Data Structures

Common Data Structures

AbcType

using AbcType = double;

AbcErrorCode

Enumeration	Value	Description
`SUCCESS`	0	Success
`UNKNOWN_ERROR`	-1	Unknown error	General Errors (-1 ~ -49)
`TIMEOUT`	-2	Timeout
`INVALID_HANDLE`	-3	Invalid handle
`INVALID_STATE`	-4	Invalid state
`NOT_INITIALIZED`	-5	Not initialized
`NOT_IMPLEMENTED`	-6	Not implemented
`INVALID_ARGUMENT`	-7	Invalid argument
`PARAM_ERROR`	-50	Parameter error	Parameter Errors (-50 ~ -99)
`PARAM_OUT_OF_RANGE`	-51	Parameter value out of range	Parameter Errors (-50 ~ -99)
`ARM_ERROR`	-100	Robotic arm general error	Robotic Arm Errors (-100 ~ -199)
`ARM_CTRL_FALSE`	-101	Controller returned false; likely incorrect parameters or arm state error.
`ARM_DATA_SEND_FAILED`	-102	Failed to send data (communication error)
`ARM_DATA_RECEIVE_FAILED`	-103	Failed to receive data or controller timeout
`ARM_RETURN_DATA_ERR`	-104	Failed to parse returned data (invalid or incomplete format)
`ARM_CHECK_FAILED`	-105	Current position device check failed (e.g., not a joint)
`ARM_TIMEOUT`	-106	Timeout waiting for response
`ARM_OUT_OF_RANGE`	-107	Robotic arm motion out of range
`TORSO_ERROR`	-200	Torso general error	Torso Errors (-200 ~-219)
`TORSO_CANBUS_ERROR`	-201	Torso CAN bus error
`TORSO_ACTUATOR_ERROR`	-202	Torso actuator error
`TORSO_TIMEOUT`	-206	Timeout waiting for response
`TORSO_OUT_OF_RANGE`	-207	Torso motion out of range
`HEAD_ERROR`	-220	Head general error	Head Errors (-220 ~ -229)
`HEAD_CANBUS_ERROR`	-221	Head CAN bus error
`HEAD_ACTUATOR_ERROR`	-222	Head actuator error
`HEAD_TIMEOUT`	-226	Timeout waiting for response
`HEAD_OUT_OF_RANGE`	-227	Head motion out of range
`SENSOR_ERROR`	-300	Sensor general error	Sensor Errors (-300 ~ -399)
`SENSOR_NOT_CONNECTED`	-301	Sensor not connected
`SENSOR_DATA_ERROR`	-302	Sensor data error
`CHASSIS_ERROR`	-400	Chassis general error	Chassis Errors (-400 ~ -499)
`CHASSIS_INIT_ERROR`	-401	Chassis initialization error
`CHASSIS_TIMEOUT`	-402	Timeout waiting for response
`ALGO_ERROR`	-900	Algorithm general error	Algorithm Errors (-900 ~ -999)
`ALGO_NOT_CONVERGED`	-901	Algorithm did not converge
`ALGO_APPROXIMATE_SOLUTION`	-902	Algorithm approximate solution

AbcPose

Structure Member	Data Type	Description
`position`	AbcPosition	XYZ-axis coordinate values
`quaternion`	AbcQuat	Quaternion

AbcPosition

Structure Member	Data Type	Description
`x`	AbcType	XYZ-axis coordinate values, in meters.
`y`
`z`

AbcQuat

Structure Member	Data Type	Description
`w`	AbcType	Quaternion
`x`
`y`
`z`

AbcPoseVelocity

Structure Member	Data Type	Description
`x`	AbcType	Velocity (Cartesian space)
`y`
`z`
`wx`
`wy`
`wz`

ArmType

Enumeration	Value	Description
`RM65_B`	0	Robotic arm type
`RM65_6FB`	1
`RM65_6F`	2
`RM75_B`	3
`RM75_6FB`	4
`RM75_6F`	5
`ZM73L_6F`	6
`ZM73R_6F`	7

RobotType

Enumeration	Value	Description
`AlphaBot1s`	1	Robot Type
`AlphaBot2`	2
`AlphaBot1s_HuiKe`	3

AbcTorsoPose4D

Structure Member	Data Type	Description
`height`	AbcType	Vertical height, in meters (m).
`forward`	AbcType	Front-back displacement, in meters (m).
`pitch`	AbcType	Pitch angle, in radians (rad).
`yaw`	AbcType	Waist rotation angle, in radians (rad).

