robot.h File Reference

Generic robot functions. More...

#include "robot_control/robot_control.h"
#include <stdbool.h>
#include <stddef.h>

Go to the source code of this file.

Functions
bool	Robot_Init (const char *configPathName)
	Creates and initializes robot data structure based on given information.
void	Robot_End ()
	Deallocates internal data of given robot.
bool	Robot_Enable ()
	Initializes (if not running) update/operation thread for the given robot.
bool	Robot_Disable ()
	Terminates (if running) update/operation thread for the given robot.
bool	Robot_SetControlState (enum ControlState controlState)
	Change control state of given robot actuators and underlying (plugin) control implementation.
const char *	Robot_GetJointName (size_t jointIndex)
	Calls underlying (plugin) implementation to get string identifier for specified joint in given robot.
const char *	Robot_GetAxisName (size_t axisIndex)
	Calls underlying (plugin) implementation to get string identifier for specified axis in given robot.
bool	Robot_GetJointMeasures (size_t jointIndex, DoFVariables *ref_measures)
	Gets current value of specified joint measurements (see joint_axis_rationale)
bool	Robot_GetAxisMeasures (size_t axisIndex, DoFVariables *ref_measures)
	Gets current value of specified axis measurements (see joint_axis_rationale)
void	Robot_SetAxisSetpoints (size_t axisIndex, DoFVariables *ref_setpoints)
	Sets value of specified setpoint for given axis.
size_t	Robot_GetJointsNumber ()
	Calls underlying (plugin) implementation to get number of joint degrees-of-freedom for given robot.
size_t	Robot_GetAxesNumber ()
	Calls underlying (plugin) implementation to get number of axis degrees-of-freedom for given robot.

Detailed Description

Generic robot functions.

Interface for configurable robot control. Specific underlying implementation (plug-in) and further configuration are defined as explained in Robot Configuration. A robot works with 2 sets of coordinates: axes (read-write) and joints (read-only). For a detailed explanation, see joint_axis_rationale. Even if RobotSystem handles one robot at a time, this code supports multiple robots for reusage in different applications.

Function Documentation

Robot_Disable()

bool Robot_Disable

(

)

Terminates (if running) update/operation thread for the given robot.

Returns

true if control state was changed, false otherwise

Robot_Enable()

bool Robot_Enable

(

)

Initializes (if not running) update/operation thread for the given robot.

Returns

true if control state was changed, false otherwise

Robot_GetAxesNumber()

size_t Robot_GetAxesNumber

(

)

Calls underlying (plugin) implementation to get number of axis degrees-of-freedom for given robot.

Returns

number of axis degrees-of-freedom

Robot_GetAxisMeasures()

bool Robot_GetAxisMeasures	(	size_t	axisIndex,
		DoFVariables *	ref_measures )

Gets current value of specified axis measurements (see joint_axis_rationale)

Parameters

[in]	axisIndex	index of robot axis (in the order listed on robot's configuration)
[out]	ref_measures	pointer/reference to variables structure where values will be stored

Returns

true on if new values were acquired, false otherwise

Robot_GetAxisName()

const char * Robot_GetAxisName

(

size_t

axisIndex

)

Calls underlying (plugin) implementation to get string identifier for specified axis in given robot.

Parameters

[in]

axisIndex

index of robot axis (in the order listed on robot's configuration)

Returns

pointer to string of robot axis name (NULL on errors or no axis of specified index)

Robot_GetJointMeasures()

bool Robot_GetJointMeasures	(	size_t	jointIndex,
		DoFVariables *	ref_measures )

Gets current value of specified joint measurements (see joint_axis_rationale)

Parameters

[in]	jointIndex	index of robot axis (in the order listed on robot's configuration)
[out]	ref_measures	pointer/reference to variables structure where values will be stored

Returns

true on if new values were acquired, false otherwise

Robot_GetJointName()

const char * Robot_GetJointName

(

size_t

jointIndex

)

Calls underlying (plugin) implementation to get string identifier for specified joint in given robot.

Parameters

[in]

jointIndex

index of robot joint (in the order listed on robot's configuration)

Returns

pointer to string of robot joint name (NULL on errors or no joint of specified index)

Robot_GetJointsNumber()

size_t Robot_GetJointsNumber

(

)

Calls underlying (plugin) implementation to get number of joint degrees-of-freedom for given robot.

Returns

number of joint degrees-of-freedom

Robot_Init()

bool Robot_Init

(

const char *

configPathName

)

Creates and initializes robot data structure based on given information.

Parameters

[in]

configPathName

path to robot configuration, as explained at Robot Configuration

Returns

true on successful initialization, false otherwise

Robot_SetAxisSetpoints()

void Robot_SetAxisSetpoints	(	size_t	axisIndex,
		DoFVariables *	ref_setpoints )

Sets value of specified setpoint for given axis.

Parameters

[in]	axisIndex	index of robot axis (in the order listed on robot's configuration)
[in]	ref_setpoints	pointer/reference to variables structure with the new setpoints

Robot_SetControlState()

bool Robot_SetControlState

(

enum ControlState

controlState

)

Change control state of given robot actuators and underlying (plugin) control implementation.

Parameters

[in]

controlState

new control state to be set

Returns

true if control state was changed, false otherwise