The ArmarX project RobotAPI is based on the ArmarXCore Framework.
\brief The RobotAPI package provides a robot-intependent API that other ArmarX packages can use for accessing central functionality of a robot.
\par Components
RobotAPI provides the following components
- armarx::ComponentX: ComponentX description
Each component can provide several properties which are set on command line or via a configuration file.
See \ref componentproperties for an overview of properties.
Central aspects of RobotAPI include:
\par Applications
- armarx::ApplicationY: Description of ApplicationY
\par Intelligent Coordinates
RobotAPI provides datatypes for intelligent coordinates that refer to a robot coordinate frame and can be conveniently transformed between different frames.
Datatypes are available for positions, orientations, directions and poses.
\par interface Interface Documentation
Documentation of interfaces available in ArmarXCore is available on the \ref slicedocumentation "Slice Documentation" page.
\par
\link RobotAPI-FramedPose Read more \endlink
\par Interfaces
RobotAPI provides robot-independent interface definitions that are implemented and used by components in other ArmarX packages.
Important interfaces in RobotAPI for instance provide access to the kinematic robot state, different sensor modalities, inverse kinematics computations or the robot visualization.
\par
\link slicedocumentation Read more \endlink
\par Components
RobotAPI not only provides interfaces, but also implementations of robot-independent components.
This includes components for management of the robot state or inverse kinematics computations as well as sensor-actor units.
\par
\link RobotAPI-Components Read more \endlink
\defgroup RobotAPI-Statecharts Statecharts
\ingroup RobotAPI
Generic robot indepedent low level statecharts.
\par GUI-Plugins
RobotAPI contains several robot-independent GUI-plugins that refer to the above components.
Available GUI-plugins provide access to the kinematic robot state, end effectors, inverse kinematics computations or different sensor modalities.
RobotAPI also provides a GUI-plugin for robot visualization.