Robotic Arm Data Structures

ArmFactoryParam

Structure Member	Data Type	Description
`arm_type`	string	Robotic arm vendor
`arm_name`	string	Robotic arm name (e.g., `"left_arm"`)
`ip`	string	TCP IP address
`udp_ip`	string	UDP IP address
`port`	int	TCP port number
`udp_port`	int	UDP port number
`udp_cycle`	int	UDP cycle (period = udp_cycle * 5 ms)
`enable_gripper`	bool	Gripper status (enable/disable)

AbcArmCurrentStatus

Enumeration	Description
`ARM_IDLE`	Enabled but idle state
`ARM_MOVE`	Moving state
`ARM_MOVE_THROUGH_JOINT`	Angle pass-through state
`ARM_MOVE_THROUGH_POSE`	Pose pass-through state
`ARM_MOVE_THROUGH_FORCE_POSE`	Force-Controlled pass-through state
`ARM_MOVE_THROUGH_CURRENT`	Current-loop pass-through state
`ARM_STOP`	Emergency stop state
`ARM_SLOW_STOP`	Slow stop state
`ARM_PAUSE`	Pause state
`ARM_CURRENT_DRAG`	Current-loop drag state
`ARM_SENSOR_DRAG`	6-DoF force drag state
`ARM_TECH_DEMONSTRATION`	Teaching state

AbcJointState

If the number of joints is less than MAX_ARM_DOF, the extra data fields will be zero.

Structure Member	Data Type	Description
`joints`	array<AbcType, MAX_ARM_DOF>	Current joint angles, in radians (rad).
`joint_position`		Current joint angles, in degrees (°).
`joint_speed`		Current joint speeds, in RPM (revolutions per minute).
`joint_current`		Current joint current, in milliamperes (mA).
`joint_temperature`		Current joint temperature, in degrees Celsius (°C).
`joint_voltage`		Current joint voltage, in volts (V).
`joint_err_code`	array<uint16_t, MAX_ARM_DOF>	Current joint error codes.
`joint_en_flag`	array<bool, MAX_ARM_DOF>	Current joint enable flags. - `true`: Enabled. - `false`: Disabled.

AbcArmForceSensor

Structure Member	Data Type	Description
`force`	AbcType[6]	Current raw force sensor data, in units of 0.001 N or 0.001 N·m.
`zero_force`	AbcType[6]	Current external force data measured by the force sensor system, in units of 0.001 N or 0.001 N·m.
`coordinate`	int	Coordinate frame of the external force data. - `0`: Sensor coordinate frame. - `1`: Current working coordinate frame. - `2`: Current tool coordinate frame.

AbcArmRealtimeState

Structure Member	Data Type	Description
`name`	char[64]	Robotic arm name
`timestamp`	std::chrono::system_clock::time_point	Timestamp
`joint_status`	AbcJointState	Joint states
`pose`	AbcPose	Current pose of the robotic arm
`force_sensor`	AbcArmForceSensor	Force sensor status
`arm_current_status`	AbcArmCurrentStatus	Robotic arm status
`gripper_state`	AbcGripperState	Gripper status
`ee_pose`	AbcPose	End-effector pose

PeripheralReadWriteParams

Structure Member	Data Type	Description
`port`	int	Communication port. - `0`: Controller RS485 port. - `1`: End-effector interface board RS485 port. - `3`: Controller Modbus TCP device.
`address`	int	Starting data address
`device`	int	Peripheral device address
`num`	int	Number of data items

UdpCustomConfig

Structure Member	Data Type	Description
`joint_speed`	int	Joint speed.
`lift_state`	int	Lift joint information. - `1`: Enable reporting. - `0`: Disable reporting. - `-1`: Do not set, keep previous state.
`expand_state`	int	Extended joint information (either lift joint or extended joint, lift joint has priority). - `1`: Enable reporting. - `0`: Disable reporting. - `-1`: Do not set, keep previous state.
`hand_state`	int	Dexterous hand status. - `1`: Enable reporting. - `0`: Disable reporting. - `-1`: Do not set, keep previous state.
`arm_current_status`	int	Current status of the robotic arm. - `1`: Enable reporting. - `0`: Disable reporting. - `-1`: Do not set, keep previous state.
`aloha_state`	int	Status of the AlphaBot main arm. - `1`: Enable reporting. - `0`: Disable reporting. - `-1`: Do not set, keep previous state.

