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data_types_cli.hpp
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1
8#pragma once
9#ifndef XCORESDK_SRC_CLI_DATA_TYPES_CLI_HPP_
10#define XCORESDK_SRC_CLI_DATA_TYPES_CLI_HPP_
11
12#include <unordered_map>
13#include <any>
14
15 using namespace System;
16 using namespace System::Collections::Generic;
17
18 namespace rokae::clr {
19
23 public ref class ErrorCode {
24 private:
25 int value_;
26 String^ message_;
27 public:
28
29 ErrorCode(int v, String^ m) : value_(v), message_(m) {};
33 property String^ message {
34 String^ get() {
35 return message_;
36 }
37 }
41 property int value {
42 int get() {
43 return value_;
44 }
45 }
46 };
47
51 public enum class PowerState {
53 on = 0,
55 off = 1,
57 estop = 2,
59 gstop = 3,
61 unknown = -1
62 };
63
67 public enum class OperateMode {
69 manual = 0,
71 automatic = 1,
73 unknown = -1
74 };
75
79 public enum class OperationState {
81 idle = 0,
83 jog = 1,
85 rtControlling = 2,
87 drag = 3,
89 rlProgram = 4,
91 demo = 5,
93 dynamicIdentify = 6,
95 frictionIdentify = 7,
97 loadIdentify = 8,
99 moving = 9,
101 jogging = 10,
103 unknown = -1
104 };
105
109 public enum class CoordinateType {
111 flangeInBase,
113 endInRef,
115 endInWorld
116 };
117
121 public enum class StopLevel {
123 stop0,
125 stop1,
127 stop2,
129 suppleStop
130 };
131
135 public enum class MotionControlMode {
137 Idle,
139 NrtCommand,
141 NrtRLTask,
143 RtCommand,
144 };
145
149 public enum class JogSpace {
151 world = 0,
153 flange,
155 baseFrame,
157 toolFrame,
159 wobjFrame,
161 jointSpace,
163 singularityAvoidMode,
165 baseParallelMode
166 };
167
171 public enum class FrameType {
173 world = 0,
175 baseFrame = 1,
177 flange = 2,
179 tool = 3,
181 wobj = 4,
183 path = 5,
185 rail = 6
186 };
187
191 public value struct DragOpt {
192 public:
193 enum class Space {
195 jointSpace = 0,
197 cartesianSpace = 1
198 };
199 enum class Type {
201 translationOnly = 0,
203 rotationOnly = 1,
205 freely = 2
206 };
207 };
208
212 public value struct xPanelOpt {
216 enum class Vout {
218 off,
220 reserve,
222 supply12v,
224 supply24v
225 };
226 };
227
231 public enum class AvoidSingularityMethod {
233 lockAxis4,
235 wrist,
237 jointWay,
241 none
242 };
243
244 typedef System::Collections::Generic::Dictionary<String^, System::Object^>^ EventInfo;
245 public delegate void EventCallbackDelegate(EventInfo);
246 public delegate void EventCallbackNativeDelegate(const std::unordered_map<std::string, std::any>&);
247 typedef void(__stdcall * EventCallbackPtr)(const std::unordered_map<std::string, std::any> &);
248
249 public delegate void ConnectionHandlerDelegate(bool);
250 typedef void(__stdcall* ConnectionHandlerPtr)(bool);
251
255 public enum class Event {
257 moveExecution,
259 safety,
261 arcWeldState,
263 rlExecution,
265 logReporter,
267 lasertrackState,
269 anticollisionState,
