General information about the connected robot.
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#include <data.hpp>
General information about the connected robot.
Definition at line 31 of file data.hpp.
◆ DoF
size_t flexiv::rdk::RobotInfo::DoF = {} |
◆ dq_max
std::vector<double> flexiv::rdk::RobotInfo::dq_max = {} |
Upper limits of joint velocities: \( \dot{q}_{max} \in \mathbb{R}^{n \times 1} \). Unit: \( [rad/s] \).
Definition at line 75 of file data.hpp.
◆ K_q_nom
std::vector<double> flexiv::rdk::RobotInfo::K_q_nom = {} |
◆ K_x_nom
std::array<double, kCartDoF> flexiv::rdk::RobotInfo::K_x_nom = {} |
Nominal motion stiffness of the Cartesian motion-force control modes: \( K_x^{nom} \in \mathbb{R}^{6 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) linear stiffness and \( \mathbb{R}^{3 \times 1} \) angular stiffness: \( [k_x, k_y, k_z, k_{Rx}, k_{Ry}, k_{Rz}]^T \). Unit: \( [N/m]~[Nm/rad] \).
- Examples
- intermediate5_realtime_cartesian_pure_motion_control.cpp.
Definition at line 51 of file data.hpp.
◆ model_name
std::string flexiv::rdk::RobotInfo::model_name = {} |
Robot model name, e.g. Rizon4, Rizon10, Moonlight, etc.
Definition at line 40 of file data.hpp.
◆ q_max
std::vector<double> flexiv::rdk::RobotInfo::q_max = {} |
Upper limits of joint positions: \( q_{max} \in \mathbb{R}^{n \times 1} \). Unit: \( [rad] \).
Definition at line 69 of file data.hpp.
◆ q_min
std::vector<double> flexiv::rdk::RobotInfo::q_min = {} |
Lower limits of joint positions: \( q_{min} \in \mathbb{R}^{n \times 1} \). Unit: \( [rad] \).
Definition at line 63 of file data.hpp.
◆ serial_num
std::string flexiv::rdk::RobotInfo::serial_num = {} |
◆ software_ver
std::string flexiv::rdk::RobotInfo::software_ver = {} |
◆ tau_max
std::vector<double> flexiv::rdk::RobotInfo::tau_max = {} |
Upper limits of joint torques: \( \tau_{max} \in \mathbb{R}^{n \times 1} \). Unit: \( [Nm] \).
Definition at line 81 of file data.hpp.
The documentation for this struct was generated from the following file: