#include "data.hpp"
#include <Eigen/Eigen>
#include <algorithm>
#include <sstream>

Include dependency graph for utility.hpp:

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

Functions
bool	flexiv::rdk::utility::IsSingleArmGroup (JointGroup group)
	Whether the specified group represents a single arm.

bool	flexiv::rdk::utility::PrimitiveStateTrue (const PrimitiveStates &primitive_states, const std::string &state_name)
	Check whether one primitive state is true. More...

bool	flexiv::rdk::utility::PrimitiveStateTrueForGroups (const std::map< JointGroup, PrimitiveStates > &primitive_states, const std::string &state_name)
	Check whether one primitive state is true for all groups included in [primitive_states]. More...

bool	flexiv::rdk::utility::PrimitiveStateTrueForGroups (const std::map< JointGroup, PrimitiveStates > &primitive_states, const std::map< JointGroup, std::string > &state_names)
	Check whether one primitive state is true for each group included in [primitive_states], using a per-group state name. More...

std::array< double, 3 >	flexiv::rdk::utility::Quat2EulerZYX (const std::array< double, 4 > &quat)
	Convert quaternion to Euler angles with ZYX axis rotations. More...

double	flexiv::rdk::utility::Rad2Deg (double rad)
	Convert radians to degrees for a single value.

template<size_t N>
std::array< double, N >	flexiv::rdk::utility::Rad2Deg (const std::array< double, N > &rad_arr)
	Convert radians to degrees for an array.

std::vector< double >	flexiv::rdk::utility::Rad2Deg (const std::vector< double > &rad_vec)
	Convert radians to degrees for a vector.

template<typename T >
std::string	flexiv::rdk::utility::Vec2Str (const std::vector< T > &vec, size_t decimal=3, const std::string &separator=" ")
	Convert an std::vector to a string. More...

template<typename T , size_t N>
std::string	flexiv::rdk::utility::Arr2Str (const std::array< T, N > &arr, size_t decimal=3, const std::string &separator=" ")
	Convert an std::array to a string. More...

std::string	flexiv::rdk::utility::FlexivTypes2Str (const rdk::FlexivDataTypes &variant, size_t decimal=3, const std::string &separator=" ")
	Convert the commonly used std::variant to a string. More...

bool	flexiv::rdk::utility::ProgramArgsExistAny (int argc, char **argv, const std::vector< std::string > &ref_strings)
	Check if any provided strings exist in the program arguments. More...

bool	flexiv::rdk::utility::ProgramArgsExist (int argc, char **argv, const std::string &ref_strings)
	Check if one specific string exists in the program arguments. More...

Detailed Description

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

Definition in file utility.hpp.

Function Documentation

◆ Arr2Str()

template<typename T , size_t N>

std::string flexiv::rdk::utility::Arr2Str	(	const std::array< T, N > &	arr,
		size_t	decimal = `3`,
		const std::string &	separator = `" "`
	)

inline

Convert an std::array to a string.

Parameters

[in]	arr	std::array of any type and size.
[in]	decimal	Decimal places to keep for each floating-point number in the array.
[in]	separator	Character to separate between numbers.

Returns: The converted string.

Examples: basics1_display_robot_states.cpp, basics5_zero_force_torque_sensors.cpp, intermediate5_realtime_cartesian_pure_motion_control.cpp, intermediate6_realtime_cartesian_motion_force_control.cpp, and intermediate7_robot_dynamics.cpp.

Definition at line 162 of file utility.hpp.

◆ FlexivTypes2Str()

std::string flexiv::rdk::utility::FlexivTypes2Str	(	const rdk::FlexivDataTypes &	variant,
		size_t	decimal = `3`,
		const std::string &	separator = `" "`
	)

inline

Convert the commonly used std::variant to a string.

Parameters

[in]	variant	std::variant used by multiple rdk::Robot functions.
[in]	decimal	Decimal places to keep for each floating-point number in the variant.
[in]	separator	Character to separate between numbers in the vector.

Returns: The converted string.

Examples: basics3_primitive_execution.cpp, and basics8_global_variables.cpp.

Definition at line 177 of file utility.hpp.

◆ PrimitiveStateTrue()

bool flexiv::rdk::utility::PrimitiveStateTrue	(	const PrimitiveStates &	primitive_states,
		const std::string &	state_name
	)

inline

Check whether one primitive state is true.

Parameters

[in]	primitive_states	Primitive states.
[in]	state_name	Primitive state name to check, e.g. "reachedTarget".

Returns: True if the state exists and its integer value is non-zero.

Definition at line 30 of file utility.hpp.

