机械臂的主要接口对象，通过本对象的方法与机械臂进行数据交互. More...

#include <robot.hh>

Public Member Functions
	Robot (std::string ip, bool simulator=false)
	构造Robot对象. More...

virtual	~Robot ()
	析构Robot对象.

std::tuple< int, std::string >	call (const std::string &method, const std::string &params)
	用JSON格式字符串调用机械臂的接口. More...

std::string	hello (const std::string &data)
	测试 JSON-RPC 连接.

void	set_auto (int name, bool value)
	设置自动配置项，name 取值与 SDK2 保持一致: 1, 2, 3.

bool	get_auto (int name)
	获取自动配置项，name 取值与 SDK2 保持一致: 1, 2, 3.

bool	is_network_connected ()
	返回是否和机械臂的网络连接正常，如果网络连接异常，调用和机械臂交互的接口会抛出异常std::runtime_error。 More...

void	start_sys ()
	启动机械臂（机械臂上使能）.

void	stop_sys ()
	停止机械臂（机械臂下使能）.

void	powerdown ()
	关闭机器人电源（关机）.

void	stop ()
	停止运动（但不下电）.

void	estop ()
	紧急停止（急停）.

void	start_teach_mode ()
	进入示教模式.

void	teach_mode ()

void	end_teach_mode ()
	退出示教模式.

void	pause_move ()
	暂停运动.

void	pause ()

void	resume_move ()
	恢复运动.

void	resume ()

void	reboot ()
	重新启动机箱

int	move_joint (const std::vector< double > &joint_positions, double a, double v, double t, double r)
	通过关节位置发送机械臂关节移动 More...

int	movej (const std::vector< double > &joint_positions, double a, double v, double t, double r)

int	move_joint (const CartesianPose &cart_pose, double a, double v, double t, double r)
	通过坐标位置发送机械臂关节移动 More...

int	movej (const CartesianPose &cart_pose, double a, double v, double t, double r)

int	move_linear (const std::vector< double > &joint_positions, double a, double v, double t, double r)
	通过关节位置发送机械臂直线移动 More...

int	movel (const std::vector< double > &joint_positions, double a, double v, double t, double r)

int	move_linear (const CartesianPose &cart_pose, double a, double v, double t, double r)
	通过坐标位置发送机械臂直线移动 More...

int	movel (const CartesianPose &cart_pose, double a, double v, double t, double r)

int	move_circular (const std::vector< double > &joint_via, const std::vector< double > &joint, double rad, double a, double v, double t, double r)
	通过关节位置发送机械臂圆弧运动. More...

int	movec (const std::vector< double > &joint_via, const std::vector< double > &joint, double rad, double a, double v, double t, double r)

int	move_circular (const CartesianPose &cart_via, const CartesianPose &cart, double rad, double a, double v, double t, double r)
	通过坐标位置发送机械臂圆弧运动 More...

int	movec (const CartesianPose &cart_via, const CartesianPose &cart, double rad, double a, double v, double t, double r)

int	speed_joint (double a, const std::vector< double > &v, double t=0.0)
	通过关节速度矢量发送机械臂关节匀速运动 More...

int	speedj (double a, const std::vector< double > &v, double t=0.0)

int	speed_linear (double a, const CartesianPose &v, double t=0.0, const CartesianPose &reference={{"x", 0.0}, {"y", 0.0}, {"z", 0.0}, {"rx", 0.0}, {"ry", 0.0}, {"rz", 0.0}})
	通过坐标速度矢量发送机械臂关节匀速运动 More...

int	speedl (double a, const CartesianPose &v, double t=0.0, const CartesianPose &reference={{"x", 0.0}, {"y", 0.0}, {"z", 0.0}, {"rx", 0.0}, {"ry", 0.0}, {"rz", 0.0}})

int	toward_joint (const std::vector< double > &joint_positions, double a, double v, double t, double r)
	通过关节位置发送机械臂关节自由移动. More...

