lebai sdk 1.3.3
lebai c++ sdk with swig to support sereval languages.
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robot.hh
1
17#pragma once
18
19#include <memory>
20#include <string>
21#include <vector>
22#include <array>
23#include <map>
24
25namespace lebai {
26namespace l_master {
32std::string version();
38using CartesianPose = std::map<std::string, double>;
39using DoubleVector = std::vector<double>;
45 CartesianPose
49 bool ok = false;
50};
56 DoubleVector
60 bool ok = false;
61};
62
67struct ClawData {
68 double force;
69 double amplitude;
70 bool hold_on;
71};
72
78 std::string key;
79 std::string value;
80};
81
87 DoubleVector joint_temperature;
88 DoubleVector joint_voltage;
90};
91
97 DoubleVector actual_joint_pose;
98 DoubleVector actual_joint_speed;
99 DoubleVector actual_joint_acc;
100 DoubleVector actual_joint_torque;
101 DoubleVector target_joint_pose;
102 DoubleVector target_joint_speed;
103 DoubleVector target_joint_acc;
104 DoubleVector target_joint_torque;
105 CartesianPose actual_tcp_pose;
106 CartesianPose target_tcp_pose;
107 CartesianPose actual_flange_pose;
108};
109
118class Robot {
119 public:
125 class RobotImpl;
126
137 explicit Robot(std::string ip, bool simulator = false);
142 virtual ~Robot();
143
144 // clang-format off
162 // clang-format on
163 std::tuple<int, std::string> call(const std::string &method,
164 const std::string &params);
165
173
238 void start_sys();
244 void stop_sys();
249 void powerdown();
254 void stop();
259 void estop();
274 void pause();
279 void resume();
283 void reboot();
311 int movej(const std::vector<double> &joint_positions, double a, double v,
312 double t, double r);
335 int movej(const CartesianPose &cart_pose, double a, double v, double t,
336 double r);
357 int movel(const std::vector<double> &joint_positions, double a, double v,
358 double t, double r);
381 int movel(const CartesianPose &cart_pose, double a, double v, double t,
382 double r);
407 int movec(const std::vector<double> &joint_via,
408 const std::vector<double> &joint, double rad, double a, double v,
409 double t, double r);
427 int movec(const CartesianPose &cart_via, const CartesianPose &cart,
428 double rad, double a, double v, double t, double r);
441 int speedj(double a, const std::vector<double> &v, double t = 0.0);
457 int speedl(double a, const CartesianPose &v, double t = 0.0,
458 const CartesianPose &reference = {{"x", 0.0},
459 {"y", 0.0},
460 {"z", 0.0},
461 {"rx", 0.0},
462 {"ry", 0.0},
463 {"rz", 0.0}});
485 int towardj(const std::vector<double> &joint_positions, double a, double v,
486 double t, double r);
495 void move_pvat(std::vector<double> p, std::vector<double> v,
496 std::vector<double> a, double t);
502 void wait_move(unsigned int id);
507 void wait_move();
511 unsigned int get_running_motion();
517 std::string get_motion_state(unsigned int id);
521 void stop_move();
571
583 bool is_down();
589 std::vector<double> get_actual_joint_positions();
595 std::vector<double> get_target_joint_positions();
601 std::vector<double> get_actual_joint_speed();
602 // get_target_joint_speed
608 std::vector<double> get_target_joint_speed();
615 CartesianPose get_actual_tcp_pose();
622 CartesianPose get_target_tcp_pose();
623
630 double get_joint_temp(unsigned int joint_index);
631
637 std::vector<double> get_actual_joint_torques();
643 std::vector<double> get_target_joint_torques();
644
667 void set_do(std::string device, unsigned int pin, unsigned int value);
675 unsigned int get_do(std::string device, unsigned int pin);
684 std::vector<unsigned int> get_dos(std::string device, unsigned int pin,
685 unsigned int num);
693 unsigned int get_di(std::string device, unsigned int pin);
702 std::vector<unsigned int> get_dis(std::string device, unsigned int pin,
703 unsigned int num);
704
712 void set_ao(std::string device, unsigned int pin, double value);
720 double get_ao(std::string device, unsigned int pin);
729 std::vector<double> get_aos(std::string device, unsigned int pin,
730 unsigned int num);
738 double get_ai(std::string device, unsigned int pin);
747 std::vector<double> get_ais(std::string device, unsigned int pin,
748 unsigned int num);
757 void set_dio_mode(std::string device, unsigned int pin, bool value);
766 std::vector<bool> get_dios_mode(std::string device, unsigned int pin,
767 unsigned int count);
778 void init_claw(bool force_initilization);
786 void set_claw(double force, double amplitude);
787
