Robot control interface. More...

#include <robot.h>

Inheritance diagram for rb::Robot< T >:

Public Types
using	ModelType = T

Public Member Functions
bool	BrakeEngage (const std::string &dev_name) const
	Engage the brake for a device.

bool	BrakeRelease (const std::string &dev_name) const
	Release the brake for a device.

bool	CancelControl () const
	Cancel current control operation.

bool	Connect (int max_retries=5, int timeout_ms=1000, std::function< bool()> signal_check=nullptr)
	Attempts to establish a connection with the robot.

bool	ConnectWifi (const std::string &ssid, const std::string &password="", bool use_dhcp=true, const std::string &ip_address="", const std::string &gateway="", const std::vector< std::string > &dns={}) const
	Connect to WiFi network.

bool	Control (std::function< ControlInput< T >(const ControlState< T > &)> control, int port=0, int priority=1)
	Start a blocking real-time control loop using a custom control callback.

std::unique_ptr< RobotCommandStreamHandler< T > >	CreateCommandStream (int priority=1)
	Create a command stream for continuous command sending.

bool	DisableControlManager () const
	Disable the control manager.

void	Disconnect ()
	Disconnect from the robot.

bool	DisconnectWifi () const
	Disconnect from WiFi network.

bool	DownloadFile (const std::string &path, std::ostream &output) const
	Download a file from the robot.

bool	DownloadFileToCallback (const std::string &path, std::function< void(const char *, size_t)> on_chunk) const
	Download a file from the robot using a callback function.

bool	EnableControlManager (bool unlimited_mode_enabled=false) const
	Enable the control manager.

void	FactoryResetAllParameters () const
	Factory reset all parameters to their default values.

bool	FactoryResetParameter (const std::string &name) const
	Factory reset a parameter to its default value.

std::string	GetAddress ()
	Get the robot's network address.

ControlManagerState	GetControlManagerState () const
	Get control manager state.

std::shared_ptr< dyn::Robot< T::kRobotDOF > >	GetDynamics (const std::string &urdf_model="")
	Get robot dynamics model.

std::vector< std::string >	GetFaultLogList () const
	Get fault log list.

std::vector< rb::PIDGain >	GetHeadPositionPIDGains () const
	Get head position PID gains.

std::vector< Log >	GetLastLog (unsigned int count) const
	Get last log entries.

std::vector< rb::PIDGain >	GetLeftArmPositionPIDGains () const
	Get left arm position PID gains.

std::string	GetParameter (const std::string &name) const
	Get a robot parameter value.

std::vector< std::pair< std::string, int > >	GetParameterList () const
	Get list of available parameters.

rb::PIDGain	GetPositionPIDGain (const std::string &dev_name) const
	Get position PID gain for a specific device.

std::vector< rb::PIDGain >	GetRightArmPositionPIDGains () const
	Get right arm position PID gains.

RobotInfo	GetRobotInfo () const
	Retrieves static information about the robot.

std::string	GetRobotModel () const
	Get robot model information.

std::vector< SerialDevice >	GetSerialDeviceList () const
	Get list of available serial devices on the robot.

RobotState< T >	GetState () const
	Get current robot state.

std::tuple< struct timespec, std::string, std::string >	GetSystemTime () const
	Get robot system time.

double	GetTimeScale () const
	Get the current time scale factor.

std::vector< rb::PIDGain >	GetTorsoPositionPIDGains () const
	Get torso position PID gains.

std::optional< WifiStatus >	GetWifiStatus () const
	Get WiFi connection status.

bool	HasEstablishedTimeSync ()
	Check if time synchronization has been established.

bool	HomeOffsetReset (const std::string &dev_name) const
	Reset home offset for a device.

bool	ImportRobotModel (const std::string &name, const std::string &model) const
	Import robot model.

bool	IsConnected () const
	Checks whether the robot is currently connected.

bool	IsPowerOn (const std::string &dev_name) const
	Check if a device is powered on.

bool	IsServoOn (const std::string &dev_name) const
	Check if servo control is enabled for a device.

std::unique_ptr< SerialStream >	OpenSerialStream (const std::string &device_path, int buadrate, int bytesize, char parity, int stopbits) const
	Open a serial stream.