int	towardj (const std::vector< double > &joint_positions, double a, double v, double t, double r)

void	move_pvat (std::vector< double > p, std::vector< double > v, std::vector< double > a, double t)
	伺服运动PVAT More...

void	wait_move (unsigned int id)
	等待运动完成. More...

void	wait_move ()
	等待所有运动完成.

unsigned int	get_running_motion ()
	查询当前正在运动的MotionId(无运动时返回上次MotionId).

std::string	get_motion_state (unsigned int id)
	查询指定MotionId的运动状态. More...

void	stop_move ()
	停止所有运动.

void	skip_move ()
	跳过当前运动.

int	get_robot_state ()
	获取机器人状态码 More...

int	get_estop_reason ()
	查看急停原因 More...

SystemInfoData	get_system_info ()
	获取控制器系统信息 More...

RobotInfoData	get_robot_info ()
	获取机器人设备信息 More...

HardwareInfoData	get_hardware_info ()
	获取控制器硬件信息 More...

SoftwareInfoData	get_software_info ()
	获取控制器软件信息 More...

HttpResponseData	http (HttpRequestData request)
	通过控制器发起HTTP请求. More...

void	clean (const BackupOptionsData &option)

void	backup (const std::string &file, const BackupOptionsData &option)

BackupInfoData	get_backup_info (const std::string &file)

void	restore (const std::string &file, const BackupOptionsData &option)

void	set_virtual_ip (const std::string &ifname, const std::string &ip)

std::vector< std::string >	get_box_devices (const std::string &prefix)
	获取控制箱dev设备列表 More...

std::vector< DirData >	get_dirs ()
	获取数据库目录列表 More...

void	create_dir (DirData dir)
	创建数据库目录. More...

void	update_dir (std::string from, std::string to)
	重命名数据库目录. More...

std::vector< ShortcutData >	get_short_poses ()
	获取所有快捷路点 More...

void	set_short_pose (ShortcutData shortcut_data)
	设置快捷路点

ShortcutData	get_short_pose (unsigned int id)
	获取单个快捷路点

std::vector< ShortcutData >	get_short_tasks ()
	获取所有快捷任务 More...

void	set_short_task (ShortcutData shortcut_data)
	设置快捷任务

ShortcutData	get_short_task (unsigned int id)
	获取单个快捷任务

std::vector< TriggerData >	get_triggers ()
	获取条件任务触发器列表 More...

void	set_trigger (TriggerData trigger)
	设置条件任务触发器

std::map< std::string, LedStyleData >	get_led_styles ()
	获取声光交互样式集 More...

void	set_led_styles (std::map< std::string, LedStyleData > styles)
	设置声光交互样式集 More...

LedStyleData	load_led_style (std::string name, std::string dir="")
	查询声光样式. More...

void	save_led_style (std::string name, LedStyleData style, std::string dir="")
	保存声光样式. More...

void	set_led_style (std::string state, LedStyleData style)
	设置机器人状态对应的声光交互样式. More...

std::vector< std::string >	load_led_style_list (std::string dir="")
	查询声光样式列表. More...

std::vector< ServoParamData >	get_servo_params ()
	获取伺服参数 More...

void	set_servo_params (const std::vector< ServoParamData > &params)

void	find_zero ()

void	set_zero (const std::vector< double > &pose, const std::vector< bool > &valids)

void	set_extra_servo_params (const std::vector< ExtraServoParamData > &params, const std::vector< bool > &valids)

void	reset_extra_servo_params (const std::vector< bool > &valids)

void	set_flange_baud_rate (unsigned int baud_rate)

WrenchData	get_tcp_force ()
	获取末端受力 More...

void	set_tcp_force (const WrenchData &wrench)
	设置末端受力 More...

void	set_force_mode_sensor (const std::string &sensor, unsigned int address)
	设置力控传感器. More...

void	set_force_mode_param (double damping, double gain, const std::vector< double > &max_vel)
	设置力控参数. More...

void	start_force_mode (const CartesianPose &limit, const WrenchData &wrench)
	开始力控模式. More...

void	end_force_mode ()
	结束力控模式.

std::vector< PluginInfoData >	load_plugins ()
	查询已安装插件列表 More...

std::vector< PluginStoreInfoData >	get_plugin_store ()
	查询插件商店列表. More...

