RobotRunner Class Reference

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

Core class for managing robot execution and real-time control in the ImFusion SDK. More...

Inheritance diagram for RobotRunner:

Detailed Description

Core class for managing robot execution and real-time control in the ImFusion SDK.

RobotRunner serves as the backbone for implementation robot control system, providing essential functionality for both real and simulated robots. It manages the robot's execution lifecycle, from connection and state monitoring to motion control and error handling.

The RobotRunner tracks motion states using the MotionData structure, which handles active motions and provides completion features for motion synchronization. Additionally robot state updates are emitted through the stateUpdated signal, providing current e.g joint positions, velocities and other robot-specific data.

Derived classes implement specific robot interfaces

See also

FrankaRobotRunner and should handle

• Hardware connection/disconnection logic
• State monitoring and updates
• Motion execution and control

Classes
struct	MotionData
	Data structure holding information about the current motion. More...

Public Types
enum	RunnerStatus {   Disconnected , Paused , Ready , Moving ,   Busy , Error }
	Define the possible states of the robot runner. More...
Public Types inherited from DynamicsInterface
enum class	Source { Any , Native , Generic }

Public Member Functions
	RobotRunner (std::unique_ptr< RobotLocation > robotLocation, const std::shared_ptr< RobotInstance > &instance, const RateLimits &rateLimits={})
	Construct the new robot runner.
std::shared_ptr< const RobotState >	lastState () const
	Get the most recent robot state.
virtual RunnerStatus	status () const =0
	Get the current status of the robot runner.
virtual bool	connect ()=0
	Establish connection to the robot hardware.
virtual bool	disconnect ()=0
	Safety disconnect from the robot hardware.
void	configure (const Properties *p) override
	Configure the Robot Runner.
void	configuration (Properties *p) const override
	Retrieve the properties of the RobotRunner.
bool	isConnected () const
	Check if the robot is currently connected.
MotionGeneratorBase *	activeMotionGenerator () override
	Get currently active motion generator.
std::optional< std::shared_future< bool > >	currentMotionFuture () const
	Get the future associated with the current motion execution.
Public Member Functions inherited from Configurable
virtual void	configureDefaults ()
	Retrieve the properties of this object, replaces values with their defaults and sets it again.
void	registerParameter (ParameterBase *param)
	Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().
void	unregisterParameter (const ParameterBase *param)
	Remove the given Parameter or SubProperty from the list of registered parameters.
	Configurable (const Configurable &rhs)
	Configurable (Configurable &&rhs) noexcept
Configurable &	operator= (const Configurable &)
Configurable &	operator= (Configurable &&) noexcept
Public Member Functions inherited from StatusInterface
	StatusInterface (RateLimits rateLimits)
RobotLocation *	robotLocation () const
template<typename LocationType>
LocationType *	typedRobotLocation () const
template<typename LocationType>
bool	updateRobotLocation (std::unique_ptr< LocationType > newLocation)
RateLimits	rateLimits () const
virtual void	setRateLimits (RateLimits rateLimits)
virtual bool	isMoving () const =0
virtual bool	isError () const =0
virtual bool	canStartNewMotion () const =0
virtual bool	tryRecoverFromError ()=0
virtual void	stopMotion ()=0
Public Member Functions inherited from DynamicsInterfaceWithFallback
CoriolisSolution	computeCoriolis (const RobotState &state, Source source) override
JacobianSolution	computeJacobian (const RobotState &state, Source source) override
GravitySolution	computeGravity (const RobotState &state, Source source) override
virtual CoriolisSolution	computeCoriolisNative (const RobotState &state)
virtual JacobianSolution	computeJacobianNative (const RobotState &state)
virtual GravitySolution	computeGravityNative (const RobotState &state)
Public Member Functions inherited from DynamicsInterface
CoriolisSolution	computeCoriolis (const RobotState &state)
JacobianSolution	computeJacobian (const RobotState &state)
GravitySolution	computeGravity (const RobotState &state)

Public Attributes
Signal< std::shared_ptr< const RobotState > >	stateUpdated
	Signal emitted when the robot state is updated.
Public Attributes inherited from Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.
Public Attributes inherited from StatusInterface
Signal	motionStarted
Signal	motionFinished

Protected Member Functions
void	publishState (std::shared_ptr< const RobotState > state)
	Update and publish a new robot state.