bool	PowerOff (const std::string &dev_name) const
	Power off a device.

bool	PowerOn (const std::string &dev_name) const
	Power on a device.

void	ResetAllParameters () const
	Reset all parameters to their default values.

void	ResetAllParametersToDefault () const

bool	ResetBatteryConfig () const
	Reset battery configuration to default.

bool	ResetFaultControlManager () const
	Reset fault in the control manager.

bool	ResetNetworkSetting () const
	Reset network settings to default.

bool	ResetOdometry (double angle, const Eigen::Vector< double, 2 > &position)
	Reset odometry to specified values.

bool	ResetParameter (const std::string &name) const
	Reset a parameter to its default value.

bool	ResetParameterToDefault (const std::string &name) const

std::vector< WifiNetwork >	ScanWifi () const
	Scan for available WiFi networks.

std::unique_ptr< RobotCommandHandler< T > >	SendCommand (const RobotCommandBuilder &builder, int priority=1)
	Send a command to the robot.

bool	ServoOff (const std::string &dev_name) const
	Disable servo control for a device.

bool	ServoOn (const std::string &dev_name) const
	Enable servo control for a device.

bool	SetBatteryConfig (double cutoff_voltage, double fully_charged_voltage, const std::array< double, 4 > &coefficients)
	Set battery configuration.

bool	SetBatteryLevel (double level) const
	Set battery level.

bool	SetLEDColor (const Color &color, double duration=1, double transition_time=0, bool blinking=false, double blinking_freq=1)
	Set LED color.

bool	SetParameter (const std::string &name, const std::string &value, bool write_db=true)
	Set a robot parameter.

bool	SetPositionDGain (const std::string &dev_name, uint16_t d_gain) const
	Set position derivative gain for a device.

bool	SetPositionIGain (const std::string &dev_name, uint16_t i_gain) const
	Set position integral gain for a device.

bool	SetPositionPGain (const std::string &dev_name, uint16_t p_gain) const
	Set position proportional gain for a device.

bool	SetPositionPIDGain (const std::string &dev_name, const rb::PIDGain &pid_gain) const
	Set position PID gains for a device.

bool	SetPositionPIDGain (const std::string &dev_name, uint16_t p_gain, uint16_t i_gain, uint16_t d_gain) const
	Set position PID gains for a device.

bool	SetPresetPosition (const std::string &joint_name) const
	Set preset position for a joint (only available for PVL-based motors).

bool	SetSystemTime (struct timespec utc_time, std::optional< std::string > time_zone=std::nullopt) const
	Set robot system time.

double	SetTimeScale (double time_scale) const
	Set the time scale for motion execution.

bool	SetToolFlangeDigitalOutput (const std::string &name, unsigned int channel, bool state) const
	Set the digital output state of a specific channel on the tool flange.

bool	SetToolFlangeDigitalOutputDual (const std::string &name, bool state_0, bool state_1) const
	Set the digital output states of two channels on the tool flange simultaneously.

bool	SetToolFlangeOutputVoltage (const std::string &name, int voltage) const
	Set tool flange output voltage.

void	StartLogStream (const std::function< void(const std::vector< Log > &)> &cb, double rate)
	Start log stream callback.

void	StartStateUpdate (const std::function< void(const RobotState< T > &)> &cb, double rate)
	Start state update callback.

void	StartStateUpdate (const std::function< void(const RobotState< T > &, const ControlManagerState &)> &cb, double rate)
	Start state update callback with control manager state.

bool	StartTimeSync (long period_sec=10)
	Start time synchronization.

void	StopLogStream ()
	Stop log stream callback.

void	StopStateUpdate ()
	Stop state update callback.

bool	StopTimeSync ()
	Stop time synchronization.

bool	SyncTime ()
	Synchronize time with the robot.

bool	WaitForControlReady (long timeout_ms) const
	Wait until the robot is ready to accept control commands.

Static Public Member Functions
static std::shared_ptr< Robot< T > >	Create (std::string address)
	Create a robot instance.

Detailed Description

template<typename T>
class rb::Robot< T >

Robot control interface.

