Kuka LBR iiwa Primary Multi Mode Driver, supports communication over FRI and JAVA interfaces. More...

#include <KukaDriver.hpp>

Inheritance diagram for grl::robot::arm::KukaDriver:

Collaboration diagram for grl::robot::arm::KukaDriver:

Public Types
enum	ParamIndex { RobotName, RobotModel, LocalUDPAddress, LocalUDPPort, RemoteUDPAddress, LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort, RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort, KukaCommandMode, KukaMonitorMode }

typedef std::tuple< std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string >	Params

Public Member Functions
void	construct ()

void	construct (Params params)

bool	destruct ()

KukaState::time_point_type	get (time_point_tag)
	Get the timestamp of the most recent armState. More...

template<typename OutputIterator >
void	get (OutputIterator output, grl::revolute_joint_angle_open_chain_state_tag)

template<typename OutputIterator >
void	get (OutputIterator output, grl::revolute_joint_torque_open_chain_state_tag)

template<typename OutputIterator >
void	get (OutputIterator output, grl::revolute_joint_torque_external_open_chain_state_tag)

template<typename OutputIterator >
void	get (OutputIterator output, grl::cartesian_external_force_tag)

const Params &	getParams ()

template<typename OutputIterator >
void	getWrench (OutputIterator output)

	KukaDriver (Params params=defaultParams())

bool	run_one ()

void	set (const flatbuffer::ArmState &armControlMode)

template<typename Range >
void	set (Range &&range, grl::revolute_joint_angle_open_chain_command_tag)
	Set the joint positions for the current interpolation step. More...

template<typename Range >
void	set (Range &&range, grl::revolute_joint_torque_open_chain_command_tag)
	Set the applied joint torques for the current interpolation step. More...

void	set (double duration_to_goal_command, time_duration_command_tag tag)
	Set the time duration expected between new position commands in ms. More...

template<typename Range >
void	set (Range &&range, grl::cartesian_wrench_command_tag)
	Set the applied wrench vector of the current interpolation step. More...

	~KukaDriver ()

Static Public Member Functions
static const Params	defaultParams ()

Public Attributes
boost::asio::io_service	device_driver_io_service

std::unique_ptr< boost::asio::io_service::work >	device_driver_workP_

std::unique_ptr< std::thread >	driver_threadP

volatile std::size_t	m_attemptedCommunicationConsecutiveFailureCount = 0

volatile std::size_t	m_attemptedCommunicationConsecutiveSuccessCount = 0

volatile std::size_t	m_attemptedCommunicationCount = 0

volatile std::size_t	m_haveReceivedRealDataCount = 0

Detailed Description

Kuka LBR iiwa Primary Multi Mode Driver, supports communication over FRI and JAVA interfaces.

The most effective configuration of this driver is to command the KUKA in JAVA mode and receive robot status updates via FRI mode.

Todo:: enable commanding and monitoring to be independently configured for both FRI and JAVA interface.

Definition at line 41 of file KukaDriver.hpp.

Member Typedef Documentation

§ Params

typedef std::tuple< std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string > grl::robot::arm::KukaDriver::Params

Definition at line 70 of file KukaDriver.hpp.

Member Enumeration Documentation

§ ParamIndex

enum grl::robot::arm::KukaDriver::ParamIndex

Enumerator
RobotName
RobotModel
LocalUDPAddress
LocalUDPPort
RemoteUDPAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode

Definition at line 44 of file KukaDriver.hpp.

Constructor & Destructor Documentation

§ KukaDriver()

grl::robot::arm::KukaDriver::KukaDriver ( Params params = defaultParams() )

inline

Definition at line 90 of file KukaDriver.hpp.

§ ~KukaDriver()

grl::robot::arm::KukaDriver::~KukaDriver ( )

inline

Definition at line 158 of file KukaDriver.hpp.

Member Function Documentation

§ construct() [1/2]

void grl::robot::arm::KukaDriver::construct ( )

inline

Definition at line 94 of file KukaDriver.hpp.