PluginInfoData	load_plugin (const std::string &name)
	查询已安装插件 More...

CommandStdoutData	run_plugin_cmd (const std::string &name, const std::vector< std::string > &params=std::vector< std::string >())
	执行插件命令. More...

CommandStdoutData	enable_plugin (const std::string &name)
	启用插件. More...

CommandStdoutData	disable_plugin (const std::string &name)
	禁用插件. More...

void	restart_plugin_daemon (const std::string &name)
	重启插件守护进程. More...

std::vector< DiscoveredRobotData >	discover_robots ()
	通过控制器RPC发现机器人设备. More...

CommandStdoutData	get_plugin_daemon_stdout (const std::string &name)
	获取插件守护进程输出. More...

std::vector< MessageData >	get_messages ()
	获取控制器消息列表 More...

OtaStateData	get_ota_state ()
	获取OTA升级状态 More...

CheckUpgradeData	check_upgrade ()
	查询是否需要系统升级 More...

CommandStdoutData	get_upgrade_stdout ()
	获取系统升级输出 More...

void	sub_buttons_status (uint64_t interval_min, uint64_t interval_max)

void	sub_kin_data (uint64_t interval_min, uint64_t interval_max)

void	sub_message (uint64_t interval_min, uint64_t interval_max)

void	sub_robot_state (uint64_t interval_min, uint64_t interval_max)

void	sub_phy_data (uint64_t interval_min, uint64_t interval_max)

void	sub_task_stdout (uint64_t interval_min, uint64_t interval_max)

void	start_ota (const std::string &address, const std::string &partition, const std::string &file)

void	switch_partition (const std::string &address, const std::string &partition)

void	start_upgrade ()

int	box_test ()

std::string	init_robot (const std::string &time, const std::string &auth, const RobotInfoData &info)

PhysicalData	get_phy_data ()
	获取机械臂物理数据 More...

JointMotionData	get_kin_data ()
	获取机械臂关节运动数据 More...

bool	is_disconnected ()
	是否已与手臂断开连接 More...

bool	is_down ()
	手臂是否已下电 More...

std::vector< double >	get_actual_joint_positions ()
	获取机械臂关节当前反馈位置 More...

std::vector< double >	get_target_joint_positions ()
	获取机械臂关节当前控制位置 More...

std::vector< double >	get_actual_joint_speed ()
	获取机械臂关节当前反馈速度 More...

std::vector< double >	get_target_joint_speed ()
	获取机械臂关节当前控制力矩 More...

CartesianPose	get_actual_tcp_pose ()
	获取机械臂末端在机械臂基坐标系下的实际位姿，CartesianPose = std::map<std::string,double>，应当包括键为x,y,z,rz,ry,rx的值. More...

CartesianPose	get_target_tcp_pose ()
	获取机械臂末端在机械臂基坐标系下的控制位姿，CartesianPose = std::map<std::string,double>，应当包括键为x,y,z,rz,ry,rx的值. More...

double	get_joint_temp (unsigned int joint_index)
	获取单个关节温度 More...

std::vector< double >	get_actual_joint_torques ()
	获取机械臂关节当前反馈力矩 More...

std::vector< double >	get_target_joint_torques ()
	获取机械臂关节当前控制力矩 More...

void	set_do (std::string device, unsigned int pin, unsigned int value)
	设置数字输出 More...

void	set_dos (std::string device, unsigned int pin, std::vector< unsigned int > values)
	设置多个数字输出

unsigned int	get_do (std::string device, unsigned int pin)
	获取数字输出 More...

std::vector< unsigned int >	get_dos (std::string device, unsigned int pin, unsigned int num)
	获取多个数字输出 More...

unsigned int	get_di (std::string device, unsigned int pin)
	获取数字输入 More...

std::vector< unsigned int >	get_dis (std::string device, unsigned int pin, unsigned int num)
	获取多个数字输入 More...

