grl::robot::arm::KukaState Struct Reference

Internal implementation class for driver use only, stores all the kuka state data in a simple object. More...

#include <Kuka.hpp>

Collaboration diagram for grl::robot::arm::KukaState:

Public Types
typedef boost::container::static_vector< double, 7 >	cartesian_state
typedef boost::container::static_vector< double, KUKA::LBRState::NUM_DOF >	joint_state
typedef std::chrono::time_point< std::chrono::high_resolution_clock >	time_point_type

Public Member Functions
void	clear ()
void	clearCommands ()

Public Attributes
cartesian_state	commandedCartesianWrenchFeedForward
joint_state	commandedPosition
joint_state	commandedPosition_goal
	we need to mind arm constraints, so we set a goal then work towards it More...
joint_state	commandedTorque
flatbuffer::EConnectionQuality	connectionQuality
flatbuffer::EDriveState	driveState
cartesian_state	externalForce
joint_state	externalTorque
double	goal_position_command_time_duration
joint_state	ipoJointPosition
joint_state	ipoJointPositionOffsets
flatbuffer::EOperationMode	operationMode
joint_state	position
flatbuffer::ESafetyState	safetyState
std::chrono::milliseconds	sendPeriod
flatbuffer::ESessionState	sessionState
time_point_type	timestamp
joint_state	torque
joint_state	velocity_limits
cartesian_state	wrenchJava

Detailed Description

Internal implementation class for driver use only, stores all the kuka state data in a simple object.

Todo:

replace with something generic

Deprecated:

this is an old implemenation that will be removed in the future, do not depend on this struct directly.

Todo:

commandedPosition and commandedPosition_goal are used a bit ambiguously, figure out the difference and clean it up.

Definition at line 40 of file Kuka.hpp.

Member Typedef Documentation

cartesian_state

typedef boost::container::static_vector<double, 7> grl::robot::arm::KukaState::cartesian_state

Definition at line 43 of file Kuka.hpp.

joint_state

typedef boost::container::static_vector<double, KUKA::LBRState::NUM_DOF> grl::robot::arm::KukaState::joint_state

Definition at line 42 of file Kuka.hpp.

time_point_type

typedef std::chrono::time_point<std::chrono::high_resolution_clock> grl::robot::arm::KukaState::time_point_type

Definition at line 45 of file Kuka.hpp.

Member Function Documentation

clear()

void grl::robot::arm::KukaState::clear ( )

inline

Definition at line 100 of file Kuka.hpp.

clearCommands()

void grl::robot::arm::KukaState::clearCommands ( )

inline

Definition at line 113 of file Kuka.hpp.

Member Data Documentation

commandedCartesianWrenchFeedForward

cartesian_state grl::robot::arm::KukaState::commandedCartesianWrenchFeedForward

Definition at line 52 of file Kuka.hpp.

commandedPosition

joint_state grl::robot::arm::KukaState::commandedPosition

Definition at line 51 of file Kuka.hpp.

commandedPosition_goal

joint_state grl::robot::arm::KukaState::commandedPosition_goal

we need to mind arm constraints, so we set a goal then work towards it

Definition at line 82 of file Kuka.hpp.

commandedTorque

joint_state grl::robot::arm::KukaState::commandedTorque

Definition at line 54 of file Kuka.hpp.

connectionQuality

flatbuffer::EConnectionQuality grl::robot::arm::KukaState::connectionQuality

Definition at line 66 of file Kuka.hpp.

driveState

flatbuffer::EDriveState grl::robot::arm::KukaState::driveState

Definition at line 69 of file Kuka.hpp.

externalForce

cartesian_state grl::robot::arm::KukaState::externalForce

Definition at line 50 of file Kuka.hpp.

externalTorque

joint_state grl::robot::arm::KukaState::externalTorque

Definition at line 49 of file Kuka.hpp.

goal_position_command_time_duration

double grl::robot::arm::KukaState::goal_position_command_time_duration

time duration over which commandedPosition_goal is expected to be reached. this will be used when computing the trajectory with which the low level algorithm will approach the goal position. This should be strictly greater than or equal to timestamp.

Note

: this is part of the driver wrapper and is not present in the underlying kuka APIs.

Definition at line 91 of file Kuka.hpp.

ipoJointPosition

joint_state grl::robot::arm::KukaState::ipoJointPosition

Definition at line 56 of file Kuka.hpp.

ipoJointPositionOffsets

joint_state grl::robot::arm::KukaState::ipoJointPositionOffsets

Definition at line 57 of file Kuka.hpp.

operationMode

flatbuffer::EOperationMode grl::robot::arm::KukaState::operationMode

Definition at line 68 of file Kuka.hpp.

position

joint_state grl::robot::arm::KukaState::position

Definition at line 47 of file Kuka.hpp.

safetyState

flatbuffer::ESafetyState grl::robot::arm::KukaState::safetyState

Definition at line 67 of file Kuka.hpp.

sendPeriod

std::chrono::milliseconds grl::robot::arm::KukaState::sendPeriod

time duration between each FRI low level UDP packet loop update

Definition at line 58 of file Kuka.hpp.

sessionState

flatbuffer::ESessionState grl::robot::arm::KukaState::sessionState

Definition at line 64 of file Kuka.hpp.

timestamp

time_point_type grl::robot::arm::KukaState::timestamp

Definition at line 74 of file Kuka.hpp.

torque

joint_state grl::robot::arm::KukaState::torque

Definition at line 48 of file Kuka.hpp.

velocity_limits

joint_state grl::robot::arm::KukaState::velocity_limits

velocity_limits we need to mind arm constraints, so we set a goal then work towards it. While velocity limits are not provided explicitly by KUKA in their low level C++ API, if you send a command that violates the velocity limits the arm stops immediately with an error.

Definition at line 97 of file Kuka.hpp.

wrenchJava

cartesian_state grl::robot::arm::KukaState::wrenchJava

Definition at line 53 of file Kuka.hpp.

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

• Kuka.hpp