flexiv::rdk::Tool Class Reference

Interface to online update and interact with the robot tools. All updates will take effect immediately without a power cycle. However, the robot must be in IDLE mode when applying changes. More...

#include <tool.hpp>

Public Member Functions
	Tool (const Robot &robot)
	[Non-blocking] Create an instance and initialize the interface. More...
const std::vector< std::string >	list () const
	[Blocking] Get a name list of all configured tools. More...
const std::string	name () const
	[Blocking] Get name of the tool that the robot is currently using. More...
bool	exist (const std::string &name) const
	[Blocking] Whether the specified tool already exists. More...
const ToolParams	params () const
	[Blocking] Get parameters of the tool that the robot is currently using. More...
const ToolParams	params (const std::string &name) const
	[Blocking] Get parameters of the specified tool. More...
void	Add (const std::string &name, const ToolParams &params)
	[Blocking] Add a new tool with user-specified parameters. More...
void	Switch (const std::string &name)
	[Blocking] Switch to an existing tool. All following robot operations will default to use this tool. More...
void	Update (const std::string &name, const ToolParams &params)
	[Blocking] Update the parameters of an existing tool. More...
void	Remove (const std::string &name)
	[Blocking] Remove an existing tool. More...

Detailed Description

Interface to online update and interact with the robot tools. All updates will take effect immediately without a power cycle. However, the robot must be in IDLE mode when applying changes.

Definition at line 41 of file tool.hpp.

Constructor & Destructor Documentation

Tool()

flexiv::rdk::Tool::Tool

(

const Robot &

robot

)

[Non-blocking] Create an instance and initialize the interface.

Parameters

[in]

robot

Reference to the instance of flexiv::rdk::Robot.

Exceptions

std::runtime_error

if the initialization sequence failed.

Member Function Documentation

Add()

void flexiv::rdk::Tool::Add	(	const std::string &	name,
		const ToolParams &	params
	)

[Blocking] Add a new tool with user-specified parameters.

Parameters

[in]	name	Name of the new tool, must be unique.
[in]	params	Parameters of the new tool.

Exceptions

std::logic_error	if robot is not in the correct control mode or the specified tool already exists.
std::runtime_error	if failed to deliver the request to the connected robot.

Note

Applicable control modes: IDLE.

This function blocks until the request is successfully delivered.

exist()

bool flexiv::rdk::Tool::exist

(

const std::string &

name

)

const

[Blocking] Whether the specified tool already exists.

Parameters

[in]

name

Name of the tool to check.

Returns

True if the specified tool exists.

Exceptions

std::runtime_error

if failed to get a reply from the connected robot.

Note

This function blocks until a reply is received.

list()

const std::vector<std::string> flexiv::rdk::Tool::list

(

)

const

[Blocking] Get a name list of all configured tools.

Returns

Tool names as a string list.

Exceptions

std::runtime_error

if failed to get a reply from the connected robot.

Note

This function blocks until a reply is received.

name()

const std::string flexiv::rdk::Tool::name

(

)

const

[Blocking] Get name of the tool that the robot is currently using.

Returns

Name of the current tool. Return "Flange" if there's no active tool.

Exceptions

std::runtime_error

if failed to get a reply from the connected robot.

Note

This function blocks until a reply is received.

params() [1/2]

const ToolParams flexiv::rdk::Tool::params

(

)

const

[Blocking] Get parameters of the tool that the robot is currently using.

Returns

ToolParams value copy.

Exceptions

std::runtime_error

if failed to get a reply from the connected robot.

Note

This function blocks until a reply is received.

params() [2/2]

const ToolParams flexiv::rdk::Tool::params

(

const std::string &

name

)

const

[Blocking] Get parameters of the specified tool.

Parameters

[in]

name

Name of the tool to get parameters for, must be an existing one.

Returns

ToolParams value copy.

Exceptions

std::logic_error	if the specified tool does not exist.
std::runtime_error	if failed to get a reply from the connected robot.

Note

This function blocks until a reply is received.

Remove()

void flexiv::rdk::Tool::Remove

(

const std::string &

name

)

[Blocking] Remove an existing tool.

Parameters

[in]

name

Name of the tool to remove, must be an existing one but cannot be "Flange".

Exceptions

std::logic_error	if robot is not in the correct control mode or the specified tool does not exist or trying to remove "Flange".
std::runtime_error	if failed to deliver the request to the connected robot.

Note

Applicable control modes: IDLE.

This function blocks until the request is successfully delivered.

Switch()

void flexiv::rdk::Tool::Switch

(

const std::string &

name

)

[Blocking] Switch to an existing tool. All following robot operations will default to use this tool.

Parameters

[in]

name

Name of the tool to switch to, must be an existing one.

Exceptions

std::logic_error	if robot is not in the correct control mode or the specified tool does not exist.
std::runtime_error	if failed to deliver the request to the connected robot.

Note

Applicable control modes: IDLE.

This function blocks until the request is successfully delivered.

Update()

void flexiv::rdk::Tool::Update	(	const std::string &	name,
		const ToolParams &	params
	)

[Blocking] Update the parameters of an existing tool.

Parameters

[in]	name	Name of the tool to update, must be an existing one.
[in]	params	New parameters for the specified tool.

Exceptions

std::logic_error	if robot is not in the correct control mode or the specified tool does not exist.
std::runtime_error	if failed to deliver the request to the connected robot.

Note

Applicable control modes: IDLE.

This function blocks until the request is successfully delivered.

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

• include/flexiv/rdk/tool.hpp