Flexiv RDK APIs  1.4
mode.hpp
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1 
6 #ifndef FLEXIV_RDK_MODE_HPP_
7 #define FLEXIV_RDK_MODE_HPP_
8 
9 namespace flexiv {
10 namespace rdk {
11 
18 enum Mode
19 {
21  UNKNOWN = 0,
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97 };
98 
100 static const std::array<std::string, MODES_CNT> kModeNames
101  = {"UNKNOWN", "IDLE", "RT_JOINT_TORQUE", "RT_JOINT_IMPEDANCE", "NRT_JOINT_IMPEDANCE",
102  "RT_JOINT_POSITION", "NRT_JOINT_POSITION", "NRT_PLAN_EXECUTION", "NRT_PRIMITIVE_EXECUTION",
103  "RT_CARTESIAN_MOTION_FORCE", "NRT_CARTESIAN_MOTION_FORCE"};
104 
105 } /* namespace rdk */
106 } /* namespace flexiv */
107 
108 #endif /* FLEXIV_RDK_MODE_HPP_ */
Mode
Robot control modes. The robot needs to be switched into the correct control mode before the correspo...
Definition: mode.hpp:19
@ NRT_JOINT_POSITION
Definition: mode.hpp:63
@ MODES_CNT
Definition: mode.hpp:96
@ NRT_CARTESIAN_MOTION_FORCE
Definition: mode.hpp:93
@ UNKNOWN
Definition: mode.hpp:21
@ NRT_JOINT_IMPEDANCE
Definition: mode.hpp:48
@ RT_JOINT_IMPEDANCE
Definition: mode.hpp:40
@ RT_JOINT_TORQUE
Definition: mode.hpp:33
@ RT_JOINT_POSITION
Definition: mode.hpp:55
@ RT_CARTESIAN_MOTION_FORCE
Definition: mode.hpp:85
@ NRT_PLAN_EXECUTION
Definition: mode.hpp:70
@ NRT_PRIMITIVE_EXECUTION
Definition: mode.hpp:78