mode.hpp

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#ifndef FLEXIV_RDK_MODE_HPP_
#define FLEXIV_RDK_MODE_HPP_
 
#include <array>
#include <string>
 
namespace flexiv {
namespace rdk {
 
enum class Mode
{
    UNKNOWN = 0,
 
    IDLE,
 
    RT_JOINT_TORQUE,
 
    RT_JOINT_IMPEDANCE,
 
    NRT_JOINT_IMPEDANCE,
 
    RT_JOINT_POSITION,
 
    NRT_JOINT_POSITION,
 
    NRT_PLAN_EXECUTION,
 
    NRT_PRIMITIVE_EXECUTION,
 
    RT_CARTESIAN_MOTION_FORCE,
 
    NRT_CARTESIAN_MOTION_FORCE,
 
    NRT_SUPER_PRIMITIVE,
};
 
static const std::array<std::string, static_cast<size_t>(Mode::NRT_SUPER_PRIMITIVE) + 1> kModeNames
    = {"UNKNOWN", "IDLE", "RT_JOINT_TORQUE", "RT_JOINT_IMPEDANCE", "NRT_JOINT_IMPEDANCE",
        "RT_JOINT_POSITION", "NRT_JOINT_POSITION", "NRT_PLAN_EXECUTION", "NRT_PRIMITIVE_EXECUTION",
        "RT_CARTESIAN_MOTION_FORCE", "NRT_CARTESIAN_MOTION_FORCE", "NRT_SUPER_PRIMITIVE"};
 
} /* namespace rdk */
} /* namespace flexiv */
 
#endif /* FLEXIV_RDK_MODE_HPP_ */