Provides high-level control interface for robot operations including connection management, power control, and command execution.

Template Parameters

T	Robot model type

Member Function Documentation

◆ BrakeEngage()

template<typename T >

bool rb::Robot< T >::BrakeEngage ( const std::string & dev_name ) const

Engage the brake for a device.

Parameters

dev_name Device name (joint name) to engage brake. Supports regex patterns.

Returns: True if successful, false otherwise.

◆ BrakeRelease()

template<typename T >

bool rb::Robot< T >::BrakeRelease ( const std::string & dev_name ) const

Release the brake for a device.

Parameters

dev_name Device name (joint name) to release brake. Supports regex patterns.

Returns: True if successful, false otherwise.

◆ CancelControl()

template<typename T >

bool rb::Robot< T >::CancelControl ( ) const

Cancel current control operation.

Returns: True if successful, false otherwise.

◆ Connect()

template<typename T >

bool rb::Robot< T >::Connect	(	int	max_retries = 5,
		int	timeout_ms = 1000,
		std::function< bool()>	signal_check = nullptr )

Attempts to establish a connection with the robot.

Parameters

max_retries	Maximum number of retries to connect (default: 5).
timeout_ms	Timeout in milliseconds for each connection attempt (default: 1000).
signal_check	Optional function to check for a signal (e.g., Ctrl+C). If provided, the connection will be aborted if this function returns false.

Returns: True if the connection was successful, false otherwise.

◆ ConnectWifi()

template<typename T >

bool rb::Robot< T >::ConnectWifi	(	const std::string &	ssid,
		const std::string &	password = "",
		bool	use_dhcp = true,
		const std::string &	ip_address = "",
		const std::string &	gateway = "",
		const std::vector< std::string > &	dns = {} ) const

Connect to WiFi network.

Parameters

ssid	WiFi network name.
password	WiFi password (default: empty string).
use_dhcp	Use DHCP for automatic IP configuration (default: true).
ip_address	Static IP address (default: empty string).
gateway	Gateway address (default: empty string).
dns	DNS servers (default: empty vector).

Returns: True if successful, false otherwise.

◆ Control()

template<typename T >

bool rb::Robot< T >::Control	(	std::function< ControlInput< T >(const ControlState< T > &)>	control,
		int	port = 0,
		int	priority = 1 )

Start a blocking real-time control loop using a custom control callback.

This function runs a UDP-based real-time loop that repeatedly calls the user-provided control callback. The loop exits when the callback returns a ControlInput with finish=true, or when an error/abort occurs.

Parameters

control	A callable that accepts a ControlState and returns a ControlInput.
port	UDP port to bind for the RT server. Use 0 to let the OS choose an available port (default: 0).
priority	Command priority sent with the RT control request (default: 1).

Returns: True if the loop terminated because the callback set finish=true in ControlInput, false if the loop ended due to an error or abort.

◆ Create()

template<typename T >

static std::shared_ptr< Robot< T > > rb::Robot< T >::Create ( std::string address )

static

Create a robot instance.

Parameters

address Robot network address, e.g. "192.168.1.100:50051".

Returns: std::shared_ptr<Robot<T>> Robot instance.

◆ CreateCommandStream()

template<typename T >

std::unique_ptr< RobotCommandStreamHandler< T > > rb::Robot< T >::CreateCommandStream ( int priority = 1 )

Create a command stream for continuous command sending.

Parameters

priority Command priority (default: 1).

Returns: std::unique_ptr<RobotCommandStreamHandler<T>> Command stream handler.

◆ DisableControlManager()

template<typename T >

bool rb::Robot< T >::DisableControlManager ( ) const

Disable the control manager.

Returns: True if successful, false otherwise.

◆ DisconnectWifi()

template<typename T >

bool rb::Robot< T >::DisconnectWifi ( ) const

Disconnect from WiFi network.

Returns: True if successful, false otherwise.

◆ DownloadFile()

template<typename T >

bool rb::Robot< T >::DownloadFile	(	const std::string &	path,
		std::ostream &	output ) const

Download a file from the robot.

Parameters

path	File path on the robot.
output	Output stream to write the file content.

Returns: True if successful, false otherwise.

