KUKA::FRI::LBRState Class Reference

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

#include <friLBRState.h>

Collaboration diagram for KUKA::FRI::LBRState:

Public Types
enum	{ NUMBER_OF_JOINTS = 7 }

Public Member Functions
double	getSampleTime () const
	Get the sample time in seconds.
ESessionState	getSessionState () const
	Get the current FRI session state.
EConnectionQuality	getConnectionQuality () const
	Get the current FRI connection quality.
ESafetyState	getSafetyState () const
	Get the current safety state of the KUKA Sunrise controller.
EOperationMode	getOperationMode () const
	Get the current operation mode of the KUKA Sunrise controller.
EDriveState	getDriveState () const
	Get the accumulated drive state over all drives of the KUKA LBR controller.
EClientCommandMode	getClientCommandMode () const
	Get the client command mode specified by the client.
EOverlayType	getOverlayType () const
	Get the overlay type specified by the client.
EControlMode	getControlMode () const
	Get the control mode of the KUKA LBR robot.
unsigned int	getTimestampSec () const
	Get the timestamp of the current robot state in Unix time.
unsigned int	getTimestampNanoSec () const
	Get the nanoseconds elapsed since the last second (in Unix time).
const double *	getMeasuredJointPosition () const
	Get the currently measured joint positions of the robot.
const double *	getCommandedJointPosition () const
	Get the last commanded joint positions of the robot.
const double *	getMeasuredTorque () const
	Get the currently measured joint torques of the robot.
const double *	getCommandedTorque () const
	Get the last commanded joint torques of the robot.
const double *	getExternalTorque () const
	Get the currently measured external joint torques of the robot.
const double *	getIpoJointPosition () const
	Get the joint positions commanded by the interpolator.
double	getTrackingPerformance () const
	Get an indicator for the current tracking performance of the commanded robot.
bool	getBooleanIOValue (const char *name) const
	Get boolean IO value.
unsigned long long	getDigitalIOValue (const char *name) const
	Get digital IO value.
double	getAnalogIOValue (const char *name) const
	Get analog IO value.

Protected Attributes
FRIMonitoringMessage *	_message
	FRI monitoring message (protobuf struct)

Static Protected Attributes
static const int	LBRMONITORMESSAGEID = 0x245142
	type identifier for the FRI monitoring message corresponding to a KUKA LBR robot

Friends
class	LBRClient

Detailed Description

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

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
NUMBER_OF_JOINTS	number of axes of the KUKA LBR robot

Member Function Documentation

getAnalogIOValue()

double LBRState::getAnalogIOValue

(

const char *

name

)

const

Get analog IO value.

Exceptions

FRIException

May throw an FRIException if the IO is of wrong type or unknown.

Parameters

name	Full name of the IO (Syntax "IOGroupName.IOName").

Returns

Returns IO's analog value.

getBooleanIOValue()

bool LBRState::getBooleanIOValue

(

const char *

name

)

const

Get boolean IO value.

Exceptions

FRIException

May throw an FRIException if the IO is of wrong type or unknown.

Parameters

name	Full name of the IO (Syntax "IOGroupName.IOName").

Returns

Returns IO's boolean value.

getClientCommandMode()

EClientCommandMode LBRState::getClientCommandMode

(

)

const

Get the client command mode specified by the client.

Returns

the client command mode specified by the client.

getCommandedJointPosition()

const double * LBRState::getCommandedJointPosition

(

)

const

Get the last commanded joint positions of the robot.

Returns

array of the commanded joint positions in radians

getCommandedTorque()

const double * LBRState::getCommandedTorque

(

)

const

Get the last commanded joint torques of the robot.

Returns

array of the commanded torques in Nm

getConnectionQuality()

EConnectionQuality LBRState::getConnectionQuality

(

)

const

Get the current FRI connection quality.

Returns

current FRI connection quality

getControlMode()

EControlMode LBRState::getControlMode

(

)

const

Get the control mode of the KUKA LBR robot.

Returns

current control mode of the KUKA LBR robot.

getDigitalIOValue()

unsigned long long LBRState::getDigitalIOValue

(

const char *

name

)

const

Get digital IO value.

Exceptions

FRIException

May throw an FRIException if the IO is of wrong type or unknown.

Parameters

name	Full name of the IO (Syntax "IOGroupName.IOName").

Returns

Returns IO's digital value.

getDriveState()

EDriveState LBRState::getDriveState

(

)

const

Get the accumulated drive state over all drives of the KUKA LBR controller.

If the drive states differ between drives, the following rule applies: 1) The drive state is OFF if all drives are OFF. 2) The drive state is ACTIVE if all drives are ACTIVE. 3) otherwise the drive state is TRANSITIONING.

Returns

accumulated drive state

getExternalTorque()

const double * LBRState::getExternalTorque

(

)

const

Get the currently measured external joint torques of the robot.

The external torques corresponds to the measured torques when removing the torques induced by the robot itself.

Returns

array of the external torques in Nm

getIpoJointPosition()

const double * LBRState::getIpoJointPosition

(

)

const

Get the joint positions commanded by the interpolator.

When commanding a motion overlay in your robot application, this method will give access to the joint positions currently commanded by the motion interpolator.

Exceptions

FRIException

This method will throw an FRIException during monitoring mode.

Returns

array of the ipo joint positions in radians

getMeasuredJointPosition()

const double * LBRState::getMeasuredJointPosition

(

)

const

Get the currently measured joint positions of the robot.

Returns

array of the measured joint positions in radians

getMeasuredTorque()

const double * LBRState::getMeasuredTorque

(

)

const

Get the currently measured joint torques of the robot.

Returns

array of the measured torques in Nm

getOperationMode()

EOperationMode LBRState::getOperationMode

(

)

const

Get the current operation mode of the KUKA Sunrise controller.

Returns

current operation mode

getOverlayType()

EOverlayType LBRState::getOverlayType

(

)

const

Get the overlay type specified by the client.

Returns

the overlay type specified by the client.

getSafetyState()

ESafetyState LBRState::getSafetyState

(

)

const

Get the current safety state of the KUKA Sunrise controller.

Returns

current safety state

getSampleTime()

double LBRState::getSampleTime

(

)

const

Get the sample time in seconds.

This is the period in which the KUKA Sunrise controller is sending FRI packets.

Returns

sample time in seconds

getSessionState()

ESessionState LBRState::getSessionState

(

)

const

Get the current FRI session state.

Returns

current FRI session state

getTimestampNanoSec()

unsigned int LBRState::getTimestampNanoSec

(

)

const

Get the nanoseconds elapsed since the last second (in Unix time).

This method complements getTimestampSec() to get a high resolution timestamp.

Returns

timestamp encoded as Unix time (nanoseconds part)

getTimestampSec()

unsigned int LBRState::getTimestampSec

(

)

const

Get the timestamp of the current robot state in Unix time.

This method returns the seconds since 0:00, January 1st, 1970 (UTC). Use getTimestampNanoSec() to increase your timestamp resolution when seconds are insufficient.

Returns

timestamp encoded as Unix time (seconds)

getTrackingPerformance()

double LBRState::getTrackingPerformance

(

)

const

Get an indicator for the current tracking performance of the commanded robot.

The tracking performance is an indicator on how well the commanded robot is able to follow the commands of the FRI client. The best possible value 1.0 is reached when the robot executes the given commands instantaneously. The tracking performance drops towards 0 when latencies are induced, e.g. when the commanded velocity, acceleration or jerk exceeds the capabilities of the robot. The tracking performance will always be 0 when the session state does not equal COMMANDING_ACTIVE.

Returns

current tracking performance

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

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