808 void set_led(unsigned int mode, unsigned int speed,
809 const std::vector<unsigned int> &color);
816 void set_voice(unsigned int voice, unsigned int volume);
822 void set_fan(unsigned int status);
835 void set_signal(unsigned int index, int value);
842 int get_signal(unsigned int index);
849 void add_signal(unsigned int index, int value);
867 unsigned int start_task(const std::string &name,
868 const std::vector<std::string> &params,
869 const std::string &dir, bool is_parallel,
870 unsigned int loop_to);
876 unsigned int start_task(const std::string &name);
880 std::vector<unsigned int> get_task_list();
887 std::string wait_task(unsigned int id);
895 void pause_task(unsigned int id, unsigned long time, bool wait);
900 void pause_task(unsigned int id);
906 void resume_task(unsigned int id);
912 void cancel_task(unsigned int id);
918 unsigned int exec_hook(unsigned int id);
922 std::string get_task_state();
928 std::string get_task_state(unsigned int id);
941 const std::vector<double> &joint_positions);
942
950 const CartesianPose &pose,
951 const std::vector<double> &joint_init_positions = {});
952
960 CartesianPose pose_times(const CartesianPose &a, const CartesianPose &b);
961
968 CartesianPose pose_inverse(const CartesianPose &in);
982 void save_file(const std::string &dir, const std::string &name, bool is_dir,
983 const std::string &data);
992 void rename_file(const std::string &from_dir, const std::string &from_name,
993 const std::string &to_dir, const std::string &to_name);
994
1003 std::tuple<bool, std::string> load_file(const std::string &dir,
1004 const std::string &name);
1005
1015 std::vector<std::tuple<bool, std::string>> load_file_list(
1016 const std::string &dir, const std::string &prefix,
1017 const std::string &suffix);
1026 // void zip(const std::string &from_dir, std::vector<std::string> files, const
1027 // std::string &to_dir, const std::string &name);
1028 // /**
1029 // * @brief 将zip文件解压到文件系统.
1030 // *
1031 // * @param from_dir zip文件的路径.
1032 // * @param name zip文件的名称.
1033 // * @param files zip文件内的文件名.
1034 // * @param to_dir 解压到的路径.
1035 // */
1036 // void unzip(const std::string &from_dir, const std::string &name,
1037 // std::vector<std::string> files, const std::string &to_dir);
1038 // /**
1039 // * @brief 查询文件列表.
1040 // *
1041 // * @brief 目标zip文件名.
1042 // * @param dir 文件的目录.
1043 // * @param prefix 前缀.
1044 // * @param suffix 后缀.
1045 // *
1046 // * @return 文件列表.
1047 // */
1048 // //std::vector<std::tuple<bool,string>> load_zip_list(const std::string
1049 // &zip,const std::string &dir,const std::string &prefix,const std::string
1050 // &suffix);
1051
1062 void set_tcp(std::array<double, 6> tcp);
1068 std::array<double, 6> get_tcp();
1074 void set_velocity_factor(int factor);
1087 void set_payload(double mass, std::map<std::string, double> cog);
1093 void set_payload_mass(double mass);
1099 void set_payload_cog(std::map<std::string, double> cog);
1105 std::map<std::string, double> get_payload();
1111 void set_gravity(std::map<std::string, double> gravity);
1117 std::map<std::string, double> get_gravity();
1124 CartesianPose load_tcp(std::string name, std::string dir = "");
1138 void write_single_coil(std::string device, std::string addr, bool value);
1139
1147 void wirte_multiple_coils(std::string device, std::string addr,
1148 std::vector<bool> values);
1149
1157 std::vector<bool> read_coils(std::string device, std::string addr,
1158 unsigned int num);
1166 std::vector<bool> read_discrete_inputs(std::string device, std::string addr,
1167 unsigned int num);
1168
1176 void write_single_register(std::string device, std::string addr,
1177 unsigned int value);
1185 void write_multiple_registers(std::string device, std::string addr,
1186 std::vector<unsigned int> values);
1187
1195 std::vector<unsigned int> read_holding_registers(std::string device,
1196 std::string addr,
1197 unsigned int num);
1205 std::vector<unsigned int> read_input_registers(std::string device,
1206 std::string addr,
1207 unsigned int num);
1220 void set_serial_baud_rate(std::string device, unsigned int baud_rate);
1228 void set_serial_parity(std::string device, unsigned int parity);
1246 StorageItem get_item(std::string name);
1253 std::vector<StorageItem> get_items(std::string prefix);
1256 protected:
1257 std::unique_ptr<RobotImpl> impl_;
1258};
1259
1260} // namespace l_master
1261
1262} // namespace lebai
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.