271 schedState,
273 disconnectionBehaviour,
274 };
275
279 public value struct Info {
281 String^ id;
283 String^ mac;
285 String^ version;
287 String^ type;
289 Int32 joint_num;
290 };
291
295 public ref class Frame {
296 public:
302 Frame(array<double> ^ _trans, array<double> ^ _rpy) : trans(_trans), rpy(_rpy), quat(gcnew array<double>(4)) {}
303
308 Frame(array<double>^ _frame) : trans(gcnew array<double>(3)), rpy(gcnew array<double>(3)),
309 quat(gcnew array<double>(4)){
310 if (_frame->Length < 6) {
311 throw gcnew System::IndexOutOfRangeException();
312 }
313 trans[0] = _frame[0];
314 trans[1] = _frame[1];
315 trans[2] = _frame[2];
316 rpy[0] = _frame[3];
317 rpy[1] = _frame[4];
318 rpy[2] = _frame[5];
319 }
320
324 Frame() : trans(gcnew array<double>(3)), rpy(gcnew array<double>(3)), quat(gcnew array<double>(4)) {}
326 array<double>^ trans;
328 array<double>^ rpy;
332 array<double> ^ quat;
333 };
334
338 public ref class CartesianPosition : public Frame {
339 public:
343 ref class Offset {
344 public:
346 enum class Type {
348 none,
350 offs,
352 relTool
353 };
354 Offset(): type(Type::none), frame(gcnew Frame()) {};
355 Type type;
356 Frame^ frame;
357 };
358 CartesianPosition(): Frame(), elbow(0), confData(gcnew List<int>), external(gcnew List<double>) {};
359
364 CartesianPosition(array<double>^ _frame):Frame(_frame), elbow(0), confData(gcnew List<int>), external(gcnew List<double>) {};
365
367 double elbow;
369 List<int>^ confData;
371 List<double>^ external;
372 };
373
377 public ref class JointPosition {
378 public:
379 JointPosition() : joints(gcnew List<double>()), external(gcnew List<double>()) {};
381 List<double>^ joints;
383 List<double>^ external;
384 };
385
389 public ref class MoveCommand {
390 public:
394 enum class Type {
396 MoveL,
398 MoveJ,
400 MoveAbsJ,
402 MoveC,
404 MoveCF,
406 MoveSP,
408 MoveWait
409
410 };
411
413 CartesianPosition^ cartTarget;
415 JointPosition^ jointTarget;
417 CartesianPosition^ auxPoint;
419 CartesianPosition::Offset^ cartTargetOffset;
421 CartesianPosition::Offset^ auxPointOffset;
423 int speed;
427 double jointSpeed;
430 double rotSpeed;
432 int zone;
434 String^ customInfo;
435
446 List<double>^ args;
447 bool iscondition;
448 String^ io_name;
449
450 MoveCommand() : cartTarget(gcnew CartesianPosition()),
451 jointTarget(gcnew JointPosition()),
452 auxPoint(gcnew CartesianPosition()),
453 cartTargetOffset(gcnew CartesianPosition::Offset()),
454 auxPointOffset(gcnew CartesianPosition::Offset()),
455 speed(-1), jointSpeed(-1), rotSpeed(-1), zone(-1), customInfo(gcnew String("")), args(gcnew List<double>()),
456 iscondition(false), io_name(gcnew String("")) {};
457 };
458
462 public ref class PulseLCommand {
463 public:
464
466 CartesianPosition^ cartTarget;
468 CartesianPosition::Offset^ cartTargetOffset;
470 int speed;
473 double rotSpeed;
475 int zone;
477 String^ customInfo;
478
