This file contains all data structures and all data type(enum and typedef) that you'll need to use this API. More...

This graph shows which files directly or indirectly include this file:

Classes
struct	AngularAcceleration
	This data structure holds acceleration values(X, Y, Z) in an angular(joint by joint) control context. More...
struct	AngularInfo
	This data structure holds values in an angular(joint by joint) control context. As an example struct could contains position, temperature, torque, ... More...
struct	AngularPosition
	This data structure holds the values of an angular(actuators) position. More...
struct	ButtonEvents
	This is an event from a controller's button. Each variable of the struct can be mapped with a ControlFunctionalityTypeEnum. More...
struct	CartesianInfo
	This data structure holds values in an cartesian control context. More...
struct	CartesianPosition
	This data structure holds the values of a cartesian position. More...
struct	ClientConfigurations
	This structure holds informations relative to the client. It is mostly used for rehab clients. As an example, if you need to modify the max velocity or the retract position, it will be done here. The easiest way to modify the client configuration is to get the current one by calling the function GetClientConfigurations, modify all the parameters you need and send the structure back to the robot by calling the function SetClientConfigurations(). Note that some of the parameters are read only. That means that even if you modify them and send the structure to the robot, they will not be modified. More...
struct	ControlMapping
	This represents a group of functionalities mapped to some events triggered by a specific controller. More...
struct	ControlMappingCharts
	This structure holds all the control mapping of the system. It is the entry point if you want to use the mapping system. More...
struct	ControlsModeMap
	Represents one mode map of a control mapping. Each control mapping has 2 list of mode map. More...
struct	Finger
	Structure that represents a finger from the end effector's tool. More...
struct	FingersPosition
	This data structure holds the values of the robot's fingers. More...
struct	ForcesInfo
	This structure contains informations about the torque and the force of the robotical arm. More...
struct	GeneralInformations
	This is structure hold almost all information of the robotical arm. More...
struct	Gripper
	Structure that represents the robotical arm's gripper. More...
struct	JoystickCommand
	This is a virtual representation of a 6-axis joystick. More...
struct	Limitation
	This data structure represents all limitation that can be applied to a control context. More...
struct	PeripheralInfo
	This data structure holds information that describes an abstract peripheral. More...
struct	QuickStatus
	This structure holds various informations but mostly it is flag status. More...
struct	SensorsInfo
	This data structure holds the values of the robot's sensors. More...
struct	SingularityVector
	This data structure represents the informations regarding the singularities surrounding the end effector. It is not used for now but will be in the future. More...
struct	StickEvents
	This is an event from a controller's stick. Each variable of the struct can be mapped with a ControlFunctionalityTypeEnum. More...
struct	SystemError
	This represents a system error. Every error generated by the system is logged in the robot's flash memory. More...
struct	SystemStatus
	This structure holds system status flags. More...
struct	TrajectoryFIFO
	This data structure represents the informations regarding the robot's trajectory's FIFO. More...
struct	TrajectoryPoint
	This data structure represents a point of a trajectory. It contains the position a limitation that you can applied. More...
struct	UserPosition
