Header file containing various constant expressions, data structures, and enums. More...

#include <array>
#include <vector>
#include <string>
#include <ostream>
#include <variant>
#include <chrono>
#include <map>

Include dependency graph for data.hpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	flexiv::rdk::RobotEvent
	Information about a robot event. More...

struct	flexiv::rdk::RobotInfo
	General information about the connected robot. More...

struct	flexiv::rdk::RobotStates
	Robot states data in joint and Cartesian space for a joint group. More...

struct	flexiv::rdk::RobotActions
	Robot actions data in joint and Cartesian space for a joint group. More...

struct	flexiv::rdk::PlanInfo
	Information of the on-going primitive/plan. More...

struct	flexiv::rdk::JPos
	Data structure representing the customized data type "JPOS" in Flexiv Elements. More...

struct	flexiv::rdk::Coord
	Data structure representing the customized data type "COORD" in Flexiv Elements. More...

struct	flexiv::rdk::PrimitiveArgs
	Arguments of a primitive command. More...

struct	flexiv::rdk::PrimitiveStates
	States data of a primitive. More...

struct	flexiv::rdk::RtJointTorqueCmd
	Commands data for real-time joint torque control. More...

struct	flexiv::rdk::RtJointPositionCmd
	Commands data for real-time joint position control. More...

struct	flexiv::rdk::NrtJointPositionCmd
	Commands data for non-real-time joint position control. More...

struct	flexiv::rdk::RtCartesianCmd
	Commands data for real-time Cartesian motion-force control. More...

struct	flexiv::rdk::NrtCartesianCmd
	Commands data for non-real-time Cartesian motion-force control. More...

struct	flexiv::rdk::NrtCartesianMultiWaypointCmd
	Commands data for non-real-time Cartesian multi-waypoint motion-force control. More...

Typedefs
using	flexiv::rdk::FlexivDataTypes = std::variant< int, double, std::string, rdk::JPos, rdk::Coord, std::vector< int >, std::vector< double >, std::vector< std::string >, std::vector< rdk::JPos >, std::vector< rdk::Coord > >

Enumerations
enum class	flexiv::rdk::ProductModel { UNKNOWN = 0 , Enlight_L , Enlight_LL , MICO_Core , MICO_Plus , MICO_Ultra }
	All supported product models of the robot. More...

enum class	flexiv::rdk::JointGroup { UNKNOWN = -1 , ALL = 0 , ARMS = 2 , ARM_1 = 3 , ARM_2 = 4 , EXT_AXIS = 5 , FIRST = ALL , LAST = EXT_AXIS }
	All possible joint groups of the robot. More...

enum class	flexiv::rdk::OperationalStatus { UNKNOWN = 0 , READY , BOOTING , ESTOP_NOT_RELEASED , NOT_SERVO_ON , RELEASING_BRAKE , MINOR_FAULT , CRITICAL_FAULT , IN_REDUCED_STATE , IN_RECOVERY_STATE , IN_MANUAL_MODE , IN_AUTO_MODE }
	All possible operational statuses of the robot. Except for the first two, the other enumerators indicate the cause of the robot being not ready to operate. More...

enum class	flexiv::rdk::CoordType { WORLD , TCP }
	Type of commonly-used reference coordinates. More...

enum class	flexiv::rdk::SyncMotionMode { DISABLE = 0 , ARM1_TCP = 1 , ARM2_TCP = 2 , POSITIONER = 3 }
	Modes for synchronous motions. More...

Functions
std::ostream &	flexiv::rdk::operator<< (std::ostream &ostream, const RobotEvent &robot_event)
	Operator overloading to out stream all members of RobotEvent in JSON format. More...

std::ostream &	flexiv::rdk::operator<< (std::ostream &ostream, const RobotInfo &robot_info)
	Operator overloading to out stream all members of RobotInfo in JSON format. More...

std::ostream &	flexiv::rdk::operator<< (std::ostream &ostream, const RobotStates &robot_states)
	Operator overloading to out stream all members of RobotStates in JSON format. More...

std::ostream &	flexiv::rdk::operator<< (std::ostream &ostream, const RobotActions &robot_actions)
	Operator overloading to out stream all members of RobotActions in JSON format. More...

std::ostream &	flexiv::rdk::operator<< (std::ostream &ostream, const PlanInfo &plan_info)
	Operator overloading to out stream all members of PlanInfo in JSON format. More...

Variables
constexpr size_t	flexiv::rdk::kCartDoF = 6

constexpr size_t	flexiv::rdk::kSerialJointDoF = 7

constexpr size_t	flexiv::rdk::kPoseSize = 7

constexpr size_t	flexiv::rdk::kIOPorts = 16 + 2 * 2

constexpr size_t	flexiv::rdk::kMaxExtAxes = 6

const std::map< ProductModel, std::string >	flexiv::rdk::kProductModelNames

const std::map< JointGroup, std::string >	flexiv::rdk::kJointGroupNames

const std::map< OperationalStatus, std::string >	flexiv::rdk::kOpStatusNames

Detailed Description

Header file containing various constant expressions, data structures, and enums.

Copyright: Copyright (C) 2016-2026 Flexiv Ltd. All Rights Reserved.

