#include <KukaJAVAdriver.hpp>

Inheritance diagram for grl::robot::arm::KukaJAVAdriver:

Collaboration diagram for grl::robot::arm::KukaJAVAdriver:

Classes
struct	JointStateTag

Public Types
typedef std::vector< double >	JointScalar

enum	JointStateIndex { JointPosition, JointForce, JointTargetPosition, JointLowerPositionLimit, JointUpperPositionLimit, JointMatrix, JointStateTagIndex }

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

typedef std::tuple< JointScalar, JointScalar, JointScalar, JointScalar, JointScalar, TransformationMatrices, JointStateTag >	State

typedef std::vector< TransformationMatrix >	TransformationMatrices

typedef std::array< double, 12 >	TransformationMatrix

Public Member Functions
void	construct ()

void	construct (Params params)

bool	destruct ()
	shuts down the arm More...

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

void	get (KukaState &state)

const Params &	getParams ()

void	getWrench (KukaState &state)

	KukaJAVAdriver (Params params=defaultParams())

bool	run_one ()
	SEND COMMAND TO ARM. Call this often Performs the main update spin once. More...

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...

void	set (flatbuffer::KUKAiiwaInterface cif, command_tag)
	set the interface over which commands are sent (FRI interface, alternately SmartServo/DirectServo == JAVA interface, ) More...

void	set (flatbuffer::KUKAiiwaInterface mif, state_tag)
	set the interface over which state is monitored (FRI interface, alternately SmartServo/DirectServo == JAVA interface, ) More...

template<typename TimeDuration >
void	set (TimeDuration &&duration_to_goal_command, time_duration_command_tag)
	Set the time duration expected between new position commands. 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...

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

void	set (const flatbuffer::ArmState &armControlMode)

	~KukaJAVAdriver ()

Static Public Member Functions
static const Params	defaultParams ()

Public Attributes
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

This class contains code to offer a simple communication layer between ROS and the KUKA LBR iiwa

Initally:

Todo:: make sure mutex is locked when appropriate

Definition at line 90 of file KukaJAVAdriver.hpp.

Member Typedef Documentation

§ JointScalar

typedef std::vector<double> grl::robot::arm::KukaJAVAdriver::JointScalar

Definition at line 154 of file KukaJAVAdriver.hpp.

§ 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::KukaJAVAdriver::Params

Definition at line 119 of file KukaJAVAdriver.hpp.

§ State

typedef std::tuple< JointScalar, JointScalar, JointScalar, JointScalar, JointScalar, TransformationMatrices, JointStateTag > grl::robot::arm::KukaJAVAdriver::State

Definition at line 169 of file KukaJAVAdriver.hpp.

§ TransformationMatrices

typedef std::vector<TransformationMatrix> grl::robot::arm::KukaJAVAdriver::TransformationMatrices

Definition at line 158 of file KukaJAVAdriver.hpp.

§ TransformationMatrix

typedef std::array<double,12> grl::robot::arm::KukaJAVAdriver::TransformationMatrix

See also: http://www.coppeliarobotics.com/helpFiles/en/apiFunctions.htm#simGetJointMatrix for data layout information

Definition at line 157 of file KukaJAVAdriver.hpp.

Member Enumeration Documentation

§ JointStateIndex

enum grl::robot::arm::KukaJAVAdriver::JointStateIndex

Enumerator
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex

Definition at line 143 of file KukaJAVAdriver.hpp.

§ ParamIndex

enum grl::robot::arm::KukaJAVAdriver::ParamIndex

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

Definition at line 93 of file KukaJAVAdriver.hpp.

Constructor & Destructor Documentation

§ KukaJAVAdriver()

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

inline

Definition at line 172 of file KukaJAVAdriver.hpp.

§ ~KukaJAVAdriver()

grl::robot::arm::KukaJAVAdriver::~KukaJAVAdriver ( )

inline

Todo:: TODO(ahundt) switch to asio, remove destruct call from destructor

Definition at line 237 of file KukaJAVAdriver.hpp.

Member Function Documentation

§ construct() [1/2]

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

inline

Definition at line 176 of file KukaJAVAdriver.hpp.

§ construct() [2/2]

void grl::robot::arm::KukaJAVAdriver::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:: TODO(ahundt) switch from linux socket to boost::asio::ip::udp::socket, see Kuka.hpp and KukaFRIdriver.hpp for examples, and make use of KukaUDP class.

Todo:: TODO(ahundt) Consider switching to boost::asio synchronous calls (async has high latency)!

Todo:: TODO(ahundt) Need to switch back to an appropriate exception rather than exiting so VREP isn't taken down.

Todo:: TODO(ahundt) switch from linux socket to boost::asio::ip::udp::socket, see Kuka.hpp and KukaFRIdriver.hpp for examples, and make use of KukaUDP class.

Definition at line 180 of file KukaJAVAdriver.hpp.