	This data structure represents an abstract position built by a user. Depending on the control type the Cartesian information, the angular information or both will be used. More...
struct	Zone
	that represents a protection zone. More...
struct	ZoneLimitation
	This represents a group of limitations that can be applied to a trajectory point. More...
struct	ZoneList
	This structure represents the complete list of protection zone of the robotical arm. More...
struct	ZoneShape
	Represents the 3D shape of a protection zone. More...
Defines
#define	BUTTON_EVENT_COUNT 26
	This is the size of the array ControlButtons contained in the structure ControlsModeMap .
#define	CONTROL_MAPPING_COUNT 6
	This is the size of the array Mapping contained in the structure ControlMappingCharts .
#define	ERROR_DATA_COUNT_MAX 50
	This is the size of the data array stored in a SystemError object.
#define	ERROR_FILEREADING 5003
	This is an error code. It means that the function has some problem reading a file. Most of the time it is because the user don't have the privileges to do it.
#define	ERROR_LAYER_COUNT 7
	The robot's firmware has several software layers. This describes how many layer there is in the firmware.
#define	ERROR_MEMORY 5002
	This is an error code. It means that there was a memory related error. Most of the time it is because the system does not have enough memory.
#define	ERROR_UNKNOWFILE 5001
	This is an error code. It means that the file you are trying to interact with does not exist or is corrupted. Either way, the OS does not recognise it.
#define	JACO_FINGERS_COUNT 3
	This is the max finger count in a robot. (Jaco has 3 fingers and Mico has 2 fingers)
#define	JOYSTICK_BUTTON_COUNT 16
	Size of the ControlsModeMap array in the structure JoystickCommand.
#define	LEGACY_CONFIG_NB_POINTS_COUNT 8
	This is the size of the array Points in a ZoneShape .
#define	LEGACY_CONFIG_NB_ZONES_MAX 10
	This represents the max count of protection zones that can be stored in the robot's memory.
#define	MODE_MAP_COUNT 6
	This is the size of the arrays ModeControlsA and ModeControlsB contained in the structure ControlMapping .
#define	NB_ADVANCE_RETRACT_POSITION 20
	Max size of the advance retract trajectory that is stored in the ClientConfigurations.
#define	STICK_EVENT_COUNT 6
	This is the size of the array ControlSticks contained in the structure ControlsModeMap .
#define	STRING_LENGTH 20
	This is the size of all strings stored in the robot's firmware.
Enumerations
enum	ArmLaterality { RIGHTHAND, LEFTHAND }
	That indicates if the robot will be left handed or right handed. More...
enum	CONTROL_MODULE { CONTROL_MODULE_NONE, CONTROL_MODULE_ANGULAR_VELOCITY, CONTROL_MODULE_ANGULAR_POSITION, CONTROL_MODULE_CARTESIAN_VELOCITY, CONTROL_MODULE_CARTESIAN_POSITION, CONTROL_MODULE_RETRACT, CONTROL_MODULE_TRAJECTORY, CONTROL_MODULE_PREDEFINED, CONTROL_MODULE_TIMEDELAY }
	That describes a control module of the robotical arm's firmware. More...
enum	CONTROL_TYPE { CONTROL_TYPE_CARTESIAN = 0, CONTROL_TYPE_ANGULAR = 1 }
	This represents a type of control. For now, there is 2 type of control, it can either cartesian control or angular control. More...
enum	ControlFunctionalityTypeEnum { CF_NoFunctionality = 0, CF_Disable_EnableJoystick = 1, CF_Retract_ReadyToUse = 2, CF_Change_TwoAxis_ThreeAxis = 3, CF_Change_DrinkingMode = 4, CF_Cycle_ModeA_list = 5, CF_Cycle_ModeB_list = 6, CF_DecreaseSpeed = 7, CF_IncreaseSpeed = 8, CF_Goto_Position1 = 9, CF_Goto_Position2 = 10, CF_Goto_Position3 = 11, CF_Goto_Position4 = 12, CF_Goto_Position5 = 13, CF_RecordPosition1 = 14, CF_RecordPosition2 = 15, CF_RecordPosition3 = 16, CF_RecordPosition4 = 17, CF_RecordPosition5 = 18, CF_X_Positive = 19, CF_X_Negative = 20, CF_Y_Positive = 21, CF_Y_Negative = 22, CF_Z_Positive = 23, CF_Z_Negative = 24, CF_R_Positive = 25, CF_R_Negative = 26, CF_U_Positive = 27, CF_U_Negative = 