sas::RobotDriverPy Class Reference

Inheritance diagram for sas::RobotDriverPy:

Public Member Functions
	RobotDriverPy (const std::shared_ptr< ShutdownSignaler > &ss)
VectorXd	get_joint_positions () override
	Get current joint positions.
void	set_target_joint_positions (const VectorXd &set_target_joint_positions_rad) override
	Set target joint positions.
VectorXd	get_joint_velocities () override
	Get current joint velocities.
void	set_target_joint_velocities (const VectorXd &set_target_joint_velocities) override
	Set target joint velocities.
VectorXd	get_joint_torques () override
	Get current joint torques.
void	set_target_joint_torques (const VectorXd &set_target_joint_torques) override
	Set target joint torques.
void	set_joint_limits (const std::tuple< VectorXd, VectorXd > &joint_limits) override
	Set joint limits (min, max).
void	connect () override
	Connect to the underlying robot/hardware.
void	disconnect () override
	Disconnect from the underlying robot/hardware.
void	initialize () override
	Initialize the driver resources.
void	deinitialize () override
	Deinitialize the driver resources.
Public Member Functions inherited from sas::RobotDriver
	~RobotDriver ()
	Virtual destructor for RobotDriver.
virtual std::tuple< VectorXd, VectorXd >	get_joint_limits ()
	Get 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_

Member Function Documentation

connect()

void sas::RobotDriverPy::connect ( )

inlineoverridevirtual

Connect to the underlying robot/hardware.

Implements sas::RobotDriver.

deinitialize()

void sas::RobotDriverPy::deinitialize ( )

inlineoverridevirtual

Deinitialize the driver resources.

Implements sas::RobotDriver.

disconnect()

void sas::RobotDriverPy::disconnect ( )

inlineoverridevirtual

Disconnect from the underlying robot/hardware.

Implements sas::RobotDriver.

get_joint_positions()

VectorXd sas::RobotDriverPy::get_joint_positions ( )

inlineoverridevirtual

Get current joint positions.

Returns

Vector of joint positions (radians)

Implements sas::RobotDriver.

get_joint_torques()

VectorXd sas::RobotDriverPy::get_joint_torques ( )

inlineoverridevirtual

Get current joint torques.

Returns

Vector of joint torques

Exceptions

std::runtime_error

if the default implementation is called (not implemented by derived driver)

Reimplemented from sas::RobotDriver.

get_joint_velocities()

VectorXd sas::RobotDriverPy::get_joint_velocities ( )

inlineoverridevirtual

Get current joint velocities.

Returns

Vector of joint velocities

Exceptions

std::runtime_error

if the default implementation is called (not implemented by derived driver)

Reimplemented from sas::RobotDriver.

initialize()

void sas::RobotDriverPy::initialize ( )

inlineoverridevirtual

Initialize the driver resources.

Implements sas::RobotDriver.

set_joint_limits()

void sas::RobotDriverPy::set_joint_limits ( const std::tuple< VectorXd, VectorXd > & joint_limits )

inlineoverridevirtual

Set joint limits (min, max).

Parameters

joint_limits

Tuple of (min_limits, max_limits)

Reimplemented from sas::RobotDriver.

set_target_joint_positions()

void sas::RobotDriverPy::set_target_joint_positions ( const VectorXd & set_target_joint_positions_rad )

inlineoverridevirtual

Set target joint positions.

Parameters

set_target_joint_positions_rad

Target joint positions (radians)

Implements sas::RobotDriver.

set_target_joint_torques()

void sas::RobotDriverPy::set_target_joint_torques ( const VectorXd & set_target_joint_torques )

inlineoverridevirtual

Set target joint torques.

Parameters

set_target_joint_torques

Target joint torques

Exceptions

std::runtime_error

if the default implementation is called (not implemented by derived driver)

Reimplemented from sas::RobotDriver.

set_target_joint_velocities()

void sas::RobotDriverPy::set_target_joint_velocities ( const VectorXd & set_target_joint_velocities )

inlineoverridevirtual

Set target joint velocities.

Parameters

set_target_joint_velocities

Target joint velocities

Exceptions

std::runtime_error

if the default implementation is called (not implemented by derived driver)

Reimplemented from sas::RobotDriver.

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

• src/sas_core/src/sas_robot_driver_py.cpp