2486 lines
76 KiB
C++
2486 lines
76 KiB
C++
/** @file robot_state.h
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* @brief 获取机器人状态接口，如关节速度、关节角度、固件/硬件版本
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*/
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#ifndef AUBO_SDK_ROBOT_STATE_INTERFACE_H
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#define AUBO_SDK_ROBOT_STATE_INTERFACE_H
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#include <vector>
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#include <aubo/global_config.h>
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#include <aubo/type_def.h>
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namespace arcs {
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namespace common_interface {
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class ARCS_ABI_EXPORT RobotState
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{
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public:
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RobotState();
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virtual ~RobotState();
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/**
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* \chinese
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* 获取机器人的模式状态
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*
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* @return 机器人的模式状态
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python函数原型
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* getRobotModeType(self: pyaubo_sdk.RobotState) ->
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* arcs::common_interface::RobotModeType
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*
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* @par Lua函数原型
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* getRobotModeType() -> number
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"rob1.RobotState.getRobotModeType","params":[],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":"Running"}
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*
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*\endchinese
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*\english
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* Get the robot mode state
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*
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* @return The robot's mode state
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python function prototype
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* getRobotModeType(self: pyaubo_sdk.RobotState) ->
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* arcs::common_interface::RobotModeType
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*
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* @par Lua function prototype
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* getRobotModeType() -> number
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"rob1.RobotState.getRobotModeType","params":[],"id":1}
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*
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* @par JSON-RPC response example
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* {"id":1,"jsonrpc":"2.0","result":"Running"}
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*\endenglish
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*/
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RobotModeType getRobotModeType();
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/**
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* \chinese
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* 获取安全模式
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*
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* @return 安全模式
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python函数原型
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* getSafetyModeType(self: pyaubo_sdk.RobotState) ->
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* arcs::common_interface::SafetyModeType
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*
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* @par Lua函数原型
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* getSafetyModeType() -> number
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"rob1.RobotState.getSafetyModeType","params":[],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":"Normal"}
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* \endchinese
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* \english
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* Get the safety mode
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*
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* @return The safety mode
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python function prototype
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* getSafetyModeType(self: pyaubo_sdk.RobotState) ->
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* arcs::common_interface::SafetyModeType
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*
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* @par Lua function prototype
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* getSafetyModeType() -> number
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"rob1.RobotState.getSafetyModeType","params":[],"id":1}
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*
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* @par JSON-RPC response example
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* {"id":1,"jsonrpc":"2.0","result":"Normal"}
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* \endenglish
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*/
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SafetyModeType getSafetyModeType();
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/**
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* \chinese
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* 获取机器人通电状态
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*
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* @return 机器人通电返回 true; 反之返回 false
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"rob1.RobotState.isPowerOn","params":[],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":true}
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* \endchinese
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* \english
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* Get the robot power-on state
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*
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* @return Returns true if the robot is powered on; otherwise returns false
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"rob1.RobotState.isPowerOn","params":[],"id":1}
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*
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* @par JSON-RPC response example
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* {"id":1,"jsonrpc":"2.0","result":true}
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* \endenglish
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*/
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bool isPowerOn();
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/**
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* \chinese
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* 机器人是否已经停止下来
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*
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* @return 停止返回true; 反之返回false
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python函数原型
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* isSteady(self: pyaubo_sdk.RobotState) -> bool
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*
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* @par Lua函数原型
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* isSteady() -> boolean
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"rob1.RobotState.isSteady","params":[],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":true}
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* \endchinese
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* \english
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* Whether the robot has stopped
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*
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* @return Returns true if stopped; otherwise returns false
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python function prototype
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* isSteady(self: pyaubo_sdk.RobotState) -> bool
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*
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* @par Lua function prototype
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* isSteady() -> boolean
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"rob1.RobotState.isSteady","params":[],"id":1}
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*
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* @par JSON-RPC response example
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* {"id":1,"jsonrpc":"2.0","result":true}
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* \endenglish
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*/
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bool isSteady();
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/**
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* \chinese
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* 机器人是否发生了碰撞
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*
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* @return 发生碰撞返回 true; 反之返回 false
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"rob1.RobotState.isCollisionOccurred","params":[],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":false}
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* \endchinese
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* \english
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* Whether a collision has occurred
