Fawkes API
Fawkes Development Version
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Internal data storage, do NOT modify! More...
Public Attributes | |
int64_t | timestamp_sec |
Interface Unix timestamp, seconds. | |
int64_t | timestamp_usec |
Interface Unix timestamp, micro-seconds. | |
uint8_t | sensor_value [16] |
Sensor values. | |
float | x |
DEPRECATED! X-Coordinate for tool position compared to base coordinate system. | |
float | y |
DEPRECATED! Y-Coordinate for tool position compared to base coordinate system. | |
float | z |
DEPRECATED! Z-Coordinate for tool position compared to base coordinate system. | |
float | phi |
DEPRECATED! Euler angle Phi of tool orientation. | |
float | theta |
DEPRECATED! Euler angle Theta of tool orientation. | |
float | psi |
DEPRECATED! Euler angle Psi of tool orientation. | |
int32_t | encoders [6] |
Encoder values of motors. | |
float | angles [6] |
Angle values of motors. | |
uint32_t | msgid |
The ID of the message that is currently being processed, or 0 if no message is being processed. | |
bool | final |
True, if the last goto command has been finished, false if it is still running. | |
uint32_t | error_code |
Failure code set if final is true. | |
bool | enabled |
Are motors enabled? | |
bool | calibrated |
Has arm been calibrated? | |
uint8_t | max_velocity |
Maximum velocity. | |
uint8_t | num_motors |
Number of motors. |
Internal data storage, do NOT modify!
Angle values of motors.
Definition at line 81 of file KatanaInterface.h.
Has arm been calibrated?
Definition at line 90 of file KatanaInterface.h.
Are motors enabled?
Definition at line 89 of file KatanaInterface.h.
Referenced by fawkes::KatanaInterface::SetEnabledMessage::is_enabled(), and fawkes::KatanaInterface::SetEnabledMessage::set_enabled().
Encoder values of motors.
Definition at line 80 of file KatanaInterface.h.
Failure code set if final is true.
0 if no error occured, an error code from ERROR_* constants otherwise (or a bit-wise combination).
Definition at line 86 of file KatanaInterface.h.
True, if the last goto command has been finished, false if it is still running.
Definition at line 84 of file KatanaInterface.h.
Maximum velocity.
Definition at line 91 of file KatanaInterface.h.
Referenced by fawkes::KatanaInterface::SetMaxVelocityMessage::max_velocity(), and fawkes::KatanaInterface::SetMaxVelocityMessage::set_max_velocity().
The ID of the message that is currently being processed, or 0 if no message is being processed.
Definition at line 82 of file KatanaInterface.h.
Number of motors.
Definition at line 92 of file KatanaInterface.h.
DEPRECATED! Euler angle Phi of tool orientation.
Definition at line 77 of file KatanaInterface.h.
Referenced by fawkes::KatanaInterface::LinearGotoMessage::phi(), fawkes::KatanaInterface::LinearGotoMessage::set_phi(), fawkes::KatanaInterface::LinearGotoKniMessage::phi(), and fawkes::KatanaInterface::LinearGotoKniMessage::set_phi().
DEPRECATED! Euler angle Psi of tool orientation.
Definition at line 79 of file KatanaInterface.h.
Referenced by fawkes::KatanaInterface::LinearGotoMessage::psi(), fawkes::KatanaInterface::LinearGotoMessage::set_psi(), fawkes::KatanaInterface::LinearGotoKniMessage::psi(), and fawkes::KatanaInterface::LinearGotoKniMessage::set_psi().
Sensor values.
Use SENSOR_* indexes for accessing the values.
Definition at line 69 of file KatanaInterface.h.
DEPRECATED! Euler angle Theta of tool orientation.
Definition at line 78 of file KatanaInterface.h.
Referenced by fawkes::KatanaInterface::LinearGotoMessage::theta(), fawkes::KatanaInterface::LinearGotoMessage::set_theta(), fawkes::KatanaInterface::LinearGotoKniMessage::theta(), and fawkes::KatanaInterface::LinearGotoKniMessage::set_theta().
Interface Unix timestamp, seconds.
Definition at line 67 of file KatanaInterface.h.
Interface Unix timestamp, micro-seconds.
Definition at line 68 of file KatanaInterface.h.
DEPRECATED! X-Coordinate for tool position compared to base coordinate system.
Definition at line 71 of file KatanaInterface.h.
Referenced by fawkes::KatanaInterface::LinearGotoMessage::x(), fawkes::KatanaInterface::LinearGotoMessage::set_x(), fawkes::KatanaInterface::LinearGotoKniMessage::x(), and fawkes::KatanaInterface::LinearGotoKniMessage::set_x().
DEPRECATED! Y-Coordinate for tool position compared to base coordinate system.
Definition at line 73 of file KatanaInterface.h.
Referenced by fawkes::KatanaInterface::LinearGotoMessage::y(), fawkes::KatanaInterface::LinearGotoMessage::set_y(), fawkes::KatanaInterface::LinearGotoKniMessage::y(), and fawkes::KatanaInterface::LinearGotoKniMessage::set_y().
DEPRECATED! Z-Coordinate for tool position compared to base coordinate system.
Definition at line 75 of file KatanaInterface.h.
Referenced by fawkes::KatanaInterface::LinearGotoMessage::z(), fawkes::KatanaInterface::LinearGotoMessage::set_z(), fawkes::KatanaInterface::LinearGotoKniMessage::z(), and fawkes::KatanaInterface::LinearGotoKniMessage::set_z().