KukaFRIalgorithm.hpp File Reference

#include <chrono>
#include <stdexcept>
#include <algorithm>
#include <boost/range/adaptor/copied.hpp>
#include <boost/range/algorithm/copy.hpp>
#include <boost/range/distance.hpp>
#include <boost/range.hpp>
#include <boost/geometry/core/access.hpp>
#include <boost/units/physical_dimensions/torque.hpp>
#include <boost/units/physical_dimensions/plane_angle.hpp>
#include <boost/lexical_cast.hpp>
#include <boost/asio.hpp>
#include <boost/container/static_vector.hpp>
#include "friClientIf.h"
#include "FRIMessages.pb.h"
#include "friCommandMessageEncoder.h"
#include "friMonitoringMessageDecoder.h"
#include "grl/tags.hpp"
#include "grl/kuka/KukaNanopb.hpp"
#include "grl/kuka/Kuka.hpp"

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Classes
struct	boost::geometry::traits::access< Geometry, Dimension, Enable >
struct	boost::geometry::traits::access< FRICommandMessage, KUKA::LBRState::NUM_DOF, Enable >
struct	boost::geometry::traits::access< FRIMonitoringMessage, KUKA::LBRState::NUM_DOF, Enable >
struct	boost::geometry::traits::coordinate_system< T, Enable >
struct	boost::geometry::traits::coordinate_type< T, Enable >
struct	boost::geometry::traits::coordinate_type< FRICommandMessage, Enable >
struct	boost::geometry::traits::coordinate_type< FRIMonitoringMessage, Enable >
struct	boost::geometry::traits::dimension< T, Enable >
struct	boost::geometry::traits::dimension< FRICommandMessage, Enable >
struct	boost::geometry::traits::dimension< FRIMonitoringMessage, Enable >
struct	mpl_::int_< N >
struct	grl::robot::arm::kuka::receive_multiplier
struct	grl::robot::arm::kuka::send_period
struct	boost::geometry::traits::tag< T, Enable >
struct	boost::geometry::traits::tag< FRICommandMessage, Enable >
struct	boost::geometry::traits::tag< FRIMonitoringMessage, Enable >

Namespaces
	boost
	boost::geometry
	boost::geometry::cs
	boost::geometry::traits
	boost::mpl
	grl
	grl::robot
	grl::robot::arm
	grl::robot::arm::kuka
	grl::robot::arm::kuka::detail
	mpl_

Functions
template<typename OutputIterator >
void	grl::robot::arm::copy (const FRIMonitoringMessage &monitoringMsg, OutputIterator it, revolute_joint_angle_open_chain_state_tag)
	copy measured joint angle to output iterator More...
template<typename OutputIterator >
void	grl::robot::arm::copy (const FRIMonitoringMessage &monitoringMsg, OutputIterator it, revolute_joint_angle_interpolated_open_chain_state_tag)
	copy interpolated commanded joint angles More...
template<typename OutputIterator >
void	grl::robot::arm::copy (const FRIMonitoringMessage &monitoringMsg, OutputIterator it, revolute_joint_angle_open_chain_command_tag)
	copy commanded joint angle to output iterator More...
template<typename OutputIterator >
void	grl::robot::arm::copy (const FRIMonitoringMessage &monitoringMsg, OutputIterator it, revolute_joint_torque_open_chain_state_tag)
	copy measured joint torque to output iterator More...
template<typename OutputIterator >
void	grl::robot::arm::copy (const FRIMonitoringMessage &monitoringMsg, OutputIterator it, revolute_joint_torque_external_open_chain_state_tag)
	copy measured external joint torque to output iterator More...
template<typename OutputIterator >
void	grl::robot::arm::copy (const FRIMonitoringMessage &monitoringMsg, OutputIterator it, cartesian_external_force_tag)
template<typename OutputIterator >
void	grl::robot::arm::copy (const FRIMonitoringMessage &monitoringMsg, OutputIterator it, revolute_joint_torque_open_chain_command_tag)
	copy commanded joint torque to output iterator More...
template<typename T , typename OutputIterator >
void	grl::robot::arm::kuka::detail::copyCartesianState (T values, OutputIterator it, bool dataAvailable=true)
template<typename T , typename OutputIterator >
void	grl::robot::arm::kuka::detail::copyJointState (T values, OutputIterator it, bool dataAvailable=true)
template<typename T >
boost::iterator_range< T >	grl::robot::arm::kuka::detail::get (T &values, bool dataAvailable=true)
KUKA::FRI::ESafetyState	grl::robot::arm::get (const FRIMonitoringMessage &monitoringMsg, const KUKA::FRI::ESafetyState)
KUKA::FRI::EOperationMode	grl::robot::arm::get (const FRIMonitoringMessage &monitoringMsg, const KUKA::FRI::EOperationMode)
KUKA::FRI::EControlMode	grl::robot::arm::get (const FRIMonitoringMessage &monitoringMsg, const KUKA::FRI::EControlMode)
KUKA::FRI::EClientCommandMode	grl::robot::arm::get (const FRIMonitoringMessage &monitoringMsg, const KUKA::FRI::EClientCommandMode)
KUKA::FRI::EOverlayType	grl::robot::arm::get (const FRIMonitoringMessage &monitoringMsg, const KUKA::FRI::EOverlayType)
KUKA::FRI::EDriveState	grl::robot::arm::get (const FRIMonitoringMessage &_message, const KUKA::FRI::EDriveState)
KUKA::FRI::ESessionState	grl::robot::arm::get (const FRIMonitoringMessage &monitoringMsg, const KUKA::FRI::ESessionState)
KUKA::FRI::EConnectionQuality	grl::robot::arm::get (const FRIMonitoringMessage &monitoringMsg, const KUKA::FRI::EConnectionQuality)
uint32_t	grl::robot::arm::get (const FRIMonitoringMessage &monitoringMsg, const grl::time_step_tag)
	Get FRI UDP packet time step (1-5ms) in milliseconds between each device sync. More...
std::size_t	grl::robot::arm::get (const FRIMonitoringMessage &monitoringMsg, const kuka::receive_multiplier)
std::chrono::time_point< std::chrono::high_resolution_clock >	grl::robot::arm::get (const FRIMonitoringMessage &monitoringMsg, const std::chrono::time_point< std::chrono::high_resolution_clock >)

Variables
const int	grl::robot::arm::kuka::default_port_id = 30200