sas::RobotKinematicsClient Class Reference

Client for robot kinematics. More...

#include <sas_robot_kinematics_client.hpp>

Inheritance diagram for sas::RobotKinematicsClient:

Public Member Functions
	RobotKinematicsClient (const RobotKinematicsClient &)=delete
	RobotKinematicsClient (const std::shared_ptr< Node > &node, const std::string &topic_prefix)
	Construct a RobotKinematicsClient.
bool	is_enabled () const
	Check whether the client is enabled (subscribers/publishers active).
DQ	get_pose () const
	Get the last received robot pose.
DQ	get_reference_frame () const
	Get the last received reference frame pose.
void	send_desired_pose (const DQ &desired_pose) const
	Publish a desired pose for the robot.
void	send_desired_interpolator_speed (const double &interpolator_speed) const
	Publish a desired interpolator speed value.

Detailed Description

Client for robot kinematics.

Subscribes to the robot's current pose and reference frame, and provides methods to publish desired poses and desired interpolator speeds. The client tracks the most recently received pose and reference frame and exposes simple accessors to retrieve them.

Constructor & Destructor Documentation

RobotKinematicsClient()

sas::RobotKinematicsClient::RobotKinematicsClient	(	const std::shared_ptr< Node > &	node,
		const std::string &	topic_prefix )

Construct a RobotKinematicsClient.

Parameters

node	Shared pointer to the ROS2 node used for creating publishers/subscribers.
topic_prefix	Topic name prefix used for subscriptions and publications.

Member Function Documentation

get_pose()

DQ sas::RobotKinematicsClient::get_pose

(

)

const

Get the last received robot pose.

Returns

Current pose as a dual quaternion (DQ).

get_reference_frame()

DQ sas::RobotKinematicsClient::get_reference_frame

(

)

const

Get the last received reference frame pose.

Returns

Reference frame as a dual quaternion (DQ).

is_enabled()

bool sas::RobotKinematicsClient::is_enabled

(

)

const

Check whether the client is enabled (subscribers/publishers active).

Returns

true if enabled, false otherwise.

send_desired_interpolator_speed()

void sas::RobotKinematicsClient::send_desired_interpolator_speed

(

const double &

interpolator_speed

)

const

Publish a desired interpolator speed value.

Parameters

interpolator_speed

Desired interpolator speed (units depend on the consumer of this topic).

send_desired_pose()

void sas::RobotKinematicsClient::send_desired_pose

(

const DQ &

desired_pose

)

const

Publish a desired pose for the robot.

Parameters

desired_pose

Desired pose to publish (as DQ).

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

• src/sas_robot_kinematics/include/sas_robot_kinematics/sas_robot_kinematics_client.hpp
• src/sas_robot_kinematics/src/sas_robot_kinematics_client.cpp