_t &size)
 
void send (const ::std::uint8_t &command)
 
void send (const ::std::uint8_t &command, const ::std::vector< ::std::string > &strings)
 
void send (const ::std::uint8_t &command, const ::std::uint16_t &word)
 
void sendAnalogOutputs ()
 
void sendBitRegisters ()
 
void sendDigitalOutputs ()
 
void sendDoubleRegister ()
 
void sendIntegerRegister ()
 
template<typename T >
void serialize (T &t, ::std::uint8_t *&ptr)
 
template<typename T , ::std::size_t N>
void serialize (T(&t)[N], ::std::uint8_t *&ptr)
 
template<typename T >
void unserialize (::std::uint8_t *&ptr, T &t)
 
template<typename T , ::std::size_t N>
void unserialize (::std::uint8_t *&ptr, T(&t)[N])
 

Private Attributes

Input input
 
Output output
 
Socket socket2
 
Socket socket4
 
Version version
 

Additional Inherited Members

- Protected Member Functions inherited from rl::hal::Device
void setConnected (const bool &connected)
 
void setRunning (const bool &running)
 

Detailed Description

Universal Robots RTDE interface (3.3).

Member Enumeration Documentation

◆ Command

Enumerator
COMMAND_CONTROL_PACKAGE_PAUSE 
COMMAND_CONTROL_PACKAGE_SETUP_INPUTS 
COMMAND_CONTROL_PACKAGE_SETUP_OUTPUTS 
COMMAND_CONTROL_PACKAGE_START 
COMMAND_DATA_PACKAGE 
COMMAND_GET_URCONTROL_VERSION 
COMMAND_REQUEST_PROTOCOL_VERSION 
COMMAND_TEXT_MESSAGE 

◆ JointMode

Enumerator
JOINT_MODE_SHUTTING_DOWN 
JOINT_MODE_PART_D_CALIBRATION 
JOINT_MODE_BACKDRIVE 
JOINT_MODE_POWER_OFF 
JOINT_MODE_NOT_RESPONDING 
JOINT_MODE_MOTOR_INITIALISATION 
JOINT_MODE_BOOTING 
JOINT_MODE_PART_D_CALIBRATION_ERROR 
JOINT_MODE_BOOTLOADER 
JOINT_MODE_CALIBRATION 
JOINT_MODE_FAULT 
JOINT_MODE_RUNNING 
JOINT_MODE_IDLE_MODE 

◆ RobotMode

Enumerator
ROBOT_MODE_DISCONNECTED 
ROBOT_MODE_CONFIRM_SAFETY 
ROBOT_MODE_BOOTING 
ROBOT_MODE_POWER_OFF 
ROBOT_MODE_POWER_ON 
ROBOT_MODE_IDLE 
ROBOT_MODE_BACKDRIVE 
ROBOT_MODE_RUNNING 
ROBOT_MODE_UPDATING_FIRMWARE 

◆ RobotStatus

Enumerator
ROBOT_STATUS_POWER_ON 
ROBOT_STATUS_PROGRAM_RUNNING 
ROBOT_STATUS_TEACH_BUTTON_PRESSED 
ROBOT_STATUS_POWER_BUTTON_PRESSED 

◆ RuntimeState

Enumerator
RUNTIME_STATE_STOPPING 
RUNTIME_STATE_STOPPED 
RUNTIME_STATE_PLAYING 
RUNTIME_STATE_PAUSING 
RUNTIME_STATE_PAUSED 
RUNTIME_STATE_RESUMING 

◆ SafetyMode

Enumerator
SAFETY_MODE_NORMAL 
SAFETY_MODE_REDUCED 
SAFETY_MODE_PROTECTIVE_STOP 
SAFETY_MODE_RECOVERY 
SAFETY_MODE_SAFEGUARD_STOP 
SAFETY_MODE_SYSTEM_EMERGENCY_STOP 
SAFETY_MODE_ROBOT_EMERGENCY_STOP 
SAFETY_MODE_VIOLATION 
SAFETY_MODE_FAULT 

◆ SafetyStatus

Enumerator
SAFETY_STATUS_NORMAL_MODE 
SAFETY_STATUS_REDUCED_MODE 
SAFETY_STATUS_PROTECTIVE_STOPPED 
SAFETY_STATUS_RECOVERY_MODE 
SAFETY_STATUS_SAFEGUARD_STOPPED 
SAFETY_STATUS_SYSTEM_EMERGENCY_STOPPED 
SAFETY_STATUS_ROBOT_EMERGENCY_STOPPED 
SAFETY_STATUS_EMERGENCY_STOPPED 
SAFETY_STATUS_VIOLATION 
SAFETY_STATUS_FAULT 
SAFETY_STATUS_STOPPED_DUE_TO_SAFETY 

Constructor & Destructor Documentation

◆ UniversalRobotsRtde()

rl::hal::UniversalRobotsRtde::UniversalRobotsRtde ( const ::std::string &  address)

◆ ~UniversalRobotsRtde()

rl::hal::UniversalRobotsRtde::~UniversalRobotsRtde ( )
virtual

Member Function Documentation

◆ close()

void rl::hal::UniversalRobotsRtde::close ( )
virtual
Precondition
stop()

Implements rl::hal::Device.