RealtimePushConfig

Structure Member	Data Type	Description
`cycle`	int	Broadcasting cycle, a multiple of 5ms.
`enable`	bool	Enable flag. Whether to enable active reporting.
`port`	int	Broadcast port number.
`force_coordinate`	int	Coordinate frame for external force data. - `-1`: Force sensor not supported. - `0`: Sensor frame. - `1`: Current work frame. - `2`: Current tool frame.
`ip`	char[28]	Custom reporting target IP address.
`custom_config`	UdpCustomConfig	Custom configuration settings.

MAX_ARM_DOF

const size_t MAX_ARM_DOF = 7;

AbcArmRealtimeStateCallback

using AbcArmRealtimeStateCallback =
    std::function<void(std::shared_ptr<const AbcArmRealtimeState>)>;

Chassis Data Structures

ChassisFactoryParam

Structure Member	Data Type	Description
`chassis_type`	string	Chassis vendor
`chassis_name`	string	Chassis name (e.g., `"chassis"`)
`ip`	string	IP address (e.g., `"127.0.0.1"`)
`port`	int	Port number (e.g., `54051`)

ChassisPose2D

Structure Member	Data Type	Description
`theta`	float	Orientation
`x`	float	X-axis coordinate value
`y`	float	Y-axis coordinate value

ChassisPoseSpeed

Structure Member	Data Type	Description
`map_id`	uint32_t	Map ID
`mileage`	uint32_t	Accumulated mileage
`robot_id`	uint32_t	Chassis ID
`pose`	ChassisPose2D	2D pose
`twist`	ChassisTwist	Twist (linear + angular velocity)

ChassisPoint32

Structure Member	Data Type	Description
`x`	float	X-axis coordinate value
`y`	float	Y-axis coordinate value
`z`	float	Z-axis coordinate value

ChassisTwist

Structure Member	Data Type	Description
`angular`	float	Angular velocity
`linear`	float	Linear velocity

ChassisTransformStamped

Structure Member	Data Type	Description
`frame_id`	string	Frame ID
`secs`	int32_t	Seconds
`nsecs`	uint32_t	Nanoseconds
`child_frame_id`	string	Child frame ID
`t_x`	double	XYZ-axis coordinate values
`t_y`	double
`t_z`	double
`r_x`	double	Quaternion
`r_y`	double
`r_z`	double
`r_w`	double

ChassisBattery

Structure Member	Data Type	Description
`charge_state`	ChargeState	Charging State
`robot_id`	uint32_t	Chassis ID
`power`	uint32_t	Battery percentage (0–100). - `100`: Fully charged. - `0`: No charge.
`health`	uint32_t	Battery Health (full charge capacity / design capacity)
`charge_cycle`	uint32_t	Charge Cycle Count
`battery_cycle`	uint32_t	Battery cycle
`temp_max`	uint32_t	Battery temperature (maximum temperature)
`success`	bool	Request success flag. - `true`: Request succeeded. - `false`: Request failed to process.
`msg`	string	Response message description, typically used to explain why a request could not be processed.

ChassisBattery::ChargeState

Enumeration	Value	Description
`kChargeStateUndefined`	0	Undefined
`kNot`	1	Not charging
`kManual`	2	Manual charging in progress
`kAuto`	3	Auto charging in progress

ChassisOperationState

Structure Member	Data Type	Description
`robot_id`	uint32_t	Chassis ID
`nav`	NavState	Chassis navigation information
`robot`	RobotBit	Chassis bit information
`success`	bool	Request success flag. - `true`: Request succeeded. - `false`: Request failed to process.
`msg`	string	Response message description, typically used to explain why a request could not be processed.