§ defaultParams()

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

inlinestatic

Definition at line 122 of file KukaJAVAdriver.hpp.

§ destruct()

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

inline

shuts down the arm

Definition at line 232 of file KukaJAVAdriver.hpp.

§ get() [1/2]

KukaState::time_point_type grl::robot::arm::KukaJAVAdriver::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 500 of file KukaJAVAdriver.hpp.

§ get() [2/2]

void grl::robot::arm::KukaJAVAdriver::get ( KukaState & state )

inline

Todo:: should this exist? is it written correctly?

Definition at line 555 of file KukaJAVAdriver.hpp.

§ getParams()

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

inline

Definition at line 227 of file KukaJAVAdriver.hpp.

§ getWrench()

void grl::robot::arm::KukaJAVAdriver::getWrench ( KukaState & state )

inline

Definition at line 561 of file KukaJAVAdriver.hpp.

§ run_one()

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

inline

SEND COMMAND TO ARM. Call this often Performs the main update spin once.

Todo:: ADD SUPPORT FOR READING ARM STATE OVER JAVA INTERFACE

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

Todo:: is this the best string to pass for the full arm's name?

Todo:: when new

Todo:: TODO(ahundt) eventually run this in a separate thread so we can receive packets asap and minimize dropping

Definition at line 246 of file KukaJAVAdriver.hpp.

§ set() [1/7]

template<typename Range >

void grl::robot::arm::KukaJAVAdriver::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 robot is in a commanding state and the set time point for reaching the destination is in the future. This function sets the goal time point for a motion to the epoch, aka "time 0" (which is in the past) for safety.

For position based motion to work, you must set both the position you want and the time you want it to get there. This is required because the robot can move extremely fast, so accidentally setting the velocity to the max is very dangerous. If the time point is in the past, the robot will not move. If the time point is too near in the future to make it, the robot will move at the max speed towards that position.

See also: KukaFRIdriver::set(TimePoint && time, time_point_command_tag) to set the destination time point in the future so the position motion can start.

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 447 of file KukaJAVAdriver.hpp.

§ set() [2/7]

void grl::robot::arm::KukaJAVAdriver::set	(	flatbuffer::KUKAiiwaInterface	cif,
		command_tag
	)

inline

set the interface over which commands are sent (FRI interface, alternately SmartServo/DirectServo == JAVA interface, )

Definition at line 457 of file KukaJAVAdriver.hpp.

§ set() [3/7]

void grl::robot::arm::KukaJAVAdriver::set	(	flatbuffer::KUKAiiwaInterface	mif,
		state_tag
	)

inline

set the interface over which state is monitored (FRI interface, alternately SmartServo/DirectServo == JAVA interface, )

Definition at line 465 of file KukaJAVAdriver.hpp.

§ set() [4/7]

template<typename TimeDuration >

void grl::robot::arm::KukaJAVAdriver::set	(	TimeDuration &&	duration_to_goal_command,
		time_duration_command_tag
	)

inline

Set the time duration expected between new position commands.

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 485 of file KukaJAVAdriver.hpp.

§ set() [5/7]

template<typename Range >

void grl::robot::arm::KukaJAVAdriver::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 519 of file KukaJAVAdriver.hpp.

§ set() [6/7]

template<typename Range >

void grl::robot::arm::KukaJAVAdriver::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 548 of file KukaJAVAdriver.hpp.

§ set() [7/7]

void grl::robot::arm::KukaJAVAdriver::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 571 of file KukaJAVAdriver.hpp.

Member Data Documentation

§ m_attemptedCommunicationConsecutiveFailureCount

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

Definition at line 423 of file KukaJAVAdriver.hpp.

§ m_attemptedCommunicationConsecutiveSuccessCount

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

Definition at line 424 of file KukaJAVAdriver.hpp.

§ m_attemptedCommunicationCount

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

Definition at line 422 of file KukaJAVAdriver.hpp.

§ m_haveReceivedRealDataCount

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

Definition at line 421 of file KukaJAVAdriver.hpp.

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

KukaJAVAdriver.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

§ JointScalar

§ Params

§ State

§ TransformationMatrices

§ TransformationMatrix

Member Enumeration Documentation

§ JointStateIndex

§ ParamIndex

Constructor & Destructor Documentation

§ KukaJAVAdriver()

§ ~KukaJAVAdriver()

Member Function Documentation

§ construct() [1/2]

§ construct() [2/2]

§ defaultParams()

§ destruct()

§ get() [1/2]

§ get() [2/2]

§ getParams()

§ getWrench()

§ run_one()

§ set() [1/7]

§ set() [2/7]

§ set() [3/7]

§ set() [4/7]

§ set() [5/7]

§ set() [6/7]

§ set() [7/7]

Member Data Documentation

§ m_attemptedCommunicationConsecutiveFailureCount

§ m_attemptedCommunicationConsecutiveSuccessCount

§ m_attemptedCommunicationCount

§ m_haveReceivedRealDataCount