3.9 TrajectoryManager Class

Overview

TrajectoryManager handles offline trajectories, CSV conversion, recording/playback, path execution, and real-time trajectories.

3.9.1 Offline Trajectory

cpp

SetOfflineTrajectoryFile(const std::string& path) -> STATUS_CODE
PrepareOfflineTrajectory() -> STATUS_CODE
ExecuteOfflineTrajectory() -> STATUS_CODE

Method	Description	Return
`SetOfflineTrajectoryFile`	Sets the offline trajectory file path	`STATUS_CODE`
`PrepareOfflineTrajectory`	Moves to the start point	`STATUS_CODE`
`ExecuteOfflineTrajectory`	Executes the offline trajectory	`STATUS_CODE`

3.9.2 CSV Conversion

cpp

TransformCsvToTrajectory(const std::string& fileName, const std::string& separator = " ", const std::string& ioFlag = "2") -> std::pair<std::string, STATUS_CODE>
CheckTransformStatus(const std::string& fileName) -> std::pair<TransformStatusEnum, STATUS_CODE>

Method	Description	Return
`TransformCsvToTrajectory`	Converts a CSV file	`std::pair<std::string, STATUS_CODE>`
`CheckTransformStatus`	Queries conversion status	`std::pair<TransformStatusEnum, STATUS_CODE>`

3.9.3 Trajectory Recording and Playback

cpp

TrajectoryRecordBegin(const std::string& name) -> STATUS_CODE
TrajectoryRecordFinish(const std::string& name) -> STATUS_CODE
TrajectoryReplayStart(const std::string& name) -> STATUS_CODE
TrajectoryReplayStop(const std::string& name) -> STATUS_CODE
TrajectoryRecordDelete(const std::string& name) -> STATUS_CODE
GetTrajectoryRecordList() -> std::pair<std::vector<std::string>, STATUS_CODE>
GetTrajectoryRecordStartPose(const std::string& name) -> std::pair<MotionPose, STATUS_CODE>

Method	Description	Return
`TrajectoryRecordBegin`	Starts recording	`STATUS_CODE`
`TrajectoryRecordFinish`	Finishes recording	`STATUS_CODE`
`TrajectoryReplayStart`	Starts playback	`STATUS_CODE`
`TrajectoryReplayStop`	Stops playback	`STATUS_CODE`
`TrajectoryRecordDelete`	Deletes the recording file	`STATUS_CODE`
`GetTrajectoryRecordList`	Queries the recording list	`std::pair<std::vector<std::string>, STATUS_CODE>`
`GetTrajectoryRecordStartPose`	Gets the first-point pose	`std::pair<MotionPose, STATUS_CODE>`

3.9.4 Path Recording and Execution

cpp

PathRecordBegin(const std::string& name, const std::string& comment, Float64 param, Float64 angle = 1.0) -> STATUS_CODE
PathRecordFinish() -> STATUS_CODE
GetPathStartPose(const std::string& name) -> std::pair<MotionPose, STATUS_CODE>
GetPathState(const std::vector<std::string>& pathList) -> std::pair<std::map<std::string, int32_t>, STATUS_CODE>
SetPathPlannerParameter(Float64 transitionTime, Float64 scalingFactor) -> STATUS_CODE
GetPathPlannerParameter() -> std::tuple<Float64, Float64, STATUS_CODE>
MovePath(const std::string& name, Float64 vel = 100.0, Float64 acc = 1.0) -> STATUS_CODE

Method	Description	Return
`PathRecordBegin`	Starts recording `.path/.traj`	`STATUS_CODE`
`PathRecordFinish`	Finishes recording	`STATUS_CODE`
`GetPathStartPose`	Gets the start pose	`std::pair<MotionPose, STATUS_CODE>`
`GetPathState`	Batch-queries state	`std::pair<std::map<std::string, int32_t>, STATUS_CODE>`
`SetPathPlannerParameter`	Sets path planner parameters	`STATUS_CODE`
`GetPathPlannerParameter`	Gets path planner parameters	`std::tuple<Float64, Float64, STATUS_CODE>`
`MovePath`	Executes by path file	`STATUS_CODE`

3.9.5 Real-time Trajectory

cpp

EnterTrajectoryControl() -> STATUS_CODE
SetFifoSize(int32_t size) -> STATUS_CODE
SendTrajectory(const TrajectorySegment& segment) -> STATUS_CODE
StopTrajectoryControl() -> STATUS_CODE
ExitTrajectoryControl() -> STATUS_CODE
SubscribeJointStream() -> STATUS_CODE
UnsubscribeJointStream() -> STATUS_CODE

