Class RobotPositionService

A service to obtain information on the current robot position

Hierarchy (View Summary)

MessageInvokerService
- RobotPositionService

Index

Constructors

constructor

new RobotPositionService(
eventTarget: EventTargetOrCommChannel,
): RobotPositionService
Parameters
- eventTarget: EventTargetOrCommChannel
Returns RobotPositionService
Overrides MessageInvokerService.constructor
- Defined in node_modules/@universal-robots/contribution-api/lib/services/robot/robot-position.service.d.ts:14

Properties

communicationChannel

communicationChannel: CommunicationChannel

`Readonly`eventTarget

eventTarget: EventTargetOrCommChannel

Methods

convertJointPositionsToTcpPose

convertJointPositionsToTcpPose(jointPositions: JointPositions): Promise<Pose>
Converts the jointPositions to TCPPose.
Parameters
- jointPositions: JointPositions
Returns Promise<Pose>
- Defined in node_modules/@universal-robots/contribution-api/lib/services/robot/robot-position.service.d.ts:44

getCurrentPosition

getCurrentPosition(): Promise<Waypoint | undefined>
Get current position of the robot

Returns Promise<Waypoint | undefined>
- Defined in node_modules/@universal-robots/contribution-api/lib/services/robot/robot-position.service.d.ts:48

getInverseKinematics

getInverseKinematics(
pose: ControllerPose,
qNear: JointPositions,
): Promise<JointPositions>
Get the inverse kinematics for the given pose and qNear
Parameters
- pose: ControllerPose
  The pose to calculate the inverse kinematics for
- qNear: JointPositions
  The joint positions to start the search from
Returns Promise<JointPositions>
- Defined in node_modules/@universal-robots/contribution-api/lib/services/robot/robot-position.service.d.ts:28
getInverseKinematics(pose: Pose, qNear: JointPositions): Promise<JointPositions>
Get the inverse kinematics for the given pose and qNear
Parameters
- pose: Pose
- qNear: JointPositions
Returns Promise<JointPositions>
- Defined in node_modules/@universal-robots/contribution-api/lib/services/robot/robot-position.service.d.ts:32

getJointPositions

getJointPositions(): Observable<JointPositions>
Get the current joint positions of the robot

Returns Observable<JointPositions>
- Defined in node_modules/@universal-robots/contribution-api/lib/services/robot/robot-position.service.d.ts:40

getKinematicInfo

getKinematicInfo(): Promise<KinematicInfo>
Gets the kinematic info

Returns Promise<KinematicInfo>
- Defined in node_modules/@universal-robots/contribution-api/lib/services/robot/robot-position.service.d.ts:22

getPoseRelativeToFrame

getPoseRelativeToFrame(frame: string): Observable<Pose>
Get the current pose of the TCP relative to the given frame
Parameters
- frame: string
Returns Observable<Pose>
- Defined in node_modules/@universal-robots/contribution-api/lib/services/robot/robot-position.service.d.ts:36

getRelativeToFrameId

getRelativeToFrameId(): Promise<string>
Gets the id of the currently selected frame id to perform moves relative to

Returns Promise<string>
- Defined in node_modules/@universal-robots/contribution-api/lib/services/robot/robot-position.service.d.ts:18

postAndAwait

postAndAwait<T>(type: string, data?: any): Promise<T>
returns a reply promise to the specified message
Type Parameters
- T
Parameters
- type: string
  The type of message being sent
- Optionaldata: any
  The message data
Returns Promise<T>
Inherited from MessageInvokerService.postAndAwait
- Defined in node_modules/@universal-robots/contribution-api/lib/services/message-invoker.d.ts:192

postAndObserve

postAndObserve<T>(type: string, data?: any): Observable<T>
returns an observable that will emit any messages replied to the specified message
Type Parameters
- T
Parameters
- type: string
  The type of message being sent
- Optionaldata: any
  The message data
Returns Observable<T>
Inherited from MessageInvokerService.postAndObserve
- Defined in node_modules/@universal-robots/contribution-api/lib/services/message-invoker.d.ts:199

request

request<T>(type: string, data?: any): Promise<T>
returns a reply promise for the requested message
Type Parameters
- T
Parameters
- type: string
  The type of message being sent
- Optionaldata: any
  The message data
Returns Promise<T>
Inherited from MessageInvokerService.request
- Defined in node_modules/@universal-robots/contribution-api/lib/services/message-invoker.d.ts:178

requestObserve

requestObserve<T>(type: string, data?: any): Observable<T>
returns an observable that will emit any messages replied to the requested message
Type Parameters
- T
Parameters
- type: string
  The type of message being sent
- Optionaldata: any
  The message data
Returns Observable<T>
Inherited from MessageInvokerService.requestObserve
- Defined in node_modules/@universal-robots/contribution-api/lib/services/message-invoker.d.ts:185

Class RobotPositionService

Hierarchy (View Summary)

Index

Constructors

Properties

Methods

Constructors

constructor

Parameters

Returns RobotPositionService

Properties

communicationChannel

ReadonlyeventTarget

Methods

convertJointPositionsToTcpPose

Parameters

Returns Promise<Pose>

getCurrentPosition

Returns Promise<Waypoint | undefined>

getInverseKinematics

Parameters

Returns Promise<JointPositions>

Parameters

Returns Promise<JointPositions>

getJointPositions

Returns Observable<JointPositions>

getKinematicInfo

Returns Promise<KinematicInfo>

getPoseRelativeToFrame

Parameters

Returns Observable<Pose>

getRelativeToFrameId

Returns Promise<string>

postAndAwait

Type Parameters

Parameters

Returns Promise<T>

postAndObserve

Type Parameters

Parameters

Returns Observable<T>

request

Type Parameters

Parameters

Returns Promise<T>

requestObserve

Type Parameters

Parameters

Returns Observable<T>

Settings

On This Page

`Readonly`eventTarget