Data structure representing the customized data type "COORD" in Flexiv Elements. More...

#include <data.hpp>

Public Member Functions
	Coord (const std::array< double, kCartDoF/2 > &_position, const std::array< double, kCartDoF/2 > &_orientation, const std::array< std::string, 2 > &_ref_frame, const std::array< double, kSerialJointDoF > &_ref_q_m={}, const std::array< double, kMaxExtAxes > &_ref_q_e={})
	Construct an instance of Coord. More...

std::string	str () const

Public Attributes
std::array< double, kCartDoF/2 >	position = {}

std::array< double, kCartDoF/2 >	orientation = {}

std::array< std::string, 2 >	ref_frame = {}

std::array< double, kSerialJointDoF >	ref_q_m = {}

std::array< double, kMaxExtAxes >	ref_q_e = {}

Detailed Description

Data structure representing the customized data type "COORD" in Flexiv Elements.

Warning: Here [m] is used as the unit of length, whereas [mm] is used in Flexiv Elements. The conversion is automatically done when exchanging "COORD" data type with the robot via functions like Robot::ExecutePrimitive(), Robot::SetGlobalVariables(), Robot::global_variables(), etc.

Definition at line 377 of file data.hpp.

Constructor & Destructor Documentation

◆ Coord()

flexiv::rdk::Coord::Coord	(	const std::array< double, kCartDoF/2 > &	_position,
		const std::array< double, kCartDoF/2 > &	_orientation,
		const std::array< std::string, 2 > &	_ref_frame,
		const std::array< double, kSerialJointDoF > &	_ref_q_m = `{}`,
		const std::array< double, kMaxExtAxes > &	_ref_q_e = `{}`
	)

inline

Construct an instance of Coord.

Parameters

[in]	_position	Sets struct member [position].
[in]	_orientation	Sets struct member [orientation].
[in]	_ref_frame	Sets struct member [ref_frame].
[in]	_ref_q_m	Sets struct member [ref_q_m]. Leave empty to use default values.
[in]	_ref_q_e	Sets struct member [ref_q_e]. Leave empty if there's no external axis.

Definition at line 387 of file data.hpp.

Member Function Documentation

◆ str()

std::string flexiv::rdk::Coord::str ( ) const

String representation of all data in the struct, separated by space

Member Data Documentation

◆ orientation

std::array<double, kCartDoF / 2> flexiv::rdk::Coord::orientation = {}

Orientation in terms of Euler angles in [ref_frame]. Unit: [degree]

Definition at line 405 of file data.hpp.

◆ position

std::array<double, kCartDoF / 2> flexiv::rdk::Coord::position = {}

Position in [ref_frame]. Unit: [m]

Definition at line 402 of file data.hpp.

◆ ref_frame

std::array<std::string, 2> flexiv::rdk::Coord::ref_frame = {}

Name of the reference frame "root::branch" represented as {"root", "branch"}. Refer to Flexiv Elements for available options. Some common ones are:

World origin: {"WORLD", "WORLD_ORIGIN"}
Current pose: {"TRAJ", "START"}
A work coordinate: {"WORK", "WorkCoord0"}
A global variable: {"GVAR", "MyCoord0"}

Definition at line 414 of file data.hpp.

◆ ref_q_e

std::array<double, kMaxExtAxes> flexiv::rdk::Coord::ref_q_e = {}

Reference joint positions (linear or angular) of the external axes. Only effective on robots with redundant degrees of freedom and external axes. Unit: [m] or [degree]

Note: If the number of external axes \( n_e < kMaxExtAxes \), set the first \( n_e \) elements and leave the rest 0. Leave the whole array empty if there's no external axis.

Definition at line 426 of file data.hpp.

◆ ref_q_m

std::array<double, kSerialJointDoF> flexiv::rdk::Coord::ref_q_m = {}

Reference joint positions of the robot manipulator. Only effective on robots with redundant degrees of freedom. Unit: [degree]

Note: Leave empty to use default values. However, this array cannot be empty if [ref_q_e] has values

Definition at line 420 of file data.hpp.

The documentation for this struct was generated from the following file:

include/flexiv/rdk/data.hpp

Public Member Functions

Public Attributes