API Overview

Available APIs

API	Brief
flexiv::rdk::Device	Interface with the robot device(s).
flexiv::rdk::FileIO	Interface for file transfer with the robot. The robot must be put into IDLE mode when transferring files.
flexiv::rdk::Gripper	Interface with the robot gripper.
flexiv::rdk::Model	Interface to access certain robot kinematics and dynamics data.
flexiv::rdk::Robot	Main interface with the robot, containing several function categories and background services.
flexiv::rdk::Scheduler	Real-time scheduler that can simultaneously run multiple periodic tasks. Parameters for each task are configured independently.
flexiv::rdk::Tool	Interface to online update and interact with the robot tools. All changes made to the robot tool system will take effect immediately without needing to reboot. However, the robot must be put into IDLE mode when making these changes.

Access by OS and programming language

The supported OS and programming languages can form various OS-language combinations like Linux-C++, Windows-Python, etc. In RDK, API access varies by such combination: Linux-C++ and macOS-C++ have full access to all APIs, while the other combinations have partial access as listed below:

API	Unix-C++	Windows-C++	Any-Python
flexiv::rdk::Device	Full	Full	Full
flexiv::rdk::FileIO	Full	Full	Full
flexiv::rdk::Gripper	Full	Full	Full
flexiv::rdk::Model	Full	Full	Full
flexiv::rdk::Robot	Full	Full	Partial (exclusion: functions marked as “Real-time”)
flexiv::rdk::Scheduler	Full	None	None
flexiv::rdk::Tool	Full	Full	Full

Besides APIs, access to data structures and enums also varies by the OS-language combination:

Data Structures / Enums	Unix-C++	Windows-C++	Any-Python
flexiv::rdk::RobotInfo	Full	Full	Full
flexiv::rdk::RobotStates	Full	Full	Full
flexiv::rdk::PlanInfo	Full	Full	Full
flexiv::rdk::GripperStates	Full	Full	Full
flexiv::rdk::ToolParams	Full	Full	Full
flexiv::rdk::Mode	Full	Full	Partial (exclusion: real-time modes)

Note

Unix means Linux and macOS.

API documentation

The complete and detailed API documentation of the latest release can be found at https://rdk.flexiv.com/api/. The API documentation of a previous release can be generated manually using Doxygen. For example, on Linux:

sudo apt install doxygen-latex graphviz
cd flexiv_rdk
git checkout <previous_release_tag>
doxygen doc/Doxyfile.in

The generated API documentation is under flexiv_rdk/doc/html/ directory. Open any html file with your browser to view it.