482 String^ signalName;
483
487 double periodWidth;
488
492 double pulseTime;
493
494
495 PulseLCommand() : cartTarget(gcnew CartesianPosition()),
496 cartTargetOffset(gcnew CartesianPosition::Offset()),
497 speed(-1), rotSpeed(-1), zone(-1), customInfo(gcnew String("")), signalName(""), periodWidth(0), pulseTime(0) {
498 };
499 };
500
504 public ref class Load {
505 public:
506 Load(): mass(0.0), cog(gcnew array<double>(3)), inertia(gcnew array<double>(3)){}
507 Load(double m, array<double>^ c, array<double>^ i): mass(m), cog(c), inertia(i) {}
509 double mass;
511 array<double>^ cog;
513 array<double>^ inertia;
514 };
515
520 public ref class Toolset {
521 public:
522 Toolset() : load(gcnew Load()), end(gcnew Frame()), reference(gcnew Frame()) {}
524 Load^ load;
526 Frame^ end;
528 Frame^ reference;
530 String ^endName;
532 String ^referenceName;
533 };
534
538 public ref class FrameCalibrationResult {
539 public:
540 FrameCalibrationResult() : frame(gcnew Frame()), errors(gcnew array<double>(3)) {}
541 FrameCalibrationResult(Frame^ f, array<double>^ e): frame(f), errors(e){}
543 Frame^ frame;
545 array<double>^ errors{};
546 };
547
551 public ref class LogInfo {
552 public:
554 enum class Level {
556 info,
558 warning,
560 error
561 };
562 LogInfo(int _id, String^ ts, String^ ct, String^ r): id(_id),
563 timestamp(ts), content(ct), repair(r) {}
565 const int id;
567 String^ timestamp;
569 String^ content;
571 String^ repair;
572 };
573
577 public ref class RLProjectInfo {
578 public:
579 RLProjectInfo(String^ n): name(n), taskList(gcnew List<String^>()){}
581 String^ name;
583 List<String^>^ taskList;
584 };
585
589 public ref class WorkToolInfo {
590 public:
591 WorkToolInfo(): name(gcnew String("")), alias(gcnew String("")),
592 robotHeld(false), pos(gcnew Frame()), load(gcnew Load()) {}
593 WorkToolInfo(String^ n, String^ a, bool isHeld, Frame^ p, Load^ l):
594 name(n), alias(a), robotHeld(isHeld), pos(p), load(l) {}
595
597 String^ name;
599 String^ alias;
601 bool robotHeld;
603 Frame^ pos;
605 Load^ load;
606 };
607
611 public value struct SignalBinding {
613 String ^ type;
615 String ^ name;
616 };
617
621 public ref class SchedEntry {
622 public:
623 SchedEntry() : id(0), enable(false), name(gcnew String("")), count(1) {
624 register_binding.type = gcnew String("DI");
625 register_binding.name = gcnew String("");
626 register_cancel.type = gcnew String("DI");
627 register_cancel.name = gcnew String("");
628 register_status.type = gcnew String("DO");
629 register_status.name = gcnew String("");
630 }
631 SchedEntry(int id,
632 bool enable,
633 String ^ name,
634 int count,
635 SignalBinding register_binding,
636 SignalBinding register_cancel,
637 SignalBinding register_status) : id(id), enable(enable), name(name), count(count) {
638 this->register_binding.type = register_binding.type;
639 this->register_binding.name = register_binding.name;
