An Arm represents a physical robot arm that exists in three-dimensional space. More...

#include "components/arm.hpp"

Inheritance diagram for viam::sdk::Arm:

Classes
struct	KinematicsDataSVA

struct	KinematicsDataUnspecified

struct	KinematicsDataURDF

struct	MoveOptions
	Movement specifications for move_through_join_positions. More...

Public Types
using	KinematicsData
	The kinematics of the component.

Public Member Functions
pose	get_end_position ()
	Get the current position of the end of the arm.

virtual pose	get_end_position (const ProtoStruct &extra)=0
	Get the current position of the end of the arm.

void	move_to_position (const pose &pose)
	Move the end of the arm to.

virtual void	move_to_position (const pose &pose, const ProtoStruct &extra)=0
	Move the end of the arm to.

std::vector< double >	get_joint_positions ()
	Lists the joint positions in degrees of every joint on a robot arm.

virtual std::vector< double >	get_joint_positions (const ProtoStruct &extra)=0
	Lists the joint positions in degrees of every joint on a robot arm.

void	move_to_joint_positions (const std::vector< double > &positions)
	Move each joint on the arm to the corresponding angle specified in.

virtual void	move_to_joint_positions (const std::vector< double > &positions, const ProtoStruct &extra)=0
	Move each joint on the arm to the corresponding angle specified in.

void	move_through_joint_positions (const std::vector< std::vector< double > > &positions, const MoveOptions &options)
	Move each joint on the arm through the positions specified in.

virtual void	move_through_joint_positions (const std::vector< std::vector< double > > &positions, const MoveOptions &options, const ProtoStruct &extra)=0
	Move each joint on the arm through the positions specified in.

virtual bool	is_moving ()=0
	Reports if the arm is in motion.

virtual ProtoStruct	do_command (const ProtoStruct &command)=0
	Send/receive arbitrary commands to the resource.

virtual KinematicsData	get_kinematics (const ProtoStruct &extra)=0
	Get the kinematics data associated with the arm.

KinematicsData	get_kinematics ()
	Get the kinematics data associated with the arm.

std::vector< GeometryConfig >	get_geometries ()
	Returns `GeometryConfig`s associated with the calling arm.

virtual std::vector< GeometryConfig >	get_geometries (const ProtoStruct &extra)=0
	Returns `GeometryConfig`s associated with the calling arm.

API	api () const override
	Returns the `API` associated with a particular resource.

Public Member Functions inherited from viam::sdk::Component
Name	get_resource_name () const override
	Returns the `Name` for a particular resource.

Public Member Functions inherited from viam::sdk::Resource
	Resource (std::string name)

virtual std::string	name () const
	Return the resource's name.

Public Member Functions inherited from viam::sdk::Stoppable
virtual void	stop (const ProtoStruct &extra)=0
	Stops a resource from running.

void	stop ()
	Stops a resource from running.

Protected Member Functions
	Arm (std::string name)

Protected Member Functions inherited from viam::sdk::Component
	Component (std::string name)

Protected Member Functions inherited from viam::sdk::Resource
Name	get_resource_name (const std::string &type) const

Additional Inherited Members
Static Public Member Functions inherited from viam::sdk::Stoppable
static void	stop_if_stoppable (const std::shared_ptr< Resource > &resource, const ProtoStruct &extra)
	Stops a Resource if it is Stoppable.

static void	stop_if_stoppable (const std::shared_ptr< Resource > &resource)
	Stops a Resource if it is Stoppable.

Detailed Description

An Arm represents a physical robot arm that exists in three-dimensional space.

This acts as an abstract parent class to be inherited from by any drivers representing specific arm implementations. This class cannot be used on its own.

Member Typedef Documentation

◆ KinematicsData

using viam::sdk::Arm::KinematicsData

Initial value:

boost::variant<KinematicsDataUnspecified, KinematicsDataSVA, KinematicsDataURDF>

The kinematics of the component.

Returns: The data in Viam's Spatial Vector Algebra (SVA) format, or URDF.

Member Function Documentation

◆ api()

API viam::sdk::Arm::api ( ) const

overridevirtual

Returns the API associated with a particular resource.

Implements viam::sdk::Resource.

◆ do_command()

virtual ProtoStruct viam::sdk::Arm::do_command ( const ProtoStruct & command )

pure virtual

Send/receive arbitrary commands to the resource.

Parameters

Command the command to execute.

Returns: The result of the executed command.

Implemented in viam::sdk::impl::ArmClient.

◆ get_end_position() [1/2]

pose viam::sdk::Arm::get_end_position ( )

inline

Get the current position of the end of the arm.

Returns: The pose representing the end position of the arm.

