tool.hpp

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#ifndef FLEXIV_RDK_TOOL_HPP_
#define FLEXIV_RDK_TOOL_HPP_
 
#include "robot.hpp"
 
namespace flexiv::rdk {
 
struct ToolParams
{
    double mass = 0.0;
 
    std::array<double, 3> CoM = {};
 
    std::array<double, 6> inertia = {};
 
    std::array<double, kPoseSize> tcp_location = {};
};
 
class Tool
{
public:
    Tool(const Robot& robot);
    virtual ~Tool();
 
    std::vector<std::string> list() const;
 
    std::string name(JointGroup group) const;
 
    bool exist(const std::string& name) const;
 
    ToolParams params(JointGroup group) const;
 
    ToolParams params(const std::string& name) const;
 
    void Add(const std::string& name, const ToolParams& params);
 
    void Switch(JointGroup group, const std::string& name);
 
    void Update(const std::string& name, const ToolParams& params);
 
    void Remove(const std::string& name);
 
    ToolParams CalibratePayloadParams(bool tool_mounted);
 
private:
    class Impl;
    std::unique_ptr<Impl> pimpl_;
};
 
} /* namespace flexiv::rdk */
 
#endif /* FLEXIV_RDK_TOOL_HPP_ */