Overview #

The RobotInterfaceObject is a C++ class authored by Henry Phalen. It inherits from the KinematicsObject and mtsComponent classes and provides functionality to interface with a robot. The class can update sensors, initiate robot movements, and handle interfaces for reading and writing commands.

The corresponding source files are:

• Header file: RobotInterfaceObject.h
• Source file: RobotInterfaceObject.cpp

The class utilizes other libraries, including cisstVector, cisstMultiTask/mtsComponent, bigssRoboticSystem/KinematicsObject, cisstMultiTask/mtsInterfaceRequired, cisstMultiTask/mtsFunctionWrite, bigssRoboticSystem/SensorInterface, cisstParameterTypes/prmVelocityJointSet, and cisstParameterTypes/prmPositionCartesianGet.

Class Definition #

Variables #

• frame_offset_to_base: An instance of vctFrm3 representing the offset to the base frame.
• interface_name: A string that stores the name of the RobotInterfaceObject instance.
• num_joints: An integer representing the number of joints.
• base_frame_name: A string storing the base frame’s name.
• sensor_interfaces: A vector storing pointers to SensorInterface objects. (?)
• command_interfaces: A vector storing pointers to mtsInterfaceRequired objects, used for command interfaces. (?)
• command_functions: A vector storing pointers to mtsFunctionWrite objects, used for command functions. (?)
• read_interfaces: A vector storing pointers to mtsInterfaceRequired objects, used for read interfaces. (?)
• read_functions: A vector storing pointers to mtsFunctionRead objects, used for read functions. (?)
• m_measured_cp: An instance of prmPositionCartesianGet, representing the Cartesian position.
• m_base_offset_measured_cp: An instance of prmPositionCartesianGet, representing the base offset Cartesian position.

Functions #

• Constructor RobotInterfaceObject(const vctFrm3& frame_offset_to_base=vctFrm3(), const std::string& interface_name="RobotInterfaceObject", int num_joints=0, const std::string& base_frame_name="base"): This is the constructor function that initializes a RobotInterfaceObject instance with an optional frame offset to the base, interface name, number of joints, and base frame name.
• Destructor ~RobotInterfaceObject(): This is the destructor function for the RobotInterfaceObject class.
• Function MoveRobot(prmVelocityJointSet& command): A virtual function for robot movement. It takes as input a prmVelocityJointSet command. (?)
• Function UpdateSensors(): This function iterates through all the sensor interfaces and updates them.

Dependencies #

The RobotInterfaceObject class relies on the following external files:

• cisstVector: A library for vector operations.
• cisstMultiTask/mtsComponent: A library for the multitask component.
• bigssRoboticSystem/KinematicsObject: A library providing a base definition for kinematic states.
• cisstMultiTask/mtsInterfaceRequired: A library for required interface in the multitask component.
• cisstMultiTask/mtsFunctionWrite: A library for write function in the multitask component.
• bigssRoboticSystem/SensorInterface: A library for the sensor interface.
• cisstParameterTypes/prmVelocityJointSet: A library for managing the velocity of joints.
• cisstParameterTypes/prmPositionCartesianGet: A library for getting the Cartesian position.