640 this->register_cancel.type = register_cancel.type;
641 this->register_cancel.name = register_cancel.name;
642 this->register_status.type = register_status.type;
643 this->register_status.name = register_status.name;
644 }
646 int id;
648 bool enable;
650 String ^ name;
652 int count;
654 SignalBinding register_binding;
656 SignalBinding register_cancel;
658 SignalBinding register_status;
659 };
660
664 public ref class SchedSetting {
665 public:
666 SchedSetting(){
667 schedEntrys = gcnew array<SchedEntry^>(8);
668 for (int i = 0; i < 8; ++i) {
669 schedEntrys[i] = gcnew SchedEntry();
670 schedEntrys[i]->id = i+1;
671 }
672 }
675 SchedEntry^ get(int id){
676 if (id < 1) return schedEntrys[0];
677 else if (id > 8) return schedEntrys[7];
678 return schedEntrys[id - 1];
679 }
681 array<SchedEntry^>^ schedEntrys;
682 };
683
687 public value struct SchedStatus {
689 int id;
691 String^ state;
693 int rank;
695 int count;
696 };
697}
698#endif // XCORESDK_SRC_CLI_DATA_TYPES_CLI_HPP_
rokae::clr::CartesianPosition::Offset
偏移
Definition: data_types_cli.hpp:343
rokae::clr::CartesianPosition::Offset::Type
Type
偏移类型
Definition: data_types_cli.hpp:346
rokae::clr::CartesianPosition::Offset::type
Type type
偏移类型
Definition: data_types_cli.hpp:355
rokae::clr::CartesianPosition::Offset::frame
Frame frame
相对于指定工具/工件坐标系的偏移
Definition: data_types_cli.hpp:356
rokae::clr::CartesianPosition
笛卡尔点位
Definition: data_types_cli.hpp:338
rokae::clr::CartesianPosition::external
List< double > external
外部关节数值,单位:弧度|米。导轨单位米
Definition: data_types_cli.hpp:371
rokae::clr::CartesianPosition::CartesianPosition
CartesianPosition(array< double >^ _frame)
Constructor
Definition: data_types_cli.hpp:364
rokae::clr::CartesianPosition::elbow
double elbow
臂角, 适用于7轴机器人, 单位：弧度
Definition: data_types_cli.hpp:367
rokae::clr::CartesianPosition::confData
List< int > confData
轴配置数据，[cf1, cf2, cf3, cf4, cf5, cf6, cf7, cfx]
Definition: data_types_cli.hpp:369
rokae::clr::ErrorCode
xCoreSDK错误码
Definition: data_types_cli.hpp:23
rokae::clr::FrameCalibrationResult
坐标系标定结果
Definition: data_types_cli.hpp:538
rokae::clr::FrameCalibrationResult::errors
array< double > errors
样本点与TCP标定值的偏差, 依次为最小值,平均值,最大值, 单位m
Definition: data_types_cli.hpp:545
rokae::clr::FrameCalibrationResult::frame
Frame frame
标定结果坐标系
Definition: data_types_cli.hpp:543
rokae::clr::Frame
坐标系
Definition: data_types_cli.hpp:295
rokae::clr::Frame::rpy
array< double > rpy
欧拉角 [Rx, Ry, Rz], 单位:弧度
Definition: data_types_cli.hpp:328
rokae::clr::Frame::Frame
Frame(array< double > ^ _trans, array< double > ^ _rpy)
Constructor
Definition: data_types_cli.hpp:302
rokae::clr::Frame::Frame
Frame()
Constructor.
Definition: data_types_cli.hpp:324
rokae::clr::Frame::quat
array< double > quat
四元数 [x, y, z, w], 只读
Definition: data_types_cli.hpp:332
rokae::clr::Frame::trans
array< double > trans
平移量 [X, Y, Z], 单位:米
