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

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 AttributeMap &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 AttributeMap &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 AttributeMap &extra)=0
	Lists the joint positions in degrees of every joint on a robot arm.

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

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

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

virtual KinematicsData	get_kinematics (const AttributeMap &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 AttributeMap &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
viam::common::v1::ResourceName	get_resource_name (std::string name) const override
	Returns a `ResourceName` for a particular resource name.

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 AttributeMap &extra)=0
	Stops a resource from running.

void	stop ()
	Stops a resource from running.

Static Public Member Functions
static KinematicsData	from_proto (const viam::common::v1::GetKinematicsResponse &proto)

Static Public Member Functions inherited from viam::sdk::Stoppable
static void	stop_if_stoppable (const std::shared_ptr< Resource > &resource, const AttributeMap &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.

Protected Member Functions
	Arm (std::string name)

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

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 AttributeMap viam::sdk::Arm::do_command ( const AttributeMap & 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 AttributeMap & 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 AttributeMap & 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 AttributeMap & 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 AttributeMap & 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_to_joint_positions()

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

Static Public Member Functions

Protected Member Functions

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_to_joint_positions()

◆ move_to_position() [1/2]

◆ move_to_position() [2/2]