ChassisOperationState::NavState

Enumeration	Value	Description
`kNavBitUndefined`	0	Undefined
`kNarrow`	1	Narrow passage
`kGuide`	2	Guide to destination
`kInaLift`	3	In elevator
`kImpede`	4	Obstruct
`kQRCode`	5	QR code
`kStage`	6	Segment arrival

ChassisOperationState::RobotBit

Enumeration	Value	Description
`kRobotBitUndefined`	0	Undefined
`kTaskable`	1	Taskable

ChassisState

Structure Member	Data Type	Description
`robot_id`	uint32_t	Chassis ID
`state`	State	Chassis auto mode status
`success`	bool	Request success flag. - `true`: Request succeeded. - `false`: Request failed to process.
`msg`	string	Response message description, typically used to explain why a request could not be processed.

ChassisState::State

Enumeration	Value	Description
`kStateUndefined`	0	Undefined
`kUninit`	1	Uninitialized
`kIdle`	2	Idle
`kParking`	3	Parking
`kTask`	4	In Task
`kWarning`	5	Warning
`kFault`	6	Fault
`kFollowing`	7	Following
`kCharging`	8	Charging
`kMapping`	9	Mapping

ChassisStatusCode

Structure Member	Data Type	Description
`robot_id`	uint32_t	Chassis ID
`code`	uint64_t	Status code
`time`	uint64_t	Time
`status_msg`	string	Message
`robot_task_id`	int64_t	Task ID
`state`	RobotState	Chassis auto mode status
`type`	ActionType	Action type
`level`	Level	Level
`success`	bool	Request success flag. - `true`: Request succeeded. - `false`: Request failed to process.
`msg`	string	Response message description, typically used to explain why a request could not be processed.

ChassisStatusCode::RobotState

Enumeration	Value	Description
`rs_kStateUndefined`	0	Undefined
`rs_kUninit`	1	Uninitialized
`rs_kIdle`	2	Idle
`rs_kParking`	3	Parking
`rs_kTask`	4	In Task
`rs_kWarning`	5	Warning
`rs_kFault`	6	Fault
`rs_kFollowing`	7	Following
`rs_kCharging`	8	Charging
`rs_kMapping`	9	Mapping

ChassisStatusCode::ActionType

Enumeration	Value	Description
`at_kTypeUndefined`	0	Undefined
`at_kNav`	1	Navigation
`at_kStepCtrl`	2	Step Control
`at_kSecondposEnter`	3	Second Position Enter
`at_kSecondposQuit`	4	Second Position Quit
`at_kCarry`	5	Carrying Action
`at_kWait`	6	Wait
`at_kCharge`	7	Charge

ChassisStatusCode::Level

Enumeration	Value	Description
`l_kNormal`	0	Normal
`l_kTips`	1	Tips
`l_kWarn`	2	Warning
`l_kFault`	3	Fault

ChassisHardwareState

Structure Member	Data Type	Description
`robot_id`	uint32_t	Chassis ID
`lidars`	vector<HardwareState_State>	Repeated Lidar 2
`cameras`	vector<HardwareState_State>	Repeated Camera 2
`success`	bool	Request success flag. - `true`: Request succeeded. - `false`: Request failed to process.
`msg`	string	Response message description, typically used to explain why a request could not be processed.

ChassisHardwareState::HardwareState_State

Enumeration	Value	Description
`kNormal`	0	Normal
`kInfo`	1	Tips
`kWarn`	16	Warning
`kFatal`	17	Fault

ChassisTaskResponse

Structure Member	Data Type	Description
`task_state`	TaskState	Task state
`current_pose`	ChassisPose2D	Current 2D pose
`msg_type`	MassageType	Message type
`msg`	string	Response message description, typically used to explain why a request could not be processed.