§ construct() [2/2]

void grl::robot::arm::KukaDriver::construct ( Params params )

inline

Todo:: create a function that calls simGetObjectHandle and throws an exception when it fails

Warning: getting the ik group is optional, so it does not throw an exception

Todo:: figure out how to re-enable when .so isn't loaded

Todo:: implement reading configuration in both FRI and JAVA mode from JAVA interface

Todo:: perhaps allow user to control this?

Definition at line 101 of file KukaDriver.hpp.

§ defaultParams()

static const Params grl::robot::arm::KukaDriver::defaultParams ( )

inlinestatic

Definition at line 73 of file KukaDriver.hpp.

§ destruct()

bool grl::robot::arm::KukaDriver::destruct ( )

inline

Definition at line 96 of file KukaDriver.hpp.

§ get() [1/5]

KukaState::time_point_type grl::robot::arm::KukaDriver::get ( time_point_tag )

inline

Get the timestamp of the most recent armState.

See also: KukaFRIdriver::set(Range&& range, grl::revolute_joint_angle_open_chain_command_tag)

Definition at line 327 of file KukaDriver.hpp.

§ get() [2/5]

template<typename OutputIterator >

void grl::robot::arm::KukaDriver::get	(	OutputIterator	output,
		grl::revolute_joint_angle_open_chain_state_tag
	)

inline

Todo:: implement get function

Definition at line 362 of file KukaDriver.hpp.

§ get() [3/5]

template<typename OutputIterator >

void grl::robot::arm::KukaDriver::get	(	OutputIterator	output,
		grl::revolute_joint_torque_open_chain_state_tag
	)

inline

Todo:: implement get function

Definition at line 370 of file KukaDriver.hpp.

§ get() [4/5]

template<typename OutputIterator >

void grl::robot::arm::KukaDriver::get	(	OutputIterator	output,
		grl::revolute_joint_torque_external_open_chain_state_tag
	)

inline

Definition at line 378 of file KukaDriver.hpp.

§ get() [5/5]

template<typename OutputIterator >

void grl::robot::arm::KukaDriver::get	(	OutputIterator	output,
		grl::cartesian_external_force_tag
	)

inline

Definition at line 386 of file KukaDriver.hpp.

§ getParams()

const Params& grl::robot::arm::KukaDriver::getParams ( )

inline

Definition at line 154 of file KukaDriver.hpp.

§ getWrench()

template<typename OutputIterator >

void grl::robot::arm::KukaDriver::getWrench ( OutputIterator output )

inline

Definition at line 394 of file KukaDriver.hpp.

§ run_one()

bool grl::robot::arm::KukaDriver::run_one ( )

inline

spin once

Todo:: make this handled by template driver implementations/extensions

Definition at line 171 of file KukaDriver.hpp.

§ set() [1/5]

void grl::robot::arm::KukaDriver::set ( const flatbuffer::ArmState & armControlMode )

inline

set the mode of the arm. Examples: Teach or MoveArmJointServo

See also: grl::flatbuffer::ArmState in ArmControlState_generated.h

Definition at line 246 of file KukaDriver.hpp.

§ set() [2/5]

template<typename Range >

void grl::robot::arm::KukaDriver::set	(	Range &&	range,
		grl::revolute_joint_angle_open_chain_command_tag
	)

inline

Set the joint positions for the current interpolation step.

This method is only effective when the client is in a commanding state.

Parameters

state	Object which stores the current state of the robot, including the command to send next
range	Array with the new joint positions (in radians)
tag	identifier object indicating that revolute joint angle commands should be modified

Definition at line 263 of file KukaDriver.hpp.

§ set() [3/5]

template<typename Range >

void grl::robot::arm::KukaDriver::set	(	Range &&	range,
		grl::revolute_joint_torque_open_chain_command_tag
	)

inline

Set the applied joint torques for the current interpolation step.

This method is only effective when the client is in a commanding state. The ControlMode of the robot has to be joint impedance control mode. The Client Command Mode has to be torque.

Parameters

state	Object which stores the current state of the robot, including the command to send next
torques	Array with the applied torque values (in Nm)
tag	identifier object indicating that the torqe value command should be modified

Definition at line 284 of file KukaDriver.hpp.

