Class RobotStatus

Nested Relationships

Nested Types

Class Documentation

class RobotStatus

Class that encapsulates the complete state information of a robot.

This class maintains the full state of the robot including:

  • Commanded and actual positions/velocities

  • Current motion state

  • Error conditions and diagnostics

The status information is used for:

  • Monitoring robot operation

  • Verifying motion execution

  • Error detection and handling

  • Robot state synchronization

  • Motion control feedback

Public Types

enum ErrorBit

Enumeration defining the error bits used in robot state monitoring and error handling.

This enumeration represents different types of errors that can occur during robot state acquisition and motion execution. Each bit corresponds to a specific error condition, allowing for multiple errors to be tracked simultaneously. These error bits are used in the return value of robot state update functions.

Values:

enumerator ERROR_BIT_GET_STATE_CMD

State command error.

enumerator ERROR_BIT_GET_STATE_FEEDBACK

State feedback error.

enumerator ERROR_BIT_GET_MOTION_STATE

Motion state error.

enumerator ERROR_BIT_GET_MOTION_ERROR_CODE

Motion error code read error.

enumerator ERROR_BIT_MOTION_ERROR

Motion error.

enumerator ERROR_BIT_SIZE

Length of error bits.

Public Functions

inline JointStatus joint(int idx)

Get state information for a specific joint axis of the robot.

Provides access to both commanded and feedback state information for a specific joint:

  • Command pose and feedback pose in Cartesian coordinates

  • Command position and velocity

  • Feedback position and velocity

This function returns a ‘JointStatus’ object that encapsulates all state data for the requested joint axis, allowing easy access to both commanded and actual values. The data can be used to:

  • Monitor joint positions and velocities

  • Compare commanded vs feedback values

  • Check robot motion execution accuracy

  • Debug motion issues

See also

RobotState For the complete robot state information

Note

The index must be less than the maximum number of joints (MAX_NUMBER_OF_JOINT)

Parameters:

idx – [in] The joint axis index (0-based) to get status for

Returns:

JointStatus Object containing command and feedback state for the specified joint

Public Members

kinematics::RobotState stateCommand

Robot state based on commanded values.

Contains the ideal/target state that the robot is commanded to achieve, including:

  • Target joint positions and velocities

  • Target tool pose (position and orientation)

  • Target coordinate frames and transformations

This represents what the robot is “supposed to do” based on motion commands. Comparing this with stateFeedback helps monitor motion accuracy.

See also

RobotState Contains the detailed structure of robot state information

kinematics::RobotState stateFeedback

Robot state based on actual feedback values.

Contains the real measured state of the robot, including:

  • Actual joint positions and velocities from encoders

  • Actual tool pose from forward kinematics

  • Actual coordinate frames and transformations

This represents what the robot is “actually doing” based on sensor feedback. Compare with stateCommand to:

  • Check position/velocity errors

  • Monitor tracking accuracy

  • Detect motion problems

See also

RobotState Contains the detailed structure of robot state information

kinematics::constants::MotionState motionState

Current motion state of the robot.

Indicates the robot’s current operational state:

  • Whether robot is moving or stationary

  • Type of motion being executed

  • Motion phase (acceleration, constant velocity, deceleration)

  • Emergency stop or fault conditions

Used to:

  • Coordinate motion sequences

  • Handle motion transitions

  • Implement safety interlocks

  • Monitor motion progress

See also

MotionState For possible motion states

kinematics::MotionErrorInfo motionErrorInfo

Detailed error and diagnostic information.

Contains comprehensive error information including:

  • Error codes and descriptions

  • Fault conditions

  • Motion violations

  • Safety system status

  • Warning conditions

Used for:

  • Error detection and handling

  • Diagnostic logging

  • Safety monitoring

  • Maintenance scheduling

See also

MotionErrorInfo For detailed error information structure