Definition: data_types_cli.hpp:326
rokae::clr::Frame::Frame
Frame(array< double >^ _frame)
Constructor
Definition: data_types_cli.hpp:308
rokae::clr::JointPosition
关节点位
Definition: data_types_cli.hpp:377
rokae::clr::JointPosition::joints
List< double > joints
关节角度值, 单位:弧度
Definition: data_types_cli.hpp:381
rokae::clr::JointPosition::external
List< double > external
外部关节数值, 单位:弧度|米。导轨单位米
Definition: data_types_cli.hpp:383
rokae::clr::Load
负载信息
Definition: data_types_cli.hpp:504
rokae::clr::Load::mass
double mass
负载质量, 单位:千克
Definition: data_types_cli.hpp:509
rokae::clr::Load::inertia
array< double > inertia
惯量 [ix, iy, iz], 单位:千克·平方米
Definition: data_types_cli.hpp:513
rokae::clr::Load::cog
array< double > cog
质心 [x, y, z], 单位:米
Definition: data_types_cli.hpp:511
rokae::clr::LogInfo
控制器日志信息
Definition: data_types_cli.hpp:551
rokae::clr::LogInfo::timestamp
String timestamp
日期及时间
Definition: data_types_cli.hpp:567
rokae::clr::LogInfo::repair
String repair
修复办法
Definition: data_types_cli.hpp:571
rokae::clr::LogInfo::content
String content
日志内容
Definition: data_types_cli.hpp:569
rokae::clr::LogInfo::Level
Level
日志等级
Definition: data_types_cli.hpp:554
rokae::clr::LogInfo::id
const int id
日志ID号
Definition: data_types_cli.hpp:565
rokae::clr::MoveCommand
非实时运动指令
Definition: data_types_cli.hpp:389
rokae::clr::MoveCommand::customInfo
String customInfo
自定义信息，可在运动信息反馈中返回出来
Definition: data_types_cli.hpp:434
rokae::clr::MoveCommand::cartTargetOffset
CartesianPosition::Offset cartTargetOffset
笛卡尔目标点偏移选项
Definition: data_types_cli.hpp:419
rokae::clr::MoveCommand::rotSpeed
double rotSpeed
空间旋转速度，用于末端类型指令，单位rad/s。 大于等于0时生效；小于0时旋转速度默认为200°/s
Definition: data_types_cli.hpp:430
rokae::clr::MoveCommand::speed
int speed
机器人末端最大线速度, 单位mm/s。见setDefaultSpeed
Definition: data_types_cli.hpp:423
rokae::clr::MoveCommand::jointSpeed
double jointSpeed
关节速度百分比，用于关节类型指令，范围[0, 1]。 大于等于0时生效；小于0时仍使用speed计算出的关节速度
Definition: data_types_cli.hpp:427
rokae::clr::MoveCommand::args
List< double > args
运动指令其它参数 Type::MoveCF接受长度为2参数，依次为: 全圆执行角度[弧度]; 旋转姿态类型, 0不变姿态|1动轴旋转|2定轴旋转 Type::MoveSP接受长度为4参数，依次为:初始半...
Definition: data_types_cli.hpp:446
rokae::clr::MoveCommand::auxPointOffset
CartesianPosition::Offset auxPointOffset
辅助点偏移选项
Definition: data_types_cli.hpp:421
rokae::clr::MoveCommand::cartTarget
CartesianPosition cartTarget
目标笛卡尔点位
Definition: data_types_cli.hpp:413
rokae::clr::MoveCommand::zone
int zone
转弯区半径大小，单位mm。见setDefaultZone
Definition: data_types_cli.hpp:432
rokae::clr::MoveCommand::jointTarget
JointPosition jointTarget
目标关节点位
Definition: data_types_cli.hpp:415
rokae::clr::MoveCommand::Type
Type
指令类型
Definition: data_types_cli.hpp:394
rokae::clr::MoveCommand::auxPoint
CartesianPosition auxPoint
辅助点
Definition: data_types_cli.hpp:417
rokae::clr::PulseLCommand
Definition: data_types_cli.hpp:462
rokae::clr::PulseLCommand::zone
int zone
转弯区半径大小，单位mm。见setDefaultZone