Method	Description	Return
`EnterTrajectoryControl`	Enters real-time trajectory control mode	`STATUS_CODE`
`SetFifoSize`	Sets the real-time trajectory FIFO size	`STATUS_CODE`
`SendTrajectory`	Sends a trajectory segment	`STATUS_CODE`
`StopTrajectoryControl`	Stops real-time trajectory control	`STATUS_CODE`
`ExitTrajectoryControl`	Exits real-time trajectory control mode	`STATUS_CODE`
`SubscribeJointStream`	Subscribes to the joint stream	`STATUS_CODE`
`UnsubscribeJointStream`	Unsubscribes from the joint stream	`STATUS_CODE`

Minimal Call Example

cpp

#include <iostream>      // Standard output stream for printing trajectory query results
#include "arm_api.h"    // Arm entry point; after connection, trajectory APIs are accessed through arm.trajectoryManager
#include "status_code.h" // STATUS_CODE for checking SDK call results

int main()
{
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("192.168.110.2", "");
    if (connectRet != STATUS_CODE::OK) {
        return 1;
    }

    auto [recordNames, listRet] = arm.trajectoryManager.GetTrajectoryRecordList();
    auto [transitionTime, scalingFactor, plannerRet] =
        arm.trajectoryManager.GetPathPlannerParameter();
    if (listRet != STATUS_CODE::OK || plannerRet != STATUS_CODE::OK) {
        return 1;
    }

    std::cout << "record_count=" << recordNames.size() << "\n";
    std::cout << "transition_time=" << transitionTime << "\n";
    std::cout << "scaling_factor=" << scalingFactor << "\n";
    return 0;
}

Scenario Examples

The snippets below cover CSV conversion, offline trajectories, recording/playback, path motion, and real-time trajectory control. They assume the arm object from the minimal example is already connected. Calls that move the robot or change trajectory file state remain commented out; run them only after checking the site.

CSV Conversion and Conversion Status

cpp

const std::string csvName = "demo.csv";
auto [transformName, transformRet] = arm.trajectoryManager.TransformCsvToTrajectory(csvName, ",", "2");
if (transformRet == STATUS_CODE::OK) {
    auto [transformStatus, statusRet] = arm.trajectoryManager.CheckTransformStatus(transformName);
    std::cout << "transform_status=" << static_cast<int>(transformStatus) << " status_ret=" << static_cast<int>(statusRet) << "\n";
}

Execute an Offline Trajectory File

cpp

// STATUS_CODE offlineFileRet = arm.trajectoryManager.SetOfflineTrajectoryFile("/root/robot_data/progs/robot_tmp/demo.traj");
// STATUS_CODE prepareRet = arm.trajectoryManager.PrepareOfflineTrajectory();
// STATUS_CODE executeRet = arm.trajectoryManager.ExecuteOfflineTrajectory();

Trajectory Recording, Playback, and Deletion

cpp

const std::string recordName = "demo_record";
auto [recordNames, listRet] = arm.trajectoryManager.GetTrajectoryRecordList();
auto [recordStartPose, recordPoseRet] = arm.trajectoryManager.GetTrajectoryRecordStartPose(recordName);
if (listRet == STATUS_CODE::OK || recordPoseRet == STATUS_CODE::OK) {
    std::cout << "record_count=" << recordNames.size() << "\n";
}
// STATUS_CODE recordBeginRet = arm.trajectoryManager.TrajectoryRecordBegin(recordName);
// STATUS_CODE recordFinishRet = arm.trajectoryManager.TrajectoryRecordFinish(recordName);
// STATUS_CODE replayStartRet = arm.trajectoryManager.TrajectoryReplayStart(recordName);
// STATUS_CODE replayStopRet = arm.trajectoryManager.TrajectoryReplayStop(recordName);
// STATUS_CODE recordDeleteRet = arm.trajectoryManager.TrajectoryRecordDelete(recordName);