◆ DownloadFileToCallback()

template<typename T >

bool rb::Robot< T >::DownloadFileToCallback	(	const std::string &	path,
		std::function< void(const char *, size_t)>	on_chunk ) const

Download a file from the robot using a callback function.

Parameters

path	File path on the robot.
on_chunk	Callback function called for each chunk of data.

Returns: True if successful, false otherwise.

◆ EnableControlManager()

template<typename T >

bool rb::Robot< T >::EnableControlManager ( bool unlimited_mode_enabled = false ) const

Enable the control manager.

Must be called before sending commands to the robot.

Parameters

unlimited_mode_enabled Whether to enable unlimited mode (default: false).

Returns: True if successful, false otherwise.

◆ FactoryResetParameter()

template<typename T >

bool rb::Robot< T >::FactoryResetParameter ( const std::string & name ) const

Factory reset a parameter to its default value.

Parameters

name	Parameter name.

Returns: True if successful, false otherwise.

◆ GetAddress()

template<typename T >

std::string rb::Robot< T >::GetAddress ( )

Get the robot's network address.

Returns: std::string The robot's address.

◆ GetControlManagerState()

template<typename T >

ControlManagerState rb::Robot< T >::GetControlManagerState ( ) const

Get control manager state.

Returns: ControlManagerState Current control manager state.

◆ GetDynamics()

template<typename T >

std::shared_ptr< dyn::Robot< T::kRobotDOF > > rb::Robot< T >::GetDynamics ( const std::string & urdf_model = "" )

Get robot dynamics model.

Parameters

urdf_model URDF model path (default: empty string to use robot's model).

Returns: std::shared_ptr<dyn::Robot<T::kRobotDOF>> Robot dynamics model.

◆ GetFaultLogList()

template<typename T >

std::vector< std::string > rb::Robot< T >::GetFaultLogList ( ) const

Get fault log list.

Returns: std::vector<std::string> List of fault log entries.

◆ GetHeadPositionPIDGains()

template<typename T >

std::vector< rb::PIDGain > rb::Robot< T >::GetHeadPositionPIDGains ( ) const

Get head position PID gains.

Returns: std::vector<rb::PIDGain> Vector of PID gains for head joints.

◆ GetLastLog()

template<typename T >

std::vector< Log > rb::Robot< T >::GetLastLog ( unsigned int count ) const

Get last log entries.

Parameters

count Number of log entries to retrieve.

Returns: std::vector<Log> List of log entries.

◆ GetLeftArmPositionPIDGains()

template<typename T >

std::vector< rb::PIDGain > rb::Robot< T >::GetLeftArmPositionPIDGains ( ) const

Get left arm position PID gains.

Returns: std::vector<rb::PIDGain> Vector of PID gains for left arm joints.

◆ GetParameter()

template<typename T >

std::string rb::Robot< T >::GetParameter ( const std::string & name ) const

Get a robot parameter value.

Parameters

name	Parameter name.

Returns: std::string Parameter value.

◆ GetParameterList()

template<typename T >

std::vector< std::pair< std::string, int > > rb::Robot< T >::GetParameterList ( ) const

Get list of available parameters.

Returns: std::vector<std::pair<std::string, int>> List of parameter names and their types.

◆ GetPositionPIDGain()

template<typename T >

rb::PIDGain rb::Robot< T >::GetPositionPIDGain ( const std::string & dev_name ) const

Get position PID gain for a specific device.

Parameters

dev_name Device name.

Returns: rb::PIDGain PID gain for the specified device.

◆ GetRightArmPositionPIDGains()

template<typename T >

std::vector< rb::PIDGain > rb::Robot< T >::GetRightArmPositionPIDGains ( ) const

Get right arm position PID gains.

Returns: std::vector<rb::PIDGain> Vector of PID gains for right arm joints.

◆ GetRobotInfo()

template<typename T >

RobotInfo rb::Robot< T >::GetRobotInfo ( ) const

Retrieves static information about the robot.

Gets structured metadata including joint details, device names, robot model information, SDK version, and joint configuration.

Returns: RobotInfo Robot information structure.

◆ GetRobotModel()

template<typename T >

std::string rb::Robot< T >::GetRobotModel ( ) const

Get robot model information.

