mode.hpp File Reference

#include <array>
#include <string>

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Enumerations
enum class	flexiv::rdk::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 ,   MODES_CNT }
	Robot control modes. The robot needs to be switched into the correct control mode before the corresponding commands can be sent. Refer to Flexiv RDK Manual for more details. More...

Detailed Description

Copyright

Copyright (C) 2016-2025 Flexiv Ltd. All Rights Reserved.

Definition in file mode.hpp.

Enumeration Type Documentation

Mode

enum flexiv::rdk::Mode

strong

Robot control modes. The robot needs to be switched into the correct control mode before the corresponding commands can be sent. Refer to Flexiv RDK Manual for more details.

See also

Robot::SwitchMode().

Enumerator
UNKNOWN	Mode not set
IDLE	No operation to execute, the robot holds position and waits for new command.
RT_JOINT_TORQUE	Run real-time joint torque control to track continuous commands @1kHz. Note Real-time (RT) mode. See also Robot::StreamJointTorque().
RT_JOINT_IMPEDANCE	Run real-time joint impedance control to track continuous commands @ 1kHz. Note Real-time (RT) mode. See also Robot::StreamJointPosition().
NRT_JOINT_IMPEDANCE	Run non-real-time joint impedance control to track discrete commands (smoothened by internal motion generator). Note Non-real-time (NRT) mode. See also Robot::SendJointPosition().
RT_JOINT_POSITION	Run real-time joint position control to track continuous commands @ 1kHz. Note Real-time (RT) mode. See also Robot::StreamJointPosition().
NRT_JOINT_POSITION	Run non-real-time joint position control to track discrete commands (smoothened by internal motion generator). Note Non-real-time (NRT) mode. See also Robot::SendJointPosition().
NRT_PLAN_EXECUTION	Execute pre-configured robot task plans. Note Non-real-time (NRT) mode. See also Robot::ExecutePlan().
NRT_PRIMITIVE_EXECUTION	Execute robot primitives (unit skills). Note Non-real-time (NRT) mode. See also Robot::ExecutePrimitive(). Flexiv Primitives documentation.
RT_CARTESIAN_MOTION_FORCE	Run real-time Cartesian motion-force control to track continuous commands @ 1kHz. Note Real-time (RT) mode. See also Robot::StreamCartesianMotionForce().
NRT_CARTESIAN_MOTION_FORCE	Run non-real-time Cartesian motion-force control to track discrete commands, smoothened by internal motion generator. Note Non-real-time (NRT) mode. See also Robot::SendCartesianMotionForce().
NRT_SUPER_PRIMITIVE	Run non-real-time super primitives, i.e. composite tasks that consist of various components like motion, force, vision, planning, etc. Note Non-real-time (NRT) mode. See also Robot::SendCartesianMotionForce().
MODES_CNT	Total number of control modes

Definition at line 21 of file mode.hpp.