class BaseFeedback

Member values

Member name	Data type	Description
active_state_connection_identifier	uint32	Connection identifier of the last processed command which triggered an arm state change
active_state	uint32	Active state of the arm
arm_voltage	float32	Arm voltage (in Volts)
arm_current	float32	Arm current (in Amperes)
temperature_cpu	float32	CPU temperature (in degree Celsius)
temperature_ambient	float32	Ambient temperature (in degree Celsius)
imu_acceleration_x	float32	IMU Measured acceleration (X-Axis) of the base (in meters per second squared)
imu_acceleration_y	float32	IMU Measured acceleration (Y-Axis) of the base (in meters per second squared)
imu_acceleration_z	float32	IMU Measured acceleration (Z-Axis) of the base (in meters per second squared)
imu_angular_velocity_x	float32	IMU Measured angular velocity (X-Axis) of the base (in degrees per second)
imu_angular_velocity_y	float32	IMU Measured angular velocity (Y-Axis) of the base (in degrees per second)
imu_angular_velocity_z	float32	IMU Measured angular velocity (Z-Axis) of the base (in degrees per second)
tool_pose_x	float32	Measured Cartesian position (X-Axis) of the tool (in meters)
tool_pose_y	float32	Measured Cartesian position (Y-Axis) of the tool (in meters)
tool_pose_z	float32	Measured Cartesian position (Z-Axis) of the tool (in meters)
tool_pose_theta_x	float32	Measured Cartesian orientation (X-Axis) of the tool (in degrees)
tool_pose_theta_y	float32	Measured Cartesian orientation (Y-Axis) of the tool (in degrees)
tool_pose_theta_z	float32	Measured Cartesian orientation (Z-Axis) of the tool (in degrees)
tool_twist_linear_x	float32	Measured Cartesian linear velocity (X-Axis) of the tool (in meters per second)
tool_twist_linear_y	float32	Measured Cartesian linear velocity (Y-Axis) of the tool (in meters per second)
tool_twist_linear_z	float32	Measured Cartesian linear velocity (Z-Axis) of the tool (in meters per second)
tool_twist_angular_x	float32	Measured Cartesian angular velocity (X-Axis) of the tool (in degrees per second)
tool_twist_angular_y	float32	Measured Cartesian angular velocity (Y-Axis) of the tool (in degrees per second)
tool_twist_angular_z	float32	Measured Cartesian angular velocity (Z-Axis) of the tool (in degrees per second)
tool_external_wrench_force_x	float32	Computed force in X-Axis from external wrench (in Newton)
tool_external_wrench_force_y	float32	Computed force in Y-Axis from external wrench (in Newton)
tool_external_wrench_force_z	float32	Computed force in Z-Axis from external wrench (in Newton)
tool_external_wrench_torque_x	float32	Computed torque about X-axis from external wrench (in Newton-meters)
tool_external_wrench_torque_y	float32	Computed torque about Y-axis from external wrench (in Newton-meters)
tool_external_wrench_torque_z	float32	Computed torque about Z-axis from external wrench (in Newton-meters)
fault_bank_a	uint32	The arm fault flags bank A (0 if no fault) see Base.SafetyIdentifier
fault_bank_b	uint32	The arm fault flags bank B (0 if no fault) see Base.SafetyIdentifier
warning_bank_a	uint32	The arm warning flags bank A (0 if no warning) see Base.SafetyIdentifier
warning_bank_b	uint32	The arm warning flags bank B (0 if no warning) see Base.SafetyIdentifier
commanded_tool_pose_x	float32	Commanded Cartesian position (X-Axis) of the tool (in meters)
commanded_tool_pose_y	float32	Commanded Cartesian position (Y-Axis) of the tool (in meters)
commanded_tool_pose_z	float32	Commanded Cartesian position (Z-Axis) of the tool (in meters)
commanded_tool_pose_theta_x	float32	Commanded Cartesian orientation (X-Axis) of the tool (in degrees)
commanded_tool_pose_theta_y	float32	Commanded Cartesian orientation (Y-Axis) of the tool (in degrees)
commanded_tool_pose_theta_z	float32	Commanded Cartesian orientation (Z-Axis) of the tool (in degrees)

Member functions

Function name	Return type	Input type	Description
active_state_connection_identifier()	uint32	void	Returns the current value of active_state_connection_identifier. If the active_state_connection_identifier is not set, returns 0.
