# 所有程序包的分层结构

程序包分层结构:

- com.rokae.sdk,
- com.rokae.sdk.bridge,
- com.rokae.sdk.engine,
- com.rokae.sdk.engine.base,
- com.rokae.sdk.engine.imps,
- com.rokae.sdk.enums,
- com.rokae.sdk.model.commands,
- com.rokae.sdk.model.force,
- com.rokae.sdk.model.position,
- com.rokae.sdk.model.result,
- com.rokae.sdk.model.robot,
- com.rokae.sdk.model.tools

## 类分层结构

- java.lang.Object
  - com.rokae.sdk.enums.Ag
  - com.rokae.sdk.enums.Ag.RobotStateField
  - com.rokae.sdk.engine.base.BaseForceControl (implements com.rokae.sdk.engine.imps.IForceControlImp)
    - com.rokae.sdk.model.force.ForceControlModel (implements com.rokae.sdk.engine.imps.IForceControlTImp)
  - com.rokae.sdk.engine.base.BaseRobot (implements com.rokae.sdk.engine.imps.RobotCommandImp, com.rokae.sdk.engine.imps.RobotImp, com.rokae.sdk.engine.imps.RobotIOImp, com.rokae.sdk.engine.imps.RobotProjectImp)
    - com.rokae.sdk.engine.base.CooperateRobot (implements com.rokae.sdk.engine.imps.ICobotImp)
      - com.rokae.sdk.model.robot.XMateProRobot
      - com.rokae.sdk.model.robot.XMateRobot
    - com.rokae.sdk.engine.base.IndustrialRobot
      - com.rokae.sdk.model.robot.PCB3Robot
      - com.rokae.sdk.model.robot.PCB4Robot
      - com.rokae.sdk.model.robot.StandardRobot
  - com.rokae.sdk.model.position.CartesianPosition
  - com.rokae.sdk.model.commands.Command
    - com.rokae.sdk.model.commands.MoveAbsJCommand
    - com.rokae.sdk.model.commands.MoveCCommand
    - com.rokae.sdk.model.commands.MoveJCommand
    - com.rokae.sdk.model.commands.MoveLCommand
    - com.rokae.sdk.model.commands.MoveSPCommand
  - com.rokae.sdk.model.position.Frame
  - com.rokae.sdk.model.position.JointPosition
  - com.rokae.sdk.model.position.Load
  - com.rokae.sdk.bridge.NativeHelper
  - com.rokae.sdk.RobotManager
  - com.rokae.sdk.bridge.RobotMethod
  - com.rokae.sdk.engine.RobotResult
  - com.rokae.sdk.model.result.RobotStateList
  - com.rokae.sdk.model.result.RobotStateList.AnalogSignalsBean
  - com.rokae.sdk.model.result.RobotStateList.CartPosBean
  - com.rokae.sdk.model.result.RobotStateList.DigitalSignalsBean
  - com.rokae.sdk.enums.RobotT
  - com.rokae.sdk.model.tools.ToolSet

## 接口分层结构

- com.rokae.sdk.engine.imps.ICobotImp
- com.rokae.sdk.engine.imps.IForceControlImp
- com.rokae.sdk.engine.imps.IForceControlTImp
- com.rokae.sdk.bridge.JNICallback
- com.rokae.sdk.engine.imps.RobotCommandImp
- com.rokae.sdk.engine.imps.RobotImp
- com.rokae.sdk.engine.imps.RobotIOImp
- com.rokae.sdk.engine.imps.RobotProjectImp

## Enum Class Hierarchy

- java.lang.Object
  - java.lang.Enum<E> (implements java.lang.Comparable<T>, java.lang.constant.Constable, java.io.Serializable)
    - com.rokae.sdk.enums.CommandType
    - com.rokae.sdk.enums.FrameType
    - com.rokae.sdk.enums.RobotT.CoordinateType
    - com.rokae.sdk.enums.RobotT.DragParameterSpace
    - com.rokae.sdk.enums.RobotT.DragParameterType
    - com.rokae.sdk.enums.RobotT.Event
    - com.rokae.sdk.enums.RobotT.JogMotionSpace
    - com.rokae.sdk.enums.RobotT.MotionControlMode
    - com.rokae.sdk.enums.RobotT.PowerState
    - com.rokae.sdk.enums.RobotT.RegisterType
    - com.rokae.sdk.enums.RobotT.RobotMode
    - com.rokae.sdk.enums.RobotT.RobotOperateState
    - com.rokae.sdk.enums.RobotT.StopLevel
    - com.rokae.sdk.enums.RobotT.WorkType
    - com.rokae.sdk.enums.RobotType