#include <UniversalRobotsVrepPlugin.hpp>

Inheritance diagram for grl::vrep::UniversalRobotsVrepPlugin:

Collaboration diagram for grl::vrep::UniversalRobotsVrepPlugin:

Public Types
enum	ParamIndex { Joint1Name, Joint2Name, Joint3Name, Joint4Name, Joint5Name, Joint6Name, Joint7Name, RobotFlangeTipName, RobotTipName, RobotTargetName, RobotTargetBaseName, LocalZMQAddress, RemoteZMQAddress, LocalHostUniversalRobotsKoniUDPAddress, LocalHostUniversalRobotsKoniUDPPort, RemoteHostUniversalRobotsKoniUDPAddress, RemoteHostUniversalRobotsKoniUDPPort, UniversalRobotsCommandMode, RobotIKGroup }

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, 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)

void	run_one ()

	UniversalRobotsVrepPlugin (Params params=defaultParams())

	~UniversalRobotsVrepPlugin ()

Static Public Member Functions
static const Params	defaultParams ()

Detailed Description

Creates a complete vrep plugin object usage:

auto UniversalRobotsPluginPG = std::make_shared<grl::KukaVrepPlugin>();
kukaPluginPG->construct();
while(true) kukaPluginPG->run_one();

Todo:

this implementation is a bit hacky, redesign it

separate out grl specific code from general kuka control code

Template on robot driver and create a driver that just reads/writes to/from the simulation, then pass the two templates so the simulation and the real driver can be selected.

Definition at line 52 of file UniversalRobotsVrepPlugin.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, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string > grl::vrep::UniversalRobotsVrepPlugin::Params

Todo:: allow default params

Definition at line 98 of file UniversalRobotsVrepPlugin.hpp.

Member Enumeration Documentation

§ ParamIndex

enum grl::vrep::UniversalRobotsVrepPlugin::ParamIndex

Enumerator
Joint1Name
Joint2Name
Joint3Name
Joint4Name
Joint5Name
Joint6Name
Joint7Name
RobotFlangeTipName
RobotTipName
RobotTargetName
RobotTargetBaseName
LocalZMQAddress
RemoteZMQAddress
LocalHostUniversalRobotsKoniUDPAddress
LocalHostUniversalRobotsKoniUDPPort
RemoteHostUniversalRobotsKoniUDPAddress
RemoteHostUniversalRobotsKoniUDPPort
UniversalRobotsCommandMode
RobotIKGroup

Definition at line 55 of file UniversalRobotsVrepPlugin.hpp.

Constructor & Destructor Documentation

§ UniversalRobotsVrepPlugin()

grl::vrep::UniversalRobotsVrepPlugin::UniversalRobotsVrepPlugin ( Params params = defaultParams() )

inline

Todo:: allow UniversalRobotsFRIThreadSeparator parameters to be updated

Parameters

params a tuple containing all of the parameter strings needed to configure the device.

The UniversalRobotsCommandMode parameters supports the options "FRI" and "JAVA". This configures how commands will be sent to the arm itself. "FRI" mode is via a direct "Fast Robot Interface" "UniversalRobots KONI" ethernet connection which provides substantially higher performance and response time,

Definition at line 138 of file UniversalRobotsVrepPlugin.hpp.