set_active_state_connection_identifier()	void	uint32	Sets the value of active_state_connection_identifier. After calling this, active_state_connection_identifier() will return value.
clear_active_state_connection_identifier()	void	void	Clears the value of active_state_connection_identifier. After calling this, active_state_connection_identifier() will return 0.
active_state() const	uint32	void	Returns the current value of active_state. If the active_state is not set, returns 0.
set_active_state()	void	uint32	Sets the value of active_state. After calling this, active_state() will return value.
clear_active_state()	void	void	Clears the value of active_state. After calling this, active_state() will return the empty string/empty bytes.
arm_voltage()	float32	void	Returns the current value of arm_voltage. If the arm_voltage is not set, returns 0.
set_arm_voltage()	void	float32	Sets the value of arm_voltage. After calling this, arm_voltage() will return value.
clear_arm_voltage()	void	void	Clears the value of arm_voltage. After calling this, arm_voltage() will return 0.
arm_current()	float32	void	Returns the current value of arm_current. If the arm_current is not set, returns 0.
set_arm_current()	void	float32	Sets the value of arm_current. After calling this, arm_current() will return value.
clear_arm_current()	void	void	Clears the value of arm_current. After calling this, arm_current() will return 0.
temperature_cpu()	float32	void	Returns the current value of temperature_cpu. If the temperature_cpu is not set, returns 0.
set_temperature_cpu()	void	float32	Sets the value of temperature_cpu. After calling this, temperature_cpu() will return value.
clear_temperature_cpu()	void	void	Clears the value of temperature_cpu. After calling this, temperature_cpu() will return 0.
temperature_ambient()	float32	void	Returns the current value of temperature_ambient. If the temperature_ambient is not set, returns 0.
set_temperature_ambient()	void	float32	Sets the value of temperature_ambient. After calling this, temperature_ambient() will return value.
clear_temperature_ambient()	void	void	Clears the value of temperature_ambient. After calling this, temperature_ambient() will return 0.
imu_acceleration_x()	float32	void	Returns the current value of imu_acceleration_x. If the imu_acceleration_x is not set, returns 0.
set_imu_acceleration_x()	void	float32	Sets the value of imu_acceleration_x. After calling this, imu_acceleration_x() will return value.
clear_imu_acceleration_x()	void	void	Clears the value of imu_acceleration_x. After calling this, imu_acceleration_x() will return 0.
imu_acceleration_y()	float32	void	Returns the current value of imu_acceleration_y. If the imu_acceleration_y is not set, returns 0.
set_imu_acceleration_y()	void	float32	Sets the value of imu_acceleration_y. After calling this, imu_acceleration_y() will return value.
clear_imu_acceleration_y()	void	void	Clears the value of imu_acceleration_y. After calling this, imu_acceleration_y() will return 0.
imu_acceleration_z()	float32	void	Returns the current value of imu_acceleration_z. If the imu_acceleration_z is not set, returns 0.
set_imu_acceleration_z()	void	float32	Sets the value of imu_acceleration_z. After calling this, imu_acceleration_z() will return value.
clear_imu_acceleration_z()	void	void	Clears the value of imu_acceleration_z. After calling this, imu_acceleration_z() will return 0.
imu_angular_velocity_x()	float32	void	Returns the current value of imu_angular_velocity_x. If the imu_angular_velocity_x is not set, returns 0.
set_imu_angular_velocity_x()	void	float32	Sets the value of imu_angular_velocity_x. After calling this, imu_angular_velocity_x() will return value.
clear_imu_angular_velocity_x()	void	void	Clears the value of imu_angular_velocity_x. After calling this, imu_angular_velocity_x() will return 0.
imu_angular_velocity_y()	float32	void	Returns the current value of imu_angular_velocity_y. If the imu_angular_velocity_y is not set, returns 0.
set_imu_angular_velocity_y()	void	float32	Sets the value of imu_angular_velocity_y. After calling this, imu_angular_velocity_y() will return value.
clear_imu_angular_velocity_y()	void	void	Clears the value of imu_angular_velocity_y. After calling this, imu_angular_velocity_y() will return 0.
imu_angular_velocity_z()	float32	void	Returns the current value of imu_angular_velocity_z. If the imu_angular_velocity_z is not set, returns 0.
set_imu_angular_velocity_z()	void	float32	Sets the value of imu_angular_velocity_z. After calling this, imu_angular_velocity_z() will return value.
clear_imu_angular_velocity_z()	void	void	Clears the value of imu_angular_velocity_z. After calling this, imu_angular_velocity_z() will return 0.
tool_pose_x()	float32	void	Returns the current value of tool_pose_x. If the tool_pose_x is not set, returns 0.
set_tool_pose_x()	void	float32	Sets the value of tool_pose_x. After calling this, tool_pose_x() will return value.
clear_tool_pose_x()	void	void	Clears the value of tool_pose_x. After calling this, tool_pose_x() will return 0.
tool_pose_y()	float32	void	Returns the current value of tool_pose_y. If the tool_pose_y is not set, returns 0.
set_tool_pose_y()	void	float32	Sets the value of tool_pose_y. After calling this, tool_pose_y() will return value.
clear_tool_pose_y()	void	void	Clears the value of tool_pose_y. After calling this, tool_pose_y() will return 0.
tool_pose_z()	float32	void	Returns the current value of tool_pose_z. If the tool_pose_z is not set, returns 0.
set_tool_pose_z()	void	float32	Sets the value of tool_pose_z. After calling this, tool_pose_z() will return value.
clear_tool_pose_z()	void	void	Clears the value of tool_pose_z. After calling this, tool_pose_z() will return 0.
tool_pose_theta_x()	float32	void	Returns the current value of tool_pose_theta_x. If the tool_pose_theta_x is not set, returns 0.
set_tool_pose_theta_x()	void	float32	Sets the value of tool_pose_theta_x. After calling this, tool_pose_theta_x() will return value.
clear_tool_pose_theta_x()	void	void	Clears the value of tool_pose_theta_x. After calling this, tool_pose_theta_x() will return 0.
tool_pose_theta_y()	float32	void	Returns the current value of tool_pose_theta_y. If the tool_pose_theta_y is not set, returns 0.
set_tool_pose_theta_y()	void	float32	Sets the value of tool_pose_theta_y. After calling this, tool_pose_theta_y() will return value.
clear_tool_pose_theta_y()	void	void	Clears the value of tool_pose_theta_y. After calling this, tool_pose_theta_y() will return 0.
tool_pose_theta_z()	float32	void	Returns the current value of tool_pose_theta_z. If the tool_pose_theta_z is not set, returns 0.
set_tool_pose_theta_z()	void	float32	Sets the value of tool_pose_theta_z. After calling this, tool_pose_theta_z() will return value.
clear_tool_pose_theta_z()	void	void	Clears the value of tool_pose_theta_z. After calling this, tool_pose_theta_z() will return 0.
tool_twist_linear_x()	float32	void	Returns the current value of tool_twist_linear_x. If the tool_twist_linear_x is not set, returns 0.
set_tool_twist_linear_x()	void	float32	Sets the value of tool_twist_linear_x. After calling this, tool_twist_linear_x() will return value.
clear_tool_twist_linear_x()	void	void	Clears the value of tool_twist_linear_x. After calling this, tool_twist_linear_x() will return 0.
tool_twist_linear_y()	float32	void	Returns the current value of tool_twist_linear_y. If the tool_twist_linear_y is not set, returns 0.
set_tool_twist_linear_y()	void	float32	Sets the value of tool_twist_linear_y. After calling this, tool_twist_linear_y() will return value.
clear_tool_twist_linear_y()	void	void	Clears the value of tool_twist_linear_y. After calling this, tool_twist_linear_y() will return 0.
tool_twist_linear_z()	float32	void	Returns the current value of tool_twist_linear_z. If the tool_twist_linear_z is not set, returns 0.
set_tool_twist_linear_z()	void	float32	Sets the value of tool_twist_linear_z. After calling this, tool_twist_linear_z() will return value.
clear_tool_twist_linear_z()	void	void	Clears the value of tool_twist_linear_z. After calling this, tool_twist_linear_z() will return 0.
tool_twist_angular_x()	float32	void	Returns the current value of tool_twist_angular_x. If the tool_twist_angular_x is not set, returns 0.
set_tool_twist_angular_x()	void	float32	Sets the value of tool_twist_angular_x. After calling this, tool_twist_angular_x() will return value.
clear_tool_twist_angular_x()	void	void	Clears the value of tool_twist_angular_x. After calling this, tool_twist_angular_x() will return 0.
tool_twist_angular_y()	float32	void	Returns the current value of tool_twist_angular_y. If the tool_twist_angular_y is not set, returns 0.
set_tool_twist_angular_y()	void	float32	Sets the value of tool_twist_angular_y. After calling this, tool_twist_angular_y() will return value.
clear_tool_twist_angular_y()	void	void	Clears the value of tool_twist_angular_y. After calling this, tool_twist_angular_y() will return 0.
tool_twist_angular_z()	float32	void	Returns the current value of tool_twist_angular_z. If the tool_twist_angular_z is not set, returns 0.
set_tool_twist_angular_z()	void	float32	Sets the value of tool_twist_angular_z. After calling this, tool_twist_angular_z() will return value.
clear_tool_twist_angular_z()	void	void	Clears the value of tool_twist_angular_z. After calling this, tool_twist_angular_z() will return 0.
tool_external_wrench_force_x()	float32	void	Returns the current value of tool_external_wrench_force_x. If the tool_external_wrench_force_x is not set, returns 0.
set_tool_external_wrench_force_x()	void	float32	Sets the value of tool_external_wrench_force_x. After calling this, tool_external_wrench_force_x() will return value.
clear_tool_external_wrench_force_x()	void	void	Clears the value of tool_external_wrench_force_x. After calling this, tool_external_wrench_force_x() will return 0.
tool_external_wrench_force_y()	float32	void	Returns the current value of tool_external_wrench_force_y. If the tool_external_wrench_force_y is not set, returns 0.
set_tool_external_wrench_force_y()	void	float32	Sets the value of tool_external_wrench_force_y. After calling this, tool_external_wrench_force_y() will return value.
clear_tool_external_wrench_force_y()	void	void	Clears the value of tool_external_wrench_force_y. After calling this, tool_external_wrench_force_y() will return 0.
tool_external_wrench_force_z()	float32	void	Returns the current value of tool_external_wrench_force_z. If the tool_external_wrench_force_z is not set, returns 0.
set_tool_external_wrench_force_z()	void	float32	Sets the value of tool_external_wrench_force_z. After calling this, tool_external_wrench_force_z() will return value.
clear_tool_external_wrench_force_z()	void	void	Clears the value of tool_external_wrench_force_z. After calling this, tool_external_wrench_force_z() will return 0.
tool_external_wrench_torque_x()	float32	void	Returns the current value of tool_external_wrench_torque_x. If the tool_external_wrench_torque_x is not set, returns 0.
set_tool_external_wrench_torque_x()	void	float32	Sets the value of tool_external_wrench_torque_x. After calling this, tool_external_wrench_torque_x() will return value.
clear_tool_external_wrench_torque_x()	void	void	Clears the value of tool_external_wrench_torque_x. After calling this, tool_external_wrench_torque_x() will return 0.
tool_external_wrench_torque_y()	float32	void	Returns the current value of tool_external_wrench_torque_y. If the tool_external_wrench_torque_y is not set, returns 0.
set_tool_external_wrench_torque_y()	void	float32	Sets the value of tool_external_wrench_torque_y. After calling this, tool_external_wrench_torque_y() will return value.
clear_tool_external_wrench_torque_y()	void	void	Clears the value of tool_external_wrench_torque_y. After calling this, tool_external_wrench_torque_y() will return 0.
tool_external_wrench_torque_z()	float32	void	Returns the current value of tool_external_wrench_torque_z. If the tool_external_wrench_torque_z is not set, returns 0.
set_tool_external_wrench_torque_z()	void	float32	Sets the value of tool_external_wrench_torque_z. After calling this, tool_external_wrench_torque_z() will return value.
clear_tool_external_wrench_torque_z()	void	void	Clears the value of tool_external_wrench_torque_z. After calling this, tool_external_wrench_torque_z() will return 0.
fault_bank_a()	uint32	void	Returns the current value of fault_bank_a. If the fault_bank_a is not set, returns 0.
set_fault_bank_a()	void	uint32	Sets the value of fault_bank_a. After calling this, fault_bank_a() will return value.
clear_fault_bank_a()	void	void	Clears the value of fault_bank_a. After calling this, fault_bank_a() will return 0.
fault_bank_b()	uint32	void	Returns the current value of fault_bank_b. If the fault_bank_b is not set, returns 0.
set_fault_bank_b()	void	uint32	Sets the value of fault_bank_b. After calling this, fault_bank_b() will return value.
clear_fault_bank_b()	void	void	Clears the value of fault_bank_b. After calling this, fault_bank_b() will return 0.
warning_bank_a()	uint32	void	Returns the current value of warning_bank_a. If the warning_bank_a is not set, returns 0.
set_warning_bank_a()	void	uint32	Sets the value of warning_bank_a. After calling this, warning_bank_a() will return value.
clear_warning_bank_a()	void	void	Clears the value of warning_bank_a. After calling this, warning_bank_a() will return 0.
warning_bank_b()	uint32	void	Returns the current value of warning_bank_b. If the warning_bank_b is not set, returns 0.
set_warning_bank_b()	void	uint32	Sets the value of warning_bank_b. After calling this, warning_bank_b() will return value.
clear_warning_bank_b()	void	void	Clears the value of warning_bank_b. After calling this, warning_bank_b() will return 0.
commanded_tool_pose_x()	float32	void	Returns the current value of commanded_tool_pose_x. If the commanded_tool_pose_x is not set, returns 0.
set_commanded_tool_pose_x()	void	float32	Sets the value of commanded_tool_pose_x. After calling this, commanded_tool_pose_x() will return value.
clear_commanded_tool_pose_x()	void	void	Clears the value of commanded_tool_pose_x. After calling this, commanded_tool_pose_x() will return 0.
commanded_tool_pose_y()	float32	void	Returns the current value of commanded_tool_pose_y. If the commanded_tool_pose_y is not set, returns 0.
set_commanded_tool_pose_y()	void	float32	Sets the value of commanded_tool_pose_y. After calling this, commanded_tool_pose_y() will return value.
clear_commanded_tool_pose_y()	void	void	Clears the value of commanded_tool_pose_y. After calling this, commanded_tool_pose_y() will return 0.
commanded_tool_pose_z()	float32	void	Returns the current value of commanded_tool_pose_z. If the commanded_tool_pose_z is not set, returns 0.
set_commanded_tool_pose_z()	void	float32	Sets the value of commanded_tool_pose_z. After calling this, commanded_tool_pose_z() will return value.
clear_commanded_tool_pose_z()	void	void	Clears the value of commanded_tool_pose_z. After calling this, commanded_tool_pose_z() will return 0.
commanded_tool_pose_theta_x()	float32	void	Returns the current value of commanded_tool_pose_theta_x. If the commanded_tool_pose_theta_x is not set, returns 0.
set_commanded_tool_pose_theta_x()	void	float32	Sets the value of commanded_tool_pose_theta_x. After calling this, commanded_tool_pose_theta_x() will return value.
clear_commanded_tool_pose_theta_x()	void	void	Clears the value of commanded_tool_pose_theta_x. After calling this, commanded_tool_pose_theta_x() will return 0.
commanded_tool_pose_theta_y()	float32	void	Returns the current value of commanded_tool_pose_theta_y. If the commanded_tool_pose_theta_y is not set, returns 0.
set_commanded_tool_pose_theta_y()	void	float32	Sets the value of commanded_tool_pose_theta_y. After calling this, commanded_tool_pose_theta_y() will return value.
clear_commanded_tool_pose_theta_y()	void	void	Clears the value of commanded_tool_pose_theta_y. After calling this, commanded_tool_pose_theta_y() will return 0.
commanded_tool_pose_theta_z()	float32	void	Returns the current value of commanded_tool_pose_theta_z. If the commanded_tool_pose_theta_z is not set, returns 0.
set_commanded_tool_pose_theta_z()	void	float32	Sets the value of commanded_tool_pose_theta_z. After calling this, commanded_tool_pose_theta_z() will return value.
clear_commanded_tool_pose_theta_z()	void	void	Clears the value of commanded_tool_pose_theta_z. After calling this, commanded_tool_pose_theta_z() will return 0.

Parent topic: BaseCyclic (C++)