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*
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* @return Returns true if a collision occurred; otherwise returns false
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"rob1.RobotState.isCollisionOccurred","params":[],"id":1}
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*
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* @par JSON-RPC response example
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* {"id":1,"jsonrpc":"2.0","result":false}
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* \endenglish
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*/
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bool isCollisionOccurred();
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/**
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* \chinese
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* 机器人是否已经在安全限制之内
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*
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* @return 在安全限制之内返回true; 反之返回false
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python函数原型
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* isWithinSafetyLimits(self: pyaubo_sdk.RobotState) -> bool
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*
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* @par Lua函数原型
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* isWithinSafetyLimits() -> boolean
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"rob1.RobotState.isWithinSafetyLimits","params":[],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":true}
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* \endchinese
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* \english
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* Whether the robot is within safety limits
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*
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* @return Returns true if within safety limits; otherwise returns false
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python function prototype
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* isWithinSafetyLimits(self: pyaubo_sdk.RobotState) -> bool
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*
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* @par Lua function prototype
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* isWithinSafetyLimits() -> boolean
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"rob1.RobotState.isWithinSafetyLimits","params":[],"id":1}
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*
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* @par JSON-RPC response example
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* {"id":1,"jsonrpc":"2.0","result":true}
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* \endenglish
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*/
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bool isWithinSafetyLimits();
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/**
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* \chinese
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* 获取当前的TCP位姿，其 TCP 偏移可以通过 getActualTcpOffset 获取
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*
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* 位姿表示形式为(x,y,z,rx,ry,rz)。
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* 其中x、y、z是工具中心点（TCP）在基坐标系下的位置，单位是m。
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* rx、ry、rz是工具中心点（TCP）在基坐标系下的姿态，是ZYX欧拉角，单位是rad。
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*
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* @return TCP的位姿,形式为(x,y,z,rx,ry,rz)
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python函数原型
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* getTcpPose(self: pyaubo_sdk.RobotState) -> List[float]
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*
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* @par Lua函数原型
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* getTcpPose() -> table
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpPose","params":[],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":[0.41777839846910425,-0.13250000000000012,0.20928451364415995,3.1415792312578987,0.0,1.5707963267948963]}
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* \endchinese
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* \english
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* Get the current TCP pose. The TCP offset can be obtained by getActualTcpOffset.
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*
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* The pose is represented as (x, y, z, rx, ry, rz).
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* x, y, z are the position of the Tool Center Point (TCP) in the base coordinate system, in meters.
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* rx, ry, rz are the orientation of the TCP in the base coordinate system, as ZYX Euler angles in radians.
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*
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* @return The TCP pose, in the form (x, y, z, rx, ry, rz)
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python function prototype
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* getTcpPose(self: pyaubo_sdk.RobotState) -> List[float]
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*
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* @par Lua function prototype
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* getTcpPose() -> table
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*
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* @par JSON-RPC request example
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||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpPose","params":[],"id":1}
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*
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||
* @par JSON-RPC response example
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||
* {"id":1,"jsonrpc":"2.0","result":[0.41777839846910425,-0.13250000000000012,0.20928451364415995,3.1415792312578987,0.0,1.5707963267948963]}
|
||
* \endenglish
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||
*/
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std::vector<double> getTcpPose();
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/**
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* \chinese
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||
* 获取当前的 TCP 偏移，也就是 getTcpPose 返回的 pose 用到的 TCP 偏移
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*
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* @return 当前的 TCP 偏移
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* \endchinese
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* \english
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* Get the current TCP offset, which is the TCP offset used by the pose returned from getTcpPose
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*
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* @return The current TCP offset
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||
* \endenglish
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||
*/
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std::vector<double> getActualTcpOffset();
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||
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||
/**
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||
* \chinese
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||
* 获取下一个目标路点
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||
* 注意与 getTcpTargetPose 的区别，此处定义存在歧义，命名需要优化
|
||
*
|
||
* 位姿表示形式为(x,y,z,rx,ry,rz)。
|
||
* 其中x、y、z是工具中心点（TCP）在基坐标系下的目标位置，单位是m。
|
||
* rx、ry、rz是工具中心点（TCP）在基坐标系下的目标姿态，是ZYX欧拉角，单位是rad。
|
||
*
|
||
* @return 当前目标位姿,形式为(x,y,z,rx,ry,rz)
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getTargetTcpPose(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getTargetTcpPose() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getTargetTcpPose","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.4173932217619493,-0.13250000000000012,0.43296496133045825,3.141577313781914,0.0,1.5707963267948963]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the next target waypoint.
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||
* Note the difference from getTcpTargetPose; the definition here is ambiguous and the naming needs improvement.
|
||
*
|
||
* The pose is represented as (x, y, z, rx, ry, rz).
|
||
* x, y, z are the target position of the Tool Center Point (TCP) in the base coordinate system, in meters.
|
||
* rx, ry, rz are the target orientation of the TCP in the base coordinate system, as ZYX Euler angles in radians.
|
||
*
|
||
* @return The current target pose, in the form (x, y, z, rx, ry, rz)
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getTargetTcpPose(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getTargetTcpPose() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getTargetTcpPose","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.4173932217619493,-0.13250000000000012,0.43296496133045825,3.141577313781914,0.0,1.5707963267948963]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getTargetTcpPose();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取工具端的位姿（不带TCP偏移）
|
||
*
|
||
* 位姿表示形式为(x,y,z,rx,ry,rz)。
|
||
* 其中x、y、z是法兰盘中心在基坐标系下的目标位置，单位是m。
|
||
* rx、ry、rz是法兰盘中心在基坐标系下的目标姿态，是ZYX欧拉角，单位是rad。
|
||
*
|
||
* @return 工具端的位姿,形式为(x,y,z,rx,ry,rz)
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getToolPose(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getToolPose() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getToolPose","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.41777820858878617,-0.13250000000000012,0.20928410288421018,3.141579231257899,0.0,1.5707963267948963]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the tool pose (without TCP offset)
|
||
*
|
||
* The pose is represented as (x, y, z, rx, ry, rz).