Definition: data_types_cli.hpp:475
rokae::clr::PulseLCommand::cartTarget
CartesianPosition cartTarget
目标笛卡尔点位
Definition: data_types_cli.hpp:466
rokae::clr::PulseLCommand::periodWidth
double periodWidth
周期宽度, 相邻两次DO信号置高的路径长度，单位毫米, 范围 [0.01, 10000], 同时要求不小于末端线速度[mm/s] * 0.004s
Definition: data_types_cli.hpp:487
rokae::clr::PulseLCommand::cartTargetOffset
CartesianPosition::Offset cartTargetOffset
笛卡尔目标点偏移选项
Definition: data_types_cli.hpp:468
rokae::clr::PulseLCommand::signalName
String signalName
信号名称, 比如 "DO0_0"
Definition: data_types_cli.hpp:482
rokae::clr::PulseLCommand::pulseTime
double pulseTime
脉冲时长, DO信号置高后维持的时长, 单位秒, 范围 [0.002, 10]
Definition: data_types_cli.hpp:492
rokae::clr::PulseLCommand::speed
int speed
机器人末端最大线速度, 单位mm/s。见setDefaultSpeed
Definition: data_types_cli.hpp:470
rokae::clr::PulseLCommand::rotSpeed
double rotSpeed
空间旋转速度，用于末端类型指令，单位rad/s。 大于等于0时生效；小于0时旋转速度默认为200°/s
Definition: data_types_cli.hpp:473
rokae::clr::PulseLCommand::customInfo
String customInfo
自定义信息，可在运动信息反馈中返回出来
Definition: data_types_cli.hpp:477
rokae::clr::RLProjectInfo
RL工程信息
Definition: data_types_cli.hpp:577
rokae::clr::RLProjectInfo::taskList
List< String^> taskList
任务名称列表
Definition: data_types_cli.hpp:583
rokae::clr::RLProjectInfo::name
String name
工程名称
Definition: data_types_cli.hpp:581
rokae::clr::SchedEntry
工位预约设置项
Definition: data_types_cli.hpp:621
rokae::clr::SchedEntry::name
String name
工程名
Definition: data_types_cli.hpp:650
rokae::clr::SchedEntry::enable
bool enable
是否启用
Definition: data_types_cli.hpp:648
rokae::clr::SchedEntry::count
int count
循环次数
Definition: data_types_cli.hpp:652
rokae::clr::SchedEntry::id
int id
工位号
Definition: data_types_cli.hpp:646
rokae::clr::SchedEntry::register_binding
SignalBinding register_binding
预约绑定信号
Definition: data_types_cli.hpp:654
rokae::clr::SchedEntry::register_cancel
SignalBinding register_cancel
取消预约绑定信号
Definition: data_types_cli.hpp:656
rokae::clr::SchedEntry::register_status
SignalBinding register_status
预约状态绑定输出信号
Definition: data_types_cli.hpp:658
rokae::clr::SchedSetting
预约设置, 支持8个预约设置项
Definition: data_types_cli.hpp:664
rokae::clr::SchedSetting::get
SchedEntry get(int id)
获取预约设置项
Definition: data_types_cli.hpp:675
rokae::clr::SchedSetting::schedEntrys
array< SchedEntry^> schedEntrys
预约设置项
Definition: data_types_cli.hpp:681
rokae::clr::Toolset
工具工件组信息, 根据一对工具工件的坐标、负载、机器人手持设置计算得出
Definition: data_types_cli.hpp:520
rokae::clr::Toolset::end
Frame end
机器人末端坐标系相对法兰坐标系转换
Definition: data_types_cli.hpp:526
rokae::clr::Toolset::load
Load load
机器人末端手持负载
Definition: data_types_cli.hpp:524
rokae::clr::Toolset::referenceName
String referenceName
外部参考工件名称，只读
Definition: data_types_cli.hpp:532
rokae::clr::Toolset::reference
Frame reference
机器人参考坐标系相对世界坐标系转换
Definition: data_types_cli.hpp:528
rokae::clr::Toolset::endName
String endName
末端工具名称，只读
Definition: data_types_cli.hpp:530
rokae::clr::WorkToolInfo
