rl::hal::UniversalRobotsRealtime Class Reference

Universal Robots realtime interface (pre-3.0, 3.0, 3.1, 3.2). More...

#include <UniversalRobotsRealtime.h>

Inheritance diagram for rl::hal::UniversalRobotsRealtime:

Classes
struct	Message

Public Member Functions
	UniversalRobotsRealtime (const ::std::string &address)
virtual	~UniversalRobotsRealtime ()
void	close ()
void	doScript (const ::std::string &script)
::rl::math::ForceVector	getCartesianForce () const
::rl::math::Transform	getCartesianPosition () const
::rl::math::MotionVector	getCartesianVelocity () 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
::rl::math::Vector	getJointPosition () const
::rl::math::Vector	getJointVelocity () const
void	open ()
void	start ()
void	step ()
void	stop ()
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::Device
	Device ()
virtual	~Device ()
bool	isConnected () const
bool	isRunning () 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::CyclicDevice
	CyclicDevice (const ::std::chrono::nanoseconds &updateRate)
virtual	~CyclicDevice ()
virtual ::std::chrono::nanoseconds	getUpdateRate () const
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::JointCurrentSensor
	JointCurrentSensor (const ::std::size_t &dof)
virtual	~JointCurrentSensor ()
Public Member Functions inherited from rl::hal::JointPositionSensor
	JointPositionSensor (const ::std::size_t &dof)
virtual	~JointPositionSensor ()
Public Member Functions inherited from rl::hal::JointVelocitySensor
	JointVelocitySensor (const ::std::size_t &dof)
virtual	~JointVelocitySensor ()

Private Attributes
Message	in
Socket	socket

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 realtime interface (pre-3.0, 3.0, 3.1, 3.2).

Constructor & Destructor Documentation

UniversalRobotsRealtime()

rl::hal::UniversalRobotsRealtime::UniversalRobotsRealtime

(

const ::std::string &

address

)

~UniversalRobotsRealtime()

rl::hal::UniversalRobotsRealtime::~UniversalRobotsRealtime ( )

virtual

Member Function Documentation

close()

void rl::hal::UniversalRobotsRealtime::close ( )

virtual

Precondition

stop()

Implements rl::hal::Device.

doScript()

void rl::hal::UniversalRobotsRealtime::doScript

(

const ::std::string &

script

)

getCartesianForce()

rl::math::ForceVector rl::hal::UniversalRobotsRealtime::getCartesianForce ( ) const

virtual

Implements rl::hal::CartesianForceSensor.

getCartesianPosition()

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

virtual

Implements rl::hal::CartesianPositionSensor.

getCartesianVelocity()

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

virtual

Implements rl::hal::CartesianVelocitySensor.

getDigitalInput() [1/2]

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

virtual

Implements rl::hal::DigitalInputReader.

getDigitalInput() [2/2]

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

virtual

Implements rl::hal::DigitalInputReader.

getDigitalInputCount()

std::size_t rl::hal::UniversalRobotsRealtime::getDigitalInputCount ( ) const

virtual

Implements rl::hal::DigitalInput.

getDigitalOutput() [1/2]

boost::dynamic_bitset rl::hal::UniversalRobotsRealtime::getDigitalOutput ( ) const

virtual

Implements rl::hal::DigitalOutputReader.

getDigitalOutput() [2/2]

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

virtual

Implements rl::hal::DigitalOutputReader.

getDigitalOutputCount()

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

virtual

Implements rl::hal::DigitalOutput.

getJointCurrent()

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

virtual

Implements rl::hal::JointCurrentSensor.

getJointPosition()

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

virtual

Implements rl::hal::JointPositionSensor.

getJointVelocity()

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

virtual

Implements rl::hal::JointVelocitySensor.

open()

void rl::hal::UniversalRobotsRealtime::open ( )

virtual

Implements rl::hal::Device.

start()

void rl::hal::UniversalRobotsRealtime::start ( )

virtual

Precondition

open()

Implements rl::hal::Device.

step()

void rl::hal::UniversalRobotsRealtime::step ( )

virtual

Precondition

start()

Implements rl::hal::CyclicDevice.

stop()

void rl::hal::UniversalRobotsRealtime::stop ( )

virtual

Precondition

open()

Implements rl::hal::Device.

Member Data Documentation

in

Message rl::hal::UniversalRobotsRealtime::in

private

socket

Socket rl::hal::UniversalRobotsRealtime::socket

private

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

• rl/hal/UniversalRobotsRealtime.h
• rl/hal/UniversalRobotsRealtime.cpp