28, CF_V_Positive = 29, CF_V_Negative = 30, CF_OpenHandOneFingers = 31, CF_CloseHandOneFingers = 32, CF_OpenHandTwoFingers = 33, CF_CloseHandTwoFingers = 34, CF_OpenHandThreeFingers = 35, CF_CloseHandThreeFingers = 36, CF_ForceAngularVelocity = 37, CF_ForceControlStatus = 38, CF_Trajectory = 39, CF_AutomaticOrientationXPlus = 40, CF_AutomaticOrientationXMinus = 41, CF_AutomaticOrientationYPlus = 42, CF_AutomaticOrientationYMinus = 43, CF_AutomaticOrientationZPlus = 44, CF_AutomaticOrientationZMinus = 45, CF_AdvanceGOTO_1 = 46, CF_AdvanceGOTO_Clear_1 = 47, CF_AdvanceGOTO_Add_1 = 48 }
	This is the list of available feature that can be mapped with a controller through the mappign system. Every list of mode that a mapping contains is mapped with one of these features. The default value is CF_NoFunctionality. More...
enum	Controller { THREE_AXIS_JOYSTICK = 0, TWO_AXIS_JOYSTICK = 1, API = 2, EASY_RIDER = 3, UNIVERSAL_INTERFACE = 4, EXTERNAL_CUSTOMINTERFACE = 5, NONE = 6, OLED_DISPLAY = 7 }
	This represents a type of controller. A controller is an entity that can send control commands to the robot. More...
enum	ControlMappingMode { OneAxis, TwoAxis, ThreeAxis, SixAxis }
	Indicates the type of controller. More...
enum	errorLoggerType { ERROR_NOTINITIALIZED, keos_err1, keos_err2, keos_err3, User_err_start_marker, errorlog_Actuator_Temperature, errorlog_Actuator_TemperatureOK, errorlog_Finger_Temperature, errorlog_Finger_TemperatureOK, errorlog_voltage, errorlog_voltageOK, errorlog_current_FingersClosing, errorlog_current_FingersOpening, errorlog_current_FingersOK, errorlog_current_Actuators, errorlog_current_ActuatorsOK, errorLog_RobotStatus_Build_Incomplete, errorLogger_END }
	That represents the type of an error. It is used mostly for identification. More...
enum	HAND_MODE { HAND_NOMOVEMENT, POSITION_MODE, VELOCITY_MODE }
	That indicates how the end effector will be used. More...
enum	PERIPHERAL_TYPE { PERIPHERAL_TYPE_NONE = 0, PERIPHERAL_TYPE_ANY = 1, PERIPHERAL_TYPE_ACTUATORK01 = 100, PERIPHERAL_TYPE_FINGERK01 = 200, PERIPHERAL_TYPE_JOYSTICK = 300, PERIPHERAL_TYPE_VIRTUAL_JOYSTICK = 301, PERIPHERAL_TYPE_CAN_INTERFACE = 400 }
enum	POSITION_TYPE { NOMOVEMENT_POSITION = 0, CARTESIAN_POSITION = 1, ANGULAR_POSITION = 2, CARTESIAN_VELOCITY = 7, ANGULAR_VELOCITY = 8, ANY_TRAJECTORY = 11, TIME_DELAY = 12 }
	That represents the type of a position. If used during a trajectory, the type of position will change the behaviour of the robot. For example if the position type is CARTESIAN_POSITION, then the robot's end effector will move to that position using the inverse kinematics. But if the type of position is CARTESIAN_VELOCITY then the robot will use the values as velocity command. More...
enum	RETRACT_TYPE { RETRACT_TYPE_NORMAL_TO_READY = 0, RETRACT_TYPE_READY_STANDBY = 1, RETRACT_TYPE_READY_TO_RETRACT = 2, RETRACT_TYPE_RETRACT_STANDBY = 3, RETRACT_TYPE_RETRACT_TO_READY = 4, RETRACT_TYPE_NORMAL_STANDBY = 5, RETRACT_TYPE_NOT_INITIALIZED = 6 }
	This describes the retract type the robotical arm. More...
enum	ShapeType { PrismSquareBase_X = 0, PrismSquareBase_Y = 1, PrismSquareBase_Z = 2, PrismTriangularBase_X = 3, PrismTriangularBase_Y = 4, PrismTriangularBase_Z = 5, Pyramid = 6 }
	This represents the type of a 3d shape. More...
Variables
const int	ADDRESS_PAGE_SIZE = 4
	This represents the size of a page's address.
const unsigned short	PACKET_PER_PAGE_QTY = 40
	This represents the quantity of USB packet stored in a memory page.
const unsigned short	PAGE_SIZE = 2048
	This represents the size of a memory page used to program the robot.
const int	PAGEPACKET_SIZE = 52
	That represents the data's size of each USB packet during firmware update.
const int	USB_DATA_SIZE = 56
	That represents the data's size of a normal USB packet.
const int	USB_HEADER_SIZE = 8
	That represents the size of a USB packet's header.

