Interface that exposes the interface to the robotarm. More...

Inheritance diagram for HLR::Kinematics::RobotDriverHandler:

Collaboration diagram for HLR::Kinematics::RobotDriverHandler:

Public Member Functions
virtual Matrix< double, 5, 1 >	get_arm_state () const noexcept=0
	Get the current position of the robot arm. More...

void	set_move_complete_handler (const std::function< void()> &handler)
	Set the move complete handler. More...

virtual void	move (const std::vector< Matrix< double, 5, 1 >> &path, double speed)=0
	Move the robot arm along a path. More...

virtual void	stop ()=0
	Stop the robotarm if it is moving/.

Detailed Description

Interface that exposes the interface to the robotarm.

Member Function Documentation

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

pure virtualnoexcept

Get the current position of the robot arm.

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

pure virtual

Move the robot arm along a path.

Parameters

path	The nodes of the path to follow.
speed	The speed from 0% to 100%.

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.

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