Flexiv RDK APIs
1.4
|
Go to the source code of this file.
Enumerations | |
enum | flexiv::rdk::Mode { flexiv::rdk::UNKNOWN = 0 , flexiv::rdk::IDLE , flexiv::rdk::RT_JOINT_TORQUE , flexiv::rdk::RT_JOINT_IMPEDANCE , flexiv::rdk::NRT_JOINT_IMPEDANCE , flexiv::rdk::RT_JOINT_POSITION , flexiv::rdk::NRT_JOINT_POSITION , flexiv::rdk::NRT_PLAN_EXECUTION , flexiv::rdk::NRT_PRIMITIVE_EXECUTION , flexiv::rdk::RT_CARTESIAN_MOTION_FORCE , flexiv::rdk::NRT_CARTESIAN_MOTION_FORCE , flexiv::rdk::MODES_CNT } |
Robot control modes. The robot needs to be switched into the correct control mode before the corresponding commands can be sent. Refer to Flexiv RDK Manual for more details. More... | |
Definition in file mode.hpp.
enum flexiv::rdk::Mode |
Robot control modes. The robot needs to be switched into the correct control mode before the corresponding commands can be sent. Refer to Flexiv RDK Manual for more details.
Enumerator | |
---|---|
UNKNOWN | Mode not set |
IDLE | No operation to execute, the robot holds position and waits for new command. |
RT_JOINT_TORQUE | Run real-time joint torque control to track continuous commands @1kHz.
|
RT_JOINT_IMPEDANCE | Run real-time joint impedance control to track continuous commands @ 1kHz.
|
NRT_JOINT_IMPEDANCE | Run non-real-time joint impedance control to track discrete commands (smoothened by internal motion generator).
|
RT_JOINT_POSITION | Run real-time joint position control to track continuous commands @ 1kHz.
|
NRT_JOINT_POSITION | Run non-real-time joint position control to track discrete commands (smoothened by internal motion generator).
|
NRT_PLAN_EXECUTION | Execute pre-configured robot task plans.
|
NRT_PRIMITIVE_EXECUTION | Execute robot primitives (unit skills).
|
RT_CARTESIAN_MOTION_FORCE | Run real-time Cartesian motion-force control to track continuous commands @ 1kHz.
|
NRT_CARTESIAN_MOTION_FORCE | Run non-real-time Cartesian motion-force control to track discrete commands, smoothened by internal motion generator.
|
MODES_CNT | Total number of control modes |