|
||
* x, y, z are the target position of the flange center in the base coordinate system, in meters.
|
||
* rx, ry, rz are the target orientation of the flange center in the base coordinate system, as ZYX Euler angles in radians.
|
||
*
|
||
* @return The tool pose, in the form (x, y, z, rx, ry, rz)
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getToolPose(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getToolPose() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getToolPose","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.41777820858878617,-0.13250000000000012,0.20928410288421018,3.141579231257899,0.0,1.5707963267948963]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getToolPose();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取TCP速度
|
||
*
|
||
* @return TCP速度
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getTcpSpeed(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getTcpSpeed() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpSpeed","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the TCP speed
|
||
*
|
||
* @return TCP speed
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getTcpSpeed(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getTcpSpeed() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpSpeed","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getTcpSpeed();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取TCP的力/力矩
|
||
*
|
||
* @return TCP的力/力矩
|
||
*
|
||
* @par Python函数原型
|
||
* getTcpForce(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getTcpForce() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForce","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the TCP force/torque
|
||
*
|
||
* @return TCP force/torque
|
||
*
|
||
* @par Python function prototype
|
||
* getTcpForce(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getTcpForce() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForce","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getTcpForce();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取肘部的位置
|
||
*
|
||
* @return 肘部的位置
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getElbowPosistion(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getElbowPosistion() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getElbowPosistion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.07355755887512408,-0.1325,0.43200874126125227,-1.5707963267948968,0.433006344376404,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the position of the elbow
|
||
*
|
||
* @return The position of the elbow
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getElbowPosistion(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getElbowPosistion() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getElbowPosistion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.07355755887512408,-0.1325,0.43200874126125227,-1.5707963267948968,0.433006344376404,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getElbowPosistion();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取肘部速度
|
||
*
|
||
* @return 肘部速度
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getElbowVelocity(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getElbowVelocity() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getElbowVelocity","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the elbow velocity
|
||
*
|
||
* @return Elbow velocity
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getElbowVelocity(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getElbowVelocity() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getElbowVelocity","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getElbowVelocity();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取基座力/力矩
|
||
*
|
||
* @return 基座力/力矩
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getBaseForce(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getBaseForce() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getBaseForce","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the base force/torque
|
||
*
|
||
* @return Base force/torque
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getBaseForce(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getBaseForce() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getBaseForce","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getBaseForce();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取上一次发送的TCP目标位姿
|
||
*
|
||
* @return TCP目标位姿
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getTcpTargetPose(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getTcpTargetPose() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetPose","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.41777829240862013,-0.13250000000000012,0.2092832117232601,3.1415812372223217,0.0,1.5707963267948963]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the last sent TCP target pose
|
||
*
|
||
* @return TCP target pose
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getTcpTargetPose(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getTcpTargetPose() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetPose","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.41777829240862013,-0.13250000000000012,0.2092832117232601,3.1415812372223217,0.0,1.5707963267948963]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getTcpTargetPose();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取TCP目标速度
|
||
*
|
||
* @return TCP目标速度
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getTcpTargetSpeed(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getTcpTargetSpeed() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetSpeed","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the TCP target speed
|
||
*
|
||
* @return TCP target speed
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getTcpTargetSpeed(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getTcpTargetSpeed() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetSpeed","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getTcpTargetSpeed();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取TCP目标力/力矩
|
||
*
|
||
* @return TCP目标力/力矩
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getTcpTargetForce(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getTcpTargetForce() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetForce","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the TCP target force/torque
|
||
*
|
||
* @return TCP target force/torque
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getTcpTargetForce(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getTcpTargetForce() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetForce","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getTcpTargetForce();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机械臂关节标志
|
||
*
|
||
* @return 机械臂关节标志
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointState(self: pyaubo_sdk.RobotState) ->
|
||
* List[arcs::common_interface::JointStateType]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointState() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointState","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":["Running","Running","Running","Running","Running","Running"]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the joint state of the manipulator
|
||
*
|
||
* @return Joint state of the manipulator
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointState(self: pyaubo_sdk.RobotState) ->
