1.1.8版本prerelease (#55)

* feat: 添加LuaRobot，和机械臂采用luasocket通讯 * fix: 移除调试注释 * fix: 修正dotnet上传nuget的bug。 * fix: 修正dotnet release版本问题 * feat: 添加speedl和speedj的支持，完善文档 * fix: 修正合并错误 * fix: 更新版本号 * feat: README多语言的框架 * fix: readme错误修正 * fix: 更新版本号 * fix: 修正github action 的问题 * feat: 修正文档错误 * fix: update pip * update linux_python_build.yml * fix: 修正依赖问题 * fix: 修正依赖问题 * feat: 添加speedl支持reference坐标系 * fix: 版本->1.1.8
lebai-robotics · Oct 27, 2023 · a60d599 · a60d599
1 parent 11b8570
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -8,7 +8,7 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 option(CMAKE_EXPORT_COMPILE_COMMANDS "Export compile command" TRUE)
 
 
-project(lebai VERSION 1.1.7 LANGUAGES CXX)
+project(lebai VERSION 1.1.8 LANGUAGES CXX)
 set(PROJECT_NAMESPACE lebai)
 message(STATUS "${PROJECT_NAME} version: ${PROJECT_VERSION}")
 # message(STATUS "major: ${PROJECT_VERSION_MAJOR}")

diff --git a/Doxyfile b/Doxyfile
@@ -38,7 +38,7 @@ PROJECT_NAME           = "lebai sdk"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 1.1.7
+PROJECT_NUMBER         = 1.1.8
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

diff --git a/doc/changelog.md b/doc/changelog.md
@@ -1,5 +1,13 @@
 # ChangeLog
 
+## 1.1.8
+
+speedl添加参考坐标系
+
+修正.net包描述问题
+
+修正注释和文档的一些bug
+
 ## 1.1.7
 
 README添加多语言支持

diff --git a/dotnet/lebai.runtime.csproj.in b/dotnet/lebai.runtime.csproj.in
@@ -7,7 +7,7 @@
     <Version>@PROJECT_VERSION@</Version>
 
     <!-- Nuget Properties -->
-    <Description>.NET native wrapper for the CMakeSwig project</Description>
+    <Description>.NET native wrapper for the Lebai SDK</Description>
     <IncludeBuildOutput>false</IncludeBuildOutput>
 
     <!-- Pack Option -->

diff --git a/examples/example_speedl.cc b/examples/example_speedl.cc
@@ -0,0 +1,56 @@
+/**
+ * Copyright 2022 lebai.ltd
+ * 
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * 
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+*/
+
+#include <iostream>
+#include <chrono>
+#include <thread>
+#include <cmath>
+#include <lebai/robot.hh>
+
+
+int main(int argc, char ** argv)
+{
+  if(argc < 2)
+  {
+    std::cerr<<"You must specify the IP address of the robot"<<std::endl;
+    std::cerr<<"Execute example as follow:"<<std::endl;
+    std::cerr<<"./example 192.168.1.200 sim"<<std::endl;
+    return 0;
+  }
+  std::string ip = argv[1];
+  bool sim = false;
+  if(argc > 2)
+  {
+    std::string sim_str = argv[2];
+    if(sim_str == "sim")
+    {
+      sim = true;
+    }
+  }
+  std::cout<<"Connecting to robot at "<<ip<<std::endl;
+  std::cout<<"Connecting for simulation mode is "<<sim<<std::endl;
+  // Create robot instance
+  lebai::l_master::Robot robot(ip, sim);
+  std::this_thread::sleep_for(std::chrono::seconds(1));
+  robot.movej({0.0/ 180.0 * M_PI, -45.0/ 180.0 * M_PI, 90.0/ 180.0 * M_PI, -45/ 180.0 * M_PI, 90.0/ 180.0 * M_PI, 0.0/ 180.0 * M_PI}, 1.0, 0.5, 0.0, 0.0);
+  robot.wait_move();   
+  lebai::l_master::CartesianPose dir = {{"x", 0.05}, {"y", 0.0}, {"z", 0.0}, {"rx", 0.0}, {"ry", 0.0}, {"rz", 0.0}};
+  auto tcp = robot.get_target_tcp_pose(); 
+  robot.speedl(1.0, dir, 2.0, tcp);
+  std::this_thread::sleep_for(std::chrono::seconds(2));
+  robot.stop_move();
+  return 0;
+}
diff --git a/requirements.txt b/requirements.txt
@@ -1,2 +1,3 @@
 swig==4.0.2
 cmake==3.18.2
+readme-renderer==34.0
diff --git a/sdk/include/lebai/lebai.hh b/sdk/include/lebai/lebai.hh
@@ -14,14 +14,13 @@
  *  
  * # ChangeLog
  *  查阅 \ref doc/changelog.md.
- *  
- *  
+ *    
  * # Python
  * 查看 \ref doc/python.md 来获取使用python开发相关的内容.
  *
  * # .net
- * 查看 \ref doc/dotnet.md 来获取在.net中使用C#开发相关的内容.
- * 
+ * 查看 \ref doc/dotnet.md 来获取在.net中使用C\#开发相关的内容.
+ *
  * # Develop
  * 如果需要开发sdk，添加新的功能，可以参考 \ref doc/develop.md.
  * 
@@ -33,7 +32,7 @@
  * 
  * 界面显示的Rz，Ry，Rx为角度，将其转换为弧度后，它和旋转矩阵的关系如下：
  * 
- * @f$RotationMatrix = \begin{bmatrix}
+ * \f$RotationMatrix = \begin{bmatrix}
  * \cos(Rz) & -sin(Rz) & 0 \\ 
  * sin(Rz) & cos(Rz) & 0\\ 
  * 0 & 0 & 1
@@ -45,6 +44,6 @@
  * 1 & 0 & 0 \\ 
  * 0 & cos(Rx) & -sin(Rx) \\ 
  * 0 & sin(Rx)  & cos(Rx) 
- * \end{bmatrix}@f$
+ * \end{bmatrix}\f$
  */
 
