Class RobotState

Class Documentation

class RobotState

struct to keep state of a robot.

Public Members

int robotId

This ID is used to identify the robot in the kinematics engine. The ID should be unique among all robots in the engine.

coordinate::CartesianPose jointPoses[constants::MAX_NUMBER_OF_JOINT]

joint poses of the robot.

Remark

This array holds the Cartesian poses of each joint in the robot’s kinematic chain. Each joint pose includes the position and orientation of the joint in Cartesian space.

coordinate::CartesianPose toolPose

tool pose of the robot.

Remark

This pose represents the position and orientation of the robot’s end effector in Cartesian space. It is calculated based on the joint positions and the robot’s kinematic parameters.

char serShapeFlag[3]

Shoulder, Elbow, and wRist direction for determining joint posture.

Remark

This array holds the direction vectors for the shoulder, elbow, and wrist joints. These vectors are used to determine the joint posture and orientation of the ‘SCARA’ robot’s end effector.

double jointPosition[constants::MAX_NUMBER_OF_JOINT]

position of the joints represented by WMX3 unit.

Remark

This array holds the position values of each joint in the robot’s kinematic chain. The values are represented in WMX3 units, which can be degrees for rotary joints or millimeters for linear joints.

coordinate::CartesianPose toolVelocity

velocity of the tool represented by WMX3 unit.

Remark

This variable represents the velocity of the robot’s end effector in Cartesian space.

double jointVelocity[constants::MAX_NUMBER_OF_JOINT]

velocity of the joints represented by WMX3 unit.

Remark

This array holds the velocity values of each joint in the robot’s kinematic chain. The values are represented in WMX3 units, which can be degrees per second for rotary joints or millimeters per second for linear joints.

double jointAcceleration[constants::MAX_NUMBER_OF_JOINT]

acceleration of the joints represented by WMX3 unit.

Remark

This array holds the acceleration values of each joint in the robot’s kinematic chain. The values are represented in WMX3 units, which can be degrees per second squared for rotary joints or millimeters per second squared for linear joints.

double jointCurrent[constants::MAX_NUMBER_OF_JOINT]

current of the joints represented by Ampere unit.

Note

If the robot does not support current feedback, this value is always 0.

double jointTorque[constants::MAX_NUMBER_OF_JOINT]

torque of the joints represented by Nm unit.

Remark

This array is updated only when the robot model is ‘Articulate6Axes’.

Note

This value is updated only feedback value.