|
||
* List[arcs::common_interface::JointStateType]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointState() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointState","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":["Running","Running","Running","Running","Running","Running"]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<JointStateType> getJointState();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取关节的伺服状态
|
||
*
|
||
* @return 关节的伺服状态
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointServoMode(self: pyaubo_sdk.RobotState) ->
|
||
* List[arcs::common_interface::JointServoModeType]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointServoMode() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointServoMode","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":["Position","Position","Position","Position","Position","Position"]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the servo state of the joints
|
||
*
|
||
* @return The servo state of the joints
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointServoMode(self: pyaubo_sdk.RobotState) ->
|
||
* List[arcs::common_interface::JointServoModeType]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointServoMode() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointServoMode","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":["Position","Position","Position","Position","Position","Position"]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<JointServoModeType> getJointServoMode();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机械臂关节角度
|
||
*
|
||
* @return 机械臂关节角度
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointPositions(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointPositions() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointPositions","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,-0.26199241371495835,1.7418102574563423,0.4330197667082982,1.5707963267948966,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the joint positions of the manipulator
|
||
*
|
||
* @return Joint positions of the manipulator
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointPositions(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointPositions() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointPositions","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,-0.26199241371495835,1.7418102574563423,0.4330197667082982,1.5707963267948966,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getJointPositions();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机械臂历史关节角度
|
||
*
|
||
* @param steps 步数
|
||
* @return 机械臂历史关节角度
|
||
* \endchinese
|
||
* \english
|
||
* Get the historical joint positions of the manipulator
|
||
*
|
||
* @param steps Number of steps
|
||
* @return Historical joint positions of the manipulator
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getJointPositionsHistory(int steps);
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机械臂关节速度
|
||
*
|
||
* @return 机械臂关节速度
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointSpeeds(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointSpeeds() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointSpeeds","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the joint speeds of the manipulator
|
||
*
|
||
* @return Joint speeds of the manipulator
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointSpeeds(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointSpeeds() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointSpeeds","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getJointSpeeds();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机械臂关节加速度
|
||
*
|
||
* @return 机械臂关节加速度
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointAccelerations(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointAccelerations() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointAccelerations","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the joint accelerations of the manipulator
|
||
*
|
||
* @return Joint accelerations of the manipulator
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointAccelerations(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointAccelerations() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointAccelerations","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getJointAccelerations();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机械臂关节力矩
|
||
*
|
||
* @return 机械臂关节力矩
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointTorqueSensors(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointTorqueSensors() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTorqueSensors","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,6275.367736816406,-7704.2816162109375,3586.9766235351563,503.0364990234375,1506.0882568359375]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the joint torques of the manipulator
|
||
*
|
||
* @return Joint torques of the manipulator
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointTorqueSensors(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointTorqueSensors() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTorqueSensors","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,6275.367736816406,-7704.2816162109375,3586.9766235351563,503.0364990234375,1506.0882568359375]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getJointTorqueSensors();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机械臂关节接触力矩（外力距）
|
||
*
|
||
* @return 机械臂关节接触力矩
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointContactTorques(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointContactTorques() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointContactTorques","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the joint contact torques (external torques) of the manipulator
|
||
*
|
||
* @return Joint contact torques of the manipulator
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointContactTorques(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointContactTorques() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointContactTorques","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getJointContactTorques();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取底座力传感器读数
|
||
*
|
||
* @return 底座力传感器读数
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getBaseForceSensor(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getBaseForceSensor() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getBaseForceSensor","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the base force sensor readings
|
||
*
|
||
* @return Base force sensor readings
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getBaseForceSensor(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getBaseForceSensor() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getBaseForceSensor","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getBaseForceSensor();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取TCP力传感器读数
|
||
*
|
||
* @return TCP力传感器读数
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getTcpForceSensors(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getTcpForceSensors() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForceSensors","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the TCP force sensor readings
|
||
*
|
||
* @return TCP force sensor readings