Path Recording and Path Motion

cpp

const std::string pathName = "demo_path";
auto [pathStartPose, pathPoseRet] = arm.trajectoryManager.GetPathStartPose(pathName);
auto [pathState, pathStateRet] = arm.trajectoryManager.GetPathState(std::vector<std::string>{pathName});
auto [transitionTime, scalingFactor, plannerRet] = arm.trajectoryManager.GetPathPlannerParameter();
if (pathPoseRet == STATUS_CODE::OK || pathStateRet == STATUS_CODE::OK || plannerRet == STATUS_CODE::OK) {
    std::cout << "transition=" << transitionTime << " scaling=" << scalingFactor << "\n";
}
// STATUS_CODE pathBeginRet = arm.trajectoryManager.PathRecordBegin(pathName, "sdk demo", 100.0, 1.0);
// STATUS_CODE pathFinishRet = arm.trajectoryManager.PathRecordFinish();
// STATUS_CODE setPlannerRet = arm.trajectoryManager.SetPathPlannerParameter(0.2, 1.0);
// STATUS_CODE movePathRet = arm.trajectoryManager.MovePath(pathName, 100.0, 1.0);

Real-Time Trajectory Control

cpp

TrajectorySegment segment;
// STATUS_CODE enterRtRet = arm.realTimeTrajectory.EnterTrajectoryControl();
// STATUS_CODE fifoRet = arm.realTimeTrajectory.SetFifoSize(64);
// STATUS_CODE sendRet = arm.realTimeTrajectory.SendTrajectory(segment);
// STATUS_CODE subJointRet = arm.realTimeTrajectory.SubscribeJointStream();
// STATUS_CODE unsubJointRet = arm.realTimeTrajectory.UnsubscribeJointStream();
// STATUS_CODE stopRtRet = arm.realTimeTrajectory.StopTrajectoryControl();
// STATUS_CODE exitRtRet = arm.realTimeTrajectory.ExitTrajectoryControl();

Example code:

cpp17/trajectory_basic/src/main.cpp

cpp

#include "offline_trajectory/run.h"
#include "record_and_replay/run.h"
#include "path_api/run.h"
#include "realtime_trajectory/run.h"

int main(void)
{
    // [ZH] 默认只调用一个门面方法；如需体验其他接口，请把下一行替换成下面任意一行。
    // [EN] The main function calls only one facade by default. Replace the next line with any line below to try other APIs.
    return RunTrajectoryBasicOfflineTrajectory();
    // return RunTrajectoryBasicRecordAndReplay();
    // return RunTrajectoryBasicPathApi();
    // return RunTrajectoryBasicRealtimeTrajectory();
}

Firmware Compatibility Notes

Feature	Minimum Firmware Version	Notes
PathRecordBegin / PathRecordFinish	1.5.x	Recording works, but in version 1.5.6 and earlier, a `readViaPoints` bug causes `MovePath` playback to read 0 points and return `MOTION_TABLE_READ_FAILED`
MovePath (.path / .traj)	> 1.5.6	Requires firmware with the `readViaPoints` fix for normal playback
TrajectoryRecordBegin / Finish / Replay	1.5.x	CSV trajectory recording and playback work normally
SetPathPlannerParameter / GetPathPlannerParameter	1.5.x	Works normally

1 Overview and Setup

2 Data Structures

3 Methods

4 C99 API

6 Other Language Integration

3.9 TrajectoryManager Class

Overview

3.9.1 Offline Trajectory

3.9.2 CSV Conversion

3.9.3 Trajectory Recording and Playback

3.9.4 Path Recording and Execution

3.9.5 Real-time Trajectory

Minimal Call Example

Scenario Examples

CSV Conversion and Conversion Status

Execute an Offline Trajectory File

Trajectory Recording, Playback, and Deletion

Path Recording and Path Motion

Real-Time Trajectory Control

Firmware Compatibility Notes

3.9 TrajectoryManager Class ​

Overview ​

3.9.1 Offline Trajectory ​

3.9.2 CSV Conversion ​

3.9.3 Trajectory Recording and Playback ​

3.9.4 Path Recording and Execution ​

3.9.5 Real-time Trajectory ​

Minimal Call Example ​

Scenario Examples ​

CSV Conversion and Conversion Status ​

Execute an Offline Trajectory File ​

Trajectory Recording, Playback, and Deletion ​

Path Recording and Path Motion ​

Real-Time Trajectory Control ​

Firmware Compatibility Notes ​

3.9 TrajectoryManager Class

Overview

3.9.1 Offline Trajectory

3.9.2 CSV Conversion

3.9.3 Trajectory Recording and Playback

3.9.4 Path Recording and Execution

3.9.5 Real-time Trajectory

Minimal Call Example

Scenario Examples

CSV Conversion and Conversion Status

Execute an Offline Trajectory File

Trajectory Recording, Playback, and Deletion

Path Recording and Path Motion

Real-Time Trajectory Control

Firmware Compatibility Notes