flexiv::rdk::WorkCoord Class Reference

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

#include <work_coord.hpp>

Public Member Functions
	WorkCoord (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 work coordinates. More...
bool	exist (const std::string &name) const
	[Blocking] Whether the specified work coordinate already exists. More...
const std::array< double, kPoseSize >	pose (const std::string &name) const
	[Blocking] Get pose of an existing work coordinate. More...
void	Add (const std::string &name, const std::array< double, kPoseSize > &pose)
	[Blocking] Add a new work coordinate with user-specified parameters. More...
void	Update (const std::string &name, const std::array< double, kPoseSize > &pose)
	[Blocking] Update the pose of an existing work coordinate. More...
void	Remove (const std::string &name)
	[Blocking] Remove an existing work coordinate. More...

Detailed Description

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

Definition at line 20 of file work_coord.hpp.

Constructor & Destructor Documentation

WorkCoord()

flexiv::rdk::WorkCoord::WorkCoord

(

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::WorkCoord::Add	(	const std::string &	name,
		const std::array< double, kPoseSize > &	pose
	)

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

Parameters

[in]	name	Name of the new work coordinate, must be unique.
[in]	pose	Pose of the new work coordinate in world frame: \( ^{O}T_{work} \in \mathbb{R}^{7 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) position and \( \mathbb{R}^{4 \times 1} \) quaternion: \( [x, y, z, q_w, q_x, q_y, q_z]^T \). Unit: \( [m]:[] \).

Exceptions

std::logic_error	if robot is not in the correct control mode or the specified work coordinate 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::WorkCoord::exist

(

const std::string &

name

)

const

[Blocking] Whether the specified work coordinate 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::WorkCoord::list

(

)

const

[Blocking] Get a name list of all configured work coordinates.

Returns

Work coordinate 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.

pose()

const std::array<double, kPoseSize> flexiv::rdk::WorkCoord::pose

(

const std::string &

name

)

const

[Blocking] Get pose of an existing work coordinate.

Parameters

[in]

name

Name of the work coordinate to get pose for, must be an existing one.

Returns

Pose of the work coordinate in world frame: \( ^{O}T_{work} \in \mathbb{R}^{7 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) position and \( \mathbb{R}^{4 \times 1} \) quaternion: \( [x, y, z, q_w, q_x, q_y, q_z]^T \). Unit: \( [m]:[] \).

Exceptions

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::WorkCoord::Remove

(

const std::string &

name

)

[Blocking] Remove an existing work coordinate.

Parameters

[in]

name

Name of the work coordinate to remove, must be an existing one.

Exceptions

std::logic_error	if robot is not in the correct control mode or the specified work coordinate 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::WorkCoord::Update	(	const std::string &	name,
		const std::array< double, kPoseSize > &	pose
	)

[Blocking] Update the pose of an existing work coordinate.

Parameters

[in]	name	Name of the work coordinate to update, must be an existing one.
[in]	pose	New pose for the specified work coordinate in world frame: \( ^{O}T_{work} \in \mathbb{R}^{7 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) position and \( \mathbb{R}^{4 \times 1} \) quaternion: \( [x, y, z, q_w, q_x, q_y, q_z]^T \). Unit: \( [m]:[] \).

Exceptions

std::logic_error	if robot is not in the correct control mode or the specified work coordinate 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/work_coord.hpp