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getTcpForceSensors(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getTcpForceSensors() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForceSensors","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getTcpForceSensors();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机械臂关节电流
|
||
*
|
||
* @return 机械臂关节电流
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointCurrents(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointCurrents() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointCurrents","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,1.25885009765625,-1.5289306640625,0.71868896484375,0.1007080078125,0.3021240234375]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the joint currents of the manipulator
|
||
*
|
||
* @return Joint currents of the manipulator
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointCurrents(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointCurrents() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointCurrents","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,1.25885009765625,-1.5289306640625,0.71868896484375,0.1007080078125,0.3021240234375]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getJointCurrents();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机械臂关节电压
|
||
*
|
||
* @return 机械臂关节电压
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointVoltages(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointVoltages() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointVoltages","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[2.0,2.5,3.0,2.0,2.5,2.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the joint voltages of the manipulator
|
||
*
|
||
* @return Joint voltages of the manipulator
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointVoltages(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointVoltages() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointVoltages","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[2.0,2.5,3.0,2.0,2.5,2.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getJointVoltages();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机械臂关节温度
|
||
*
|
||
* @return 机械臂关节温度
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointTemperatures(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointTemperatures() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTemperatures","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[38.0,38.0,38.0,39.0,38.0,39.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the joint temperatures of the manipulator
|
||
*
|
||
* @return Joint temperatures of the manipulator
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointTemperatures(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointTemperatures() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTemperatures","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[38.0,38.0,38.0,39.0,38.0,39.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getJointTemperatures();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取关节全球唯一ID
|
||
*
|
||
* @return 关节全球唯一ID
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointUniqueIds(self: pyaubo_sdk.RobotState) -> List[str]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointUniqueIds() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointUniqueIds","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":["00800020ffffffff31405153","00800020ffffffff3e3f5153","00800020ffffffff414b5153","00800020ffffffff31065153","00800020ffffffff41535153","00800020ffffffff41545153"]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the globally unique IDs of the joints
|
||
*
|
||
* @return Globally unique IDs of the joints
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointUniqueIds(self: pyaubo_sdk.RobotState) -> List[str]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointUniqueIds() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointUniqueIds","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":["00800020ffffffff31405153","00800020ffffffff3e3f5153","00800020ffffffff414b5153","00800020ffffffff31065153","00800020ffffffff41535153","00800020ffffffff41545153"]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<std::string> getJointUniqueIds();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取关节固件版本
|
||
*
|
||
* @return 关节固件版本
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointFirmwareVersions(self: pyaubo_sdk.RobotState) -> List[int]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointFirmwareVersions() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointFirmwareVersions","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[1000010,1000010,1000010,1000010,1000010,1000010]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the joint firmware versions
|
||
*
|
||
* @return Joint firmware versions
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointFirmwareVersions(self: pyaubo_sdk.RobotState) -> List[int]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointFirmwareVersions() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointFirmwareVersions","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[1000010,1000010,1000010,1000010,1000010,1000010]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<int> getJointFirmwareVersions();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取关节硬件版本
|
||
*
|
||
* @return 关节硬件版本
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointHardwareVersions(self: pyaubo_sdk.RobotState) -> List[int]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointHardwareVersions() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointHardwareVersions","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[1000000,1000000,1004000,1004000,1004000,1004000]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the joint hardware versions
|
||
*
|
||
* @return Joint hardware versions
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointHardwareVersions(self: pyaubo_sdk.RobotState) -> List[int]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointHardwareVersions() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointHardwareVersions","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[1000000,1000000,1004000,1004000,1004000,1004000]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<int> getJointHardwareVersions();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取MasterBoard全球唯一ID
|
||
*
|
||
* @return MasterBoard全球唯一ID
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getMasterBoardUniqueId(self: pyaubo_sdk.RobotState) -> str
|
||
*
|
||
* @par Lua函数原型
|
||
* getMasterBoardUniqueId() -> string
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardUniqueId","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":"001e0044510f343037323637"}
|
||
* \endchinese
|
||
* \english
|
||
* Get the globally unique ID of the MasterBoard
|
||
*
|
||
* @return Globally unique ID of the MasterBoard
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getMasterBoardUniqueId(self: pyaubo_sdk.RobotState) -> str
|
||
*
|
||
* @par Lua function prototype
|
||
* getMasterBoardUniqueId() -> string
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardUniqueId","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":"001e0044510f343037323637"}
|
||
* \endenglish
|
||
*/
|
||
std::string getMasterBoardUniqueId();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取MasterBoard固件版本
|
||
*
|
||
* @return MasterBoard固件版本
