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Add trajectory_point_interface documentation
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‎doc/architecture/reverse_interface.rst‎

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index meaning
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===== =====
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0 read timeout in milliseconds. The next read from the socket will use this timeout.
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1-6 Current motion target. depending on the control mode, this can be interpreted as joint
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positions or velocities or a Cartesian pose.
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1-6 Current motion target. depending on the control mode, this can be interpreted as
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- joint positions (SERVOJ)
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- joint velocities (SPEEDL)
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- trajectory instructions (FORWARD)
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- field 1: Trajectory control mode(1: TRAJECTORY_MODE_RECEIVE, -1: TRAJECTORY_MODE_CANCEL)
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- field 2: Number of trajectory points left to transfer
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- Cartesian velocities (SPEEDL)
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- Cartesian pose (POSE)
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- freedrive instruction (FREEDRIVE)
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- field 1: Freedrive mode (1: FREEDRIVE_MODE_START, -1: FREEDRIVE_MODE_STOP)
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7 Control mode. Can be either of
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- -2: STOPPED
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- -1: UNINITIALIZED
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- 0: IDLE -- no motion
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- 1: SERVOJ -- High-frequent joint position control
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- 2: SPEEDJ -- Low-frequent joint velocity control
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- 3: FORWARD -- Trajectory interpolation on the robot
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- 3: FORWARD -- Trajectory interpolation on the robot, see :ref:`trajectory_point_interface`
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- 4: SPEEDL
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- 5: POSE
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- 6: FREEDRIVE

‎doc/architecture/trajectory_point_interface.rst‎

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.. _trajectory_point_interface:
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Trajectory Point Interface
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==========================
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The ``TrajectoryPointInterface`` allows sending trajectory points to the robot. It is intended to
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be used in conjunction with the :ref:`reverse_interface` during trajectory forwarding.
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Communication regarding trajectory point execution would usually look like this:
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.. figure:: /images/trajectory_interface.svg
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:width: 100%
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:alt: Trajectory interface
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Basically, the ``TrajectoryPointInterface`` transfers the trajectory points from the external
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control PC to the robot for execution. Execution isn't started, before a start command is sent via
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the ``ReverseInterface``. Once trajectory execution is done (either successful, failed or canceled
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externally), the robot will send a response back to the control PC via the trajectory socket.
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Communication protocol
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----------------------
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The ``TrajectoryPointInterface``'s "trajectory_socket" on the robot is expecting 32 bit integer
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representations in 21 datafields. The data fields have the following meaning:
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.. table:: trajectory_socket message format
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:widths: auto
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===== =====
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index meaning
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===== =====
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0-5 trajectory point positions (floating point)
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6-11 trajectory point velocities (floating point)
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12-17 trajectory point accelerations (floating point)
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18 trajectory point type (0: JOINT, 1: CARTESIAN, 2: JOINT_SPLINE)
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19 trajectory point time (in seconds, floating point)
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20 depending on trajectory point type
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- JOINT, CARTESIAN: point blend radius (in meters, floating point)
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- JOINT_SPLINE: spline type (1: CUBIC, 2: QUINTIC)
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===== =====

‎doc/images/trajectory_interface.drawio‎

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‎doc/images/trajectory_interface.svg‎

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