Detailed Description

This file contains all data structures and all data type(enum and typedef) that you'll need to use this API.

Definition in file KinovaTypes.h.

Define Documentation

#define BUTTON_EVENT_COUNT 26

This is the size of the array ControlButtons contained in the structure ControlsModeMap .

Definition at line 55 of file KinovaTypes.h.

#define CONTROL_MAPPING_COUNT 6

This is the size of the array Mapping contained in the structure ControlMappingCharts .

Definition at line 40 of file KinovaTypes.h.

#define ERROR_DATA_COUNT_MAX 50

This is the size of the data array stored in a SystemError object.

Definition at line 20 of file KinovaTypes.h.

#define ERROR_FILEREADING 5003

This is an error code. It means that the function has some problem reading a file. Most of the time it is because the user don't have the privileges to do it.

Definition at line 83 of file KinovaTypes.h.

#define ERROR_LAYER_COUNT 7

The robot's firmware has several software layers. This describes how many layer there is in the firmware.

Definition at line 25 of file KinovaTypes.h.

#define ERROR_MEMORY 5002

This is an error code. It means that there was a memory related error. Most of the time it is because the system does not have enough memory.

Definition at line 77 of file KinovaTypes.h.

#define ERROR_UNKNOWFILE 5001

This is an error code. It means that the file you are trying to interact with does not exist or is corrupted. Either way, the OS does not recognise it.

Definition at line 71 of file KinovaTypes.h.

#define JACO_FINGERS_COUNT 3

This is the max finger count in a robot. (Jaco has 3 fingers and Mico has 2 fingers)

Definition at line 65 of file KinovaTypes.h.

#define JOYSTICK_BUTTON_COUNT 16

Size of the ControlsModeMap array in the structure JoystickCommand.

Definition at line 10 of file KinovaTypes.h.

#define LEGACY_CONFIG_NB_POINTS_COUNT 8

This is the size of the array Points in a ZoneShape .

Definition at line 35 of file KinovaTypes.h.

#define LEGACY_CONFIG_NB_ZONES_MAX 10

This represents the max count of protection zones that can be stored in the robot's memory.

Definition at line 30 of file KinovaTypes.h.

#define MODE_MAP_COUNT 6

This is the size of the arrays ModeControlsA and ModeControlsB contained in the structure ControlMapping .

Definition at line 45 of file KinovaTypes.h.

#define NB_ADVANCE_RETRACT_POSITION 20

Max size of the advance retract trajectory that is stored in the ClientConfigurations.

Definition at line 15 of file KinovaTypes.h.

#define STICK_EVENT_COUNT 6

This is the size of the array ControlSticks contained in the structure ControlsModeMap .

Definition at line 50 of file KinovaTypes.h.

#define STRING_LENGTH 20

This is the size of all strings stored in the robot's firmware.

Definition at line 60 of file KinovaTypes.h.

Enumeration Type Documentation

enum ArmLaterality

That indicates if the robot will be left handed or right handed.

Enumerator:

RIGHTHAND	Right handed
LEFTHAND	Left handed

Definition at line 157 of file KinovaTypes.h.

enum CONTROL_MODULE

That describes a control module of the robotical arm's firmware.

Enumerator:

CONTROL_MODULE_NONE	No control module selected. The robotical arm cannot moves.
CONTROL_MODULE_ANGULAR_VELOCITY	Angular velocity control mode. Values sent to the actuators are velocity. Unit: degree / second.
CONTROL_MODULE_ANGULAR_POSITION	Angular position control mode. Values sent to the actuators are position. Unit: degree.
CONTROL_MODULE_CARTESIAN_VELOCITY	Cartesian velocity control mode. values sent to the end effector are velocity. translation Unit: meter / second, orientation unit: RAD / second.
CONTROL_MODULE_CARTESIAN_POSITION	Cartesian position control mode. values sent to the actuators are velocity. translation Unit: meter, orientation unit: RAD.
CONTROL_MODULE_RETRACT	Retract control mode. This manage movement between the READY(HOME) and the RETRACTED position. This can be angular or cartesian position control.
CONTROL_MODULE_TRAJECTORY	Not used for now.
CONTROL_MODULE_PREDEFINED	This manages the pre programmed position(GOTO). This is position control.
CONTROL_MODULE_TIMEDELAY	This manages the time delay during a trajectory.

