Detailed Description

Contains the current status of the robot (i.e.

joint positions) and a reference to the model It can lazily perform forward kinematics to provide the Cartesian state of the robot (position of each link), in particular if the pose of the end effector (or the flange) is not provided by the robot firmware. Each arm state stream can inherit from this class to include additional reported information (e.g integrated sensors or IO ports)

Public Member Functions
	RobotState (const std::shared_ptr< const RobotInstance > &instance)
	Initialize robot state where all joint values are set to zero.

	RobotState (std::shared_ptr< const RobotInstance > instance, const JointState &jointState)

	RobotState (std::shared_ptr< const RobotInstance > instance, const JointState &jointState, const std::optional< CartesianFrames > &cartesianFrames, unsigned long long timeStamp, unsigned long long timestampArrival)
	Initialize robot state with the given joint states and log errors.

virtual std::optional< RobotArmCartesianState >	cartesianState () const
	attempts computing the FK and returns a reference if successful

const JointState &	jointState () const

const CartesianFrames *	cartesianFrames () const

std::optional< isom3 >	base_T_flange () const

std::optional< isom3 >	base_T_effector () const
	Retrieve the transformation end-effector-to-base.

std::optional< isom3 >	world_T_refFrame (ReferenceFrame frame) const

std::optional< isom3 >	world_T_effector () const

std::optional< isom3 >	world_T_flange () const

std::optional< isom3 >	world_T_namedLink (const std::string &linkName) const
	Retrieve the transformation from a particularly named link to the world.

std::shared_ptr< const RobotInstance >	robotInstance () const

const RobotInstance *	robotInstanceRef () const

Public Attributes
unsigned long long	m_timeStamp = 0
	Timestamp in milliseconds.

unsigned long long	m_timestampArrival = 0
	Timestamp of data reception in the ImFusion framework (milliseconds).

std::shared_ptr< const NativeRobotStateBase >	m_nativeRobotState

Protected Attributes
std::shared_ptr< const RobotInstance >	m_robotInstance
	Geometric representation of the robot's structure.

JointState	m_jointState
	Joint positions as reported by the robot firmware.

std::optional< CartesianFrames >	m_cartesianFrames
	Cartesian poses of notable frames as reported by the robot firmware (if supported)

std::optional< RobotArmCartesianState >	m_cartesianState
	State computed lazily using forward kinematics.

Constructor & Destructor Documentation

◆ RobotState() [1/2]

RobotState ( const std::shared_ptr< const RobotInstance > & instance )

explicit

Initialize robot state where all joint values are set to zero.

Parameters

instance encapsulates the robot model and manages its kinematic variables (i.e robot's world position, TCP transforms) and provides methods for forward and inverse kinematics in world (or robot base) coordinates, with access to the underlying robot model.

◆ RobotState() [2/2]

RobotState	(	std::shared_ptr< const RobotInstance >	instance,
		const JointState &	jointState,
		const std::optional< CartesianFrames > &	cartesianFrames,
		unsigned long long	timeStamp,
		unsigned long long	timestampArrival )

Initialize robot state with the given joint states and log errors.

Parameters

instance	encapsulates the robot model and manages its kinematic variables (i.e robot's world position, TCP transforms) and provides methods for forward and inverse kinematics in world (or robot base) coordinates, with access to the underlying robot model. If not defined (null) an error is logged.
jointState	the joint states of the robot. The vector size must match the instance model's expected size. In case of mismatch an error is logged.
cartesianFrames	notable frames as reported by the robot firmware.
timeStamp	timestamp in milliseconds (for compatibility with the rest of the SDK), as reported by the robot firmware.
timestampArrival	timestamp in milliseconds (for compatibility with the rest of the SDK), reporting the first time the information reached the SDK boundary.

Member Function Documentation

◆ base_T_effector()

std::optional< isom3 > base_T_effector ( ) const

Retrieve the transformation end-effector-to-base.

Returns

The measured pose if this class instance contains valid notable Cartesian frame denoted as end-effector-to-base transformation. Otherwise:

The product of the flange-to-base pose and the valid notable Cartesian frame with a end-effector-to-flange.
If unavailable, the product of the Cartesian frame (derived via lazy forward kinematics) in this class instance and the end-effector-to-flange transformation if defined in the robot instance. If an "overridden" end-effector-to-flange transformation is defined, the transformation is updated by first applying the inverse of the original end-effector-to-flange transformation, then multiplying it by the overridden transformation.

◆ world_T_namedLink()

std::optional< isom3 > world_T_namedLink ( const std::string & linkName ) const

Retrieve the transformation from a particularly named link to the world.

Returns: the homogeneous transformation matrix if the link is found, or an empty optional if the link does not exist.

Member Data Documentation

◆ m_timestampArrival

unsigned long long m_timestampArrival = 0

Timestamp of data reception in the ImFusion framework (milliseconds).

Set by RobotRunner, not by the stream (unlike the arrival timestamp in StreamData).

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

RoboticsPlugin/Include/ImFusion/Robotics/RobotState.h