Definition robot.hh:118
std::unique_ptr< RobotImpl > impl_
Definition robot.hh:1257
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.
virtual ~Robot()
析构Robot对象.
Robot(std::string ip, bool simulator=false)
构造Robot对象.
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。
ClawData get_claw_data()
获取夹爪当前数据
void init_claw(bool force_initilization)
初始化夹爪
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.
int get_velocity_factor()
获取当前的速度因子.
void set_payload_cog(std::map< std::string, double > cog)
设置机器人末端负载重心.
void set_gravity(std::map< std::string, double > gravity)
设置机器人重力加速度方向.
std::map< std::string, double > get_gravity()
获取机器人重力加速度的方向.
CartesianPose load_tcp(std::string name, std::string dir="")
从资源库加载tcp.
void set_payload(double mass, std::map< std::string, double > cog)
设置机器人末端负载.
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.
std::array< double, 6 > get_tcp()
获取当前机器人工具中心点设置.
void set_velocity_factor(int factor)
设置速度因子.
std::map< std::string, double > get_payload()
获取末端负载设置.
void set_payload_mass(double mass)
设置机器人末端负载质量.
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
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.
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).
std::tuple< bool, std::string > load_file(const std::string &dir, const std::string &name)
查询文件
void set_do(std::string device, unsigned int pin, unsigned int value)
设置数字输出
std::vector< double > get_aos(std::string device, unsigned int pin, unsigned int num)
获取多个模拟输出
double get_ai(std::string device, unsigned int pin)
获取模拟输入
unsigned int get_do(std::string device, unsigned int pin)
获取数字输出
std::vector< unsigned int > get_dis(std::string device, unsigned int pin, unsigned int num)
获取多个数字输入
std::vector< double > get_ais(std::string device, unsigned int pin, unsigned int num)
获取多个模拟输入
std::vector< bool > get_dios_mode(std::string device, unsigned int pin, unsigned int count)
获取数字端口模式
unsigned int get_di(std::string device, unsigned int pin)
获取数字输入
void set_ao(std::string device, unsigned int pin, double value)
设置模拟输出
std::vector< unsigned int > get_dos(std::string device, unsigned int pin, unsigned int num)
获取多个数字输出
double get_ao(std::string device, unsigned int pin)
获取模拟输出
void set_dio_mode(std::string device, unsigned int pin, bool value)
设置数字端口模式
void set_fan(unsigned int status)
开关风扇
void set_voice(unsigned int voice, unsigned int volume)
设置声音
void set_led(unsigned int mode, unsigned int speed, const std::vector< unsigned int > &color)
设置LED灯状态.
std::vector< bool > read_discrete_inputs(std::string device, std::string addr, unsigned int num)
读离散输入
void wirte_multiple_coils(std::string device, std::string addr, std::vector< bool > values)
写多个线圈
std::vector< unsigned int > read_holding_registers(std::string device, std::string addr, unsigned int num)
读保持寄存器
std::vector< unsigned int > read_input_registers(std::string device, std::string addr, unsigned int num)
读输入寄存器
std::vector< bool > read_coils(std::string device, std::string addr, unsigned int num)
读线圈
void write_single_coil(std::string device, std::string addr, bool value)
写单个线圈.
void write_multiple_registers(std::string device, std::string addr, std::vector< unsigned int > values)
写多个寄存器
void write_single_register(std::string device, std::string addr, unsigned int value)
写单个寄存器
std::string get_motion_state(unsigned int id)
查询指定MotionId的运动状态.
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}})
通过坐标速度矢量发送机械臂关节匀速运动
int movej(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
int towardj(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.
int movel(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
int movec(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.
void move_pvat(std::vector< double > p, std::vector< double > v, std::vector< double > a, double t)
伺服运动PVAT
int movel(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
void stop_move()
停止所有运动.
int movec(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
void wait_move(unsigned int id)
等待运动完成.
void wait_move()
等待所有运动完成.
int speedj(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
unsigned int get_running_motion()
查询当前正在运动的MotionId(无运动时返回上次MotionId).
int movej(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
KinematicsInverseResp kinematics_inverse(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).
