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_joint_positions={}, const std::array< double, kMaxExtAxes > &_ext_axis_positions={})
	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_joint_positions = {}

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

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 346 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_joint_positions = `{}`,
		const std::array< double, kMaxExtAxes > &	_ext_axis_positions = `{}`
	)

inline

Construct an instance of Coord.

Parameters

[in]	_position	Sets the [position] member.
[in]	_orientation	Sets the [orientation] member.
[in]	_ref_frame	Sets the [ref_frame] member.
[in]	_ref_joint_positions	Sets the [ref_joint_positions] member. Leave empty to use default values.
[in]	_ext_axis_positions	Sets the [ext_axis_positions] member. Leave empty if there's no external axis.

Definition at line 358 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

◆ ext_axis_positions

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

Linear or angular positions of the external axes. Unit: [m] or [degree]

Note: Leave empty if there's no external axis.

Definition at line 394 of file data.hpp.

◆ orientation

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

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

Definition at line 376 of file data.hpp.

◆ position

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

Position in [ref_frame]. Unit: [m]

Definition at line 373 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 385 of file data.hpp.

◆ ref_joint_positions

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

Reference joint positions for robot with a redundant degree of freedom. Unit: [degree]

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

Definition at line 390 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