Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 01:50:46 +02:00
Code Releases Activity

Refactoring, improvements and fixes

Browse Source
This commit is contained in:
Simon Rasmussen
2017-02-09 12:16:51 +01:00
parent e94bbb5536
commit 43974dcbf2
10 changed files with 258 additions and 97 deletions
Download Patch File Download Diff File Expand all files Collapse all files

41
include/ur_modern_driver/ur/state.h
View File

@@ -37,7 +37,7 @@ protected:
class RobotState_V1_6__7 : public RobotState {
protected:
virtual bool parse_package(BinParser &bp) = 0;
bool parse_package(BinParser &bp);
public:
RobotModeData_V1_X robot_mode;
//JointData
@@ -48,7 +48,7 @@ public:
class RobotState_V1_8 : public RobotState_V1_6__7 {
protected:
virtual bool parse_package(BinParser &bp) = 0;
bool parse_package(BinParser &bp);
public:
//KinematicsInfo
@@ -56,4 +56,39 @@ public:
//ForceModeData
//AdditionalInfo
//CalibrationData
};
};
class RobotState_V3_0__1 : public RobotState {
protected:
bool parse_package(BinParser &bp);
public:
RobotModeData_V3_0__1 robot_mode;
//JointData
//ToolData
MasterBoardData_V3_0__1 master_board;
//CartesianInfo
//KinematicsInfo
//ConfigurationData
//ForceModeData
//AdditionalInfo
//CalibrationData
};
class RobotState_V3_2 : public RobotState {
protected:
bool parse_package(BinParser &bp);
public:
RobotModeData_V3_2 robot_mode;
//JointData
//ToolData
MasterBoardData_V3_2 master_board;
//CartesianInfo
//KinematicsInfo
//ConfigurationData
//ForceModeData
//AdditionalInfo
//CalibrationData
};