KinovaTypes.h

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#pragma once

#define JOYSTICK_BUTTON_COUNT 16
#define NB_ADVANCE_RETRACT_POSITION             20

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, 
};

enum HAND_MODE
{
        POSITION_MODE = 1,
        VELOCITY_MODE = 2,
    NO_FINGER = 3,
};

enum ARM_LATERALITY
{
        RIGHT_HAND,
        LEFT_HAND,
};




struct AngularInfo
{
        float Actuator1;
        float Actuator2;
        float Actuator3;
        float Actuator4;
        float Actuator5;
        float Actuator6;
};

struct CartesianInfo
{
        float X; 
        float Y; 
        float Z; 
        float ThetaX; 
        float ThetaY; 
        float ThetaZ; 
};

struct SensorsInfo
{
        float Voltage; 
        float Current; 
        float AccelerationX; 
        float AccelerationY; 
        float AccelerationZ; 
        float ActuatorTemp1; 
        float ActuatorTemp2; 
        float ActuatorTemp3; 
        float ActuatorTemp4; 
        float ActuatorTemp5; 
        float ActuatorTemp6; 
        float FingerTemp1;  
        float FingerTemp2;  
        float FingerTemp3;  
};

struct FingersPosition
{
        float Finger1; 
        float Finger2; 
        float Finger3; 
};

//  <br>Note: The finger position is always the same however it is angular or cartesian
struct CartesianPosition
{
        CartesianInfo Coordinates;
        FingersPosition Fingers;
};

struct AngularPosition
{
        AngularInfo Actuators;
        FingersPosition Fingers;
};

//      ________________________________________________________________________________________
//      |                                                       |                                                       |                                                               |
//      |                                                       |               Cartesian mode          |               Angular mode                    |
//      |___________________________|___________________________|_______________________________|
//      |       speedParameter1                 |       Linear Speed                    |       Speed of 3 first joints         |
//      |       speedParameter2                 |       Rotation Speed                  |       Speed of 3 last joints          |
//      |       speedParameter3                 |       Finger Speed                    |       Finger speed                            |
//      |                                                       |                                                       |                                                               |
//      |       forceParameter1                 |       Linear force                    |       3 first joints force            |
//      |       forceParameter2                 |       Rotation Force                  |       3 last joints force                     |
//      |       forceParameter3                 |       finger force                    |       Finger force                            |
//      |                                                       |                                                       |                                                               |
//      |       accelerationParameter1  |       Linear acceleration             |       3 first joints acceleration     |
//      |       accelerationParameter2  |       Rotation acceleration   |       3 last joints acceleration      |
//      |       accelerationParameter3  |       finger acceleration             |       Finger force acceleration       |
//      |___________________________|___________________________|_______________________________|


struct Limitation
{
        float speedParameter1; 
        float speedParameter2;  
        float speedParameter3; 
        float forceParameter1;  
        float forceParameter2; 
        float forceParameter3; 
        float accelerationParameter1; 
        float accelerationParameter2;  
        float accelerationParameter3; 
};

struct UserPosition
{
        POSITION_TYPE Type; 
        float Delay; 
    CartesianInfo CartesianPosition; 
        AngularInfo Actuators; 
        HAND_MODE HandMode; 
        FingersPosition Fingers; 
};

struct TrajectoryPoint
{
        UserPosition Position; 
        int LimitationsActive; 
        Limitation Limitations;  
};

struct TrajectoryFIFO
{
        unsigned int TrajectoryCount; 
        float UsedPercentage; 
        unsigned int MaxSize;  
};

struct SingularityVector
{
        int TranslationSingularityCount; 
        int OrientationSingularityCount; 
        float TranslationSingularityDistance; 
        float OrientationSingularityDistance; 
        CartesianInfo RepulsionVector; 
};

struct JoystickCommand
{
        short ButtonValue[JOYSTICK_BUTTON_COUNT]; 
        float InclineLeftRight; 
    float InclineForwardBackward;  
    float Rotate; 
    float MoveLeftRight; 
    float MoveForwardBackward;
        float PushPull; 
};


struct ClientConfigurations
{
    char ClientID[20]; 
    char ClientName[20]; 
        char Organization[20]; 
    char Serial[20]; 
    char Model[20]; 
        ARM_LATERALITY Laterality; 
    float MaxLinearSpeed; 
        float MaxAngularSpeed;  
    float MaxLinearAcceleration; 
        float MaxAngularAcceleration;  
        float MaxForce;  
    float Sensibility; 
        float DrinkingHeight; 
        int ComplexRetractActive; 
        float RetractedPositionAngle; 
        int RetractedPositionCount;
        UserPosition RetractPositions[NB_ADVANCE_RETRACT_POSITION]; 
        float DrinkingDistance;  
        int Fingers2and3Inverted; 
        float DrinkingLenght; 
        int DeletePreProgrammedPositionsAtRetract; 
        int EnableFlashErrorLog; 
        int EnableFlashPositionLog;  
};