Returns: std::string Robot model string.

◆ GetSerialDeviceList()

template<typename T >

std::vector< SerialDevice > rb::Robot< T >::GetSerialDeviceList ( ) const

Get list of available serial devices on the robot.

Returns: std::vector<SerialDevice> List of available serial devices.

◆ GetState()

template<typename T >

RobotState< T > rb::Robot< T >::GetState ( ) const

Get current robot state.

Returns: RobotState<T> Current robot state.

◆ GetSystemTime()

template<typename T >

std::tuple< struct timespec, std::string, std::string > rb::Robot< T >::GetSystemTime ( ) const

Get robot system time.

Returns: std::tuple<struct timespec, std::string, std::string> Robot system time, timezone string, and local time string.

◆ GetTimeScale()

template<typename T >

double rb::Robot< T >::GetTimeScale ( ) const

Get the current time scale factor.

Returns: double Current time scale factor.

◆ GetTorsoPositionPIDGains()

template<typename T >

std::vector< rb::PIDGain > rb::Robot< T >::GetTorsoPositionPIDGains ( ) const

Get torso position PID gains.

Returns: std::vector<rb::PIDGain> Vector of PID gains for torso joints.

◆ GetWifiStatus()

template<typename T >

std::optional< WifiStatus > rb::Robot< T >::GetWifiStatus ( ) const

Get WiFi connection status.

Returns: std::optional<WifiStatus> Current WiFi status.

◆ HasEstablishedTimeSync()

template<typename T >

bool rb::Robot< T >::HasEstablishedTimeSync ( )

Check if time synchronization has been established.

Returns: True if time sync is established, false otherwise.

◆ HomeOffsetReset()

template<typename T >

bool rb::Robot< T >::HomeOffsetReset ( const std::string & dev_name ) const

Reset home offset for a device.

Parameters

dev_name Device name to reset home offset. Supports regex patterns.

Returns: True if successful, false otherwise.

◆ ImportRobotModel()

template<typename T >

bool rb::Robot< T >::ImportRobotModel	(	const std::string &	name,
		const std::string &	model ) const

Import robot model.

Parameters

name	Model name.
model	Model data.

Returns: True if successful, false otherwise.

◆ IsConnected()

template<typename T >

bool rb::Robot< T >::IsConnected ( ) const

nodiscard

Checks whether the robot is currently connected.

Returns: True if the robot is connected, false otherwise.

◆ IsPowerOn()

template<typename T >

bool rb::Robot< T >::IsPowerOn ( const std::string & dev_name ) const

Check if a device is powered on.

Parameters

dev_name Device name to check. Supports regex patterns.

Returns: True if device is powered on, false otherwise.

◆ IsServoOn()

template<typename T >

bool rb::Robot< T >::IsServoOn ( const std::string & dev_name ) const

Check if servo control is enabled for a device.

Parameters

dev_name Device name to check. Supports regex patterns.

Returns: True if servo control is enabled, false otherwise.

◆ OpenSerialStream()

template<typename T >

std::unique_ptr< SerialStream > rb::Robot< T >::OpenSerialStream	(	const std::string &	device_path,
		int	buadrate,
		int	bytesize,
		char	parity,
		int	stopbits ) const

Open a serial stream.

Parameters

device_path	Serial device path.
buadrate	Baud rate.
bytesize	Byte size.
parity	Parity.
stopbits	Stop bits.

Returns: std::unique_ptr<SerialStream> Serial stream instance.

◆ PowerOff()

template<typename T >

bool rb::Robot< T >::PowerOff ( const std::string & dev_name ) const

Power off a device.

Parameters

dev_name Device name to power off. Supports regex patterns (e.g., ".*" for all devices).

Returns: True if successful, false otherwise.

◆ PowerOn()

template<typename T >

bool rb::Robot< T >::PowerOn ( const std::string & dev_name ) const

Power on a device.

Parameters

dev_name Device name to power on. Supports regex patterns (e.g., ".*" for all devices).

Returns: True if successful, false otherwise.

◆ ResetBatteryConfig()

template<typename T >

bool rb::Robot< T >::ResetBatteryConfig ( ) const

Reset battery configuration to default.