Protected Attributes
std::optional< MotionData >	m_currentMotionData
	Active motion data if robot is moving, std::nullopt when idle or motion completed.
std::shared_ptr< RobotInstance >	m_robotInstance
	Maintains robot kinematic model and joint configuration bounds.
std::shared_ptr< const RobotState >	m_lastState
	Cached robot state for external queries, updated via publishState()
Protected Attributes inherited from Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.
Protected Attributes inherited from StatusInterface
RateLimits	m_rateLimits
std::unique_ptr< RobotLocation >	m_robotLocation
	Robot location (e.g.

Additional Inherited Members
Static Public Member Functions inherited from StatusInterface
static std::string	id ()

Member Enumeration Documentation

RunnerStatus

enum RunnerStatus

Define the possible states of the robot runner.

Enumerator
Disconnected	Robot is not connected to the hardware.
Paused	Robot execution is temporarily suspended.
Ready	Robot is connected and ready to accept commands.
Moving	Robot is currently executing a motion.
Busy	Robot is performing an operation other than motion.
Error	An error condition has occurred.

Constructor & Destructor Documentation

RobotRunner()

RobotRunner	(	std::unique_ptr< RobotLocation >	robotLocation,
		const std::shared_ptr< RobotInstance > &	instance,
		const RateLimits &	rateLimits = {} )

Construct the new robot runner.

Parameters

robotLocation	owning pointer to the robot parameters required by the individual robot SDK to connect to a device.
instance	encapsulates a RobotModel and handles the distinct variables associated with its kinematics.
rateLimits	defines velocity and acceleration limits for robot motion.

Member Function Documentation

lastState()

std::shared_ptr< const RobotState > lastState

(

)

const

Get the most recent robot state.

Returns

shared pointer to the recent robot state or nullptr if not available. The retrieved data is read-only and cannot be modified.

status()

virtual RunnerStatus status ( ) const

pure virtual

Get the current status of the robot runner.

Returns

an identifier of the robot runner's operational state.

Implemented in URRunner.

connect()

virtual bool connect ( )

pure virtual

Establish connection to the robot hardware.

Derived classes should implement this method to: Extract the particular robot location and the dedicated connection parameters (e.g IP address). Initialize hardware communication. Setup monitoring threads if needed. Publish initial robot state.

Returns

true if connection was successful, false if the connection failed.

Implemented in URRunner.

disconnect()

virtual bool disconnect ( )

pure virtual

Safety disconnect from the robot hardware.

Derived classes should implement this method to: Check if the robot is currently executing a motion. Stop and clean up any monitoring threads and reset dedicated variables. Release hardware resources and connections.

Returns

true if disconnection was successful, false if the robot is busy executing a motion or disconnection failed.

Note

should not disconnect while the robot is executing a motion.

Implemented in URRunner.

configure()

void configure ( const Properties * p )

overridevirtual

Configure the Robot Runner.

Reimplemented from Configurable.

configuration()

void configuration ( Properties * p ) const

overridevirtual

Retrieve the properties of the RobotRunner.

Reimplemented from Configurable.

isConnected()

bool isConnected

(

)

const

Check if the robot is currently connected.

Returns

true if connected to the robot hardware, false otherwise.

activeMotionGenerator()

MotionGeneratorBase * activeMotionGenerator ( )

overridevirtual

Get currently active motion generator.

Implements StatusInterface.

currentMotionFuture()

std::optional< std::shared_future< bool > > currentMotionFuture

(

)

const

Get the future associated with the current motion execution.

Returns

the feature that can be used to track the completion status of the currently executing motion. If no motion is active return std::nullopt.

publishState()

void publishState ( std::shared_ptr< const RobotState > state )

protected

Update and publish a new robot state.

Validate the incoming state and store it as the last known state. Notify the subscribers by emitting the stateUpdated signal.

Parameters

state

New robot state to publish, must be non-null.

---

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

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