void	set_ao (std::string device, unsigned int pin, double value)
	设置模拟输出 More...

void	set_aos (std::string device, unsigned int pin, std::vector< double > values)
	设置多个模拟输出

double	get_ao (std::string device, unsigned int pin)
	获取模拟输出 More...

std::vector< double >	get_aos (std::string device, unsigned int pin, unsigned int num)
	获取多个模拟输出 More...

double	get_ai (std::string device, unsigned int pin)
	获取模拟输入 More...

std::vector< double >	get_ais (std::string device, unsigned int pin, unsigned int num)
	获取多个模拟输入 More...

void	set_dio_mode (std::string device, unsigned int pin, bool value)
	设置数字端口模式 More...

bool	get_dio_mode (std::string device, unsigned int pin)
	获取单个数字端口模式 More...

std::vector< bool >	get_dios_mode (std::string device, unsigned int pin, unsigned int count)
	获取数字端口模式 More...

void	enable_button (std::string device, unsigned int pin)
	启用按钮输入. More...

void	disable_button (std::string device, unsigned int pin)
	禁用按钮输入. More...

void	init_claw (bool force_initilization)
	初始化夹爪 More...

void	set_claw (double force, double amplitude)
	设置夹爪力度（力控）和幅度（位控）.如果在闭合过程中抓取到物体，则不再继续闭合以避免夹坏物体，判断的准则为这里设置的力的大小. More...

void	set_claw_ao (unsigned int address, double value)
	设置夹爪指定模拟输出数据. More...

ClawData	get_claw ()
	获取夹爪当前数据 More...

ClawData	get_claw_data ()

double	get_claw_ai (unsigned int address)
	读取夹爪指定模拟输入数据. More...

void	wait_claw_ai (unsigned int address, double value, std::string relation="EQ")
	等待夹爪模拟输入满足指定关系. More...

void	set_led (unsigned int mode, unsigned int speed, const std::vector< unsigned int > &color)
	设置LED灯状态. More...

void	set_voice (unsigned int voice, unsigned int volume)
	设置声音 More...

void	set_fan (unsigned int status)
	开关风扇 More...

void	set_signal (unsigned int index, int value)
	设置信号量 More...

void	set_signals (unsigned int index, std::vector< int > values)
	设置多个连续信号量

int	get_signal (unsigned int index)
	获取信号量 More...

std::vector< int >	get_signals (unsigned int index, unsigned int len)
	获取多个连续信号量

void	wait_signal (unsigned int index, int value, std::string relation="EQ")
	等待信号量满足指定关系. More...

void	add_signal (unsigned int index, int value)
	增加指定下标的信号量值，该操作是原子的. More...

unsigned int	start_task (const std::string &name, const std::vector< std::string > &params, const std::string &dir, bool is_parallel, unsigned int loop_to)
	调用场景 More...

unsigned int	start_task (const std::string &name)
	调用场景 More...

std::vector< unsigned int >	load_task_list ()
	查询任务列表

std::vector< unsigned int >	get_task_list ()

std::vector< TaskData >	load_running_tasks ()
	查询运行中的任务列表.

TaskStdoutData	get_task_stdout (unsigned int id)
	获取任务输出. More...

std::string	wait_task (unsigned int id)
	等待任务完成 More...

void	pause_task (unsigned int id, unsigned long time, bool wait)
	暂停任务与运动 More...

void	pause_task (unsigned int id)
	暂停任务与运动 More...

void	resume_task (unsigned int id)
	恢复任务与运动 More...

void	cancel_task (unsigned int id)
	取消任务与运动. More...

unsigned int	exec_hook (unsigned int id)
	根据已设置的Hook执行对应场景 More...

std::string	load_task ()
	获取任务状态.

std::string	get_task_state ()

std::string	load_task (unsigned int id)
	获取任务状态. More...

std::string	get_task_state (unsigned int id)

KinematicsForwardResp	get_forward_kin (const std::vector< double > &joint_positions)
	根据机械臂关节位置计算机器人末端位姿（位置的运动学正解）. More...