Returns: True if successful, false otherwise.

◆ ResetFaultControlManager()

template<typename T >

bool rb::Robot< T >::ResetFaultControlManager ( ) const

Reset fault in the control manager.

Returns: True if successful, false otherwise.

◆ ResetNetworkSetting()

template<typename T >

bool rb::Robot< T >::ResetNetworkSetting ( ) const

Reset network settings to default.

Returns: True if successful, false otherwise.

◆ ResetOdometry()

template<typename T >

bool rb::Robot< T >::ResetOdometry	(	double	angle,
		const Eigen::Vector< double, 2 > &	position )

Reset odometry to specified values.

Parameters

angle	New angle [rad].
position	New position [m]. Position is [x, y] in meters.

Returns: True if successful, false otherwise.

◆ ResetParameter()

template<typename T >

bool rb::Robot< T >::ResetParameter ( const std::string & name ) const

Reset a parameter to its default value.

Parameters

name	Parameter name.

Returns: True if successful, false otherwise.

◆ ScanWifi()

template<typename T >

std::vector< WifiNetwork > rb::Robot< T >::ScanWifi ( ) const

Scan for available WiFi networks.

Returns: std::vector<WifiNetwork> List of available WiFi networks.

◆ SendCommand()

template<typename T >

std::unique_ptr< RobotCommandHandler< T > > rb::Robot< T >::SendCommand	(	const RobotCommandBuilder &	builder,
		int	priority = 1 )

Send a command to the robot.

Parameters

builder	Command builder to send.
priority	Command priority (default: 1).

Returns: std::unique_ptr<RobotCommandHandler<T>> Command handler for monitoring execution.

◆ ServoOff()

template<typename T >

bool rb::Robot< T >::ServoOff ( const std::string & dev_name ) const

Disable servo control for a device.

Parameters

dev_name Device name to disable servo control. Supports regex patterns.

Returns: True if successful, false otherwise.

◆ ServoOn()

template<typename T >

bool rb::Robot< T >::ServoOn ( const std::string & dev_name ) const

Enable servo control for a device.

Parameters

dev_name Device name to enable servo control. Supports regex patterns (e.g., ".*" for all devices).

Returns: True if successful, false otherwise.

◆ SetBatteryConfig()

template<typename T >

bool rb::Robot< T >::SetBatteryConfig	(	double	cutoff_voltage,
		double	fully_charged_voltage,
		const std::array< double, 4 > &	coefficients )

Set battery configuration.

Parameters

cutoff_voltage	Cutoff voltage [V].
fully_charged_voltage	Fully charged voltage [V].
coefficients	Battery coefficients array.

Returns: True if successful, false otherwise.

◆ SetBatteryLevel()

template<typename T >

bool rb::Robot< T >::SetBatteryLevel ( double level ) const

Set battery level.

Parameters

level Battery level percentage (0.0 to 100.0).

Returns: True if successful, false otherwise.

◆ SetLEDColor()

template<typename T >

bool rb::Robot< T >::SetLEDColor	(	const Color &	color,
		double	duration = 1,
		double	transition_time = 0,
		bool	blinking = false,
		double	blinking_freq = 1 )

Set LED color.

Parameters

color	LED color.
duration	Duration [s] (default: 1).
transition_time	Transition time [s] (default: 0).
blinking	Whether to blink (default: false).
blinking_freq	Blinking frequency [Hz] (default: 1).

Returns: True if successful, false otherwise.

◆ SetParameter()

template<typename T >

bool rb::Robot< T >::SetParameter	(	const std::string &	name,
		const std::string &	value,
		bool	write_db = true )

Set a robot parameter.

Parameters

name	Parameter name.
value	Parameter value.
write_db	Whether to write to database (default: true).

Returns: True if successful, false if matching parameter not found.

◆ SetPositionDGain()

template<typename T >

bool rb::Robot< T >::SetPositionDGain	(	const std::string &	dev_name,
		uint16_t	d_gain ) const

Set position derivative gain for a device.

Parameters

dev_name	Device name. Supports regex patterns.
d_gain	Derivative gain value.

