staubli_robot_driver::RobotCommandMessage Class Reference

Robot command message. More...

#include <messages.hpp>

Inheritance diagram for staubli_robot_driver::RobotCommandMessage:

Collaboration diagram for staubli_robot_driver::RobotCommandMessage:

Public Member Functions
	RobotCommandMessage ()
	~RobotCommandMessage ()=default
bool	serialize (uint8_t *buffer, size_t buffer_size) const override
	Serialize message to bytes.
bool	deserialize (uint8_t *buffer, size_t buffer_size) override
	Deserialize bytes to message.
size_t	get_serialized_size () const override
	Size of the entire message in bytes.
virtual bool	serialize (uint8_t *buffer, size_t buffer_size) const=0
	Serialize message to bytes.
bool	serialize (std::vector< uint8_t > &data) const
	Serialize message to vector.
virtual bool	deserialize (uint8_t *buffer, size_t buffer_size)=0
	Deserialize bytes to message.
bool	deserialize (std::vector< uint8_t > &data)
	Deserialize message from vector.
Public Member Functions inherited from staubli_robot_driver::Message
	Message ()=default
virtual	~Message ()=default
bool	serialize (std::vector< uint8_t > &data) const
	Serialize message to vector.
bool	deserialize (std::vector< uint8_t > &data)
	Deserialize message from vector.

Static Public Member Functions
static size_t	message_size ()
	Get the size of the message, static version.

Public Attributes
CommandType	command_type = CommandType::STOP
double	controller_period = -1.0
std::array< double, 6 >	command_reference
	Command reference for the robot.
std::array< bool, 16 >	digital_outputs
std::array< double, 4 >	analog_outputs
Public Attributes inherited from staubli_robot_driver::Message
FrameHeader	header
	Message header.
rclcpp::Time	reception_timestamp = rclcpp::Time(0)
	Timestamp of the message reception (local clock)

Detailed Description

Robot command message.

Constructor & Destructor Documentation

RobotCommandMessage()

staubli_robot_driver::RobotCommandMessage::RobotCommandMessage

(

)

~RobotCommandMessage()

staubli_robot_driver::RobotCommandMessage::~RobotCommandMessage ( )

default

Member Function Documentation

serialize() [1/3]

bool staubli_robot_driver::RobotCommandMessage::serialize ( uint8_t *  buffer, size_t  buffer_size  ) const

overridevirtual

Serialize message to bytes.

Implements staubli_robot_driver::Message.

deserialize() [1/3]

bool staubli_robot_driver::RobotCommandMessage::deserialize ( uint8_t *  buffer, size_t  buffer_size  )

overridevirtual

Deserialize bytes to message.

Implements staubli_robot_driver::Message.

message_size()

static size_t staubli_robot_driver::RobotCommandMessage::message_size ( )

static

Get the size of the message, static version.

get_serialized_size()

size_t staubli_robot_driver::RobotCommandMessage::get_serialized_size ( ) const

inlineoverridevirtual

Size of the entire message in bytes.

Implements staubli_robot_driver::Message.

serialize() [2/3]

virtual bool staubli_robot_driver::Message::serialize ( uint8_t *  buffer, size_t  buffer_size  ) const

virtual

Serialize message to bytes.

Implements staubli_robot_driver::Message.

serialize() [3/3]

bool staubli_robot_driver::Message::serialize

(

std::vector< uint8_t > &

data

)

const

Serialize message to vector.

Warning

This method modifies the input vector by resizing it to the size of the message.

Parameters

data	Output data buffer. Capacity must be at least message.get_serialized_size().

Returns

true if serialization was successful, false otherwise

deserialize() [2/3]

virtual bool staubli_robot_driver::Message::deserialize ( uint8_t *  buffer, size_t  buffer_size  )

virtual

Deserialize bytes to message.

Implements staubli_robot_driver::Message.

deserialize() [3/3]

bool staubli_robot_driver::Message::deserialize

(

std::vector< uint8_t > &

data

)

Deserialize message from vector.

Warning

The input vector must be at least the size of the message.

Parameters

data	Input data buffer

Returns

true if deserialization was successful, false otherwise

Member Data Documentation

command_type

CommandType staubli_robot_driver::RobotCommandMessage::command_type = CommandType::STOP

controller_period

double staubli_robot_driver::RobotCommandMessage::controller_period = -1.0

command_reference

std::array<double, 6> staubli_robot_driver::RobotCommandMessage::command_reference

Command reference for the robot.

This array contains the target values for the robot's joints. The interpretation of these values depends on the command type:

• JOINT_POSITION: Target joint positions in radians
• JOINT_VELOCITY: Target joint velocities in radians/s
• JOINT_TORQUE: Target joint torques in Nm
• STOP: Ignored, should be filled with zeros

digital_outputs

std::array<bool, 16> staubli_robot_driver::RobotCommandMessage::digital_outputs

analog_outputs

std::array<double, 4> staubli_robot_driver::RobotCommandMessage::analog_outputs

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

• /home/runner/work/staubli_driver_ros2/staubli_driver_ros2/staubli_robot_driver/include/staubli_robot_driver/communication/messages.hpp