KUKA::FRI::LBRCommand Class Reference

Wrapper class for the FRI command message for a KUKA LBR (leightweight) robot. More...

#include <friLBRCommand.h>

Collaboration diagram for KUKA::FRI::LBRCommand:

Public Member Functions
void	setJointPosition (const double *values)
	Set the joint positions for the current interpolation step.
void	setWrench (const double *wrench)
	Set the applied wrench vector of the current interpolation step.
void	setTorque (const double *torques)
	Set the applied joint torques for the current interpolation step.
void	setBooleanIOValue (const char *name, const bool value)
	Set boolean output value.
void	setDigitalIOValue (const char *name, const unsigned long long value)
	Set digital output value.
void	setAnalogIOValue (const char *name, const double value)
	Set analog output value.

Protected Attributes
FRICommandMessage *	_cmdMessage
	FRI command message (protobuf struct)
FRIMonitoringMessage *	_monMessage
	FRI monitoring message (protobuf struct)

Static Protected Attributes
static const int	LBRCOMMANDMESSAGEID = 0x34001
	type identifier for the FRI command message corresponding to a KUKA LBR robot

Friends
class	LBRClient

Detailed Description

Wrapper class for the FRI command message for a KUKA LBR (leightweight) robot.

Member Function Documentation

setAnalogIOValue()

void LBRCommand::setAnalogIOValue	(	const char *	name,
		const double	value
	)

Set analog output value.

Exceptions

FRIException	Throws a FRIException if more outputs are set than can be registered.
FRIException	May throw an FRIException if the IO is of wrong type, unknown or not an output.

Parameters

name	Full name of the IO (Syntax "IOGroupName.IOName").
value	Analog value to set.

setBooleanIOValue()

void LBRCommand::setBooleanIOValue	(	const char *	name,
		const bool	value
	)

Set boolean output value.

Exceptions

FRIException	Throws a FRIException if more outputs are set than can be registered.
FRIException	May throw an FRIException if the IO is of wrong type, unknown or not an output.

Parameters

name	Full name of the IO (Syntax "IOGroupName.IOName").
value	Boolean value to set.

setDigitalIOValue()

void LBRCommand::setDigitalIOValue	(	const char *	name,
		const unsigned long long	value
	)

Set digital output value.

Exceptions

FRIException	Throws a FRIException if more outputs are set than can be registered.
FRIException	May throw an FRIException if the IO is of wrong type, unknown or not an output.

Parameters

name	Full name of the IO (Syntax "IOGroupName.IOName").
value	Digital value to set.

setJointPosition()

void LBRCommand::setJointPosition

(

const double *

values

)

Set the joint positions for the current interpolation step.

This method is only effective when the client is in a commanding state.

Parameters

values

Array with the new joint positions (in rad)

setTorque()

void LBRCommand::setTorque

(

const double *

torques

)

Set the applied joint torques for the current interpolation step.

This method is only effective when the client is in a commanding state. The ControlMode of the robot has to be joint impedance control mode. The Client Command Mode has to be torque.

Parameters

torques

Array with the applied torque values (in Nm)

setWrench()

void LBRCommand::setWrench

(

const double *

wrench

)

Set the applied wrench vector of the current interpolation step.

The wrench vector consists of: [F_x, F_y, F_z, tau_A, tau_B, tau_C]

F ... forces (in N) applied along the Cartesian axes of the currently used motion center. tau ... torques (in Nm) applied along the orientation angles (Euler angles A, B, C) of the currently used motion center.

This method is only effective when the client is in a commanding state. The ControlMode of the robot has to be Cartesian impedance control mode. The Client Command Mode has to be wrench.

Parameters

wrench

Applied Cartesian wrench vector.

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

• fri/FRI-Client-SDK_Cpp/include/friLBRCommand.h
• fri/FRI-Client-SDK_Cpp/src/client_lbr/friLBRCommand.cpp