ChassisTaskResponse::TaskState

Enumeration	Value	Description
`kSuccess`	0	Success
`kRunning`	1	Running
`kFailed`	2	Failed

ChassisTaskResponse::MassageType

Enumeration	Value	Description
`kNormal`	0	Normal
`kWarn`	1	Warning
`kFault`	2	Fault

Head and Torso Data Structures

ABC_TORSO_DOF

#define ABC_TORSO_DOF 4

ABC_HEAD_DOF

#define ABC_HEAD_DOF  2

HeadFactoryParam

Structure Member	Data Type	Description
`head_type`	string	Head vendor
`head_name`	string	Head name
`head_joint_num`	uint8_t	Number of head joints
`comm_params`	CommParamsUnion	Communication parameters
`motor_params`	vector<MotorParam>	Motor parameters

CommParamsUnion

Union Member	Data Type	Description
`can`	CommParamsCAN	CAN parameters
`eth`	CommParamsETH	ETH parameters (reserved)

CommParamsCAN

Structure Member	Data Type	Description
`device`	string	Device name (e.g., `"can0"`)
`baud_rate`	int	Baud rate (e.g., `500000`)
`can_id`	uint8_t	CAN node ID (0x00 - 0xFF)

CommParamsETH

Structure Member	Data Type	Description
`ip`	string	IP address (e.g., `"192.168.1.10"`)
`port`	uint16_t	Port number (e.g., `8080`)

MotorParam

Structure Member	Data Type	Description
`motor_id`	uint16_t	Motor ID
`reduction_ratio`	uint16_t	Reduction ratio
`position_max`	AbcType	Maximum rotation angle
`position_min`	AbcType	Minimum rotation angle
`speed_max`	AbcType	Maximum rotation speed
`speed_min`	AbcType	Minimum rotation speed
`acc_max`	AbcType	Maximum rotation acceleration
`acc_min`	AbcType	Minimum rotation acceleration

TorsoFactoryParam

Structure Member	Data Type	Description
`torso_type`	string	Torso vendor (e.g., `"ti5"`)
`torso_name`	string	Torso name
`torso_joint_num`	uint8_t	Number of torso joints
`comm_params`	CommParamsUnion	Communication parameters
`motor_params`	vector<MotorParam>	Motor parameters

AbcTorsoStateCallback

using AbcTorsoStateCallback = std::function<
    void(std::shared_ptr<const AbcTorsoState>)>;

AbcTorsoState

Structure Member	Data Type	Description
`timestamp`	std::chrono::system_clock::time_point	Timestamp
`err_code`	std::array<uint32_t, ABC_TORSO_DOF>	Error codes for each joint
`joints_positions`	std::array<AbcType, ABC_TORSO_DOF>	Angle for each joint
`joints_speed`	std::array<AbcType, ABC_TORSO_DOF	Speed for each joint
`joints_current`	std::array<AbcType, ABC_TORSO_DOF>	Current for each joint

Sensor Data Structures

DepthSensorParam

Structure Member	Data Type	Description
`sensor_type`	string	Sensor vendor (e.g., `"realsense"`)
`sensor_name`	string	Sensor name (e.g., `"head_camera"`)
`serial_number`	string	Serial number
`color_width`	int	Color image width
`color_height`	int	Color image height
`depth_width`	int	Depth image width
`depth_height`	int	Depth image height
`frame_rate`	int	Frame rate
`align_to_color`	bool	Whether to align the depth image to the color image
`enable_depth`	bool	Whether to enable the depth stream. Default is `true`. When set to `false`, the depth stream and all related logic that depends on depth data will be disabled.
`active_pull`	bool	Whether to use active frame pulling mode. Defaults to `false` (automatic background frame pulling). When set to `true`, only one frame is fetched when `get_data()` is called, and the callback mechanism is not supported.

SensorCallback

using SensorCallback = std::function<
    void(std::shared_ptr<const SensorData>)>;

SensorType

Enumeration	Description
`CAMERA`	Camera sensor
`DEPTH_CAMERA`	Depth camera
`LIDAR`	LiDAR
`IMU`	Inertial Measurement Unit
`FORCE_TORQUE`	Force sensor
`PROXIMITY`	Proximity sensor
`OTHER`	Other types of sensors

SensorStatus

Enumeration	Description
`DISCONNECTED`	Disconnected
`CONNECTED`	Connected
`STREAMING`	Data streaming in progress
`SENSOR_ERROR`	Error state

