General information about the connected robot. More...

#include <data.hpp>

Public Attributes
ProductModel	product_model = {}

std::string	serial_num = {}

std::string	software_ver = {}

std::string	license_type = {}

std::map< JointGroup, std::string >	all_groups = {}

std::map< JointGroup, std::string >	single_arm_groups = {}

std::map< JointGroup, size_t >	DoF = {}

std::map< JointGroup, std::array< double, kCartDoF > >	K_x_nom = {}

std::map< JointGroup, std::vector< double > >	K_q_nom = {}

std::map< JointGroup, std::vector< double > >	q_min = {}

std::map< JointGroup, std::vector< double > >	q_max = {}

std::map< JointGroup, std::vector< double > >	dq_max = {}

std::map< JointGroup, std::vector< double > >	tau_max = {}

Detailed Description

General information about the connected robot.

See also: Robot::info().

Definition at line 169 of file data.hpp.

Member Data Documentation

◆ all_groups

std::map<JointGroup, std::string> flexiv::rdk::RobotInfo::all_groups = {}

All available joint groups in the robot and their names

Definition at line 184 of file data.hpp.

◆ DoF

std::map<JointGroup, size_t> flexiv::rdk::RobotInfo::DoF = {}

Joint-space degrees of freedom for each joint group

Definition at line 190 of file data.hpp.

◆ dq_max

std::map<JointGroup, std::vector<double> > flexiv::rdk::RobotInfo::dq_max = {}

Upper software limits of joint velocities of all available joint groups: \( \dot{q}_{max} \in \mathbb{R}^{n \times 1} \). Unit: \( [rad/s] \).

Definition at line 214 of file data.hpp.

◆ K_q_nom

std::map<JointGroup, std::vector<double> > flexiv::rdk::RobotInfo::K_q_nom = {}

Nominal joint motion stiffness of all available single-arm joint groups when in joint impedance control modes: \( K_q^{nom} \in \mathbb{R}^{n \times 1} \). Unit: \( [Nm/rad] \).

Definition at line 202 of file data.hpp.

◆ K_x_nom

std::map<JointGroup, std::array<double, kCartDoF> > flexiv::rdk::RobotInfo::K_x_nom = {}

Nominal Cartesian motion stiffness of all available single-arm joint groups when in Cartesian motion-force control modes: \( K_x^{nom} \in \mathbb{R}^{6 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) linear stiffness and \( \mathbb{R}^{3 \times 1} \) angular stiffness: \( [k_x, k_y, k_z, k_{Rx}, k_{Ry}, k_{Rz}]^T \). Unit: \( [N/m]:[Nm/rad] \).

Definition at line 197 of file data.hpp.

◆ license_type

std::string flexiv::rdk::RobotInfo::license_type = {}

Type of license

Definition at line 181 of file data.hpp.

◆ product_model

ProductModel flexiv::rdk::RobotInfo::product_model = {}

Product model of the robot

Definition at line 172 of file data.hpp.

◆ q_max

std::map<JointGroup, std::vector<double> > flexiv::rdk::RobotInfo::q_max = {}

Upper software limits of joint positions of all available joint groups: \( q_{max} \in \mathbb{R}^{n \times 1} \). Unit: \( [rad] \).

Definition at line 210 of file data.hpp.

◆ q_min

std::map<JointGroup, std::vector<double> > flexiv::rdk::RobotInfo::q_min = {}

Lower software limits of joint positions of all available joint groups: \( q_{min} \in \mathbb{R}^{n \times 1} \). Unit: \( [rad] \).

Definition at line 206 of file data.hpp.

◆ serial_num

std::string flexiv::rdk::RobotInfo::serial_num = {}

Serial number of the robot

Definition at line 175 of file data.hpp.

◆ single_arm_groups

std::map<JointGroup, std::string> flexiv::rdk::RobotInfo::single_arm_groups = {}

Available single-arm joint groups in the robot and their names

Definition at line 187 of file data.hpp.

◆ software_ver

std::string flexiv::rdk::RobotInfo::software_ver = {}

Software version of the robot

Definition at line 178 of file data.hpp.

◆ tau_max

std::map<JointGroup, std::vector<double> > flexiv::rdk::RobotInfo::tau_max = {}

Upper software limits of joint torques of all available joint groups: \( \tau_{max} \in \mathbb{R}^{n \times 1} \). Unit: \( [Nm] \).

Definition at line 218 of file data.hpp.

The documentation for this struct was generated from the following file:

include/flexiv/rdk/data.hpp

Public Attributes