diff --git a/sdk/include/lebai/robot.hh b/sdk/include/lebai/robot.hh
@@ -56,9 +56,8 @@ namespace lebai
   {
     DoubleVector joint_positions;  /*!< 机械臂关节位置的map数据，应当包括'j1','j2','j3','j4','j5','j6'六个关节的角度值.  */
     bool ok = false;  /*!< 计算是否成功 */
-  };  
+  };
 
-
 
 
   /**
@@ -183,13 +182,13 @@ namespace lebai
      */
     void start_sys();
     /**
-     * @brief 停止机械臂（机械臂上使能）.
+     * @brief 停止机械臂（机械臂下使能）.
      * 
      */
 
     void stop_sys();
     /**
-     * @brief 关闭机器人电源（关机.
+     * @brief 关闭机器人电源（关机）.
      * 
      */
     void powerdown();
@@ -361,10 +360,11 @@ namespace lebai
      * @param[in] a 加速度.
      * @param[in] v 速度矢量
      * @param[in] t: 运动时间，默认t = 0，一直运动到限位.
+     * @param[in] reference: 参考坐标系，默认为零.
      * @return  >0 发送成功.返回运动号
      * @return  <=0 发送失败.
      */
-    int speedl(double a, const CartesianPose & v, double t = 0.0);
+    int speedl(double a, const CartesianPose & v, double t = 0.0, const CartesianPose & reference = {{"x", 0.0}, {"y", 0.0}, {"z", 0.0}, {"rx", 0.0}, {"ry", 0.0}, {"rz", 0.0}});
     /**
      * 示例代码: 
      * 
@@ -715,11 +715,13 @@ namespace lebai
     /**
       * @brief 调用场景
       * 
-      * @param name: 调用场景的名字
-      * @param is_main: 是否以主任务方式运行（主任务会排队执行，子任务会并发执行）
-      * @param loop_to: 循环次数（默认0永久循环）
-      * @param dir: 调用场景所在的文件夹名
-      * @param params: 其他参数
+      * @param name 调用场景的名字
+      * @param params 其他参数
+      * @param dir 调用场景所在的文件夹名
+      * @param is_parallel 是否并行
+      * @param loop_to 循环次数（默认0永久循环）
+      * 
+      * 
     */
     unsigned int start_task(const std::string &name,const std::vector<std::string> & params,const std::string & dir, bool is_parallel,unsigned int loop_to);
     /**
@@ -740,6 +742,10 @@ namespace lebai
      * @param wait: 是否等待
     */
     void pause_task(unsigned int id,unsigned long time,bool wait);
+    /**
+     * @brief 暂停任务与运动
+     * @param id: 任务的ID
+    */
     void pause_task(unsigned int id);
     /**
      * @brief 恢复任务与运动
@@ -917,18 +923,17 @@ namespace lebai
      */
     void set_payload(double mass, std::map<std::string, double> cog);
     /**
-     *  @brief 设置机器人末端负载.
+     *  @brief 设置机器人末端负载质量.
      *
      *  @param mass 末端负载的质量(kg).
      */
-    void set_payload(double mass);
+    void set_payload_mass(double mass);
     /**
-     *  @brief 设置机器人末端负载.
+     *  @brief 设置机器人末端负载重心.
      *
-     *  @param mass 末端负载的质量(kg).
      *  @param cog 质心相对于TCP坐标系的偏移.
      */
-    void set_payload(std::map<std::string, double> cog);
+    void set_payload_cog(std::map<std::string, double> cog);
     /**
      *  @brief 获取末端负载设置.
      *