data.hpp File Reference

Header file containing various data structs. More...

#include <array>
#include <vector>
#include <string>
#include <ostream>

Include dependency graph for data.hpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	flexiv::rdk::RobotInfo
	General information about the connected robot. More...
struct	flexiv::rdk::RobotStates
	Data structure containing the joint- and Cartesian-space robot states. More...
struct	flexiv::rdk::PlanInfo
	Data structure containing information of the on-going primitive/plan. More...
struct	flexiv::rdk::GripperStates
	Data structure containing the gripper states. More...
struct	flexiv::rdk::ToolParams
	Data structure containing robot tool parameters. More...

Functions
std::ostream &	flexiv::rdk::operator<< (std::ostream &ostream, const RobotInfo &robot_info)
	Operator overloading to out stream all robot info in JSON format: {"info_1": [val1,val2,val3,...], "info_2": [val1,val2,val3,...], ...}. More...
std::ostream &	flexiv::rdk::operator<< (std::ostream &ostream, const RobotStates &robot_states)
	Operator overloading to out stream all robot states in JSON format: {"state_1": [val1,val2,val3,...], "state_2": [val1,val2,val3,...], ...}. More...
std::ostream &	flexiv::rdk::operator<< (std::ostream &ostream, const PlanInfo &plan_info)
	Operator overloading to out stream all plan info in JSON format: {"info_1": [val1,val2,val3,...], "info_2": [val1,val2,val3,...], ...}. More...
std::ostream &	flexiv::rdk::operator<< (std::ostream &ostream, const GripperStates &gripper_states)
	Operator overloading to out stream all gripper states in JSON format: {"state_1": [val1,val2,val3,...], "state_2": [val1,val2,val3,...], ...}. More...

Variables
constexpr size_t	flexiv::rdk::kCartDoF = 6
constexpr size_t	flexiv::rdk::kPoseSize = 7
constexpr size_t	flexiv::rdk::kIOPorts = 16

Detailed Description

Header file containing various data structs.

Copyright

Copyright (C) 2016-2024 Flexiv Ltd. All Rights Reserved.

Definition in file data.hpp.

Function Documentation

operator<<() [1/4]

std::ostream& flexiv::rdk::operator<<	(	std::ostream &	ostream,
		const GripperStates &	gripper_states
	)

Operator overloading to out stream all gripper states in JSON format: {"state_1": [val1,val2,val3,...], "state_2": [val1,val2,val3,...], ...}.

Parameters

[in]	ostream	Ostream instance.
[in]	gripper_states	GripperStates data structure to out stream.

Returns

Updated ostream instance.

operator<<() [2/4]

std::ostream& flexiv::rdk::operator<<	(	std::ostream &	ostream,
		const PlanInfo &	plan_info
	)

Operator overloading to out stream all plan info in JSON format: {"info_1": [val1,val2,val3,...], "info_2": [val1,val2,val3,...], ...}.

Parameters

[in]	ostream	Ostream instance.
[in]	plan_info	PlanInfo data structure to out stream.

Returns

Updated ostream instance.

operator<<() [3/4]

std::ostream& flexiv::rdk::operator<<	(	std::ostream &	ostream,
		const RobotInfo &	robot_info
	)

Operator overloading to out stream all robot info in JSON format: {"info_1": [val1,val2,val3,...], "info_2": [val1,val2,val3,...], ...}.

Parameters

[in]	ostream	Ostream instance.
[in]	robot_info	RobotInfo data structure to out stream.

Returns

Updated ostream instance.

operator<<() [4/4]

std::ostream& flexiv::rdk::operator<<	(	std::ostream &	ostream,
		const RobotStates &	robot_states
	)

Operator overloading to out stream all robot states in JSON format: {"state_1": [val1,val2,val3,...], "state_2": [val1,val2,val3,...], ...}.

Parameters

[in]	ostream	Ostream instance.
[in]	robot_states	RobotStates data structure to out stream.

Returns

Updated ostream instance.

Variable Documentation

kCartDoF

constexpr size_t flexiv::rdk::kCartDoF = 6

constexpr

Robot Cartesian-space degrees of freedom \( m \)

Definition at line 19 of file data.hpp.

kIOPorts

constexpr size_t flexiv::rdk::kIOPorts = 16

constexpr

Number of digital IO ports

Definition at line 25 of file data.hpp.

kPoseSize

constexpr size_t flexiv::rdk::kPoseSize = 7

constexpr

Size of pose array (3 position + 4 quaternion)

Definition at line 22 of file data.hpp.