§ set() [4/5]

void grl::robot::arm::KukaDriver::set	(	double	duration_to_goal_command,
		time_duration_command_tag	tag
	)

inline

Set the time duration expected between new position commands in ms.

The driver will likely be updated every so often, such as every 25ms, and the lowest level of the driver may update even more frequently, such as every 1ms. By providing as accurate an estimate between high level updates the low level driver can smooth out the motion through interpolation (the default), or another algorithm. See LowLevelStepAlgorithmType template parameter in the KukaFRIdriver class if you want to change out the low level algorithm.

See also: KukaFRIdriver::get(time_duration_command_tag)

Parameters

duration_to_goal_command std::chrono time format representing the time duration between updates

Definition at line 305 of file KukaDriver.hpp.

§ set() [5/5]

template<typename Range >

void grl::robot::arm::KukaDriver::set	(	Range &&	range,
		grl::cartesian_wrench_command_tag
	)

inline

Set the applied wrench vector of the current interpolation step.

The wrench vector consists of: [F_x, F_y, F_z, tau_A, tau_B, tau_C]

F ... forces (in N) applied along the Cartesian axes of the currently used motion center. tau ... torques (in Nm) applied along the orientation angles (Euler angles A, B, C) of the currently used motion center.

This method is only effective when the client is in a commanding state. The ControlMode of the robot has to be Cartesian impedance control mode. The Client Command Mode has to be wrench.

Parameters

state	object storing the command data that will be sent to the physical device
range	wrench Applied Cartesian wrench vector, in x, y, z, roll, pitch, yaw force measurments.
tag	identifier object indicating that the wrench value command should be modified

Todo:: perhaps support some specific more useful data layouts

Definition at line 354 of file KukaDriver.hpp.

Member Data Documentation

§ device_driver_io_service

boost::asio::io_service grl::robot::arm::KukaDriver::device_driver_io_service

Definition at line 406 of file KukaDriver.hpp.

§ device_driver_workP_

std::unique_ptr<boost::asio::io_service::work> grl::robot::arm::KukaDriver::device_driver_workP_

Definition at line 407 of file KukaDriver.hpp.

§ driver_threadP

std::unique_ptr<std::thread> grl::robot::arm::KukaDriver::driver_threadP

Definition at line 408 of file KukaDriver.hpp.

§ m_attemptedCommunicationConsecutiveFailureCount

volatile std::size_t grl::robot::arm::KukaDriver::m_attemptedCommunicationConsecutiveFailureCount = 0

Definition at line 403 of file KukaDriver.hpp.

§ m_attemptedCommunicationConsecutiveSuccessCount

volatile std::size_t grl::robot::arm::KukaDriver::m_attemptedCommunicationConsecutiveSuccessCount = 0

Definition at line 404 of file KukaDriver.hpp.

§ m_attemptedCommunicationCount

volatile std::size_t grl::robot::arm::KukaDriver::m_attemptedCommunicationCount = 0

Definition at line 402 of file KukaDriver.hpp.

§ m_haveReceivedRealDataCount

volatile std::size_t grl::robot::arm::KukaDriver::m_haveReceivedRealDataCount = 0

Definition at line 401 of file KukaDriver.hpp.

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

KukaDriver.hpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

§ Params

Member Enumeration Documentation

§ ParamIndex

Constructor & Destructor Documentation

§ KukaDriver()

§ ~KukaDriver()

Member Function Documentation

§ construct() [1/2]

§ construct() [2/2]

§ defaultParams()

§ destruct()

§ get() [1/5]

§ get() [2/5]

§ get() [3/5]

§ get() [4/5]

§ get() [5/5]

§ getParams()

§ getWrench()

§ run_one()

§ set() [1/5]

§ set() [2/5]

§ set() [3/5]

§ set() [4/5]

§ set() [5/5]

Member Data Documentation

§ device_driver_io_service

§ device_driver_workP_

§ driver_threadP

§ m_attemptedCommunicationConsecutiveFailureCount

§ m_attemptedCommunicationConsecutiveSuccessCount

§ m_attemptedCommunicationCount

§ m_haveReceivedRealDataCount