KinematicsForwardResp	kinematics_forward (const std::vector< double > &joint_positions)

KinematicsInverseResp	get_inverse_kin (const CartesianPose &pose, const std::vector< double > &joint_init_positions={})
	根据机械臂的末端位姿计算关节位置（位置的运动学逆解）. More...

KinematicsInverseResp	kinematics_inverse (const CartesianPose &pose, const std::vector< double > &joint_init_positions={})

double	measure_manipulation (const std::vector< double > &joint_positions)
	估算关节位置的灵活性. More...

CartesianPose	get_pose_trans (const CartesianPose &a, const CartesianPose &b)
	位姿变换乘法（等价于对应的齐次坐标矩阵乘法） More...

CartesianPose	pose_times (const CartesianPose &a, const CartesianPose &b)

CartesianPose	get_pose_add (const CartesianPose &pose, const CartesianPose &delta)
	位姿加. More...

CartesianPose	calc_frame (const CartesianPose &o, const CartesianPose &x, const CartesianPose &xy)
	三点采样计算原点特征. More...

CartesianPose	calc_tcp (const std::vector< CartesianPose > &poses)
	三点采样计算工具中心点. More...

CartesianPose	get_pose_inverse (const CartesianPose &in)
	位姿变换的逆（等价于对应的齐次坐标矩的逆） More...

CartesianPose	pose_inverse (const CartesianPose &in)

void	save_file (const std::string &dir, const std::string &name, bool is_dir, const std::string &data)
	保存文件（以字节形式）. More...

void	rename_file (const std::string &from_dir, const std::string &from_name, const std::string &to_dir, const std::string &to_name)
	重命名文件 More...

void	download_file (const std::string &dir, const std::string &name, const std::string &url)
	通过URL下载文件到控制器. More...

std::tuple< bool, std::string >	load_file (const std::string &dir, const std::string &name)
	查询文件 More...

std::vector< std::tuple< bool, std::string > >	load_file_list (const std::string &dir, const std::string &prefix, const std::string &suffix)
	查询文件列表. More...

void	zip (const std::string &from_dir, std::vector< std::string > files, const std::string &to_dir, const std::string &name)
	将文件从文件系统中压缩到zip文件. More...

void	unzip (const std::string &from_dir, const std::string &name, std::vector< std::string > files, const std::string &to_dir)
	将zip文件解压到文件系统. More...

std::vector< std::tuple< bool, std::string > >	load_zip_list (const std::string &zip, const std::string &dir, const std::string &prefix, const std::string &suffix)
	查询zip内文件列表.

void	set_tcp (std::array< double, 6 > tcp)
	设置工具中心点(TCP)坐标，坐标值相对于工具坐标系. More...

std::array< double, 6 >	get_tcp ()
	获取当前机器人工具中心点设置. More...

std::vector< DhParamData >	get_dh ()
	获取当前DH参数. More...

void	set_dh (const std::vector< DhParamData > &params)

void	set_kin_factor (int factor)
	设置速度因子. More...

void	set_velocity_factor (int factor)

int	get_kin_factor ()
	获取当前的速度因子. More...

int	get_velocity_factor ()

void	set_payload (double mass, std::map< std::string, double > cog)
	设置机器人末端负载. More...

void	set_payload_mass (double mass)
	设置机器人末端负载质量. More...

void	set_payload_cog (std::map< std::string, double > cog)
	设置机器人末端负载重心. More...

void	save_payload (std::string name, std::map< std::string, double > payload, std::string dir="")
	保存末端负载. More...

std::map< std::string, double >	get_payload ()
	获取末端负载设置. More...

std::map< std::string, double >	load_payload (std::string name, std::string dir="")
	从资源库加载末端负载. More...

std::vector< std::string >	load_payload_list (std::string dir="")
	查询负载列表. More...

void	set_gravity (std::map< std::string, double > gravity)
	设置机器人重力加速度方向. More...

std::map< std::string, double >	get_gravity ()
	获取机器人重力加速度的方向. More...

void	enable_collision_detector ()
	使能碰撞检测.

void	disable_collision_detector ()
	临时禁用碰撞检测.

void	set_collision_torque_diff (const std::vector< double > &diffs)
	设置碰撞监测误差. More...

std::vector< double >	get_collision_torque_diff ()
	获取碰撞监测误差. More...

void	set_collision_detector (const CollisionDetectorConfig &config)
	设置碰撞检测参数. More...

