Flexiv RDK APIs  1.4
tool.hpp
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1 
6 #ifndef FLEXIV_RDK_TOOL_HPP_
7 #define FLEXIV_RDK_TOOL_HPP_
8 
9 #include "robot.hpp"
10 
11 namespace flexiv {
12 namespace rdk {
13 
20 class Tool
21 {
22 public:
28  Tool(const Robot& robot);
29  virtual ~Tool();
30 
37  const std::vector<std::string> list() const;
38 
46  const std::string name() const;
47 
55  bool exist(const std::string& name) const;
56 
64  const ToolParams params() const;
65 
74  const ToolParams params(const std::string& name) const;
75 
85  void Add(const std::string& name, const ToolParams& params);
86 
96  void Switch(const std::string& name);
97 
107  void Update(const std::string& name, const ToolParams& params);
108 
117  void Remove(const std::string& name);
118 
119 private:
120  class Impl;
121  std::unique_ptr<Impl> pimpl_;
122 };
123 
124 } /* namespace rdk */
125 } /* namespace flexiv */
126 
127 #endif /* FLEXIV_RDK_TOOL_HPP_ */
Main interface with the robot, containing several function categories and background services.
Definition: robot.hpp:24
Interface to online update and interact with the robot tools. All changes made to the robot tool syst...
Definition: tool.hpp:21
void Switch(const std::string &name)
[Blocking] Switch to an existing tool. All following robot operations will default to use this tool.
const std::vector< std::string > list() const
[Blocking] Get a name list of all tools currently in the tools pool.
bool exist(const std::string &name) const
[Blocking] Whether the specified tool exists in the tools pool.
void Update(const std::string &name, const ToolParams &params)
[Blocking] Update the parameters of an existing tool.
const ToolParams params() const
[Blocking] Get parameters of the tool that the robot is currently using.
void Remove(const std::string &name)
[Blocking] Remove an existing tool.
void Add(const std::string &name, const ToolParams &params)
[Blocking] Add a new tool with user-specified parameters to the tools pool.
const ToolParams params(const std::string &name) const
[Blocking] Get parameters of an existing tool.
Tool(const Robot &robot)
[Non-blocking] Create an instance and initialize tool update interface.
const std::string name() const
[Blocking] Get name of the tool that the robot is currently using.
Data structure containing robot tool parameters.
Definition: data.hpp:250