Arguments of a primitive command. More...

#include <data.hpp>

Public Member Functions
	PrimitiveArgs ()=default

	PrimitiveArgs (const std::string &pt_name, const std::map< std::string, FlexivDataTypes > &input_params)

Public Attributes
std::string	pt_name = {}

std::map< std::string, FlexivDataTypes >	input_params = {}

bool	external_axis_control = true

SyncMotionMode	sync_motion_mode = SyncMotionMode::DISABLE

Detailed Description

Arguments of a primitive command.

See also: Robot::ExecutePrimitive().; Flexiv Primitives documentation

Definition at line 563 of file data.hpp.

Constructor & Destructor Documentation

◆ PrimitiveArgs() [1/2]

flexiv::rdk::PrimitiveArgs::PrimitiveArgs ( )

default

Default constructor

◆ PrimitiveArgs() [2/2]

flexiv::rdk::PrimitiveArgs::PrimitiveArgs	(	const std::string &	pt_name,
		const std::map< std::string, FlexivDataTypes > &	input_params
	)

inline

Custom constructor

Definition at line 569 of file data.hpp.

Member Data Documentation

◆ external_axis_control

bool flexiv::rdk::PrimitiveArgs::external_axis_control = true

True: The external axis motion is actively controlled by this primitive. When this primitive is executed, the external axis will move to the position defined in target points or waypoints. False: The external axis motion is not actively controlled by this primitive.

Note: This setting is only effective when the external axis exists.

Definition at line 590 of file data.hpp.

◆ input_params

std::map<std::string, FlexivDataTypes> flexiv::rdk::PrimitiveArgs::input_params = {}

Input parameter names and values of this primitive. Use int 1 and 0 to represent booleans. E.g. {{"target", rdk::Coord({0.65, -0.3, 0.2}, {180, 0, 180}, {"WORLD", "WORLD_ORIGIN"})}, {"vel", 0.6}, {"zoneRadius", "Z50"}}.

Warning: The primitive input parameters may not use SI units, please refer to the Flexiv Primitives documentation for exact unit definition.

Definition at line 584 of file data.hpp.

◆ pt_name

std::string flexiv::rdk::PrimitiveArgs::pt_name = {}

Name of the primitive to execute. For example, "Home", "MoveL", "ZeroFTSensor", etc.

Definition at line 577 of file data.hpp.

◆ sync_motion_mode

SyncMotionMode flexiv::rdk::PrimitiveArgs::sync_motion_mode = SyncMotionMode::DISABLE

Mode for synchronous motions between the TCP of this primitive and the selected arm or positioner. Once configured, the motion of the TCP will be automatically adjusted in accordance with the movement of the selected arm or positioner.

Note: Only certain primitives support this feature, this setting will be ignored if this primitive does not support it.

Definition at line 597 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