KinovaTypes.h

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#ifndef KINOVA_TYPES_H_
#define KINOVA_TYPES_H_


#define JOYSTICK_BUTTON_COUNT 16
#define NB_ADVANCE_RETRACT_POSITION             20

enum POSITION_TYPE
{
        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,
};

enum HAND_MODE
{
        HAND_NOMOVEMENT,
        POSITION_MODE,
        VELOCITY_MODE,
    NO_FINGER,
    ONE_FINGER,
    TWO_FINGER,
    THREEFINGER
};

enum ArmLaterality
{
        RIGHTHAND,
        LEFTHAND,
};

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;
};

struct CartesianPosition
{
        CartesianInfo Coordinates;
        FingersPosition Fingers;
};

struct AngularPosition
{
        AngularInfo Actuators;
        FingersPosition Fingers;
};

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];

        ArmLaterality 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;
};                      

#endif /* KINOVA_TYPES_H_ */