◆ doScript()

void rl::hal::UniversalRobotsRtde::doScript ( const ::std::string &  script)

◆ getAnalogInput()

rl::math::Real rl::hal::UniversalRobotsRtde::getAnalogInput ( const ::std::size_t &  i) const
virtual

◆ getAnalogInputCount()

std::size_t rl::hal::UniversalRobotsRtde::getAnalogInputCount ( ) const
virtual

Implements rl::hal::AnalogInput.

◆ getAnalogInputMaximum()

rl::math::Real rl::hal::UniversalRobotsRtde::getAnalogInputMaximum ( const ::std::size_t &  i) const
virtual

Implements rl::hal::AnalogInput.

◆ getAnalogInputMinimum()

rl::math::Real rl::hal::UniversalRobotsRtde::getAnalogInputMinimum ( const ::std::size_t &  i) const
virtual

Implements rl::hal::AnalogInput.

◆ getAnalogInputUnit() [1/2]

std::vector<::rl::math::Unit > rl::hal::UniversalRobotsRtde::getAnalogInputUnit ( ) const

◆ getAnalogInputUnit() [2/2]

rl::math::Unit rl::hal::UniversalRobotsRtde::getAnalogInputUnit ( const ::std::size_t &  i) const

◆ getAnalogOutput()

rl::math::Real rl::hal::UniversalRobotsRtde::getAnalogOutput ( const ::std::size_t &  i) const
virtual

◆ getAnalogOutputCount()

std::size_t rl::hal::UniversalRobotsRtde::getAnalogOutputCount ( ) const
virtual

Implements rl::hal::AnalogOutput.

◆ getAnalogOutputMaximum()

rl::math::Real rl::hal::UniversalRobotsRtde::getAnalogOutputMaximum ( const ::std::size_t &  i) const
virtual

Implements rl::hal::AnalogOutput.

◆ getAnalogOutputMinimum()

rl::math::Real rl::hal::UniversalRobotsRtde::getAnalogOutputMinimum ( const ::std::size_t &  i) const
virtual

Implements rl::hal::AnalogOutput.

◆ getAnalogOutputUnit() [1/2]

std::vector<::rl::math::Unit > rl::hal::UniversalRobotsRtde::getAnalogOutputUnit ( ) const

◆ getAnalogOutputUnit() [2/2]

rl::math::Unit rl::hal::UniversalRobotsRtde::getAnalogOutputUnit ( const ::std::size_t &  i) const

◆ getCartesianForce()

rl::math::ForceVector rl::hal::UniversalRobotsRtde::getCartesianForce ( ) const
virtual

◆ getCartesianPosition()

rl::math::Transform rl::hal::UniversalRobotsRtde::getCartesianPosition ( ) const
virtual

◆ getCartesianPositionTarget()

rl::math::Transform rl::hal::UniversalRobotsRtde::getCartesianPositionTarget ( ) const

◆ getCartesianVelocity()

rl::math::MotionVector rl::hal::UniversalRobotsRtde::getCartesianVelocity ( ) const
virtual

◆ getCartesianVelocityTarget()

rl::math::MotionVector rl::hal::UniversalRobotsRtde::getCartesianVelocityTarget ( ) const

◆ getDigitalInput() [1/2]

boost::dynamic_bitset rl::hal::UniversalRobotsRtde::getDigitalInput ( ) const
virtual

◆ getDigitalInput() [2/2]

bool rl::hal::UniversalRobotsRtde::getDigitalInput ( const ::std::size_t &  i) const
virtual

◆ getDigitalInputCount()

std::size_t rl::hal::UniversalRobotsRtde::getDigitalInputCount ( ) const
virtual

Implements rl::hal::DigitalInput.

◆ getDigitalOutput() [1/2]

boost::dynamic_bitset rl::hal::UniversalRobotsRtde::getDigitalOutput ( ) const
virtual

◆ getDigitalOutput() [2/2]

bool rl::hal::UniversalRobotsRtde::getDigitalOutput ( const ::std::size_t &  i) const
virtual

◆ getDigitalOutputCount()

std::size_t rl::hal::UniversalRobotsRtde::getDigitalOutputCount ( ) const
virtual

◆ getJointCurrent()

rl::math::Vector rl::hal::UniversalRobotsRtde::getJointCurrent ( ) const
virtual

◆ getJointMode()

std::int32_t rl::hal::UniversalRobotsRtde::getJointMode ( const ::std::size_t &  i) const

◆ getJointPosition()

rl::math::Vector rl::hal::UniversalRobotsRtde::getJointPosition ( ) const
virtual

◆ getJointTemperature()

rl::math::Vector rl::hal::UniversalRobotsRtde::getJointTemperature ( ) const

◆ getJointVelocity()

rl::math::Vector rl::hal::UniversalRobotsRtde::getJointVelocity ( ) const
virtual

◆ getRobotMode()

