mode.hpp

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#ifndef FLEXIV_RDK_MODE_HPP_
#define FLEXIV_RDK_MODE_HPP_
 
#include <array>
#include <map>
#include <string>
 
namespace flexiv::rdk {
 
enum class 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,
};
 
inline const std::map<Mode, std::string> kModeNames {
    {Mode::UNKNOWN, "UNKNOWN"},
    {Mode::IDLE, "IDLE"},
    {Mode::RT_JOINT_TORQUE, "RT_JOINT_TORQUE"},
    {Mode::RT_JOINT_IMPEDANCE, "RT_JOINT_IMPEDANCE"},
    {Mode::NRT_JOINT_IMPEDANCE, "NRT_JOINT_IMPEDANCE"},
    {Mode::RT_JOINT_POSITION, "RT_JOINT_POSITION"},
    {Mode::NRT_JOINT_POSITION, "NRT_JOINT_POSITION"},
    {Mode::NRT_PLAN_EXECUTION, "NRT_PLAN_EXECUTION"},
    {Mode::NRT_PRIMITIVE_EXECUTION, "NRT_PRIMITIVE_EXECUTION"},
    {Mode::RT_CARTESIAN_MOTION_FORCE, "RT_CARTESIAN_MOTION_FORCE"},
    {Mode::NRT_CARTESIAN_MOTION_FORCE, "NRT_CARTESIAN_MOTION_FORCE"},
    {Mode::NRT_SUPER_PRIMITIVE, "NRT_SUPER_PRIMITIVE"},
};
 
} /* namespace flexiv::rdk */
 
#endif /* FLEXIV_RDK_MODE_HPP_ */