Definition in file data.hpp.

Typedef Documentation

◆ FlexivDataTypes

using flexiv::rdk::FlexivDataTypes = typedef std::variant<int, double, std::string, rdk::JPos, rdk::Coord, std::vector<int>, std::vector<double>, std::vector<std::string>, std::vector<rdk::JPos>, std::vector<rdk::Coord> >

Alias of the variant that holds all possible types of data exchanged with Flexiv robots

Definition at line 553 of file data.hpp.

Enumeration Type Documentation

◆ CoordType

enum flexiv::rdk::CoordType

strong

Type of commonly-used reference coordinates.

Enumerator
WORLD	World frame (fixed).
TCP	TCP frame (move with the robot's end effector).

Examples: intermediate6_realtime_cartesian_motion_force_control.cpp.

Definition at line 120 of file data.hpp.

◆ JointGroup

enum flexiv::rdk::JointGroup

strong

All possible joint groups of the robot.

Enumerator
UNKNOWN	Unknown group.
ALL	The full system, including all actuated joints.
ARMS	The dual arms as a whole, only applicable to dual-arm robots.
ARM_1	The 1st single arm in a dual-arm robot or the only arm in a single-arm robot.
ARM_2	The 2nd single arm in a dual-arm robot, not applicable to single-arm robots.
EXT_AXIS	External axis(es) for workspace extension.

Examples: intermediate1_realtime_joint_position_control.cpp, intermediate2_realtime_joint_impedance_control.cpp, intermediate3_realtime_joint_torque_control.cpp, intermediate5_realtime_cartesian_pure_motion_control.cpp, and intermediate6_realtime_cartesian_motion_force_control.cpp.

Definition at line 57 of file data.hpp.

◆ OperationalStatus

enum flexiv::rdk::OperationalStatus

strong

All possible operational statuses of the robot. Except for the first two, the other enumerators indicate the cause of the robot being not ready to operate.

See also: Robot::operational_status().

Enumerator
UNKNOWN	Unknown status.
READY	Ready to be operated.
BOOTING	System still booting, please wait.
ESTOP_NOT_RELEASED	E-Stop is not released.
NOT_SERVO_ON	Not servo on, call ServoOn() to send the signal.
RELEASING_BRAKE	Brake release in progress, please wait.
MINOR_FAULT	Minor fault occurred, call ClearFault() to try clearing it.
CRITICAL_FAULT	Critical fault occurred, call ClearFault() to try clearing it.
IN_REDUCED_STATE	In reduced state, see reduced().
IN_RECOVERY_STATE	In recovery state, see recovery().
IN_MANUAL_MODE	In Manual mode, need to switch to Auto (Remote) mode.
IN_AUTO_MODE	In regular Auto mode, need to switch to Auto (Remote) mode.

Definition at line 85 of file data.hpp.

◆ ProductModel

enum flexiv::rdk::ProductModel

strong

All supported product models of the robot.

Enumerator
Enlight_LL	Enlight-L standard version.
MICO_Core	Enlight-LL: Dual Enlight-L with customizable mounting poses.
MICO_Plus	MICO-Core: Dual Enlight-L with fixed-mounting upper body.
MICO_Ultra	MICO-Plus: MICO-Core with pan-tilt torso.

Definition at line 38 of file data.hpp.

◆ SyncMotionMode

enum flexiv::rdk::SyncMotionMode

strong

Modes for synchronous motions.

See also: PrimitiveArgs::sync_motion_mode

Enumerator
DISABLE	Don't sync with any target.
ARM1_TCP	Sync with arm1 tcp.
ARM2_TCP	sync with arm2 tcp
POSITIONER	sync with positioner

Definition at line 544 of file data.hpp.

Function Documentation

◆ operator<<() [1/5]

std::ostream& flexiv::rdk::operator<<	(	std::ostream &	ostream,
		const PlanInfo &	plan_info
	)

Operator overloading to out stream all members of PlanInfo in JSON format.

Parameters

[in]	ostream	Ostream instance.
[in]	plan_info	PlanInfo data structure to out stream.

Returns: Updated ostream instance.

◆ operator<<() [2/5]

std::ostream& flexiv::rdk::operator<<	(	std::ostream &	ostream,
		const RobotActions &	robot_actions
	)

Operator overloading to out stream all members of RobotActions in JSON format.

Parameters

[in]	ostream	Ostream instance.
[in]	robot_actions	RobotActions data structure to out stream.

Returns: Updated ostream instance.

◆ operator<<() [3/5]

std::ostream& flexiv::rdk::operator<<	(	std::ostream &	ostream,
		const RobotEvent &	robot_event
	)

Operator overloading to out stream all members of RobotEvent in JSON format.

Parameters

[in]	ostream	Ostream instance.
[in]	robot_event	RobotEvent data structure to out stream.

Returns: Updated ostream instance.

Note: The event timestamp is converted to local timezone when printed.

◆ operator<<() [4/5]

std::ostream& flexiv::rdk::operator<<	(	std::ostream &	ostream,
		const RobotInfo &	robot_info
	)

Operator overloading to out stream all members of RobotInfo in JSON format.