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getMasterBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* getMasterBoardFirmwareVersion() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardFirmwareVersion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":1000004}
|
||
* \endchinese
|
||
* \english
|
||
* Get the MasterBoard firmware version
|
||
*
|
||
* @return MasterBoard firmware version
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getMasterBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* getMasterBoardFirmwareVersion() -> number
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardFirmwareVersion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":1000004}
|
||
* \endenglish
|
||
*/
|
||
int getMasterBoardFirmwareVersion();
|
||
/**
|
||
* \chinese
|
||
* 获取MasterBoard硬件版本
|
||
*
|
||
* @return MasterBoard硬件版本
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getMasterBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* getMasterBoardHardwareVersion() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardHardwareVersion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":1000000}
|
||
* \endchinese
|
||
* \english
|
||
* Get the MasterBoard hardware version
|
||
*
|
||
* @return MasterBoard hardware version
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getMasterBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* getMasterBoardHardwareVersion() -> number
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardHardwareVersion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":1000000}
|
||
* \endenglish
|
||
*/
|
||
int getMasterBoardHardwareVersion();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取SlaveBoard全球唯一ID
|
||
*
|
||
* @return SlaveBoard全球唯一ID
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getSlaveBoardUniqueId(self: pyaubo_sdk.RobotState) -> str
|
||
*
|
||
* @par Lua函数原型
|
||
* getSlaveBoardUniqueId() -> string
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardUniqueId","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":"736572630080000000000000"}
|
||
* \endchinese
|
||
* \english
|
||
* Get the globally unique ID of the SlaveBoard
|
||
*
|
||
* @return Globally unique ID of the SlaveBoard
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getSlaveBoardUniqueId(self: pyaubo_sdk.RobotState) -> str
|
||
*
|
||
* @par Lua function prototype
|
||
* getSlaveBoardUniqueId() -> string
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardUniqueId","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":"736572630080000000000000"}
|
||
* \endenglish
|
||
*/
|
||
std::string getSlaveBoardUniqueId();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取SlaveBoard固件版本
|
||
*
|
||
* @return SlaveBoard固件版本
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getSlaveBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* getSlaveBoardFirmwareVersion() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardFirmwareVersion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
* \endchinese
|
||
* \english
|
||
* Get the SlaveBoard firmware version
|
||
*
|
||
* @return SlaveBoard firmware version
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getSlaveBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* getSlaveBoardFirmwareVersion() -> number
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardFirmwareVersion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
* \endenglish
|
||
*/
|
||
int getSlaveBoardFirmwareVersion();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取SlaveBoard硬件版本
|
||
*
|
||
* @return SlaveBoard硬件版本
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getSlaveBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* getSlaveBoardHardwareVersion() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardHardwareVersion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":6030098}
|
||
* \endchinese
|
||
* \english
|
||
* Get the SlaveBoard hardware version
|
||
*
|
||
* @return SlaveBoard hardware version
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getSlaveBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* getSlaveBoardHardwareVersion() -> number
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardHardwareVersion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":6030098}
|
||
* \endenglish
|
||
*/
|
||
int getSlaveBoardHardwareVersion();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取工具端全球唯一ID
|
||
*
|
||
* @return 工具端全球唯一ID
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getToolUniqueId(self: pyaubo_sdk.RobotState) -> str
|
||
*
|
||
* @par Lua函数原型
|
||
* getToolUniqueId() -> string
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getToolUniqueId","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":"397d4e5331541252314d3042"}
|
||
* \endchinese
|
||
* \english
|
||
* Get the globally unique ID of the tool
|
||
*
|
||
* @return Globally unique ID of the tool
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getToolUniqueId(self: pyaubo_sdk.RobotState) -> str
|
||
*
|
||
* @par Lua function prototype
|
||
* getToolUniqueId() -> string
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getToolUniqueId","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":"397d4e5331541252314d3042"}
|
||
* \endenglish
|
||
*/
|
||
std::string getToolUniqueId();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取工具端固件版本
|
||
*
|
||
* @return 工具端固件版本
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getToolFirmwareVersion(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* getToolFirmwareVersion() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getToolFirmwareVersion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":1001003}
|
||
* \endchinese
|
||
* \english
|
||
* Get the tool firmware version
|
||
*
|
||
* @return Tool firmware version
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getToolFirmwareVersion(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* getToolFirmwareVersion() -> number
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getToolFirmwareVersion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":1001003}
|
||
* \endenglish
|
||
*/
|
||
int getToolFirmwareVersion();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取工具端硬件版本
|
||
*
|
||
* @return 工具端硬件版本
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getToolHardwareVersion(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* getToolHardwareVersion() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getToolHardwareVersion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":1000000}
|
||
* \endchinese
|
||
* \english
|
||
* Get the tool hardware version
|
||
*
|
||
* @return Tool hardware version
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getToolHardwareVersion(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* getToolHardwareVersion() -> number
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getToolHardwareVersion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":1000000}
|
||
* \endenglish
|
||
*/
|
||
int getToolHardwareVersion();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取末端通信模式
|
||
*
|
||
* @return 末端通信模式
|
||
* 0: 表示无串口
|
||
* 1: 表示只有串口
|
||
* 2: 表示带力传感器和串口
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getToolCommMode(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* getToolCommMode() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getToolCommMode","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":1}
|
||
* \endchinese
|
||
* \english
|
||
* Get the tool communication mode
