#include <RoboticsPlugin/Include/ImFusion/Robotics/UR/URRunner.h>

Low-level interface to the Universal Robot RTDE interface. More...

Inheritance diagram for URRunner:

Detailed Description

Low-level interface to the Universal Robot RTDE interface.

Public Member Functions
	URRunner (const URRobotLocation &robotLocation, const std::shared_ptr< RobotInstance > &instance, RateLimits rateLimits={})

RunnerStatus	status () const override
	Get the current status of the robot runner.

bool	connect () override
	Establish connection to the robot hardware.

bool	disconnect () override
	Safety disconnect from the robot hardware.

Public Member Functions inherited from RobotRunner
	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.

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)

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 Member Functions inherited from ControllerConfigurationInterface
	ControllerConfigurationInterface (std::vector< ControllerConfiguration > controllers)

std::vector< ControllerConfiguration >	controllers () const
	Returns descriptions of controllers with default parameter values.

std::optional< ControllerConfiguration >	controllerWithName (const std::string &name) const
	Get the controller with the given name.

bool	activateController (const ControllerConfiguration &controllerConfiguration)
	Activates the given controller, taking the parameters from the given configuration.

std::optional< ControllerConfiguration >	activeController () const
	Which controller is currently active.

Methods implementing the StatusInterface interface
bool	isMoving () const override

bool	isError () const override

bool	canStartNewMotion () const override

bool	tryRecoverFromError () override

void	stopMotion () override

Methods implementing the CartesianPTPControlInterface interface
MotionResult	startMotion (const isom3 &base_T_effector, RateLimits rateLimits) override

Methods implementing the JointPTPControlInterface interface
MotionResult	startMotion (const JointPosition &goalPositionRad, RateLimits rateLimits) override

Methods implementing the GravityCompensationInterface interface
bool	startGravityCompensation () override

bool	stopGravityCompensation () override

Additional Inherited Members
Public Types inherited from RobotRunner
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 }

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

Static Public Member Functions inherited from ControllerConfigurationInterface
static std::string	id ()

Static Public Member Functions inherited from CartesianPTPControlInterface
static std::string	id ()

Static Public Member Functions inherited from JointPTPControlInterface
static std::string	id ()

Static Public Member Functions inherited from GravityCompensationControlInterface
static std::string	id ()

Public Attributes inherited from RobotRunner
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 inherited from RobotRunner
void	publishState (std::shared_ptr< const RobotState > state)
	Update and publish a new robot state.

Protected Attributes inherited from RobotRunner
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.

Member Function Documentation

◆ status()

RunnerStatus status ( ) const

overridevirtual

Get the current status of the robot runner.

Returns: an identifier of the robot runner's operational state.

Implements RobotRunner.

◆ connect()

bool connect ( )

overridevirtual

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.

Implements RobotRunner.

◆ disconnect()

bool disconnect ( )

overridevirtual

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.

Implements RobotRunner.

◆ isMoving()

bool isMoving ( ) const

overridevirtual

Implements StatusInterface.

◆ isError()

bool isError ( ) const

overridevirtual

Implements StatusInterface.

◆ canStartNewMotion()

bool canStartNewMotion ( ) const

overridevirtual

Implements StatusInterface.

◆ tryRecoverFromError()

bool tryRecoverFromError ( )

overridevirtual

Implements StatusInterface.

◆ stopMotion()

void stopMotion ( )

overridevirtual

Implements StatusInterface.

◆ startMotion() [1/2]

MotionResult startMotion	(	const isom3 &	base_T_effector,
		RateLimits	rateLimits )

overridevirtual

Implements CartesianPTPControlInterface.

◆ startMotion() [2/2]

MotionResult startMotion	(	const JointPosition &	goalPositionRad,
		RateLimits	rateLimits )

overridevirtual

Implements JointPTPControlInterface.

◆ startGravityCompensation()

bool startGravityCompensation ( )

overridevirtual

Implements GravityCompensationControlInterface.

◆ stopGravityCompensation()

bool stopGravityCompensation ( )

overridevirtual

Implements GravityCompensationControlInterface.

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

RoboticsPlugin/Include/ImFusion/Robotics/UR/URRunner.h

Detailed Description

Public Member Functions

Methods implementing the StatusInterface interface

Methods implementing the CartesianPTPControlInterface interface

Methods implementing the JointPTPControlInterface interface

Methods implementing the GravityCompensationInterface interface

Additional Inherited Members

Member Function Documentation

◆ status()

◆ connect()

◆ disconnect()

◆ isMoving()

◆ isError()

◆ canStartNewMotion()

◆ tryRecoverFromError()

◆ stopMotion()

◆ startMotion() [1/2]

◆ startMotion() [2/2]

◆ startGravityCompensation()

◆ stopGravityCompensation()