Returns: True if successful, false otherwise.

◆ SetPositionIGain()

template<typename T >

bool rb::Robot< T >::SetPositionIGain	(	const std::string &	dev_name,
		uint16_t	i_gain ) const

Set position integral gain for a device.

Parameters

dev_name	Device name. Supports regex patterns.
i_gain	Integral gain value.

Returns: True if successful, false otherwise.

◆ SetPositionPGain()

template<typename T >

bool rb::Robot< T >::SetPositionPGain	(	const std::string &	dev_name,
		uint16_t	p_gain ) const

Set position proportional gain for a device.

Parameters

dev_name	Device name. Supports regex patterns.
p_gain	Proportional gain value.

Returns: True if successful, false otherwise.

◆ SetPositionPIDGain() [1/2]

template<typename T >

bool rb::Robot< T >::SetPositionPIDGain	(	const std::string &	dev_name,
		const rb::PIDGain &	pid_gain ) const

Set position PID gains for a device.

Parameters

dev_name	Device name. Supports regex patterns.
pid_gain	PID gain structure.

Returns: True if successful, false otherwise.

◆ SetPositionPIDGain() [2/2]

template<typename T >

bool rb::Robot< T >::SetPositionPIDGain	(	const std::string &	dev_name,
		uint16_t	p_gain,
		uint16_t	i_gain,
		uint16_t	d_gain ) const

Set position PID gains for a device.

Parameters

dev_name	Device name. Supports regex patterns.
p_gain	Proportional gain value.
i_gain	Integral gain value.
d_gain	Derivative gain value.

Returns: True if successful, false otherwise.

◆ SetPresetPosition()

template<typename T >

bool rb::Robot< T >::SetPresetPosition ( const std::string & joint_name ) const

Set preset position for a joint (only available for PVL-based motors).

Parameters

joint_name Joint name to set preset position.

Returns: True if successful, false otherwise.

◆ SetSystemTime()

template<typename T >

bool rb::Robot< T >::SetSystemTime	(	struct timespec	utc_time,
		std::optional< std::string >	time_zone = std::nullopt ) const

Set robot system time.

Parameters

utc_time	New system time in UTC.
time_zone	Time zone (optional).

Returns: True if successful, false otherwise.

◆ SetTimeScale()

template<typename T >

double rb::Robot< T >::SetTimeScale ( double time_scale ) const

Set the time scale for motion execution.

Parameters

time_scale Time scale value (0.0 to 1.0). 0.0 stops motion, 1.0 is full speed.

Returns: double The set time scale factor.

◆ SetToolFlangeDigitalOutput()

template<typename T >

bool rb::Robot< T >::SetToolFlangeDigitalOutput	(	const std::string &	name,
		unsigned int	channel,
		bool	state ) const

Set the digital output state of a specific channel on the tool flange.

Parameters

name	Arm identifier ("right" or "left").
channel	Digital output channel index.
state	Desired state of the digital output (true = ON, false = OFF).

Returns: True if the command was successfully sent, false otherwise.

◆ SetToolFlangeDigitalOutputDual()

template<typename T >

bool rb::Robot< T >::SetToolFlangeDigitalOutputDual	(	const std::string &	name,
		bool	state_0,
		bool	state_1 ) const

Set the digital output states of two channels on the tool flange simultaneously.

Parameters

name	Arm identifier ("right" or "left").
state_0	Desired state for digital output channel 0 (true = ON, false = OFF).
state_1	Desired state for digital output channel 1 (true = ON, false = OFF).

Returns: True if the command was successfully sent, false otherwise.

◆ SetToolFlangeOutputVoltage()

template<typename T >

bool rb::Robot< T >::SetToolFlangeOutputVoltage	(	const std::string &	name,
		int	voltage ) const

Set tool flange output voltage.

Parameters

name	Tool flange name ("right" or "left").
voltage	Output voltage [V]. Common voltages: 12V, 24V. Use 0V to turn off output.

Returns: True if successful, false otherwise.

◆ StartLogStream()

template<typename T >

void rb::Robot< T >::StartLogStream	(	const std::function< void(const std::vector< Log > &)> &	cb,
		double	rate )

Start log stream callback.

