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Classes | |
| struct | AngularInfo |
Contains some info of each actuator. Values could represent a velocity(rad/s), an absolute position(deg.), a current(A) or a force(Nm). It depends of the called function. WARNING: If you send this structure, always define all variables, there is no initial values. Otherwise, there will be random information sent to the arm. Suggestion: use the function memset(&yourStructure, 0, sizeof(yourStructure)) from the std lib and set the memory. More... | |
| struct | AngularPosition |
Contains all angular positions of the hand and their fingers The AngularPosition is only a mix of two angular structures. Note: The finger position is always the same however it is angular or cartesian WARNING: If you send this structure, always define all variables, there is no initial values. Otherwise, there will be random information sent to the arm. Suggestion: use the function memset(&yourStructure, 0, sizeof(yourStructure)) from the std lib and set the memory More... | |
| struct | CartesianInfo |
Contains some cartesian info of the hand. Values could represent a velocity(m/s), an absolute position(m), a current(A) or a force(N). It depends of the called function. WARNING: If you send this structure, always define all variables, there is no initial values. Otherwise, there will be random informaition sent to the arm. Suggestion: use the function memset(&yourStructure, 0, sizeof(yourStructure)) from the std lib and set the memory More... | |
| struct | CartesianPosition |
Contains all cartesian positions of the hand and their fingers The CartesianPosition is only a mix of two position structures. More... | |
| struct | ClientConfigurations |
Contains all the information about a client configuration WARNING: If you send this structure, always define all variables, there is no initial values. Otherwise, there will be random information sent to the arm. If you don't need a variable, set it to 0 (It's the case in many situations) Suggestion: use the function memset(&yourStructure, 0, sizeof(yourStructure)) from the std lib and set the memory More... | |
| struct | FingersPosition |
Contains info about fingers position It could be an absolute position (0 to ~53(closed)) or a velocity (0 to 200(really fast) ) WARNING: If you send this structure, always define all variables, there is no initial values. Otherwise, there will be random information sent to the arm. Suggestion: use the function memset(&yourStructure, 0, sizeof(yourStructure)) from the std lib and set the memory More... | |
| struct | JoystickCommand |
Contains all the information about a virtual joystick command (same behavior as an hard-wired). More... | |
| struct | Limitation |
Absolute limitations of the robotic arm. The limitations are different for cartesian or angular modes WARNING: If you send this structure, always define all variables, there is no initial values. Otherwise, there will be random information sent to the arm. Suggestion: use the function memset(&yourStructure, 0, sizeof(yourStructure)) from the std lib and set the memory More... | |
| struct | SensorsInfo |
Contains all the sensor values More... | |
| struct | SingularityVector |
Contains all the information about singularities form the actual hand position More... | |
| struct | TrajectoryFIFO |
Contains all the information about the trajectory FIFO More... | |
| struct | TrajectoryPoint |
Contains all the information about a trajectory point Values could represent a velocity, an absolute position or a delay of time. It depends of the called function. WARNING: If you send this structure, always define all variables, there is no initial values. Otherwise, there will be random information sent to the arm. If you don't need a variable, set it to 0 (It's the case in many situations) Suggestion: use the function memset(&yourStructure, 0, sizeof(yourStructure)) from the std lib and set the memory WARNING: Be sure that the UserPosition is well defined, otherwise the arm could try to reach undesired position More... | |
