KukaFRIdriver.hpp File Reference

#include <boost/asio.hpp>
#include <boost/circular_buffer.hpp>
#include <boost/config.hpp>
#include <boost/exception/all.hpp>
#include <chrono>
#include <memory>
#include <thread>
#include <tuple>
#include <boost/math/special_functions/sign.hpp>
#include <boost/range/algorithm/copy.hpp>
#include <boost/range/algorithm/transform.hpp>
#include "friClientData.h"
#include "friClientIf.h"
#include "grl/exception.hpp"
#include "grl/kuka/KukaFRIalgorithm.hpp"
#include "Kuka.hpp"
#include "KukaFRI.hpp"

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Classes
class	grl::robot::arm::KukaFRIClientDataDriver< LowLevelStepAlgorithmType >
	Simple low level driver to communicate over the Kuka iiwa FRI interface using KUKA::FRI::ClientData status objects. More...
class	grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >
	Primary Kuka FRI driver, only talks over realtime network FRI KONI ethernet port. More...
struct	grl::robot::arm::LinearInterpolation
	Default LowLevelStepAlgorithmType This algorithm is designed to be changed out. More...

Namespaces
	grl
	grl::robot
	grl::robot::arm

Functions
void	grl::robot::arm::copy (const FRIMonitoringMessage &monitoringMsg, KukaState &state)
	don't use this More...
void	grl::robot::arm::decode (KUKA::FRI::ClientData &friData, std::size_t msg_size)
	internal function to decode KUKA FRI message buffer (using nanopb decoder) for the KUKA FRI More...
template<typename LowLevelStepAlgorithmType = LinearInterpolation>
std::size_t	grl::robot::arm::encode (LowLevelStepAlgorithmType &step_alg, KUKA::FRI::ClientData &friData, boost::system::error_code &ec)
	encode data in the class KUKA::FRI::ClientData into the send buffer for the KUKA FRI. this preps the information for transport over the network More...
template<typename T , size_t N>
std::ostream &	operator<< (std::ostream &out, const boost::container::static_vector< T, N > &v)
template<typename LowLevelStepAlgorithmType = LinearInterpolation>
void	grl::robot::arm::update_state (boost::asio::ip::udp::socket &socket, LowLevelStepAlgorithmType &step_alg, KUKA::FRI::ClientData &friData, boost::system::error_code &receive_ec, std::size_t &receive_bytes_transferred, boost::system::error_code &send_ec, std::size_t &send_bytes_transferred, boost::asio::ip::udp::endpoint sender_endpoint=boost::asio::ip::udp::endpoint())
	Actually talk over the network to receive an update and send out a new KUKA FRI command. More...

Function Documentation

operator<<()

template<typename T , size_t N>

std::ostream& operator<<	(	std::ostream &	out,
		const boost::container::static_vector< T, N > &	v
	)

Todo:

move somewhere that won't cause conflicts

Definition at line 34 of file KukaFRIdriver.hpp.