CollisionDetectorConfig	get_collision_detector ()
	获取碰撞检测参数. More...

void	enable_limit ()
	使能安全限位检测.

void	disable_limit ()
	临时禁用安全限位检测.

void	set_joints_limit (const std::vector< JointLimitConfig > &joints)
	设置关节限位. More...

std::vector< JointLimitConfig >	get_joints_limit ()
	获取关节限位. More...

void	set_cart_limit (const CartesianLimitConfig &limit)
	设置笛卡尔空间限位. More...

CartesianLimitConfig	get_cart_limit ()
	获取笛卡尔空间限位. More...

CartesianPose	load_tcp (std::string name, std::string dir="")
	从资源库加载tcp. More...

void	save_tcp (std::string name, CartesianPose tcp, std::string dir="")
	保存tcp. More...

std::vector< std::string >	load_tcp_list (std::string dir="")
	查询工具中心点列表. More...

std::vector< std::string >	load_trajectory_list (std::string dir="")
	查询轨迹列表. More...

TrajectoryData	load_trajectory (std::string name, std::string dir="")
	查询轨迹. More...

void	save_trajectory (std::string name, TrajectoryData trajectory, std::string dir="")
	保存轨迹. More...

unsigned int	move_trajectory (std::string name, std::string dir="")

void	start_record_trajectory (std::string kind, double duration)
	开始记录轨迹. More...

void	end_record_trajectory (std::string name, std::string dir="")
	结束记录轨迹并保存. More...

std::vector< std::string >	load_pose_list (std::string dir="")
	查询路点列表. More...

PoseData	load_pose (std::string name, std::string dir="")
	查询路点. More...

void	save_pose (std::string name, PoseData pose, std::string dir="")
	保存路点. More...

std::vector< std::string >	load_frame_list (std::string dir="")
	查询特征列表. More...

FrameData	load_frame (std::string name, std::string dir="")
	查询特征. More...

void	save_frame (std::string name, FrameData frame, std::string dir="")
	保存特征. More...

std::vector< std::string >	load_structure_list (std::string dir="")
	查询机器人结构列表. More...

StructureData	load_structure (std::string name, std::string dir="")
	查询机器人结构. More...

void	save_structure (std::string name, StructureData structure, std::string dir="")
	保存机器人结构. More...

std::vector< std::string >	load_modbus_list (std::string dir="")
	查询Modbus配置列表. More...

ModbusData	load_modbus (std::string name, std::string dir="")
	查询Modbus设备. More...

void	save_modbus (std::string name, ModbusData modbus)
	保存Modbus设备. More...

void	set_modbus_timeout (std::string device, unsigned int timeout)
	设置Modbus设备超时时间. More...

void	set_modbus_retry (std::string device, unsigned int retry)
	设置Modbus设备重试次数. More...

void	disconnect_modbus (std::string device)
	断开Modbus设备连接. More...

std::vector< std::string >	load_modbus_register_list (std::string device)
	查询Modbus寄存器列表. More...

ModbusRegisterData	load_modbus_register (std::string device, std::string name)
	查询Modbus寄存器. More...

void	save_modbus_register (std::string device, std::string name, ModbusRegisterData reg)
	保存Modbus寄存器. More...

void	write_single_coil (std::string device, std::string addr, bool value)
	写单个线圈. More...

void	write_multiple_coils (std::string device, std::string addr, std::vector< bool > values)
	写多个线圈 More...

void	wirte_multiple_coils (std::string device, std::string addr, std::vector< bool > values)

std::vector< bool >	read_coils (std::string device, std::string addr, unsigned int num)
	读线圈 More...

