data.hpp

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#ifndef FLEXIV_RDK_DATA_HPP_
#define FLEXIV_RDK_DATA_HPP_
 
#include <array>
#include <vector>
#include <string>
#include <ostream>
 
namespace flexiv {
namespace rdk {
 
constexpr size_t kCartDoF = 6;
 
constexpr size_t kPoseSize = 7;
 
constexpr size_t kIOPorts = 16;
 
struct RobotInfo
{
    std::string serial_num = {};
 
    std::string software_ver = {};
 
    std::string model_name = {};
 
    size_t DoF = {};
 
    std::array<double, kCartDoF> K_x_nom = {};
 
    std::vector<double> K_q_nom = {};
 
    std::vector<double> q_min = {};
 
    std::vector<double> q_max = {};
 
    std::vector<double> dq_max = {};
 
    std::vector<double> tau_max = {};
};
 
struct RobotStates
{
    std::vector<double> q = {};
 
    std::vector<double> theta = {};
 
    std::vector<double> dq = {};
 
    std::vector<double> dtheta = {};
 
    std::vector<double> tau = {};
 
    std::vector<double> tau_des = {};
 
    std::vector<double> tau_dot = {};
 
    std::vector<double> tau_ext = {};
 
    std::array<double, kPoseSize> tcp_pose = {};
 
    std::array<double, kPoseSize> tcp_pose_des = {};
 
    std::array<double, kCartDoF> tcp_vel = {};
 
    std::array<double, kPoseSize> flange_pose = {};
 
    std::array<double, kCartDoF> ft_sensor_raw = {};
 
    std::array<double, kCartDoF> ext_wrench_in_tcp = {};
 
    std::array<double, kCartDoF> ext_wrench_in_world = {};
};
 
struct PlanInfo
{
    std::string pt_name = {};
 
    std::string node_name = {};
 
    std::string node_path = {};
 
    std::string node_path_time_period = {};
 
    std::string node_path_number = {};
 
    std::string assigned_plan_name = {};
 
    double velocity_scale = {};
 
    bool waiting_for_step = {};
};
 
struct GripperStates
{
    double width = {};
 
    double force = {};
 
    double max_width = {};
};
 
struct ToolParams
{
    double mass = 0.0;
 
    std::array<double, 3> CoM = {};
 
    std::array<double, 6> inertia = {};
 
    std::array<double, kPoseSize> tcp_location = {};
};
 
std::ostream& operator<<(std::ostream& ostream, const RobotInfo& robot_info);
 
std::ostream& operator<<(std::ostream& ostream, const RobotStates& robot_states);
 
std::ostream& operator<<(std::ostream& ostream, const PlanInfo& plan_info);
 
std::ostream& operator<<(std::ostream& ostream, const GripperStates& gripper_states);
 
} /* namespace rdk */
} /* namespace flexiv */
 
#endif /* FLEXIV_RDK_DATA_HPP_ */