lbr_fri_ros2::AsyncClient Class Reference

Inheritance diagram for lbr_fri_ros2::AsyncClient:

Collaboration diagram for lbr_fri_ros2::AsyncClient:

Public Member Functions
	AsyncClient (const KUKA::FRI::EClientCommandMode &client_command_mode, const double &joint_position_tau, const CommandGuardParameters &command_guard_parameters, const std::string &command_guard_variant, const StateGuardParameters &state_guard_parameters, const StateInterfaceParameters &state_interface_parameters={0.04, 0.04}, const bool &open_loop=true)
std::shared_ptr< BaseCommandInterface >	get_command_interface ()
std::shared_ptr< StateInterface >	get_state_interface ()
void	onStateChange (KUKA::FRI::ESessionState old_state, KUKA::FRI::ESessionState new_state) override
void	monitor () override
void	waitForCommand () override
void	command () override
Public Member Functions inherited from KUKA::FRI::LBRClient
const LBRState &	robotState () const
LBRCommand &	robotCommand ()

Protected Member Functions
void	on_enter_commanding_active_ ()
Protected Member Functions inherited from KUKA::FRI::IClient
virtual ClientData *	createData ()=0

Protected Attributes
std::shared_ptr< BaseCommandInterface >	command_interface_ptr_
std::shared_ptr< StateInterface >	state_interface_ptr_
StateGuard	on_enter_commanding_active_state_guard_
bool	open_loop_

Static Protected Attributes
static constexpr char	LOGGER_NAME [] = "lbr_fri_ros2::AsyncClient"

Member Function Documentation

command()

void lbr_fri_ros2::AsyncClient::command ( )

overridevirtual

Reimplemented from KUKA::FRI::LBRClient.

monitor()

void lbr_fri_ros2::AsyncClient::monitor ( )

overridevirtual

Reimplemented from KUKA::FRI::LBRClient.

onStateChange()

void lbr_fri_ros2::AsyncClient::onStateChange ( KUKA::FRI::ESessionState  old_state, KUKA::FRI::ESessionState  new_state  )

overridevirtual

Reimplemented from KUKA::FRI::LBRClient.

waitForCommand()

void lbr_fri_ros2::AsyncClient::waitForCommand ( )

overridevirtual

Reimplemented from KUKA::FRI::LBRClient.

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

• lbr_fri_ros2_stack/lbr_fri_ros2/include/lbr_fri_ros2/async_client.hpp
• lbr_fri_ros2_stack/lbr_fri_ros2/src/async_client.cpp