Airbot SDK 5.1.6
This project is designed for airbot C++SDK
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robot_mode.hpp
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1#ifndef ROBOT_MODE_HPP_
2#define ROBOT_MODE_HPP_
3
4#include <cstdint>
5
21namespace airbot {
22
30enum class RobotMode : int {
37 PLANNING_POS = 10,
38
44 PLANNING_WAYPOINTS_PATH = 11,
45
51 PLANNING_WAYPOINTS = 12,
52
58 SERVO_JOINT_POS = 20,
59
65 SERVO_CART_POSE = 21,
66
72 SERVO_JOINT_VEL = 24,
73
80 SERVO_CART_TWIST = 25,
81
86 MIT_INTEGRATED = 80,
87
94 GRAVITY_COMP = 90,
95
101 INACTIVE = 98,
102
108 UNDEFINED = 99,
109};
110
111} // namespace airbot
112
113#endif // ROBOT_MODE_HPP_
airbot
Namespace containing all Airbot SDK related definitions.
airbot::RobotMode
RobotMode
Enum class representing the control modes of the robot arm.
Definition robot_mode.hpp:30
airbot::RobotMode::UNDEFINED
@ UNDEFINED
Undefined mode.
airbot::RobotMode::SERVO_CART_TWIST
@ SERVO_CART_TWIST
Servo mode: Cartesian twist control.
airbot::RobotMode::INACTIVE
@ INACTIVE
Inactive mode.
airbot::RobotMode::SERVO_JOINT_POS
@ SERVO_JOINT_POS
Servo mode: Joint position control.
airbot::RobotMode::PLANNING_WAYPOINTS_PATH
@ PLANNING_WAYPOINTS_PATH
Planning mode: Path planning with multiple waypoints in cartesian space.
airbot::RobotMode::PLANNING_WAYPOINTS
@ PLANNING_WAYPOINTS
Planning mode: Local planning between adjacent waypoints.
airbot::RobotMode::SERVO_JOINT_VEL
@ SERVO_JOINT_VEL
Servo mode: Joint velocity control.
airbot::RobotMode::MIT_INTEGRATED
@ MIT_INTEGRATED
MIT integrated mode. In this mode, the robot would be in a integrated motor joint control,...
airbot::RobotMode::SERVO_CART_POSE
@ SERVO_CART_POSE
Servo mode: Cartesian pose control.
airbot::RobotMode::GRAVITY_COMP
@ GRAVITY_COMP
Gravity compensation mode.
airbot::RobotMode::PLANNING_POS
@ PLANNING_POS
Planning mode: Single target planning.