sas::RobotDriverCoppeliaSim Class Reference

Inheritance diagram for sas::RobotDriverCoppeliaSim:

Public Member Functions
	RobotDriverCoppeliaSim (const RobotDriverCoppeliaSim &)=delete
	RobotDriverCoppeliaSim (const RobotDriverCoppeliaSimConfiguration &configuration, std::atomic_bool *break_loops)
VectorXd	get_joint_positions () override
	RobotDriverMyrobot::get_joint_positions This method should always throw an exception if the user tries to obtain the joint positions in an invalid state.
void	set_target_joint_positions (const VectorXd &desired_joint_positions_rad) override
	RobotDriverCoppeliaSim::set_target_joint_positions Sets the joint positions and the target joint positions of the joints given in the configuration file.
std::tuple< VectorXd, VectorXd >	get_joint_limits () override
	Get joint limits (min, max)
void	connect () override
	RobotDriverCoppeliaSim::connect.
void	disconnect () override
	RobotDriverCoppeliaSim::disconnect Disconnects from CoppeliaSim.
void	initialize () override
	RobotDriverCoppeliaSim::initialize.
void	deinitialize () override
	RobotDriverCoppeliaSim::deinitialize. Nothing to do.
Public Member Functions inherited from sas::RobotDriver
	~RobotDriver ()
	Virtual destructor for RobotDriver.
virtual VectorXd	get_joint_velocities ()
	Get current joint velocities.
virtual void	set_target_joint_velocities (const VectorXd &set_target_joint_velocities)
	Set target joint velocities.
virtual VectorXd	get_joint_torques ()
	Get current joint torques.
virtual void	set_target_joint_torques (const VectorXd &set_target_joint_torques)
	Set target joint torques.
virtual void	set_joint_limits (const std::tuple< VectorXd, VectorXd > &joint_limits)
	Set joint limits (min, max)
void	watchdog_start (const std::chrono::nanoseconds &period)
	Start the watchdog thread with the given period.
void	watchdog_trigger (const std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds > &time_point_from_the_client, const std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds > &time_point_from_the_server, const bool &status)
	Trigger the watchdog with timestamps from client/server and the current status.
void	watchdog_set_maximum_acceptable_delay (const double &max_acceptable_delay)
	Set the maximum acceptable delay for the watchdog (seconds)
void	check_for_watchdog_exceptions ()
	Check for exceptions thrown by the watchdog thread and rethrow if present.

Additional Inherited Members
Public Types inherited from sas::RobotDriver
enum class	Functionality {   None =0 , PositionControl , VelocityControl , ForceControl ,   Homing , ClearPositions , Watchdog }
	Enumeration of optional driver functionalities.
Protected Member Functions inherited from sas::RobotDriver
void	_watchdog_thread_function ()
	RobotDriver::_watchdog_thread_function throws an exception if the elapsed time since the last trigger exceeds the specified period.
	RobotDriver (const std::shared_ptr< ShutdownSignaler > &shutdown_signaler_)
	RobotDriver (std::atomic_bool *break_loops)
	RobotDriver (const RobotDriver &)=delete
Protected Attributes inherited from sas::RobotDriver
std::atomic_bool *	break_loops_
std::shared_ptr< ShutdownSignaler >	shutdown_signaler_
std::tuple< VectorXd, VectorXd >	joint_limits_
VectorXd	joint_velocities_
VectorXd	joint_torques_
std::unique_ptr< sas::Clock >	clock_
std::unique_ptr< std::thread >	watchdog_thread_
std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds >	time_point_from_the_client_
std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds >	time_point_from_the_server_
bool	watchdog_status_
std::mutex	mutex_watchdog_
double	max_acceptable_delay_ = 0.1
double	watchdog_period_
std::exception_ptr	watchdog_exception_ {nullptr}
std::mutex	watchdog_exception_mutex_

Member Function Documentation

connect()

void sas::RobotDriverCoppeliaSim::connect ( )

overridevirtual

RobotDriverCoppeliaSim::connect.

Connect to CoppeliaSim with the necessary information given in the configuration file.

Implements sas::RobotDriver.

deinitialize()

void sas::RobotDriverCoppeliaSim::deinitialize ( )

overridevirtual

RobotDriverCoppeliaSim::deinitialize. Nothing to do.

Implements sas::RobotDriver.

disconnect()

void sas::RobotDriverCoppeliaSim::disconnect ( )

overridevirtual

RobotDriverCoppeliaSim::disconnect Disconnects from CoppeliaSim.

Implements sas::RobotDriver.

get_joint_limits()

std::tuple< VectorXd, VectorXd > sas::RobotDriverCoppeliaSim::get_joint_limits ( )

overridevirtual

Get joint limits (min, max)

Returns

Tuple of (min_limits, max_limits)

Reimplemented from sas::RobotDriver.

get_joint_positions()

VectorXd sas::RobotDriverCoppeliaSim::get_joint_positions ( )

overridevirtual

RobotDriverMyrobot::get_joint_positions This method should always throw an exception if the user tries to obtain the joint positions in an invalid state.

Everything below this line is an override the concrete implementations are needed

One useful way of defining that is with a VectorXd(), which has by default size zero until it is initialized.

Returns

a VectorXd representing the configuration space in radians.

Implements sas::RobotDriver.

initialize()

void sas::RobotDriverCoppeliaSim::initialize ( )

overridevirtual

RobotDriverCoppeliaSim::initialize.

Gets the initial joint positions state. This will guarantee that future requests make sense as long as connection is still alive.

Implements sas::RobotDriver.

set_target_joint_positions()

void sas::RobotDriverCoppeliaSim::set_target_joint_positions ( const VectorXd &  desired_joint_positions_rad )

overridevirtual

RobotDriverCoppeliaSim::set_target_joint_positions Sets the joint positions and the target joint positions of the joints given in the configuration file.

Parameters

desired_joint_positions_rad

Implements sas::RobotDriver.

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

• src/sas_robot_driver_coppeliasim/include/sas_robot_driver_coppeliasim/sas_robot_driver_coppeliasim.hpp
• src/sas_robot_driver_coppeliasim/src/sas_robot_driver_coppeliasim.cpp