std::vector< bool >	read_discrete_inputs (std::string device, std::string addr, unsigned int num)
	读离散输入 More...

void	write_single_register (std::string device, std::string addr, unsigned int value)
	写单个寄存器 More...

void	write_multiple_registers (std::string device, std::string addr, std::vector< unsigned int > values)
	写多个寄存器 More...

std::vector< unsigned int >	read_holding_registers (std::string device, std::string addr, unsigned int num)
	读保持寄存器 More...

std::vector< unsigned int >	read_input_registers (std::string device, std::string addr, unsigned int num)
	读输入寄存器 More...

void	set_serial_baud_rate (std::string device, unsigned int baud_rate)
	设置串口波特率. More...

void	set_serial_timeout (std::string device, unsigned int timeout)
	设置串口超时时间. More...

void	set_serial_parity (std::string device, unsigned int parity)
	设置串口校验位. More...

void	write_serial (std::string device, std::vector< unsigned int > data)
	串口发送数据. More...

std::vector< unsigned int >	read_serial (std::string device, unsigned int len)
	串口读取数据. More...

void	clear_serial (std::string device)
	清除串口收发缓存. More...

void	set_item (StorageItem item)
	设置存储项. More...

StorageItem	get_item (std::string name)
	获取存储项. More...

std::vector< StorageItem >	get_items (std::string prefix)
	获取存储项列表. More...

Protected Attributes
std::unique_ptr< RobotImpl >	impl_

Detailed Description

机械臂的主要接口对象，通过本对象的方法与机械臂进行数据交互.

Note: 使用该数据结构和机械臂交互要求机械臂软件版本>=3.1.5。; 接口的每一个函数都可能抛出异常std::runtime_error, 这是因为网络连接丢失或者调用的逻辑错误等。

Constructor & Destructor Documentation

◆ Robot()

lebai::l_master::Robot::Robot	(	std::string	ip,
		bool	simulator = `false`
	)

explicit

构造Robot对象.

Note: 当你尝试创建Robot对象时，会根据传入的ip参数尝试去连接机械臂，但是可能会连接失败，当连接不成功时，对象依然会创建。

Parameters

ip	机械臂IP地址.
simulator	用于表示机械臂是否为仿真机械臂(docker仿真或控制器运行在仿真模式下)的macs标志.True表示仿真模式，False表示实物机械臂.

Member Function Documentation

◆ call()

std::tuple<int, std::string> lebai::l_master::Robot::call	(	const std::string &	method,
		const std::string &	params
	)

用JSON格式字符串调用机械臂的接口.

示例代码:

std::string movej_req = "{\"param\":{\"v\":0.1},\"pose\":{\"joint\":{\"delta\":"{\"joint\":[-1.0,0.0,0.0,0.0,0.0,0.0]}}}}";
resp = robot.call("movej", movej_req);
std::cout << "resp: " << std::get<0>(resp) << ", " << std::get<1>(resp) << std::endl;

Note: SDK采用JSONRPC协议和机械臂控制进行通讯. 您可以自行生成JSON数据，并通过本接口调用相应的JSONRPC，并获取返回的结果和JSON数据.

Parameters

[in]	method	方法名字
[in]	params	请求JSONRPC的JSON格式字符串.

Returns: 返回一个元组，第一个元素是返回码，第二个元素是数据字符串. 如果返回码为0，表示调用成功，第二个元素是JSONRPC的返回数据. 如果返回码为非0，表示调用失败，第二个元素是错误信息.

◆ is_network_connected()

bool lebai::l_master::Robot::is_network_connected ( )

返回是否和机械臂的网络连接正常，如果网络连接异常，调用和机械臂交互的接口会抛出异常std::runtime_error。

Note: 不建议使用，直接catch接口调用获取网络异常。

Returns: true 表示网络连接正常，false表示网络连接异常.

Member Data Documentation

◆ impl_

std::unique_ptr<RobotImpl> lebai::l_master::Robot::impl_

protected

内部实现数据结构，用户无需关注.

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

sdk/include/lebai/robot.hh

Public Member Functions

Protected Attributes