Header file containing various constant expressions, data structs, and enums. More...

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

Include dependency graph for data.hpp:

This graph shows which files directly or indirectly include 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...

struct	flexiv::rdk::JPos
	Data structure representing the customized data type "JPOS" in Flexiv Elements. More...

struct	flexiv::rdk::Coord
	Data structure representing the customized data type "COORD" in Flexiv Elements. More...

Typedefs
using	flexiv::rdk::FlexivDataTypes = std::variant< int, double, std::string, rdk::JPos, rdk::Coord, std::vector< int >, std::vector< double >, std::vector< std::string >, std::vector< rdk::JPos >, std::vector< rdk::Coord > >

Enumerations
enum class	flexiv::rdk::OperationalStatus { UNKNOWN = 0 , READY , BOOTING , ESTOP_NOT_RELEASED , NOT_ENABLED , RELEASING_BRAKE , MINOR_FAULT , CRITICAL_FAULT , IN_REDUCED_STATE , IN_RECOVERY_STATE , IN_MANUAL_MODE , IN_AUTO_MODE }
	Operational status of the robot. Except for the first two, the other enumerators indicate the cause of the robot being not ready to operate. More...

enum class	flexiv::rdk::CoordType { WORLD , TCP }
	Type of commonly-used reference coordinates. 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::kSerialJointDoF = 7

constexpr size_t	flexiv::rdk::kPoseSize = 7

constexpr size_t	flexiv::rdk::kIOPorts = 18

constexpr size_t	flexiv::rdk::kMaxExtAxes = 6

Detailed Description

Header file containing various constant expressions, data structs, and enums.

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

Definition in file data.hpp.

Typedef Documentation

◆ FlexivDataTypes

using flexiv::rdk::FlexivDataTypes = typedef std::variant<int, double, std::string, rdk::JPos, rdk::Coord, std::vector<int>, std::vector<double>, std::vector<std::string>, std::vector<rdk::JPos>, std::vector<rdk::Coord> >

Alias of the variant that holds all possible types of data exchanged with Flexiv robots

Definition at line 436 of file data.hpp.

Enumeration Type Documentation

◆ CoordType

enum flexiv::rdk::CoordType

strong

Type of commonly-used reference coordinates.

Enumerator
WORLD	World frame (fixed).
TCP	TCP frame (move with the robot's end effector).

Examples: intermediate6_realtime_cartesian_motion_force_control.cpp.

Definition at line 57 of file data.hpp.

◆ OperationalStatus

enum flexiv::rdk::OperationalStatus

strong

Operational status of the robot. Except for the first two, the other enumerators indicate the cause of the robot being not ready to operate.

See also: Robot::operational_status().

Enumerator
UNKNOWN	Unkown status.
READY	Ready to be operated.
BOOTING	System still booting, please wait.
ESTOP_NOT_RELEASED	E-Stop is not released.
NOT_ENABLED	Not enabled, call Enable() to send the signal.
RELEASING_BRAKE	Brake release in progress, please wait.
MINOR_FAULT	Minor fault occurred, call ClearFault() to try clearing it.
CRITICAL_FAULT	Critical fault occurred, call ClearFault() to try clearing it.
IN_REDUCED_STATE	In reduced state, see reduced().
IN_RECOVERY_STATE	In recovery state, see recovery().
IN_MANUAL_MODE	In Manual mode, need to switch to Auto (Remote) mode.
IN_AUTO_MODE	In regular Auto mode, need to switch to Auto (Remote) mode.

Definition at line 38 of 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

Cartesian-space degrees of freedom

Definition at line 19 of file data.hpp.

◆ kIOPorts

constexpr size_t flexiv::rdk::kIOPorts = 18

constexpr

Number of digital IO ports (16 on control box + 2 inside the wrist connector)

Definition at line 28 of file data.hpp.

◆ kMaxExtAxes

constexpr size_t flexiv::rdk::kMaxExtAxes = 6

constexpr

Maximum number of external axes

Definition at line 31 of file data.hpp.

◆ kPoseSize

constexpr size_t flexiv::rdk::kPoseSize = 7

constexpr

Size of pose array (3 position + 4 quaternion)

Definition at line 25 of file data.hpp.

◆ kSerialJointDoF

constexpr size_t flexiv::rdk::kSerialJointDoF = 7

constexpr

Joint-space degrees of freedom of Flexiv's serial robots

Definition at line 22 of file data.hpp.

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ FlexivDataTypes

Enumeration Type Documentation

◆ CoordType

◆ OperationalStatus

Function Documentation

◆ operator<<() [1/4]

◆ operator<<() [2/4]

◆ operator<<() [3/4]

◆ operator<<() [4/4]

Variable Documentation

◆ kCartDoF

◆ kIOPorts

◆ kMaxExtAxes

◆ kPoseSize

◆ kSerialJointDoF