Definition at line 192 of file KinovaTypes.h.

enum CONTROL_TYPE

This represents a type of control. For now, there is 2 type of control, it can either cartesian control or angular control.

Enumerator:

CONTROL_TYPE_CARTESIAN	Cartesian control. (translation and orientation)
CONTROL_TYPE_ANGULAR	Angular control. (joint by joint)

Definition at line 183 of file KinovaTypes.h.

enum ControlFunctionalityTypeEnum

This is the list of available feature that can be mapped with a controller through the mappign system. Every list of mode that a mapping contains is mapped with one of these features. The default value is CF_NoFunctionality.

Enumerator:

CF_NoFunctionality	Default value, represents nothing.
CF_Disable_EnableJoystick	Virtually turn on and off the joystick.
CF_Retract_ReadyToUse	Home the robot if the is initialized and anywhere in the workspace except between the READY and RETRACTED position. Go to RETRACTED position if the robot is in READY position and go to READY position if the robot is in RETRACTED position. is in READY mode.
CF_Change_TwoAxis_ThreeAxis	Not used for now.
CF_Change_DrinkingMode	Put the robotical arm in the drinking mode.
CF_Cycle_ModeA_list	Iterate mode in the list A.
CF_Cycle_ModeB_list	Iterate mode in the list B.
CF_DecreaseSpeed	Divide the velocity by 2.
CF_IncreaseSpeed	Double the speed.
CF_Goto_Position1	Move the robotical arm's end position to the GOTO position 1.
CF_Goto_Position2	Move the robotical arm's end position to the GOTO position 2.
CF_Goto_Position3	Move the robotical arm's end position to the GOTO position 3.
CF_Goto_Position4	Move the robotical arm's end position to the GOTO position 4.
CF_Goto_Position5	Move the robotical arm's end position to the GOTO position 5.
CF_RecordPosition1	Store the current cartesian position into the GOTO position 1.
CF_RecordPosition2	Store the current cartesian position into the GOTO position 2.
CF_RecordPosition3	Store the current cartesian position into the GOTO position 3.
CF_RecordPosition4	Store the current cartesian position into the GOTO position 4.
CF_RecordPosition5	Store the current cartesian position into the GOTO position 5.
CF_X_Positive	Move the robotical arm's end effector along the X axis toward the positive values. If the robotical arm is in angular control, this will move the actuator 1 counterclockwise.
CF_X_Negative	Move the robotical arm's end effector along the X axis toward the negative values. If the robotical arm is in angular control, this will move the actuator 1 clockwise.
CF_Y_Positive	Move the robotical arm's end effector along the Y axis toward the positive values. If the robotical arm is in angular control, this will move the actuator 2 counterclockwise.
CF_Y_Negative	Move the robotical arm's end effector along the Y axis toward the negative values. If the robotical arm is in angular control, this will move the actuator 2 clockwise.
CF_Z_Positive	Move the robotical arm's end effector along the Z axis toward the positive values. If the robotical arm is in angular control, this will move the actuator 3 counterclockwise.
CF_Z_Negative	Move the robotical arm's end effector along the Z axis toward the negative values. If the robotical arm is in angular control, this will move the actuator 3 clockwise.
CF_R_Positive	Rotate the robotical arm's end effector around the X axis counterclockwise. If the robotical arm is in angular control, this will move the actuator 4 counterclockwise.
CF_R_Negative	Rotate the robotical arm's end effector around the X axis clockwise. If the robotical arm is in angular control, this will move the actuator 4 clockwise.
CF_U_Positive	Rotate the robotical arm's end effector around the Y axis counterclockwise. If the robotical arm is in angular control, this will move the actuator 5 counterclockwise.
CF_U_Negative	Rotate the robotical arm's end effector around the X axis clockwise. If the robotical arm is in angular control, this will move the actuator 5 clockwise.
CF_V_Positive	Rotate the robotical arm's end effector around the Z axis counterclockwise. If the robotical arm is in angular control, this will move the actuator 6 counterclockwise.
CF_V_Negative	Rotate the robotical arm's end effector around the Z axis clockwise. If the robotical arm is in angular control, this will move the actuator 6 clockwise.
CF_OpenHandOneFingers	Not used for now.
CF_CloseHandOneFingers	Not used for now.
CF_OpenHandTwoFingers	Open fingers 1 and 2 of the hand.
CF_CloseHandTwoFingers	Close fingers 1 and 2 of the hand.
CF_OpenHandThreeFingers	Open fingers 1, 2 and 3 of the hand.
CF_CloseHandThreeFingers	Close fingers 1, 2 and 3 of the hand.
CF_ForceAngularVelocity	Put the robotical arm in angular control mode.
CF_ForceControlStatus	Turn ON/OFF the force control if the feature is available.
CF_Trajectory
CF_AutomaticOrientationXPlus	Orient the end effector toward the positive X Axis.
CF_AutomaticOrientationXMinus	Orient the end effector toward the negative X Axis.
CF_AutomaticOrientationYPlus	Orient the end effector toward the positive Y Axis.
CF_AutomaticOrientationYMinus	Orient the end effector toward the negative Y Axis.
CF_AutomaticOrientationZPlus	Orient the end effector toward the positive Z Axis.
CF_AutomaticOrientationZMinus	Orient the end effector toward the negative Z Axis.
CF_AdvanceGOTO_1	Move the robot along the advance GOTO position 1.
CF_AdvanceGOTO_Clear_1	Clear the advance GOTO's trajectory 1.
CF_AdvanceGOTO_Add_1	Add a point to the advance GOTO's trajectory 1.

