PlanningFrameInterface Class Reference

#include <RoboticsPlugin/Include/ImFusion/Robotics/RobotControlInterfaces.h>

Interface used for kinematic computations in world frame. More...

Inheritance diagram for PlanningFrameInterface:

Detailed Description

Interface used for kinematic computations in world frame.

Public Member Functions
virtual std::optional< isom3 >	base_T_effector_current () const =0
virtual isom3	flange_T_effector () const =0
	the transform from the effector to the flange reference frame
virtual bool	set_flange_T_effector (const isom3 &newValue, bool setNominal)=0
	sets the transform from the effector to the flange reference frame if the robot controller supports a TCP transform and it can be set through the API, this will also be done if the respective parameter is set if the robot controller supports a TCP transform but it cannot be set through the API, the one already set in the controller will be compensated for
virtual bool	supportsSetting_flange_T_effector_nominal () const =0
	if true, the TCP transform can be set in the robot firmware
virtual std::optional< isom3 >	flange_T_effector_nominal () const =0
	the flange to nominal end effector transform, as set in the robot controller (if it can be read)
virtual bool	set_flange_T_effector_nominal (const isom3 &newValue)=0
	sets the TCP transform in the robot controller RobotStateStream has a dummy implementation that will log an error if a Streams declaring support does not override this function

Static Public Member Functions
static std::string	id ()

Member Function Documentation

base_T_effector_current()

virtual std::optional< isom3 > base_T_effector_current ( ) const

pure virtual

Implemented in RobotStateStream.

flange_T_effector()

virtual isom3 flange_T_effector ( ) const

pure virtual

the transform from the effector to the flange reference frame

Implemented in RobotStateStream.

set_flange_T_effector()

virtual bool set_flange_T_effector ( const isom3 & newValue, bool setNominal )

pure virtual

sets the transform from the effector to the flange reference frame if the robot controller supports a TCP transform and it can be set through the API, this will also be done if the respective parameter is set if the robot controller supports a TCP transform but it cannot be set through the API, the one already set in the controller will be compensated for

Implemented in RobotStateStream.

supportsSetting_flange_T_effector_nominal()

virtual bool supportsSetting_flange_T_effector_nominal ( ) const

pure virtual

if true, the TCP transform can be set in the robot firmware

Implemented in FakeRobotControlStream, FrankaControlStream, URControlStream, URStateStream, and MoveItControlStream.

flange_T_effector_nominal()

virtual std::optional< isom3 > flange_T_effector_nominal ( ) const

pure virtual

the flange to nominal end effector transform, as set in the robot controller (if it can be read)

Implemented in FrankaControlStream, and RobotStateStream.

set_flange_T_effector_nominal()

virtual bool set_flange_T_effector_nominal ( const isom3 & newValue )

pure virtual

sets the TCP transform in the robot controller RobotStateStream has a dummy implementation that will log an error if a Streams declaring support does not override this function

Implemented in FrankaControlStream.

---

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

• RoboticsPlugin/Include/ImFusion/Robotics/RobotControlInterfaces.h