66 lines
1.5 KiB
C
66 lines
1.5 KiB
C
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#ifndef ARCS_RESEARCH_INTERFACE_ROBOT_H
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#define ARCS_RESEARCH_INTERFACE_ROBOT_H
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#include <functional>
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#include <atomic>
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#include <aubo/global_config.h>
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#include <research_interface/rci_types.h>
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#include <stdexcept>
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#include "aubo_sdk/rpc.h"
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namespace arcs {
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namespace research_interface {
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struct JointPositions
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{
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JointPositions() {}
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JointPositions(const std::array<double, 7> &joint_positions)
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: q(joint_positions)
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{
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}
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JointPositions(std::initializer_list<double> joint_positions)
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{
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if (joint_positions.size() != q.size()) {
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throw std::invalid_argument(
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"Invalid number of elements in joint_positions.");
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}
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std::copy(joint_positions.begin(), joint_positions.end(), q.begin());
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}
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std::array<double, 7> q{};
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bool finished{ false };
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};
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class ARCS_ABI Robot
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{
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public:
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Robot(const std::string &ip, int port = 30030);
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~Robot();
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// 启动机器人
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int startup();
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int setControlPeriod(int period = 5000);
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int movej(const JointPositions &jnt_pos);
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// 位置控制
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void control(
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std::function<JointPositions(const RobotState &, double duration)>
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control_callback,
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bool limit_rate = false, double cutoff_frequency = 100,
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bool loop = false);
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// 实时读取机器人的状态
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void read(std::function<bool(const RobotState &)> read_callback);
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protected:
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void *d_{ nullptr };
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bool init_{ false };
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};
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} // namespace research_interface
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} // namespace arcs
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#endif
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