UniversalRobotsRtde::RobotMode rl::hal::UniversalRobotsRtde::getRobotMode ( ) const

◆ getRobotStatusBits()

std::uint32_t rl::hal::UniversalRobotsRtde::getRobotStatusBits ( ) const

◆ getRuntimeState()

UniversalRobotsRtde::RuntimeState rl::hal::UniversalRobotsRtde::getRuntimeState ( ) const

◆ getSafetyMode()

UniversalRobotsRtde::SafetyMode rl::hal::UniversalRobotsRtde::getSafetyMode ( ) const

◆ getSafetyStatusBits()

std::uint32_t rl::hal::UniversalRobotsRtde::getSafetyStatusBits ( ) const

◆ open()

void rl::hal::UniversalRobotsRtde::open ( )
virtual

Implements rl::hal::Device.

◆ recv()

void rl::hal::UniversalRobotsRtde::recv ( )
private

◆ send() [1/4]

void rl::hal::UniversalRobotsRtde::send ( ::std::uint8_t *  buffer,
const ::std::size_t &  size 
)
private

◆ send() [2/4]

void rl::hal::UniversalRobotsRtde::send ( const ::std::uint8_t &  command)
private

◆ send() [3/4]

void rl::hal::UniversalRobotsRtde::send ( const ::std::uint8_t &  command,
const ::std::vector< ::std::string > &  strings 
)
private

◆ send() [4/4]

void rl::hal::UniversalRobotsRtde::send ( const ::std::uint8_t &  command,
const ::std::uint16_t &  word 
)
private

◆ sendAnalogOutputs()

void rl::hal::UniversalRobotsRtde::sendAnalogOutputs ( )
private

◆ sendBitRegisters()

void rl::hal::UniversalRobotsRtde::sendBitRegisters ( )
private

◆ sendDigitalOutputs()

void rl::hal::UniversalRobotsRtde::sendDigitalOutputs ( )
private

◆ sendDoubleRegister()

void rl::hal::UniversalRobotsRtde::sendDoubleRegister ( )
private

◆ sendIntegerRegister()

void rl::hal::UniversalRobotsRtde::sendIntegerRegister ( )
private

◆ serialize() [1/2]

template<typename T >
void rl::hal::UniversalRobotsRtde::serialize ( T &  t,
::std::uint8_t *&  ptr 
)
inlineprivate

◆ serialize() [2/2]

template<typename T , ::std::size_t N>
void rl::hal::UniversalRobotsRtde::serialize ( T(&)  t[N],
::std::uint8_t *&  ptr 
)
inlineprivate

◆ setAnalogOutput()

void rl::hal::UniversalRobotsRtde::setAnalogOutput ( const ::std::size_t &  i,
const ::rl::math::Real value 
)
virtual

◆ setAnalogOutputUnit() [1/2]

void rl::hal::UniversalRobotsRtde::setAnalogOutputUnit ( const ::std::vector< ::rl::math::Unit > &  values)

◆ setAnalogOutputUnit() [2/2]

void rl::hal::UniversalRobotsRtde::setAnalogOutputUnit ( const ::std::size_t &  i,
const ::rl::math::Unit value 
)

◆ setDigitalOutput()

void rl::hal::UniversalRobotsRtde::setDigitalOutput ( const ::std::size_t &  i,
const bool &  value 
)
virtual

◆ setJointAcceleration()

void rl::hal::UniversalRobotsRtde::setJointAcceleration ( const ::rl::math::Vector qdd)
virtual

◆ setJointPosition()

void rl::hal::UniversalRobotsRtde::setJointPosition ( const ::rl::math::Vector q)
virtual

◆ setJointVelocity()

void rl::hal::UniversalRobotsRtde::setJointVelocity ( const ::rl::math::Vector qd)
virtual

◆ start()

void rl::hal::UniversalRobotsRtde::start ( )
virtual
Precondition
open()

Implements rl::hal::Device.

◆ step()

void rl::hal::UniversalRobotsRtde::step ( )
virtual
Precondition
start()

Implements rl::hal::CyclicDevice.

◆ stop()

void rl::hal::UniversalRobotsRtde::stop ( )
virtual
Precondition
open()

Implements rl::hal::Device.

◆ unserialize() [1/2]

template<typename T >
void rl::hal::UniversalRobotsRtde::unserialize ( ::std::uint8_t *&  ptr,
T &  t 
)
inlineprivate

◆ unserialize() [2/2]

template<typename T , ::std::size_t N>
void rl::hal::UniversalRobotsRtde::unserialize ( ::std::uint8_t *&  ptr,
T(&)  t[N] 
)
inlineprivate

Member Data Documentation

◆ input

Input rl::hal::UniversalRobotsRtde::input
private

◆ output

Output rl::hal::UniversalRobotsRtde::output
private

◆ socket2

Socket rl::hal::UniversalRobotsRtde::socket2
private

◆ socket4

Socket rl::hal::UniversalRobotsRtde::socket4
private

◆ version

Version rl::hal::UniversalRobotsRtde::version
private

The documentation for this class was generated from the following files: