04 机械臂流式控制接口

TODO 将 ArmStreamingMotion 接口整理为更详细的文档

Python

class ArmStreamingMotion:
    """
    ArmStreamingMotion

    Streaming motion interface for robot arm, supports starting/stopping streaming and accessing shared targets.

    机械臂流式运动接口，支持流式运动的启动/停止及目标共享对象的访问。
    """
    def start_streaming(self) -> 'ArmStreamingHandle':
        """
        Start streaming motion.

        开始流式运动。
        """
        ...
    def end_streaming(self) -> None:
        """
        End streaming motion.

        结束流式运动。
        """
        ...
    def move_to_target(self) -> object:
        """
        Get the shared object for motion target.

        获取运动目标的共享对象。
        """
        ...
    def control_with_target(self) -> object:
        """
        Get the shared object for control target.

        获取控制目标的共享对象。
        """
        ...

class ArmStreamingMotionExt:
    """
    ArmStreamingMotionExt

    Extension interface for streaming motion, provides access to various shared targets.

    机械臂流式运动扩展接口，提供多种目标的共享对象访问。
    """
    def move_joint_target(self) -> object:
        """
        Get the shared object for joint target.

        获取关节目标的共享对象。
        """
        ...
    def move_joint_vel_target(self) -> object:
        """
        Get the shared object for joint velocity target.

        获取关节速度目标的共享对象。
        """
        ...
    def move_joint_acc_target(self) -> object:
        """
        Get the shared object for joint acceleration target.

        获取关节加速度目标的共享对象。
        """
        ...
    def move_cartesian_target(self) -> object:
        """
        Get the shared object for Cartesian target.

        获取笛卡尔目标的共享对象。
        """
        ...
    def move_cartesian_vel_target(self) -> object:
        """
        Get the shared object for Cartesian velocity target.

        获取笛卡尔速度目标的共享对象。
        """
        ...
    def move_cartesian_euler_target(self) -> object:
        """
        Get the shared object for Euler angle target.

        获取欧拉角目标的共享对象。
        """
        ...
    def move_cartesian_quat_target(self) -> object:
        """
        Get the shared object for quaternion target.

        获取四元数目标的共享对象。
        """
        ...
    def move_cartesian_homo_target(self) -> object:
        """
        Get the shared object for homogeneous matrix target.

        获取齐次矩阵目标的共享对象。
        """
        ...
    def control_tau_target(self) -> object:
        """
        Get the shared object for torque target.

        获取力矩目标的共享对象。
        """
        ...

流式控制句柄

Python

class ArmStreamingHandle:
    """
    ArmStreamingHandle

    Streaming handle for robot arm, provides access to last motion/control and allows setting new targets.

    机械臂流式运动句柄，提供上一个运动/控制目标的访问与新目标的设置。
    """
    def last_motion(self) -> 'MotionType':
        """
        Get the last motion target.

        获取上一个运动目标。
        """
        ...
    def move_to(self, target: 'MotionType') -> None:
        """
        Set a new motion target for streaming.

        设置新的流式运动目标。
        """
        ...
    def last_control(self) -> 'ControlType':
        """
        Get the last control target.

        获取上一个控制目标。
        """
        ...
    def control_with(self, control: 'ControlType') -> None:
        """
        Set a new control target for streaming.

        设置新的流式控制目标。
        """
        ...