工具/工件信息。工件的坐标系已相对其用户坐标系变换
Definition: data_types_cli.hpp:589
rokae::clr::WorkToolInfo::load
Load load
负载
Definition: data_types_cli.hpp:605
rokae::clr::WorkToolInfo::alias
String alias
别名, 暂未使用
Definition: data_types_cli.hpp:599
rokae::clr::WorkToolInfo::robotHeld
bool robotHeld
是否机器人手持
Definition: data_types_cli.hpp:601
rokae::clr::WorkToolInfo::pos
Frame pos
位姿
Definition: data_types_cli.hpp:603
rokae::clr::WorkToolInfo::name
String name
名称
Definition: data_types_cli.hpp:597
rokae::clr::OperationState
OperationState
机器人工作状态
Definition: data_types_cli.hpp:79
rokae::clr::OperationState::frictionIdentify
@ frictionIdentify
摩擦力辨识中
rokae::clr::OperationState::jogging
@ jogging
Jog运动中
rokae::clr::OperationState::rtControlling
@ rtControlling
实时模式控制中
rokae::clr::OperationState::moving
@ moving
机器人运动中
rokae::clr::OperationState::dynamicIdentify
@ dynamicIdentify
动力学辨识中
rokae::clr::OperationState::drag
@ drag
拖动已开启
rokae::clr::OperationState::rlProgram
@ rlProgram
RL工程运行中
rokae::clr::OperationState::jog
@ jog
jog状态(未运动)
rokae::clr::OperationState::loadIdentify
@ loadIdentify
负载辨识中
rokae::clr::OperationState::idle
@ idle
机器人静止
rokae::clr::OperationState::demo
@ demo
Demo演示中
rokae::clr::FrameType
FrameType
笛卡尔空间坐标系类型
Definition: data_types_cli.hpp:171
rokae::clr::FrameType::wobj
@ wobj
工件坐标系
rokae::clr::FrameType::tool
@ tool
工具坐标系
rokae::clr::FrameType::rail
@ rail
导轨基坐标系
rokae::clr::FrameType::path
@ path
路径坐标系
rokae::clr::StopLevel
StopLevel
机器人停止运动等级
Definition: data_types_cli.hpp:121
rokae::clr::StopLevel::stop0
@ stop0
快速停止机器人运动后断电
rokae::clr::StopLevel::suppleStop
@ suppleStop
柔顺停止，仅适用于协作机型
rokae::clr::StopLevel::stop1
@ stop1
规划停止机器人运动后断电, 停在原始路径上
rokae::clr::StopLevel::stop2
@ stop2
规划停止机器人运动后不断电, 停在原始路径上
rokae::clr::CoordinateType
CoordinateType
位姿坐标系类型
Definition: data_types_cli.hpp:109
rokae::clr::CoordinateType::flangeInBase
@ flangeInBase
法兰相对于基坐标系
rokae::clr::CoordinateType::endInWorld
@ endInWorld
末端相对于世界坐标系
rokae::clr::CoordinateType::endInRef
@ endInRef
末端相对于外部坐标系
rokae::clr::JogSpace
JogSpace
Jog选项: 坐标系
Definition: data_types_cli.hpp:149
rokae::clr::JogSpace::singularityAvoidMode
@ singularityAvoidMode
奇异规避模式，适用于工业六轴, xMateCR和xMateSR机型，规避方法是锁定4轴
rokae::clr::JogSpace::jointSpace
@ jointSpace
轴空间
rokae::clr::JogSpace::baseParallelMode
@ baseParallelMode
平行基座模式，仅适用于xMateCR和xMateSR机型
rokae::clr::JogSpace::world
@ world
世界坐标系
rokae::clr::JogSpace::baseFrame
@ baseFrame
基坐标系
rokae::clr::JogSpace::wobjFrame
@ wobjFrame
工件坐标系
rokae::clr::JogSpace::flange
@ flange
法兰坐标系
rokae::clr::JogSpace::toolFrame
@ toolFrame
工具坐标系
rokae::clr::MotionControlMode
MotionControlMode
SDK运动控制模式
Definition: data_types_cli.hpp:135
rokae::clr::MotionControlMode::RtCommand
@ RtCommand
实时模式控制
rokae::clr::MotionControlMode::NrtRLTask
@ NrtRLTask
非实时模式运行RL工程
rokae::clr::MotionControlMode::NrtCommand
@ NrtCommand
非实时模式执行运动指令
rokae::clr::MotionControlMode::Idle
@ Idle
空闲
