rl::hal::UniversalRobotsRtde Class Reference

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

#include <UniversalRobotsRtde.h>

Inheritance diagram for rl::hal::UniversalRobotsRtde:

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::Unit >	getAnalogInputUnit () 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::Unit >	getAnalogOutputUnit () 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 ()
virtual ::std::vector< ::rl::math::Real >	getAnalogInput () const
virtual ::rl::math::Real	getAnalogInput (const ::std::size_t &i) const=0
virtual ::std::vector< ::rl::math::Real >	getAnalogOutput () const
virtual ::rl::math::Real	getAnalogOutput (const ::std::size_t &i) const=0
virtual void	setAnalogOutput (const ::std::vector< ::rl::math::Real > &values)
virtual void	setAnalogOutput (const ::std::size_t &i, const ::rl::math::Real &value)=0
virtual void	setDigitalOutput (const ::boost::dynamic_bitset<> &bitset)
virtual void	setDigitalOutput (const ::boost::dynamic_bitset<> &bitset, const ::boost::dynamic_bitset<> &bitmask)
virtual void	setDigitalOutput (const ::std::size_t &i, const bool &value)=0
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::Real >	getAnalogInput () 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::Real >	getAnalogOutput () 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

enum rl::hal::UniversalRobotsRtde::Command

private

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

enum rl::hal::UniversalRobotsRtde::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

enum rl::hal::UniversalRobotsRtde::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

enum rl::hal::UniversalRobotsRtde::RobotStatus

Enumerator
ROBOT_STATUS_POWER_ON
ROBOT_STATUS_PROGRAM_RUNNING
ROBOT_STATUS_TEACH_BUTTON_PRESSED
ROBOT_STATUS_POWER_BUTTON_PRESSED

RuntimeState

enum rl::hal::UniversalRobotsRtde::RuntimeState

Enumerator
RUNTIME_STATE_STOPPING
RUNTIME_STATE_STOPPED
RUNTIME_STATE_PLAYING
RUNTIME_STATE_PAUSING
RUNTIME_STATE_PAUSED
RUNTIME_STATE_RESUMING

SafetyMode

enum rl::hal::UniversalRobotsRtde::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

enum rl::hal::UniversalRobotsRtde::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() [1/3]

std::vector<::rl::math::Real > rl::hal::AnalogInputReader::getAnalogInput

getAnalogInput() [2/3]

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

virtual

Implements rl::hal::AnalogInputReader.

getAnalogInput() [3/3]

virtual ::rl::math::Real rl::hal::AnalogInputReader::getAnalogInput

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() [1/3]

std::vector<::rl::math::Real > rl::hal::AnalogOutputReader::getAnalogOutput

getAnalogOutput() [2/3]

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

virtual

Implements rl::hal::AnalogOutputReader.

getAnalogOutput() [3/3]

virtual ::rl::math::Real rl::hal::AnalogOutputReader::getAnalogOutput

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

Implements rl::hal::CartesianForceSensor.

getCartesianPosition()

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

virtual

Implements rl::hal::CartesianPositionSensor.

getCartesianPositionTarget()

rl::math::Transform rl::hal::UniversalRobotsRtde::getCartesianPositionTarget

(

)

const

getCartesianVelocity()

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

virtual

Implements rl::hal::CartesianVelocitySensor.

getCartesianVelocityTarget()

rl::math::MotionVector rl::hal::UniversalRobotsRtde::getCartesianVelocityTarget

(

)

const

getDigitalInput() [1/2]

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

virtual

Implements rl::hal::DigitalInputReader.

getDigitalInput() [2/2]

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

virtual

Implements rl::hal::DigitalInputReader.

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

Implements rl::hal::DigitalOutputReader.

getDigitalOutput() [2/2]

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

virtual

Implements rl::hal::DigitalOutputReader.

getDigitalOutputCount()

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

virtual

Implements rl::hal::DigitalOutput.

getJointCurrent()

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

virtual

Implements rl::hal::JointCurrentSensor.

getJointMode()

std::int32_t rl::hal::UniversalRobotsRtde::getJointMode

(

const ::std::size_t &

i

)

const

getJointPosition()

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

virtual

Implements rl::hal::JointPositionSensor.

getJointTemperature()

rl::math::Vector rl::hal::UniversalRobotsRtde::getJointTemperature

(

)

const

getJointVelocity()

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

virtual

Implements rl::hal::JointVelocitySensor.

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::uint16_t &  word  )

private

send() [4/4]

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

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() [1/3]

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

virtual

Implements rl::hal::AnalogOutputWriter.

setAnalogOutput() [2/3]

virtual void rl::hal::AnalogOutputWriter::setAnalogOutput

setAnalogOutput() [3/3]

void rl::hal::AnalogOutputWriter::setAnalogOutput

setAnalogOutputUnit() [1/2]

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

setAnalogOutputUnit() [2/2]

void rl::hal::UniversalRobotsRtde::setAnalogOutputUnit

(

const ::std::vector< ::rl::math::Unit > &

values

)

setDigitalOutput() [1/4]

void rl::hal::DigitalOutputWriter::setDigitalOutput

setDigitalOutput() [2/4]

void rl::hal::DigitalOutputWriter::setDigitalOutput

setDigitalOutput() [3/4]

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

virtual

Implements rl::hal::DigitalOutputWriter.

setDigitalOutput() [4/4]

virtual void rl::hal::DigitalOutputWriter::setDigitalOutput

setJointAcceleration()

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

virtual

Implements rl::hal::JointAccelerationActuator.

setJointPosition()

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

virtual

Implements rl::hal::JointPositionActuator.

setJointVelocity()

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

virtual

Implements rl::hal::JointVelocityActuator.

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:

• rl/hal/UniversalRobotsRtde.h
• rl/hal/UniversalRobotsRtde.cpp