Data.hpp

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#ifndef FLEXIVRDK_DATA_HPP_
#define FLEXIVRDK_DATA_HPP_
 
#include <vector>
#include <string>
#include <ostream>
 
namespace flexiv {
 
constexpr size_t k_IOPorts = 16;
 
struct RobotInfo
{
    std::string serialNum = {};
 
    unsigned int DOF = {};
 
    std::string softwareVer = {};
 
    std::vector<double> nominalK = {};
 
    std::vector<double> qHome = {};
 
    std::vector<double> qMin = {};
 
    std::vector<double> qMax = {};
 
    std::vector<double> dqMax = {};
 
    std::vector<double> tauMax = {};
};
 
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> tauDes = {};
 
    std::vector<double> tauDot = {};
 
    std::vector<double> tauExt = {};
 
    std::vector<double> tcpPose = {};
 
    std::vector<double> tcpPoseDes = {};
 
    std::vector<double> tcpVel = {};
 
    std::vector<double> camPose = {};
 
    std::vector<double> flangePose = {};
 
    std::vector<double> ftSensorRaw = {};
 
    std::vector<double> extWrenchInTcp = {};
 
    std::vector<double> extWrenchInBase = {};
};
 
struct PlanInfo
{
    std::string ptName = {};
 
    std::string nodeName = {};
 
    std::string nodePath = {};
 
    std::string nodePathTimePeriod = {};
 
    std::string nodePathNumber = {};
 
    std::string assignedPlanName = {};
 
    double velocityScale = {};
};
 
struct GripperStates
{
    double width = {};
 
    double force = {};
 
    double maxWidth = {};
 
    bool isMoving = {};
};
 
std::ostream& operator<<(
    std::ostream& ostream, const flexiv::RobotInfo& robotInfo);
 
std::ostream& operator<<(
    std::ostream& ostream, const flexiv::RobotStates& robotStates);
 
std::ostream& operator<<(
    std::ostream& ostream, const flexiv::PlanInfo& planInfo);
 
std::ostream& operator<<(
    std::ostream& ostream, const flexiv::GripperStates& gripperStates);
 
} /* namespace flexiv */
 
#endif /* FLEXIVRDK_DATA_HPP_ */