◆ PrimitiveStateTrueForGroups() [1/2]

bool flexiv::rdk::utility::PrimitiveStateTrueForGroups	(	const std::map< JointGroup, PrimitiveStates > &	primitive_states,
		const std::map< JointGroup, std::string > &	state_names
	)

inline

Check whether one primitive state is true for each group included in [primitive_states], using a per-group state name.

Parameters

[in]	primitive_states	Primitive states keyed by joint group.
[in]	state_names	Primitive state names keyed by joint group.

Returns: True if every included group has a matching state name entry and its integer value is non-zero.

Definition at line 66 of file utility.hpp.

◆ PrimitiveStateTrueForGroups() [2/2]

bool flexiv::rdk::utility::PrimitiveStateTrueForGroups	(	const std::map< JointGroup, PrimitiveStates > &	primitive_states,
		const std::string &	state_name
	)

inline

Check whether one primitive state is true for all groups included in [primitive_states].

Parameters

[in]	primitive_states	Primitive states keyed by joint group.
[in]	state_name	Primitive state name to check, e.g. "reachedTarget".

Returns: True if all included groups contain the state and its integer value is non-zero.

Examples: basics3_primitive_execution.cpp, basics5_zero_force_torque_sensors.cpp, intermediate5_realtime_cartesian_pure_motion_control.cpp, and intermediate6_realtime_cartesian_motion_force_control.cpp.

Definition at line 51 of file utility.hpp.

◆ ProgramArgsExist()

bool flexiv::rdk::utility::ProgramArgsExist	(	int	argc,
		char **	argv,
		const std::string &	ref_strings
	)

inline

Check if one specific string exists in the program arguments.

Parameters

[in]	argc	Argument count passed to main() of the program.
[in]	argv	Argument vector passed to main() of the program, with argv[0] being the program name.
[in]	ref_strings	Reference string to check against.

Returns: True if the program arguments contain this specific reference string.

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 237 of file utility.hpp.

◆ ProgramArgsExistAny()

bool flexiv::rdk::utility::ProgramArgsExistAny	(	int	argc,
		char **	argv,
		const std::vector< std::string > &	ref_strings
	)

inline

Check if any provided strings exist in the program arguments.

Parameters

[in]	argc	Argument count passed to main() of the program.
[in]	argv	Argument vector passed to main() of the program, where argv[0] is the program name.
[in]	ref_strings	Reference strings to check against.

Returns: True if the program arguments contain one or more reference strings.

Examples: basics1_display_robot_states.cpp, basics2_clear_fault.cpp, basics3_primitive_execution.cpp, basics4_plan_execution.cpp, basics5_zero_force_torque_sensors.cpp, basics6_gripper_control.cpp, basics7_update_robot_tool.cpp, basics8_global_variables.cpp, basics9_logging_behavior.cpp, intermediate1_realtime_joint_position_control.cpp, intermediate2_realtime_joint_impedance_control.cpp, intermediate3_realtime_joint_torque_control.cpp, intermediate4_realtime_joint_floating.cpp, intermediate5_realtime_cartesian_pure_motion_control.cpp, intermediate6_realtime_cartesian_motion_force_control.cpp, and intermediate7_robot_dynamics.cpp.

Definition at line 217 of file utility.hpp.

◆ Quat2EulerZYX()

std::array<double, 3> flexiv::rdk::utility::Quat2EulerZYX ( const std::array< double, 4 > & quat )

inline

Convert quaternion to Euler angles with ZYX axis rotations.

Parameters

[in] quat Quaternion input in [w,x,y,z] order.

Returns: Euler angles in [x,y,z] order [rad].

Note: The return value, when converted to degrees, is the same Euler angles used by Move primitives.

Examples: basics3_primitive_execution.cpp.

Definition at line 85 of file utility.hpp.

◆ Vec2Str()

template<typename T >

std::string flexiv::rdk::utility::Vec2Str	(	const std::vector< T > &	vec,
		size_t	decimal = `3`,
		const std::string &	separator = `" "`
	)

inline

Convert an std::vector to a string.

Parameters

[in]	vec	std::vector of any type and size.
[in]	decimal	Decimal places to keep for each floating-point number in the vector.
[in]	separator	Character to separate between numbers.

Returns: The converted string.

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 intermediate7_robot_dynamics.cpp.

Definition at line 139 of file utility.hpp.

Functions

Detailed Description

Function Documentation

◆ Arr2Str()

◆ FlexivTypes2Str()

◆ PrimitiveStateTrue()

◆ PrimitiveStateTrueForGroups() [1/2]

◆ PrimitiveStateTrueForGroups() [2/2]

◆ ProgramArgsExist()

◆ ProgramArgsExistAny()

◆ Quat2EulerZYX()

◆ Vec2Str()