creos::Client Class Reference

The client class. More...

#include <creos/client.hpp>

Public Member Functions
	Client (std::string_view host, unsigned port)
	Constructor for the client.
	Client (std::string_view host)
	Constructor for the client.
	Client ()
	Default constructor for the client.
void	unsubscribe (SubscriptionId id)
	Unsubscribe from a data source.
ISensorsInterface *	sensors ()
	Get the sensors interface.
const ISensorsInterface *	sensors () const
IPowerManagementInterface *	power_management ()
	Get the power management interface.
const IPowerManagementInterface *	power_management () const
ISetpointControlInterface *	setpoint_control ()
	Get the setpoint control interface.
const ISetpointControlInterface *	setpoint_control () const
ITransformsInterface *	transforms ()
	Get the transforms interface.
const ITransformsInterface *	transforms () const
ISystemInfoInterface *	system_info ()
	Get the system info interface.
const ISystemInfoInterface *	system_info () const
IDiagnosticsInterface *	diagnostics ()
	Get the diagnostics interface.
const IDiagnosticsInterface *	diagnostics () const

Detailed Description

The client class.

This class is used to interact with the CreOS Agent.

Constructor & Destructor Documentation

Client() [1/3]

creos::Client::Client	(	std::string_view	host,
		unsigned	port )

Constructor for the client.

This constructor creates a new client object and connects to the specified host and port.

Parameters

host	The host to connect to.
port	The port to connect to.

Exceptions

creos::ConnectionError

If the client could not connect to the host.

Client() [2/3]

creos::Client::Client

(

std::string_view

host

)

Constructor for the client.

This constructor creates a new client object and connects to the specified host using the default port. You can change the default port by setting the CREOS_PORT environment variable.

Parameters

host	The host to connect to.

Exceptions

creos::ConnectionError

If the client could not connect to the host.

Client() [3/3]

creos::Client::Client

(

)

Default constructor for the client.

This constructor creates a new client object and connects to the default host and port. You can change the default host and port by setting the CREOS_HOST and CREOS_PORT environment variables.

Member Function Documentation

diagnostics()

IDiagnosticsInterface * creos::Client::diagnostics

(

)

Get the diagnostics interface.

The diagnostics interface is used to get diagnostic information from the robot. This information can be used to monitor the health of the robot and detect any issues that may arise.

Returns

The diagnostics interface. It may return nullptr if the interface is not available.

power_management()

IPowerManagementInterface * creos::Client::power_management

(

)

Get the power management interface.

The power management interface is used to control the power state of the robot. It can be used to put the robot into a low power mode to conserve energy.

Returns

The power management interface. It may return nullptr if the interface is not available.

sensors()

ISensorsInterface * creos::Client::sensors

(

)

Get the sensors interface.

The sensors interface is used to get sensor data from sensors on the robot.

Returns

The sensors interface. It may return nullptr if the interface is not available.

setpoint_control()

ISetpointControlInterface * creos::Client::setpoint_control

(

)

Get the setpoint control interface.

The setpoint control interface is used to send setpoint control commands to the robot.

Returns

The setpoint control interface. It may return nullptr if the interface is not available.

system_info()

ISystemInfoInterface * creos::Client::system_info

(

)

Get the system info interface.

The system info interface is used to get information about the robot, like the name and serial number.

Returns

The system info interface. It may return nullptr if the interface is not available.

transforms()

ITransformsInterface * creos::Client::transforms

(

)

Get the transforms interface.

The transforms interface is used to get information about the relationships between different coordinate frames. A coordinate frame is a frame of reference used to define the position and orientation of different parts of the robot.

The transformations can be static or dynamic. Static transformations do not change often, like the transformation from the main body of the robot to a fixed sensor. Dynamic transformations can change continuously, like the transformation from the main body of the robot to the tip of a mounted robot arm.

Returns

The transforms interface. It may return nullptr if the interface is not available.

unsubscribe()

void creos::Client::unsubscribe

(

SubscriptionId

id

)

Unsubscribe from a data source.

Parameters

id	The subscription ID.

Exceptions

InvalidArgumentError

If the subscription ID is invalid.

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The documentation for this class was generated from the following file:

• creos/client.hpp