Parameters

cb	Callback function for log updates.
rate	Update rate [Hz].

◆ StartStateUpdate() [1/2]

template<typename T >

void rb::Robot< T >::StartStateUpdate	(	const std::function< void(const RobotState< T > &)> &	cb,
		double	rate )

Start state update callback.

Parameters

cb	Callback function for robot state updates.
rate	Update rate [Hz].

◆ StartStateUpdate() [2/2]

template<typename T >

void rb::Robot< T >::StartStateUpdate	(	const std::function< void(const RobotState< T > &, const ControlManagerState &)> &	cb,
		double	rate )

Start state update callback with control manager state.

Parameters

cb	Callback function for robot state and control manager state updates.
rate	Update rate [Hz].

◆ StartTimeSync()

template<typename T >

bool rb::Robot< T >::StartTimeSync ( long period_sec = 10 )

Start time synchronization.

Parameters

period_sec Synchronization period [s] (default: 10).

Returns: True if successful, false otherwise.

◆ StopTimeSync()

template<typename T >

bool rb::Robot< T >::StopTimeSync ( )

Stop time synchronization.

Returns: True if successful, false otherwise.

◆ SyncTime()

template<typename T >

bool rb::Robot< T >::SyncTime ( )

Synchronize time with the robot.

Returns: True if successful, false otherwise.

◆ WaitForControlReady()

template<typename T >

bool rb::Robot< T >::WaitForControlReady ( long timeout_ms ) const

Wait until the robot is ready to accept control commands.

Call after servo_on() and before sending control commands.

Parameters

timeout_ms Timeout [ms].

Returns: True if the robot is ready to accept control, false if timeout expired.

The documentation for this class was generated from the following file:

/external/rby1-sdk/include/rby1-sdk/robot.h

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ BrakeEngage()

◆ BrakeRelease()

◆ CancelControl()

◆ Connect()

◆ ConnectWifi()

◆ Control()

◆ Create()

◆ CreateCommandStream()

◆ DisableControlManager()

◆ DisconnectWifi()

◆ DownloadFile()

◆ DownloadFileToCallback()

◆ EnableControlManager()

◆ FactoryResetParameter()

◆ GetAddress()

◆ GetControlManagerState()

◆ GetDynamics()

◆ GetFaultLogList()

◆ GetHeadPositionPIDGains()

◆ GetLastLog()

◆ GetLeftArmPositionPIDGains()

◆ GetParameter()

◆ GetParameterList()

◆ GetPositionPIDGain()

◆ GetRightArmPositionPIDGains()

◆ GetRobotInfo()

◆ GetRobotModel()

◆ GetSerialDeviceList()

◆ GetState()

◆ GetSystemTime()

◆ GetTimeScale()

◆ GetTorsoPositionPIDGains()

◆ GetWifiStatus()

◆ HasEstablishedTimeSync()

◆ HomeOffsetReset()

◆ ImportRobotModel()

◆ IsConnected()

◆ IsPowerOn()

◆ IsServoOn()

◆ OpenSerialStream()

◆ PowerOff()

◆ PowerOn()

◆ ResetBatteryConfig()

◆ ResetFaultControlManager()

◆ ResetNetworkSetting()

◆ ResetOdometry()

◆ ResetParameter()

◆ ScanWifi()

◆ SendCommand()

◆ ServoOff()

◆ ServoOn()

◆ SetBatteryConfig()

◆ SetBatteryLevel()

◆ SetLEDColor()

◆ SetParameter()

◆ SetPositionDGain()

◆ SetPositionIGain()

◆ SetPositionPGain()

◆ SetPositionPIDGain() [1/2]

◆ SetPositionPIDGain() [2/2]

◆ SetPresetPosition()

◆ SetSystemTime()

◆ SetTimeScale()

◆ SetToolFlangeDigitalOutput()

◆ SetToolFlangeDigitalOutputDual()

◆ SetToolFlangeOutputVoltage()

◆ StartLogStream()

◆ StartStateUpdate() [1/2]

◆ StartStateUpdate() [2/2]

◆ StartTimeSync()

◆ StopTimeSync()

◆ SyncTime()

◆ WaitForControlReady()