Parameters

[in]	ostream	Ostream instance.
[in]	robot_info	RobotInfo data structure to out stream.

Returns: Updated ostream instance.

◆ operator<<() [5/5]

std::ostream& flexiv::rdk::operator<<	(	std::ostream &	ostream,
		const RobotStates &	robot_states
	)

Operator overloading to out stream all members of RobotStates in JSON format.

Parameters

[in]	ostream	Ostream instance.
[in]	robot_states	RobotStates data structure to out stream.

Returns: Updated ostream instance.

Variable Documentation

◆ kCartDoF

constexpr size_t flexiv::rdk::kCartDoF = 6

constexpr

Cartesian-space degrees of freedom

Definition at line 20 of file data.hpp.

◆ kIOPorts

constexpr size_t flexiv::rdk::kIOPorts = 16 + 2 * 2

constexpr

Number of digital IO ports: 16 on the control box + 2 in each wrist connector * maximum 2 wrists

Definition at line 30 of file data.hpp.

◆ kJointGroupNames

const std::map<JointGroup, std::string> flexiv::rdk::kJointGroupNames

inline

Initial value:

{
    {JointGroup::UNKNOWN, "UNKNOWN"},
    {JointGroup::ALL, "ALL"},
    {JointGroup::ARMS, "ARMS"},
    {JointGroup::ARM_1, "ARM_1"},
    {JointGroup::ARM_2, "ARM_2"},
    {JointGroup::EXT_AXIS, "EXT_AXIS"},
}

Map JointGroup enums to strings

Examples: basics1_display_robot_states.cpp, basics3_primitive_execution.cpp, basics5_zero_force_torque_sensors.cpp, basics6_gripper_control.cpp, basics7_update_robot_tool.cpp, intermediate1_realtime_joint_position_control.cpp, intermediate2_realtime_joint_impedance_control.cpp, intermediate3_realtime_joint_torque_control.cpp, intermediate5_realtime_cartesian_pure_motion_control.cpp, intermediate6_realtime_cartesian_motion_force_control.cpp, and intermediate7_robot_dynamics.cpp.

Definition at line 71 of file data.hpp.

◆ kMaxExtAxes

constexpr size_t flexiv::rdk::kMaxExtAxes = 6

constexpr

Maximum number of external axes

Definition at line 33 of file data.hpp.

◆ kOpStatusNames

const std::map<OperationalStatus, std::string> flexiv::rdk::kOpStatusNames

inline

Initial value:

{
    {OperationalStatus::UNKNOWN, "Unknown status"},
    {OperationalStatus::READY, "Ready"},
    {OperationalStatus::BOOTING, "System booting"},
    {OperationalStatus::ESTOP_NOT_RELEASED, "E-Stop not released"},
    {OperationalStatus::NOT_SERVO_ON, "Not servo on"},
    {OperationalStatus::RELEASING_BRAKE, "Releasing brakes"},
    {OperationalStatus::MINOR_FAULT, "Minor fault occurred"},
    {OperationalStatus::CRITICAL_FAULT, "Critical fault occurred"},
    {OperationalStatus::IN_REDUCED_STATE, "In reduced state"},
    {OperationalStatus::IN_RECOVERY_STATE, "In recovery state"},
    {OperationalStatus::IN_MANUAL_MODE, "In Manual mode"},
    {OperationalStatus::IN_AUTO_MODE, "In regular Auto mode"},
}

Map OperationalStatus enums to strings

Definition at line 102 of file data.hpp.

◆ kPoseSize

constexpr size_t flexiv::rdk::kPoseSize = 7

constexpr

Size of pose array (3 position + 4 quaternion)

Definition at line 26 of file data.hpp.

◆ kProductModelNames

const std::map<ProductModel, std::string> flexiv::rdk::kProductModelNames

inline

Initial value:

= {{ProductModel::UNKNOWN, "UNKNOWN"}, {ProductModel::Enlight_L, "Enlight-L"},
        {ProductModel::Enlight_LL, "Enlight-LL"}, {ProductModel::MICO_Core, "MICO-Core"},
        {ProductModel::MICO_Plus, "MICO-Plus"}, {ProductModel::MICO_Ultra, "MICO-Ultra"}}

Map ProductModel enums to strings

Definition at line 49 of file data.hpp.

◆ kSerialJointDoF

constexpr size_t flexiv::rdk::kSerialJointDoF = 7

constexpr

Joint-space degrees of freedom of Flexiv's serial robots

Definition at line 23 of file data.hpp.

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ FlexivDataTypes

Enumeration Type Documentation

◆ CoordType

◆ JointGroup

◆ OperationalStatus

◆ ProductModel

◆ SyncMotionMode

Function Documentation

◆ operator<<() [1/5]

◆ operator<<() [2/5]

◆ operator<<() [3/5]

◆ operator<<() [4/5]

◆ operator<<() [5/5]

Variable Documentation

◆ kCartDoF

◆ kIOPorts

◆ kJointGroupNames

◆ kMaxExtAxes

◆ kOpStatusNames

◆ kPoseSize

◆ kProductModelNames

◆ kSerialJointDoF