|
||
*
|
||
* @return Tool communication mode
|
||
* 0: No serial port
|
||
* 1: Serial port only
|
||
* 2: With force sensor and serial port
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getToolCommMode(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* getToolCommMode() -> number
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getToolCommMode","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":1}
|
||
* \endenglish
|
||
*/
|
||
int getToolCommMode();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取底座全球唯一ID
|
||
*
|
||
* @return 底座全球唯一ID
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getPedestalUniqueId(self: pyaubo_sdk.RobotState) -> str
|
||
*
|
||
* @par Lua函数原型
|
||
* getPedestalUniqueId() -> string
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalUniqueId","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":"205257533543065248544339"}
|
||
* \endchinese
|
||
* \english
|
||
* Get the globally unique ID of the pedestal
|
||
*
|
||
* @return Globally unique ID of the pedestal
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getPedestalUniqueId(self: pyaubo_sdk.RobotState) -> str
|
||
*
|
||
* @par Lua function prototype
|
||
* getPedestalUniqueId() -> string
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalUniqueId","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":"205257533543065248544339"}
|
||
* \endenglish
|
||
*/
|
||
std::string getPedestalUniqueId();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取底座固件版本
|
||
*
|
||
* @return 底座固件版本
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getPedestalFirmwareVersion(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* getPedestalFirmwareVersion() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalFirmwareVersion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":1000004}
|
||
* \endchinese
|
||
* \english
|
||
* Get the pedestal firmware version
|
||
*
|
||
* @return Pedestal firmware version
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getPedestalFirmwareVersion(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* getPedestalFirmwareVersion() -> number
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalFirmwareVersion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":1000004}
|
||
* \endenglish
|
||
*/
|
||
int getPedestalFirmwareVersion();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取底座硬件版本
|
||
*
|
||
* @return 底座硬件版本
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getPedestalHardwareVersion(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* getPedestalHardwareVersion() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalHardwareVersion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":1007000}
|
||
* \endchinese
|
||
* \english
|
||
* Get the pedestal hardware version
|
||
*
|
||
* @return Pedestal hardware version
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getPedestalHardwareVersion(self: pyaubo_sdk.RobotState) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* getPedestalHardwareVersion() -> number
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalHardwareVersion","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":1007000}
|
||
* \endenglish
|
||
*/
|
||
int getPedestalHardwareVersion();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机械臂关节目标位置角度
|
||
*
|
||
* @return 机械臂关节目标位置角度
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointTargetPositions(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointTargetPositions() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetPositions","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,-0.2619944355631239,1.7418124015308052,0.4330219266665035,1.5707963267948966,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the target joint positions (angles) of the manipulator
|
||
*
|
||
* @return Target joint positions (angles) of the manipulator
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointTargetPositions(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointTargetPositions() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetPositions","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,-0.2619944355631239,1.7418124015308052,0.4330219266665035,1.5707963267948966,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getJointTargetPositions();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机械臂关节目标速度
|
||
*
|
||
* @return 机械臂关节目标速度
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointTargetSpeeds(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointTargetSpeeds() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetSpeeds","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.00024227101509399773,0.0016521760307419697,0.0026521060731088397,0.0,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the target joint speeds of the manipulator
|
||
*
|
||
* @return Target joint speeds of the manipulator
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointTargetSpeeds(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointTargetSpeeds() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetSpeeds","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.00024227101509399773,0.0016521760307419697,0.0026521060731088397,0.0,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getJointTargetSpeeds();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机械臂关节目标加速度
|
||
*
|
||
* @return 机械臂关节目标加速度
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointTargetAccelerations(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointTargetAccelerations() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetAccelerations","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,-0.6737932929246071,-12.610253240108449,0.0,0.0,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the target joint accelerations of the manipulator
|
||
*
|
||
* @return Target joint accelerations of the manipulator
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointTargetAccelerations(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointTargetAccelerations() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetAccelerations","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,-0.6737932929246071,-12.610253240108449,0.0,0.0,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getJointTargetAccelerations();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机械臂关节目标力矩
|
||
*
|
||
* @return 机械臂关节目标力矩
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointTargetTorques(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointTargetTorques() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetTorques","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the target joint torques of the manipulator
|
||
*
|
||
* @return Target joint torques of the manipulator
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointTargetTorques(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointTargetTorques() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetTorques","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getJointTargetTorques();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机械臂关节目标电流
|
||
*
|
||
* @return 机械臂关节目标电流
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getJointTargetCurrents(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua函数原型
|
||
* getJointTargetCurrents() -> table
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetCurrents","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endchinese
|
||
* \english
|
||
