api/v2.1/work__coord_8hpp_source.html

 #ifndef FLEXIV_RDK_WORK_COORD_HPP_

 #define FLEXIV_RDK_WORK_COORD_HPP_


 #include "robot.hpp"


 namespace flexiv::rdk {


 class WorkCoord

 {

 public:

     WorkCoord(const Robot& robot);

     virtual ~WorkCoord();


     std::vector<std::string> list() const;


     bool exist(const std::string& name) const;


     std::array<double, kPoseSize> pose(const std::string& name) const;


     void Add(const std::string& name, const std::array<double, kPoseSize>& pose);


     void Update(const std::string& name, const std::array<double, kPoseSize>& pose);


     void Remove(const std::string& name);


 private:

     class Impl;

     std::unique_ptr<Impl> pimpl_;

 };


 } /* namespace flexiv::rdk */


 #endif /* FLEXIV_RDK_WORK_COORD_HPP_ */

flexiv::rdk::Robot
Main interface to control the robot, containing several function categories and background services.
Definition: robot.hpp:24

flexiv::rdk::WorkCoord
Interface to manage work coordinates of the robot. All updates take effect immediately without a powe...
Definition: work_coord.hpp:19

flexiv::rdk::WorkCoord::WorkCoord
WorkCoord(const Robot &robot)
[Non-blocking] Instantiate the work coordinate interface.

flexiv::rdk::WorkCoord::Add
void Add(const std::string &name, const std::array< double, kPoseSize > &pose)
[Blocking] Add a new work coordinate with user-specified parameters.

flexiv::rdk::WorkCoord::Update
void Update(const std::string &name, const std::array< double, kPoseSize > &pose)
[Blocking] Update the pose of an existing work coordinate.

flexiv::rdk::WorkCoord::list
std::vector< std::string > list() const
[Blocking] A list of all configured work coordinates.

flexiv::rdk::WorkCoord::Remove
void Remove(const std::string &name)
[Blocking] Remove an existing work coordinate.

flexiv::rdk::WorkCoord::pose
std::array< double, kPoseSize > pose(const std::string &name) const
[Blocking] Pose of an existing work coordinate.

flexiv::rdk::WorkCoord::exist
bool exist(const std::string &name) const
[Blocking] Whether the specified work coordinate already exists.

robot.hpp