| struct | UserPosition |
Contains all the information about a position. Values could represent an absolute position, a velocity or a delay of time. It depends of the called function. WARNING: If you send this structure, always define all variables, there is no initial values. Otherwise, there will be random information sent to the arm. If you don't need a variable, set it to 0 (It's the case in many situations). Suggestion: use the function memset(&yourStructure, 0, sizeof(yourStructure)) from the std lib and set the memory. WARNING: Be sure that the UserPosition is well defined, otherwise the arm could try to reach undesired position More... | |
Defines | |
| #define | JOYSTICK_BUTTON_COUNT 16 |
| #define | NB_ADVANCE_RETRACT_POSITION 20 |
Enumerations | |
| enum | ARM_LATERALITY { RIGHT_HAND, LEFT_HAND } |
| enum | HAND_MODE { POSITION_MODE = 1, VELOCITY_MODE = 2, NO_FINGER = 3, HAND_NOMOVEMENT, POSITION_MODE, VELOCITY_MODE, NO_FINGER, ONE_FINGER, TWO_FINGER, THREEFINGER } |
| enum | POSITION_TYPE { CARTESIAN_POSITION = 1, ANGULAR_POSITION = 2, RETRACTED_POSITION = 3, PREDEFINED_POSITION_1 = 4, PREDEFINED_POSITION_2 = 5, PREDEFINED_POSITION_3 = 6, CARTESIAN_VELOCITY = 7, ANGULAR_VELOCITY = 8, PREDEFINED_POSITION_4 = 9, PREDEFINED_POSITION_5 = 10, TIME_DELAY = 12, NOMOVEMENT_POSITION, CARTESIAN_POSITION, ANGULAR_POSITION, RETRACTED_POSITION, PREDEFINED_POSITION_1, PREDEFINED_POSITION_2, PREDEFINED_POSITION_3, CARTESIAN_VELOCITY, ANGULAR_VELOCITY, PREDEFINED_POSITION_4, PREDEFINED_POSITION_5, ANY_TRAJECTORY, TIME_DELAY } |
Type of position handled by a UserPosition. The types can be set or get. Set: this type can be loaded into the arm Get: this type can be received from the arm If a time delay is wish between trajectories, it's necessary to send a time delay POSITION_TYPE between tow trajectories. More... | |
Define Documentation
| #define JOYSTICK_BUTTON_COUNT 16 |
Definition at line 3 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.
| #define NB_ADVANCE_RETRACT_POSITION 20 |
Definition at line 4 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.
Enumeration Type Documentation
| enum ARM_LATERALITY |
Definition at line 35 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.
| enum HAND_MODE |
- Enumerator:
POSITION_MODE VELOCITY_MODE NO_FINGER HAND_NOMOVEMENT POSITION_MODE VELOCITY_MODE NO_FINGER ONE_FINGER TWO_FINGER THREEFINGER
Definition at line 28 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.
| enum POSITION_TYPE |
Type of position handled by a UserPosition.
The types can be set or get.
Set: this type can be loaded into the arm
Get: this type can be received from the arm
If a time delay is wish between trajectories, it's necessary to send a time delay POSITION_TYPE between tow trajectories.
- Enumerator:
CARTESIAN_POSITION A cartesian absolute position (X,Y,Z,thetaX, thetaY, thetaZ) [set,get]
ANGULAR_POSITION An actuator angular absolute position (deg) [set,get]
RETRACTED_POSITION The retracted absolute cartesian position (X,Y,Z,thetaX, thetaY, thetaZ) [get]
PREDEFINED_POSITION_1 A predefined absolute cartesian position (X,Y,Z,thetaX, thetaY, thetaZ) [get]
PREDEFINED_POSITION_2 A predefined absolute cartesian position (X,Y,Z,thetaX, thetaY, thetaZ) [get]
PREDEFINED_POSITION_3 A predefined absolute cartesian position (X,Y,Z,thetaX, thetaY, thetaZ) [get]
CARTESIAN_VELOCITY A cartesian velocity(X,Y,Z,thetaX, thetaY, thetaZ) [set,get]
ANGULAR_VELOCITY An actuator angular velocity (deg/s) [set,get]
PREDEFINED_POSITION_4 A predefined absolute cartesian position (X,Y,Z,thetaX, thetaY, thetaZ) [get]
PREDEFINED_POSITION_5 A predefined absolute cartesian position (X,Y,Z,thetaX, thetaY, thetaZ) [get]
TIME_DELAY A time delay (s) [set,get]
NOMOVEMENT_POSITION CARTESIAN_POSITION ANGULAR_POSITION RETRACTED_POSITION PREDEFINED_POSITION_1 PREDEFINED_POSITION_2 PREDEFINED_POSITION_3 CARTESIAN_VELOCITY ANGULAR_VELOCITY PREDEFINED_POSITION_4 PREDEFINED_POSITION_5 ANY_TRAJECTORY TIME_DELAY
Definition at line 13 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.