◆ get_end_position() [2/2]

virtual pose viam::sdk::Arm::get_end_position ( const ProtoStruct & extra )

pure virtual

Get the current position of the end of the arm.

Parameters

extra Any additional arguments to the method.

Returns: The pose representing the end position of the arm.

Implemented in viam::sdk::impl::ArmClient, and viam::sdk::impl::ArmClient.

◆ get_geometries()

virtual std::vector< GeometryConfig > viam::sdk::Arm::get_geometries ( const ProtoStruct & extra )

pure virtual

Returns GeometryConfigs associated with the calling arm.

Parameters

extra Any additional arguments to the method

Implemented in viam::sdk::impl::ArmClient, and viam::sdk::impl::ArmClient.

◆ get_joint_positions()

virtual std::vector< double > viam::sdk::Arm::get_joint_positions ( const ProtoStruct & extra )

pure virtual

Lists the joint positions in degrees of every joint on a robot arm.

Parameters

extra Any additional arguments to the method.

Implemented in viam::sdk::impl::ArmClient, and viam::sdk::impl::ArmClient.

◆ get_kinematics() [1/2]

KinematicsData viam::sdk::Arm::get_kinematics ( )

inline

Get the kinematics data associated with the arm.

Returns: A variant of kinematics data, with bytes field containing the raw bytes of the file and the object's type indicating the file format.

◆ get_kinematics() [2/2]

virtual KinematicsData viam::sdk::Arm::get_kinematics ( const ProtoStruct & extra )

pure virtual

Get the kinematics data associated with the arm.

Parameters

extra Any additional arguments to the method.

Returns: A variant of kinematics data, with bytes field containing the raw bytes of the file and the object's type indicating the file format.

Implemented in viam::sdk::impl::ArmClient, and viam::sdk::impl::ArmClient.

◆ is_moving()

virtual bool viam::sdk::Arm::is_moving ( )

pure virtual

Reports if the arm is in motion.

Implemented in viam::sdk::impl::ArmClient.

◆ move_through_joint_positions() [1/2]

void viam::sdk::Arm::move_through_joint_positions	(	const std::vector< std::vector< double > > &	positions,
		const MoveOptions &	options )

inline

Move each joint on the arm through the positions specified in.

Parameters

positions
options	optional specifications to be obeyed during the motion. TODO consider replacing vector vector with xtensor array, and also if it may be possible to specify or constrain dimensionality of the array in advance.

◆ move_through_joint_positions() [2/2]

virtual void viam::sdk::Arm::move_through_joint_positions	(	const std::vector< std::vector< double > > &	positions,
		const MoveOptions &	options,
		const ProtoStruct &	extra )

pure virtual

Move each joint on the arm through the positions specified in.

Parameters

positions
options	optional specifications to be obeyed during the motion.
extra	Any additional arguments to the method.

Implemented in viam::sdk::impl::ArmClient, and viam::sdk::impl::ArmClient.

◆ move_to_joint_positions() [1/2]

void viam::sdk::Arm::move_to_joint_positions ( const std::vector< double > & positions )

inline

Move each joint on the arm to the corresponding angle specified in.

Parameters

positions

◆ move_to_joint_positions() [2/2]

virtual void viam::sdk::Arm::move_to_joint_positions	(	const std::vector< double > &	positions,
		const ProtoStruct &	extra )

pure virtual

Move each joint on the arm to the corresponding angle specified in.

Parameters

positions
extra	Any additional arguments to the method.

Implemented in viam::sdk::impl::ArmClient, and viam::sdk::impl::ArmClient.

◆ move_to_position() [1/2]

void viam::sdk::Arm::move_to_position ( const pose & pose )

inline

Move the end of the arm to.

Parameters

pose.

◆ move_to_position() [2/2]

virtual void viam::sdk::Arm::move_to_position	(	const pose &	pose,
		const ProtoStruct &	extra )

pure virtual

Move the end of the arm to.

Parameters

pose.
pose	The destination pose for the arm.
extra	Any additional arguments to the method.

Implemented in viam::sdk::impl::ArmClient, and viam::sdk::impl::ArmClient.

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

src/viam/sdk/components/arm.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ KinematicsData

Member Function Documentation

◆ api()

◆ do_command()

◆ get_end_position() [1/2]

◆ get_end_position() [2/2]

◆ get_geometries()

◆ get_joint_positions()

◆ get_kinematics() [1/2]

◆ get_kinematics() [2/2]

◆ is_moving()

◆ move_through_joint_positions() [1/2]

◆ move_through_joint_positions() [2/2]

◆ move_to_joint_positions() [1/2]

◆ move_to_joint_positions() [2/2]

◆ move_to_position() [1/2]

◆ move_to_position() [2/2]