RTDEClient (TULIP v3.0 API)

java.lang.Object

java.beans.PropertyChangeSupport

javiergs.tulip.rtde.RTDEClient

All Implemented Interfaces:: Serializable

public class RTDEClient extends PropertyChangeSupport

RTDEClient handles the RTDE protocol communication with a Universal Robots controller.

Version:

1.0, 2025-07-11

Author:

javiergs

See Also:

Method Summary

Modifier and Type

Method

Description

static Matrix4

computeFlangePose(double[] q)

void

connect(String ip)

static Matrix4

dhTransformMatrix4(double a, double alpha, double d, double theta)

void

disconnect()

static RTDEClient

getInstance()

double[]

getJoints()

RobotState

getRobotState()

boolean

isConnected()

static double[]

matrixToPose(Matrix4 T)

void

setJoints(double[] jointPositions)

Methods inherited from class java.beans.PropertyChangeSupport
addPropertyChangeListener, addPropertyChangeListener, fireIndexedPropertyChange, fireIndexedPropertyChange, fireIndexedPropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getPropertyChangeListeners, getPropertyChangeListeners, hasListeners, removePropertyChangeListener, removePropertyChangeListener

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details
- connect
  
  public void connect(String ip)
- disconnect
  
  public void disconnect()
- isConnected
  
  public boolean isConnected()
- getInstance
  
  public static RTDEClient getInstance()
- getRobotState
  
  public RobotState getRobotState()
- getJoints
  
  public double[] getJoints()
- setJoints
  
  public void setJoints(double[] jointPositions)
- computeFlangePose
  
  public static Matrix4 computeFlangePose(double[] q)
- dhTransformMatrix4
  
  public static Matrix4 dhTransformMatrix4(double a, double alpha, double d, double theta)
- matrixToPose
  
  public static double[] matrixToPose(Matrix4 T)