rokae::clr::AvoidSingularityMethod
AvoidSingularityMethod
奇异规避方式
Definition: data_types_cli.hpp:231
rokae::clr::AvoidSingularityMethod::none
@ none
不打开
rokae::clr::AvoidSingularityMethod::jointWay
@ jointWay
轴空间短轨迹插补
rokae::clr::AvoidSingularityMethod::wrist
@ wrist
牺牲姿态
rokae::clr::AvoidSingularityMethod::lockAxis4
@ lockAxis4
四轴锁定
rokae::clr::PowerState
PowerState
机器人上下电及急停状态
Definition: data_types_cli.hpp:51
rokae::clr::PowerState::off
@ off
下电
rokae::clr::PowerState::gstop
@ gstop
安全门打开
rokae::clr::PowerState::unknown
@ unknown
未知(发生异常)
rokae::clr::PowerState::on
@ on
上电
rokae::clr::PowerState::estop
@ estop
急停被按下
rokae::clr::OperateMode
OperateMode
机器人操作模式
Definition: data_types_cli.hpp:67
rokae::clr::OperateMode::automatic
@ automatic
自动
rokae::clr::OperateMode::manual
@ manual
手动
rokae::clr::Event
Event
事件类型
Definition: data_types_cli.hpp:255
rokae::clr::Event::disconnectionBehaviour
@ disconnectionBehaviour
断连行为状态
rokae::clr::Event::safety
@ safety
安全 (是否碰撞)
rokae::clr::Event::schedState
@ schedState
工位预约状态
rokae::clr::Event::anticollisionState
@ anticollisionState
防碰撞状态
rokae::clr::Event::arcWeldState
@ arcWeldState
弧焊状态
rokae::clr::Event::lasertrackState
@ lasertrackState
激光跟踪器状态
rokae::clr::Event::rlExecution
@ rlExecution
RL执行信息
rokae::clr::Event::logReporter
@ logReporter
控制器日志上报
rokae::clr::Event::moveExecution
@ moveExecution
非实时运动指令执行信息
rokae::clr::DragOpt
机器人拖动模式参数, 包括拖动类型和空间
Definition: data_types_cli.hpp:191
rokae::clr::DragOpt::Space
Space
Definition: data_types_cli.hpp:193
rokae::clr::DragOpt::Type
Type
Definition: data_types_cli.hpp:199
rokae::clr::Info
机器人基本信息，在与建立机器人连接后加载
Definition: data_types_cli.hpp:279
rokae::clr::Info::version
String version
控制器版本
Definition: data_types_cli.hpp:285
rokae::clr::Info::joint_num
Int32 joint_num
轴数
Definition: data_types_cli.hpp:289
rokae::clr::Info::id
String id
机器人uid, 可用于区分连接的机器人
Definition: data_types_cli.hpp:281
rokae::clr::Info::type
String type
机器人机型名称
Definition: data_types_cli.hpp:287
rokae::clr::Info::mac
String mac
Mac地址
Definition: data_types_cli.hpp:283
rokae::clr::SchedStatus
预约状态
Definition: data_types_cli.hpp:687
rokae::clr::SchedStatus::rank
int rank
排序
Definition: data_types_cli.hpp:693
rokae::clr::SchedStatus::id
int id
工位号
Definition: data_types_cli.hpp:689
rokae::clr::SchedStatus::state
String state
预约状态。"running","unregister","register"，"pause"
Definition: data_types_cli.hpp:691
rokae::clr::SchedStatus::count
int count
当前循环次数
Definition: data_types_cli.hpp:695
rokae::clr::SignalBinding
工位预约信号绑定
Definition: data_types_cli.hpp:611
rokae::clr::SignalBinding::type
String type
信号类型,"DI","DO","REG"
Definition: data_types_cli.hpp:613
rokae::clr::SignalBinding::name
String name
端口名称
Definition: data_types_cli.hpp:615
rokae::clr::xPanelOpt
xPanel配置
Definition: data_types_cli.hpp:212
rokae::clr::xPanelOpt::Vout
Vout
xPanel对外供电模式
Definition: data_types_cli.hpp:216