sas::RobotDriverCoppeliaSim Class Reference

RobotDriver for CoppeliaSim via ZMQ. More...

#include <sas_robot_driver_coppeliasim.hpp>

Inheritance diagram for sas::RobotDriverCoppeliaSim:

Public Member Functions
	RobotDriverCoppeliaSim (const RobotDriverCoppeliaSim &)=delete
	RobotDriverCoppeliaSim (const RobotDriverCoppeliaSimConfiguration &configuration, std::atomic_bool *break_loops)
	Constructs the driver.
VectorXd	get_joint_positions () override
	Returns current joint positions in radians.
void	set_target_joint_positions (const VectorXd &desired_joint_positions_rad) override
	Sets joint positions and target joint positions.
std::tuple< VectorXd, VectorXd >	get_joint_limits () override
	Returns joint position limits.
void	connect () override
	Connects to the CoppeliaSim instance.
void	disconnect () override
	Disconnects from the CoppeliaSim instance.
void	initialize () override
	Initializes the driver state.
void	deinitialize () override
	Deinitializes the driver state.
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.
void	set_control_loop_callback (std::function< void()> callback)
	Set the control loop callback function.
void	execute_control_loop_callback ()
	Execute the control loop callback if it has been set.
bool	control_loop_callback_is_set ()
	Check if a control loop callback has been set.

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_
std::function< void()>	control_loop_callback_

Detailed Description

RobotDriver for CoppeliaSim via ZMQ.

Constructor & Destructor Documentation

RobotDriverCoppeliaSim()

sas::RobotDriverCoppeliaSim::RobotDriverCoppeliaSim	(	const RobotDriverCoppeliaSimConfiguration &	configuration,
		std::atomic_bool *	break_loops )

Constructs the driver.

Parameters

configuration	Driver configuration parameters.
break_loops	Pointer to the loop-breaking flag.

Member Function Documentation

connect()

void sas::RobotDriverCoppeliaSim::connect ( )

overridevirtual

Connects to the CoppeliaSim instance.

Throws std::runtime_error if the connection attempt fails.

Implements sas::RobotDriver.

deinitialize()

void sas::RobotDriverCoppeliaSim::deinitialize ( )

overridevirtual

Deinitializes the driver state.

Implements sas::RobotDriver.

disconnect()

void sas::RobotDriverCoppeliaSim::disconnect ( )

overridevirtual

Disconnects from the CoppeliaSim instance.

Implements sas::RobotDriver.

get_joint_limits()

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

overridevirtual

Returns joint position limits.

Returns

Tuple of (min, max) joint position vectors.

Joint limits are queried from the simulator when available. For cyclic joints, limits are set to the representable float range.

Returns

Tuple of (min, max) joint position vectors in radians.

Reimplemented from sas::RobotDriver.

get_joint_positions()

VectorXd sas::RobotDriverCoppeliaSim::get_joint_positions ( )

overridevirtual

Returns current joint positions in radians.

Returns

Joint positions as a VectorXd.

Throws if the interface is in an invalid state (e.g., not connected).

Returns

Joint positions as a VectorXd.

Implements sas::RobotDriver.

initialize()

void sas::RobotDriverCoppeliaSim::initialize ( )

overridevirtual

Initializes the driver state.

Reads the initial joint positions to ensure the internal state is valid before the control loop begins.

Implements sas::RobotDriver.

set_target_joint_positions()

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

overridevirtual

Sets joint positions and target joint positions.

Parameters

desired_joint_positions_rad

Desired joint positions in radians.

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