Definition at line 933 of file KinovaTypes.h.

enum Controller

This represents a type of controller. A controller is an entity that can send control commands to the robot.

Enumerator:

THREE_AXIS_JOYSTICK	A three axis joystick controller.
TWO_AXIS_JOYSTICK	A two axis joystick controller.
API	The kinova API.
EASY_RIDER	The easy rider controller.
UNIVERSAL_INTERFACE	The kinova universal interface controller.
EXTERNAL_CUSTOMINTERFACE	An external custom interface controller.
NONE	No interface.
OLED_DISPLAY	An OLED display.

Definition at line 167 of file KinovaTypes.h.

enum ControlMappingMode

Indicates the type of controller.

Enumerator:

OneAxis	Represents a 1-axis controller.
TwoAxis	Represents a 2-axis controller.
ThreeAxis	Represents a 3-axis controller.
SixAxis	Represents a 6-axis controller.

Definition at line 1255 of file KinovaTypes.h.

enum errorLoggerType

That represents the type of an error. It is used mostly for identification.

Enumerator:

ERROR_NOTINITIALIZED	Default value.
keos_err1	An error from the system's first software layer. It is very low level stuff.
keos_err2	An error from the system's second software layer. It is very low level stuff.
keos_err3	An error from the system's third software layer. It is low level stuff.
User_err_start_marker	Not used for now.
errorlog_Actuator_Temperature	Indicates that one of the actuator's temperature has been over the temperature limit.
errorlog_Actuator_TemperatureOK	Indicates that the actuator that was in temperature error but is now ok.
errorlog_Finger_Temperature	Indicates that one of the finger's temperature has been over the temperature limit.
errorlog_Finger_TemperatureOK	Indicates that one of the finger's temperature was over the temperature limit but is now ok.
errorlog_voltage	Indicates that the voltage is below the minimum value.
errorlog_voltageOK	Indicate that the voltage was in error but is now ok.
errorlog_current_FingersClosing	That indicates the one of the finger's current has been over the current limit while closing.
errorlog_current_FingersOpening	That indicates the one of the finger's current has been over the current limit while opening.
errorlog_current_FingersOK	That indicates the one of the finger's current was in error but is now ok.
errorlog_current_Actuators	That indicates the one of the actuators's current has been over the current limit.
errorlog_current_ActuatorsOK	That indicates the one of the actuators was in current error but is now ok.
errorLog_RobotStatus_Build_Incomplete	The system did not detect enough hardware to virtually build a JACO or a MICO.
errorLogger_END	Not used for now.

Definition at line 1378 of file KinovaTypes.h.

enum HAND_MODE

That indicates how the end effector will be used.

