#include <flexiv/Exception.hpp>
#include <Eigen/Eigen>
#include <array>
#include <vector>

Include dependency graph for Utility.hpp:

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Functions
std::vector< double >	flexiv::utility::quat2EulerZYX (const std::vector< double > &quat)
	Convert quaternion to Euler angles with ZYX axis rotations. More...

double	flexiv::utility::rad2Deg (double rad)
	Convert radians to degrees for a single value.

std::vector< double >	flexiv::utility::rad2Deg (const std::vector< double > &radVec)
	Convert radians to degrees for a vector.

template<typename T >
std::string	flexiv::utility::vec2Str (const std::vector< T > &vec, size_t decimal=3, bool trailingSpace=true)
	Convert a std::vector to a string. More...

template<typename T , size_t N>
std::string	flexiv::utility::arr2Str (const std::array< T, N > &arr, size_t decimal=3, bool trailingSpace=true)
	Convert a std::array to a string. More...

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

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

std::string	flexiv::utility::parsePtStates (const std::vector< std::string > &ptStates, const std::string &parseTarget)
	Parse the value of a specified primitive state from the ptStates string list. More...

Detailed Description

Copyright: Copyright (C) 2016-2021 Flexiv Ltd. All Rights Reserved.

Definition in file Utility.hpp.

Function Documentation

◆ arr2Str()

template<typename T , size_t N>

std::string flexiv::utility::arr2Str	(	const std::array< T, N > &	arr,
		size_t	decimal = `3`,
		bool	trailingSpace = `true`
	)

inline

Convert a std::array to a string.

Parameters

[in]	arr	std::array of any type and size.
[in]	decimal	Decimal places to keep for each number in the array.
[in]	trailingSpace	Whether to include a space after the last element.

Returns: A string with format "arr[0] arr[1] ... arr[n] ", i.e. each element followed by a space, including the last one if trailingSpace = true.

Definition at line 101 of file Utility.hpp.

◆ parsePtStates()

std::string flexiv::utility::parsePtStates	(	const std::vector< std::string > &	ptStates,
		const std::string &	parseTarget
	)

inline

Parse the value of a specified primitive state from the ptStates string list.

Parameters

[in]	ptStates	Primitive states string list returned from Robot::getPrimitiveStates().
[in]	parseTarget	Name of the primitive state to parse for.

Returns: Value of the specified primitive state in string format. Empty string is returned if parseTarget does not exist.

Examples: basics3_primitive_execution.cpp, and intermediate7_teach_by_demonstration.cpp.

Definition at line 163 of file Utility.hpp.

◆ programArgsExist()

bool flexiv::utility::programArgsExist	(	int	argc,
		char **	argv,
		const std::string &	refStr
	)

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, where argv[0] is the program name.
[in]	refStr	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_torque_control.cpp, intermediate4_realtime_cartesian_pure_motion_control.cpp, and intermediate5_realtime_cartesian_motion_force_control.cpp.

Definition at line 149 of file Utility.hpp.

◆ programArgsExistAny()

bool flexiv::utility::programArgsExistAny	(	int	argc,
		char **	argv,
		const std::vector< std::string > &	refStrs
	)

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]	refStrs	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_auto_recovery.cpp, intermediate1_realtime_joint_position_control.cpp, intermediate2_realtime_joint_torque_control.cpp, intermediate3_realtime_joint_floating.cpp, intermediate4_realtime_cartesian_pure_motion_control.cpp, intermediate5_realtime_cartesian_motion_force_control.cpp, intermediate6_robot_dynamics.cpp, and intermediate7_teach_by_demonstration.cpp.

Definition at line 128 of file Utility.hpp.

◆ quat2EulerZYX()

std::vector<double> flexiv::utility::quat2EulerZYX ( const std::vector< double > & 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.

Exceptions

InputException if input is of wrong size.

Examples: basics3_primitive_execution.cpp, and intermediate7_teach_by_demonstration.cpp.

Definition at line 25 of file Utility.hpp.

◆ vec2Str()

template<typename T >

std::string flexiv::utility::vec2Str	(	const std::vector< T > &	vec,
		size_t	decimal = `3`,
		bool	trailingSpace = `true`
	)

inline

Convert a std::vector to a string.

Parameters

[in]	vec	std::vector of any type and size.
[in]	decimal	Decimal places to keep for each number in the vector.
[in]	trailingSpace	Whether to include a space after the last element.

Returns: A string with format "vec[0] vec[1] ... vec[n] ", i.e. each element followed by a space, including the last one if trailingSpace = true.

Examples: basics3_primitive_execution.cpp, basics5_zero_force_torque_sensors.cpp, intermediate1_realtime_joint_position_control.cpp, intermediate2_realtime_joint_torque_control.cpp, intermediate4_realtime_cartesian_pure_motion_control.cpp, intermediate5_realtime_cartesian_motion_force_control.cpp, and intermediate7_teach_by_demonstration.cpp.

Definition at line 73 of file Utility.hpp.

Functions

Detailed Description

Function Documentation

◆ arr2Str()

◆ parsePtStates()

◆ programArgsExist()

◆ programArgsExistAny()

◆ quat2EulerZYX()

◆ vec2Str()