CartesianPose pose_times(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)
KinematicsForwardResp kinematics_forward(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).
CartesianPose pose_inverse(const CartesianPose &in)
位姿变换的逆(等价于对应的齐次坐标矩的逆)
void cancel_task(unsigned int id)
取消任务与运动.
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
unsigned int start_task(const std::string &name)
调用场景
unsigned int exec_hook(unsigned int id)
根据已设置的Hook执行对应场景
std::string wait_task(unsigned int id)
等待任务完成
std::string get_task_state(unsigned int id)
获取任务状态.
void pause_task(unsigned int id, unsigned long time, bool wait)
暂停任务与运动
void resume_task(unsigned int id)
恢复任务与运动
std::string get_task_state()
获取任务状态.
void pause_task(unsigned int id)
暂停任务与运动
std::vector< unsigned int > get_task_list()
查询任务列表
void set_serial_parity(std::string device, unsigned int parity)
设置串口校验位.
void set_serial_baud_rate(std::string device, unsigned int baud_rate)
设置串口波特率.
int get_signal(unsigned int index)
获取信号量
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.
void set_signal(unsigned int index, int value)
设置信号量
void estop()
紧急停止(急停).
void teach_mode()
进入示教模式.
void start_sys()
启动机械臂(机械臂上使能).
void resume()
恢复运动.
void stop()
停止运动(但不下电).
void end_teach_mode()
退出示教模式.
void powerdown()
关闭机器人电源(关机).
void stop_sys()
停止机械臂(机械臂下使能).
void pause()
暂停运动.
void reboot()
重新启动机箱
std::vector< double > get_target_joint_speed()
获取机械臂关节当前控制力矩
PhysicalData get_phy_data()
获取机械臂物理数据
std::vector< double > get_target_joint_positions()
获取机械臂关节当前控制位置
int get_robot_state()
获取机器人状态码
int get_estop_reason()
查看急停原因
bool is_disconnected()
是否已与手臂断开连接
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,...
JointMotionData get_kin_data()
获取机械臂关节运动数据
bool is_down()
手臂是否已下电
std::vector< double > get_actual_joint_speed()
获取机械臂关节当前反馈速度
std::vector< double > get_actual_joint_torques()
获取机械臂关节当前反馈力矩
std::vector< double > get_actual_joint_positions()
获取机械臂关节当前反馈位置
double get_joint_temp(unsigned int joint_index)
获取单个关节温度
std::vector< double > get_target_joint_torques()
获取机械臂关节当前控制力矩
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,...
std::vector< StorageItem > get_items(std::string prefix)
获取存储项列表.
void set_item(StorageItem item)
设置存储项.
StorageItem get_item(std::string name)
获取存储项.
Definition discovery.hh:23
夹爪数据结构.
Definition robot.hh:67
double amplitude
Definition robot.hh:69
bool hold_on
Definition robot.hh:70
double force
Definition robot.hh:68
机械臂关节运动数据结构.
Definition robot.hh:96
CartesianPose actual_tcp_pose
Definition robot.hh:105
DoubleVector target_joint_speed
Definition robot.hh:102
DoubleVector target_joint_pose
Definition robot.hh:101
DoubleVector actual_joint_speed
Definition robot.hh:98
DoubleVector actual_joint_acc
Definition robot.hh:99
CartesianPose target_tcp_pose
Definition robot.hh:106
DoubleVector actual_joint_torque
Definition robot.hh:100
DoubleVector target_joint_acc
Definition robot.hh:103
DoubleVector target_joint_torque
Definition robot.hh:104
DoubleVector actual_joint_pose
Definition robot.hh:97
CartesianPose actual_flange_pose
Definition robot.hh:107
运动学正解的返回值数据结构.
Definition robot.hh:44
bool ok
Definition robot.hh:49
CartesianPose pose
Definition robot.hh:46
运动学逆解的返回值数据结构
Definition robot.hh:55
bool ok
Definition robot.hh:60
DoubleVector joint_positions
Definition robot.hh:57
机械臂物理数据结构.
Definition robot.hh:86
DoubleVector joint_temperature
Definition robot.hh:87
DoubleVector joint_voltage
Definition robot.hh:88
double flange_voltage
Definition robot.hh:89
存储项数据结构.
Definition robot.hh:77
std::string key
Definition robot.hh:78
std::string value
Definition robot.hh:79