HLR::Kinematics::RobotDriverHandler Class Reference

Concrete handle on the robot using the ROS interface. More...

#include <RobotDriverHandler.hpp>

Collaboration diagram for HLR::Kinematics::RobotDriverHandler:

Public Member Functions
	RobotDriverHandler ()
	Constructor.
virtual	~RobotDriverHandler ()=default
	Destructor.
	RobotDriverHandler (const RobotDriverHandler &rdh)=delete
	Copy constructor, deleted. More...
	RobotDriverHandler (RobotDriverHandler &&rdh)=delete
	Move constructor, deleted. More...
RobotDriverHandler &	operator= (const RobotDriverHandler &rdh)=delete
	Copy assignment operator, deleted. More...
RobotDriverHandler &	operator= (RobotDriverHandler &&rdh)=delete
	Move assignment operator, deleted. More...
Matrix< double, 5, 1 >	get_arm_state () const noexcept
	Get the current arm position. More...
std::vector< Matrix< double, 5, 1 > >	get_path () const noexcept
	Get the path the robot arm is moving to. More...
std::uint64_t	get_offset_current_move () const
	Get the offset of the last move that was completed by the robotarm. More...
void	move (const std::vector< Matrix< double, 5, 1 >> &path, double speed)
	Move the robot arm along a path. More...
void	stop ()
	Stop the robot arm. More...
void	set_move_complete_handler (const std::function< void()> &handler)
	Set the move complete handler. More...

Detailed Description

Concrete handle on the robot using the ROS interface.

Constructor & Destructor Documentation

HLR::Kinematics::RobotDriverHandler::RobotDriverHandler ( const RobotDriverHandler &  rdh )

delete

Copy constructor, deleted.

Parameters

rdh

HLR::Kinematics::RobotDriverHandler::RobotDriverHandler ( RobotDriverHandler &&  rdh )

delete

Move constructor, deleted.

Parameters

rdh

Member Function Documentation

Matrix<double, 5, 1> HLR::Kinematics::RobotDriverHandler::get_arm_state ( ) const

noexcept

Get the current arm position.

Returns

The current angles of the robot arm.

std::uint64_t HLR::Kinematics::RobotDriverHandler::get_offset_current_move

(

)

const

Get the offset of the last move that was completed by the robotarm.

Exceptions

std::runtime_error

The offset of the last move couldn't be found.

Returns

The offset of the last move that was completed in the path.

std::vector<Matrix<double, 5, 1> > HLR::Kinematics::RobotDriverHandler::get_path ( ) const

noexcept

Get the path the robot arm is moving to.

Returns

Vector containing all nodes of the path in joint angles.

void HLR::Kinematics::RobotDriverHandler::move	(	const std::vector< Matrix< double, 5, 1 >> &	path,
		double	speed
	)

Move the robot arm along a path.

Exceptions

std::runtime_error	Move couldn't be completed due to driver error.
std::logic_error	When the arm is currently moving.

Parameters

path	The path to follow expressed in joint positions.
speed	The speed from 0% to 100%.

RobotDriverHandler& HLR::Kinematics::RobotDriverHandler::operator= ( const RobotDriverHandler &  rdh )

delete

Copy assignment operator, deleted.

Parameters

rdh

Returns

RobotDriverHandler& HLR::Kinematics::RobotDriverHandler::operator= ( RobotDriverHandler &&  rdh )

delete

Move assignment operator, deleted.

Parameters

rdh

Returns

void HLR::Kinematics::RobotDriverHandler::set_move_complete_handler

(

const std::function< void()> &

handler

)

Set the move complete handler.

Parameters

handler

The handler to be fired once a move completes.

void HLR::Kinematics::RobotDriverHandler::stop

(

)

Stop the robot arm.

Exceptions

std::runtime_error

Arm couldn't be stopped due to driver error.

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

• src/Kinematics/RobotDriverHandler.hpp