Enumerator:

HAND_NOMOVEMENT	Fingers will not move.
POSITION_MODE	Fingers will move using position control.
VELOCITY_MODE	Fingers will move using velocity control.

Definition at line 147 of file KinovaTypes.h.

enum PERIPHERAL_TYPE

Enumerator:

PERIPHERAL_TYPE_NONE	Unknown type.
PERIPHERAL_TYPE_ANY	Abstract peripheral. internal use only.
PERIPHERAL_TYPE_ACTUATORK01	A joint's actuator.
PERIPHERAL_TYPE_FINGERK01	A finger.
PERIPHERAL_TYPE_JOYSTICK	A joystick.
PERIPHERAL_TYPE_VIRTUAL_JOYSTICK	A virtual joystick. This is mainly used by the API.
PERIPHERAL_TYPE_CAN_INTERFACE	A CAN interface on the main board.

Definition at line 133 of file KinovaTypes.h.

enum POSITION_TYPE

That represents the type of a position. If used during a trajectory, the type of position will change the behaviour of the robot. For example if the position type is CARTESIAN_POSITION, then the robot's end effector will move to that position using the inverse kinematics. But if the type of position is CARTESIAN_VELOCITY then the robot will use the values as velocity command.

Enumerator:

NOMOVEMENT_POSITION	Used for initialisation.
CARTESIAN_POSITION	A cartesian position described by a translation X, Y, Z and an orientation ThetaX, thetaY and ThetaZ.
ANGULAR_POSITION	An angular position described by a value for each actuator.
CARTESIAN_VELOCITY	A velocity vector used for velocity control.
ANGULAR_VELOCITY	Used for initialisation.
ANY_TRAJECTORY	Not used.
TIME_DELAY	Position used as a time delay.

Definition at line 121 of file KinovaTypes.h.

enum RETRACT_TYPE

This describes the retract type the robotical arm.

Enumerator:

RETRACT_TYPE_NORMAL_TO_READY	The robotical arm was in a normal custom position and is going toward the READY position.
RETRACT_TYPE_READY_STANDBY	The robotical arm is in READY position and is waiting for a command.
RETRACT_TYPE_READY_TO_RETRACT	The robotical arm was in READY position and is going toward the RETRACTED position.
RETRACT_TYPE_RETRACT_STANDBY	The robotical arm was in RETRACT position and is waiting for a command.
RETRACT_TYPE_RETRACT_TO_READY	The robotical arm was in RETRACT position and is going toward the READY position.
RETRACT_TYPE_NORMAL_STANDBY	The robotical arm is initialized and is anywhere in the workspace but it is not retracted, in READY position or between.
RETRACT_TYPE_NOT_INITIALIZED	The robotical arm is not initialized.

Definition at line 246 of file KinovaTypes.h.

enum ShapeType

This represents the type of a 3d shape.

Enumerator:

PrismSquareBase_X	Not used for now.
PrismSquareBase_Y	Not used for now.
PrismSquareBase_Z	A rectangular prism.
PrismTriangularBase_X	Not used for now.
PrismTriangularBase_Y	Not used for now.
PrismTriangularBase_Z	Not used for now.
Pyramid	Not used for now.

Definition at line 1579 of file KinovaTypes.h.

Variable Documentation

const int ADDRESS_PAGE_SIZE = 4

This represents the size of a page's address.

Definition at line 93 of file KinovaTypes.h.

const unsigned short PACKET_PER_PAGE_QTY = 40

This represents the quantity of USB packet stored in a memory page.

Definition at line 98 of file KinovaTypes.h.

const unsigned short PAGE_SIZE = 2048

This represents the size of a memory page used to program the robot.

Definition at line 88 of file KinovaTypes.h.

const int PAGEPACKET_SIZE = 52

That represents the data's size of each USB packet during firmware update.

Definition at line 103 of file KinovaTypes.h.

const int USB_DATA_SIZE = 56

That represents the data's size of a normal USB packet.

Definition at line 113 of file KinovaTypes.h.

const int USB_HEADER_SIZE = 8

That represents the size of a USB packet's header.

Definition at line 108 of file KinovaTypes.h.

Classes

Defines

Enumerations

Variables

Detailed Description

Define Documentation

Enumeration Type Documentation

Variable Documentation