AbcIntrinsic

Structure Member	Data Type	Description
`width`	int	Image width, in pixels.
`height`	int	Image height, in pixels.
`ppx`	float	Horizontal coordinate of the principal point, expressed as pixel offset from the left edge.
`ppy`	float	Vertical coordinate of the principal point, expressed as pixel offset from the top edge.
`fx`	float	Horizontal focal length, expressed as a multiple of pixel width.
`fy`	float	Vertical focal length, expressed as a multiple of pixel height.
`coeffs`	float[5]	Distortion coefficients. The parameter order for each model is as follows: - Brown-Conrady model: `[k1, k2, p1, p2, k3]`. - F-Theta fisheye lens model: `[k1, k2, k3, k4, 0]`. - Other models: Refer to their specific interpretation rules.

Trajectory Planner Data Structures

TrajectoryPoint

Structure Member	Data Type	Description
`positions`	vector<AbcType>	Positions
`velocities`	vector<AbcType>	Velocities
`accelerations`	vector<AbcType>	Accelerations
`timestamp`	AbcType	Timestamp

TrajectoryEvaluation

Structure Member	Data Type	Description
`is_valid`	bool	Whether the trajectory is valid
`issues`	vector<string>	Issues
`score`	double	Trajectory score (higher is better)
`has_collision`	bool	Whether any collision exists
`collision_indices`	vector<size_t>	Indices of trajectory points

TrajectoryStatusCallback

using TrajectoryStatusCallback = std::function<
    void(bool finished, AbcErrorCode error_code)>;

Sensor Synchronizer Data Structures

SyncDataCallback

using SyncDataCallback = std::function<
    void(std::shared_ptr<SyncDataPackage>)>;

SyncPolicy

Enumeration	Description
`NEAREST`	Nearest timestamp matching
`INTERPOLATE`	Interpolation matching
`EXTRAPOLATE`	Extrapolation matching

SyncMode

Enumeration	Description
`LATEST_TIMESTAMP`	Synchronize based on the latest timestamp (default mode)
`REFERENCE_SENSOR`	Synchronize based on a reference sensor

Emergency Stop Button Monitoring Data Structures

EStopMConfig

Structure Member	Data Type	Description
`pressed_level_`	int	GPIO level polarity when the emergency stop button is pressed. - `0`: Active-Low. The pin level is low when the button is pressed. - `1`: Active-High. The pin level is high when the button is pressed.
`allow_multicb_`	bool	Whether multiple callback functions are allowed. - `true`: Multiple callbacks are allowed. - `false`: Only one callback is allowed.
`name_`	string	Name
`EStopMConfig`	Constructor	Initializes all data members using a member initializer list.
`ApacheOrin`	Static function	Returns a configured `EStopMConfig` instance (gpiochip0 + pin 2 + Active-Low). Configuration is identical to `EStopMConfig()`, suitable for robots equipped with the ApacheOrin chip.
`NvidiaOrin`	Static function	Returns a configured `EStopMConfig` instance (gpiochip1 + pin 9 + Active-High), suitable for robots equipped with the NvidiaOrin chip.

ESState

Enumeration	Value	Description
`None`	-1	Unable to get status
`Pressed`	1	Emergency stop button is pressed
`Released`	0	Emergency stop button is released

Gripper Data Structures

AbcGripperState

Structure Member	Data Type	Description
`status`	int	Gripper status. - `0`: Offline. - `1`: Online. - `-1`: Online but disabled.
`error`	int	Gripper error information. - Lower 8 bits: Internal gripper error codes. - Bits 5–7: Reserved. - Bit 4: Internal communication error. - Bit 3: Driver error. - Bit 2: Overcurrent. - Bit 1: Overtemperature. - Bit 0: Locked-rotor.
`mode`	int	Current operating mode. - `1`: Gripper fully open and idle. - `2`: Gripper fully closed and idle. - `3`: Gripper stopped and idle. - `4`: Gripper is closing. - `5`: Gripper is opening. - `6`: Gripper stopped by force-controlled during closing.
`current_force`	int	Current force, in grams (g).
`temperature`	int	Current temperature, in degrees Celsius (°C).
`actpos`	int	Gripper aperture, range 0–1000. - `0`: Gripper fully closed. - `1000`: Gripper fully open.