KUKA::FRI::ClientApplication Class Reference

FRI client application class. More...

#include <friClientApplication.h>

Collaboration diagram for KUKA::FRI::ClientApplication:

Public Member Functions
	ClientApplication (IConnection &connection, IClient &client)
	Constructor without transformation client.
	ClientApplication (IConnection &connection, IClient &client, TransformationClient &trafoClient)
	Constructor with transformation client.
	~ClientApplication ()
	Destructor.
bool	connect (int port, const char *remoteHost=NULL)
	Connect the FRI client application with a KUKA Sunrise controller.
void	disconnect ()
	Disconnect the FRI client application from a KUKA Sunrise controller.
bool	step ()
	Run a single processing step.

Protected Attributes
IConnection &	_connection
	connection interface
IClient *	_robotClient
	robot client interface
TransformationClient *	_trafoClient
	transformation client interface
ClientData *	_data
	client data structure (for internal use)

Detailed Description

FRI client application class.

A client application takes an instance of the IConnection interface and an instance of an IClient interface to provide the functionality needed to set up an FRI client application. It can be used to easily integrate the FRI client code within other applications. The algorithmic functionality of an FRI client application is implemented using the IClient interface.

Constructor & Destructor Documentation

ClientApplication() [1/2]

ClientApplication::ClientApplication	(	IConnection &	connection,
		IClient &	client
	)

Constructor without transformation client.

This constructor takes an instance of the IConnection interface and an instance of the IClient interface as parameters.

Parameters

connection	FRI connection class
client	FRI client class

ClientApplication() [2/2]

ClientApplication::ClientApplication	(	IConnection &	connection,
		IClient &	client,
		TransformationClient &	trafoClient
	)

Constructor with transformation client.

This constructor takes an instance of the IConnection interface and an instance of the IClient interface and an instance of a TransformationClient as parameters.

Parameters

connection	FRI connection class
client	FRI client class
trafoClient	FRI transformation client class

Member Function Documentation

connect()

bool ClientApplication::connect	(	int	port,
		const char *	remoteHost = NULL
	)

Connect the FRI client application with a KUKA Sunrise controller.

Parameters

port	The port ID
remoteHost	The address of the remote host

Returns

True if connection was established

step()

bool ClientApplication::step

(

)

Run a single processing step.

The processing step consists of receiving a new FRI monitoring message, calling the corresponding client callback and sending the resulting FRI command message back to the KUKA Sunrise controller.

Returns

True if all of the substeps succeeded.

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

• fri/FRI-Client-SDK_Cpp/include/friClientApplication.h
• fri/FRI-Client-SDK_Cpp/src/base/friClientApplication.cpp