* Get the target joint currents of the manipulator
|
||
*
|
||
* @return Target joint currents of the manipulator
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getJointTargetCurrents(self: pyaubo_sdk.RobotState) -> List[float]
|
||
*
|
||
* @par Lua function prototype
|
||
* getJointTargetCurrents() -> table
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetCurrents","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}
|
||
* \endenglish
|
||
*/
|
||
std::vector<double> getJointTargetCurrents();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取控制柜温度
|
||
*
|
||
* @return 控制柜温度
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getControlBoxTemperature(self: pyaubo_sdk.RobotState) -> float
|
||
*
|
||
* @par Lua函数原型
|
||
* getControlBoxTemperature() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getControlBoxTemperature","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":25.0}
|
||
* \endchinese
|
||
* \english
|
||
* Get the control box temperature
|
||
*
|
||
* @return Control box temperature
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getControlBoxTemperature(self: pyaubo_sdk.RobotState) -> float
|
||
*
|
||
* @par Lua function prototype
|
||
* getControlBoxTemperature() -> number
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getControlBoxTemperature","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":25.0}
|
||
* \endenglish
|
||
*/
|
||
double getControlBoxTemperature();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取控制柜湿度
|
||
*
|
||
* @return 控制柜湿度
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getControlBoxHumidity(self: pyaubo_sdk.RobotState) -> float
|
||
*
|
||
* @par Lua函数原型
|
||
* getControlBoxHumidity() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getControlBoxHumidity","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":20.0}
|
||
* \endchinese
|
||
* \english
|
||
* Get the control box humidity
|
||
*
|
||
* @return Control box humidity
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getControlBoxHumidity(self: pyaubo_sdk.RobotState) -> float
|
||
*
|
||
* @par Lua function prototype
|
||
* getControlBoxHumidity() -> number
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getControlBoxHumidity","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":20.0}
|
||
* \endenglish
|
||
*/
|
||
double getControlBoxHumidity();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取母线电压
|
||
*
|
||
* @return 母线电压
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getMainVoltage(self: pyaubo_sdk.RobotState) -> float
|
||
*
|
||
* @par Lua函数原型
|
||
* getMainVoltage() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getMainVoltage","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":52.75}
|
||
* \endchinese
|
||
* \english
|
||
* Get the main bus voltage
|
||
*
|
||
* @return Main bus voltage
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getMainVoltage(self: pyaubo_sdk.RobotState) -> float
|
||
*
|
||
* @par Lua function prototype
|
||
* getMainVoltage() -> number
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getMainVoltage","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":52.75}
|
||
* \endenglish
|
||
*/
|
||
double getMainVoltage();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取母线电流
|
||
*
|
||
* @return 母线电流
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getMainCurrent(self: pyaubo_sdk.RobotState) -> float
|
||
*
|
||
* @par Lua函数原型
|
||
* getMainCurrent() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getMainCurrent","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0.3204345703125}
|
||
* \endchinese
|
||
* \english
|
||
* Get the main bus current
|
||
*
|
||
* @return Main bus current
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getMainCurrent(self: pyaubo_sdk.RobotState) -> float
|
||
*
|
||
* @par Lua function prototype
|
||
* getMainCurrent() -> number
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getMainCurrent","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":0.3204345703125}
|
||
* \endenglish
|
||
*/
|
||
double getMainCurrent();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机器人电压
|
||
*
|
||
* @return 机器人电压
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getRobotVoltage(self: pyaubo_sdk.RobotState) -> float
|
||
*
|
||
* @par Lua函数原型
|
||
* getRobotVoltage() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getRobotVoltage","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":52.75}
|
||
* \endchinese
|
||
* \english
|
||
* Get the robot voltage
|
||
*
|
||
* @return Robot voltage
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getRobotVoltage(self: pyaubo_sdk.RobotState) -> float
|
||
*
|
||
* @par Lua function prototype
|
||
* getRobotVoltage() -> number
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getRobotVoltage","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":52.75}
|
||
* \endenglish
|
||
*/
|
||
double getRobotVoltage();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机器人电流
|
||
*
|
||
* @return 机器人电流
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python函数原型
|
||
* getRobotCurrent(self: pyaubo_sdk.RobotState) -> float
|
||
*
|
||
* @par Lua函数原型
|
||
* getRobotCurrent() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getRobotCurrent","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0.3204345703125}
|
||
* \endchinese
|
||
* \english
|
||
* Get the robot current
|
||
*
|
||
* @return Robot current
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par Python function prototype
|
||
* getRobotCurrent(self: pyaubo_sdk.RobotState) -> float
|
||
*
|
||
* @par Lua function prototype
|
||
* getRobotCurrent() -> number
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getRobotCurrent","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":0.3204345703125}
|
||
* \endenglish
|
||
*/
|
||
double getRobotCurrent();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机器人缓速等级
|
||
*
|
||
* @return 机器人缓速等级
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getSlowDownLevel","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
* \endchinese
|
||
* \english
|
||
* Get the robot slow down level
|
||
*
|
||
* @return Robot slow down level
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getSlowDownLevel","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
* \endenglish
|
||
*/
|
||
int getSlowDownLevel();
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取末端力传感器通信状态
|
||
*
|
||
* @param name 力传感器名称，与 selectTcpForceSensor 的参数一致
|
||
* @return 通信正常返回 true; 反之返回 false
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForceSensorStatus","params":["tool.KWR75A"],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
* \endchinese
|
||
* \english
|
||
* Get the communication status of the tool force sensor
|
||
*
|
||
* @param name force sensor name, it is consistent with the parameters of
|
||
* 'selectTcpForceSensor'
|
||
* @return Returns true if communication is normal; otherwise returns false
|
||
*
|
||
* @throws arcs::common_interface::AuboException
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"rob1.RobotState.getSlowDownLevel","params":["tool.KWR75A"],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
* \endenglish
|
||
*/
|
||
bool getTcpForceSensorStatus(const std::string &name);
|
||
|
||
protected:
|
||
void *d_;
|
||
};
|
||
using RobotStatePtr = std::shared_ptr<RobotState>;
|
||
} // namespace common_interface
|
||
} // namespace arcs
|
||
#endif // AUBO_SDK_ROBOT_STATE_INTERFACE_H
|