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...
#include <KinovaTypes.h>
Public Attributes | |
| char | ClientID [STRING_LENGTH] |
| This is the ID of the client. The string must ends with a EndOfString character(\0). | |
| char | ClientName [STRING_LENGTH] |
| This is the name of the client. The string must ends with a EndOfString character(\0). | |
| int | ComplexRetractActive |
| That flag tells you if the advance retract feature is active. (0 = not active, 1 = active) The advance retract mode let you decide the trajectory between the READY(home) position and the retracted position. | |
| int | DeletePreProgrammedPositionsAtRetract |
| It is a flag that indicates if the GOTO(pre programmed) position are deleted when the robot goes in READY position. | |
| float | DrinkingDistance |
| This value is used only when the drinking mode is active. This add a an offset to the translation X axis based on the end effector frame. It is the diameter of a glass when you drink. | |
| float | DrinkingHeight |
| This value is used only when the drinking mode is active. This add a an offset to the translation Y value. It is the height of a glass when you drink. | |
| float | DrinkingLenght |
| This value is used only when the drinking mode is active. This add a an offset to the translation Z axis based on the end effector frame. It is the distance between the end effector and the glass when you drink. | |
| int | EnableFlashErrorLog |
| Not used for now. | |
| int | EnableFlashPositionLog |
| Not used for now. | |
| int | Expansion [198] |
| Not used for now. | |
| int | Fingers2and3Inverted |
| This is a flag to invert finger 2 and 3. It is mostly used in rehab for left handed robot.(0 = normal, 1 = inverted) | |
| ArmLaterality | Laterality |
| That tells you if the robot is left handed or right handed. If you modify this parameter, the change will take effect on the next REBOOT. | |
| float | MaxForce |
| Not used for now. | |
| float | MaxOrientationAcceleration |
| This is the max orientation acceleration of the robot's end effector. | |
| float | MaxOrientationVelocity |
| This is the max orientation(ThetaX, ThetaY and ThetaZ) velocity of the robot's end effector. | |
| float | MaxTranslationAcceleration |
| This is the max translation acceleration of the robot's end effector. | |
| float | MaxTranslationVelocity |
| This is the max translation(X, Y and Z) velocity of the robot's end effector. | |
| char | Model [STRING_LENGTH] |
| This is where you can store the model number of the robot. The string must ends with a EndOfString character(\0). | |
| char | Organization [STRING_LENGTH] |
| This is the name of the organization. The string must ends with a EndOfString character(\0). | |
| float | RetractedPositionAngle |
| This value is the angle between the second carbon link(between actuator 2 and 3) and the X-Y plane. | |
| int | RetractedPositionCount |
| This tells you how many positions there is in the advance retract trajectory. | |
| UserPosition | RetractPositions [NB_ADVANCE_RETRACT_POSITION] |
| float | Sensibility |
| This is the sensibility of the controller. The value is a % of the command received by the controller. Higher is the value and higher is the sensibility. Higher is the sensibility, quicker the end effector will reach the desired velocity for the same joystick command. | |
| char | Serial [STRING_LENGTH] |
| This is where you can store the serial number of the robot. The string must ends with a EndOfString character(\0). | |
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.
Definition at line 801 of file KinovaTypes.h.
This is the ID of the client. The string must ends with a EndOfString character(\0).
Definition at line 806 of file KinovaTypes.h.
This is the name of the client. The string must ends with a EndOfString character(\0).
Definition at line 811 of file KinovaTypes.h.
That flag tells you if the advance retract feature is active. (0 = not active, 1 = active) The advance retract mode let you decide the trajectory between the READY(home) position and the retracted position.
Definition at line 877 of file KinovaTypes.h.
It is a flag that indicates if the GOTO(pre programmed) position are deleted when the robot goes in READY position.
Definition at line 910 of file KinovaTypes.h.
This value is used only when the drinking mode is active. This add a an offset to the translation X axis based on the end effector frame. It is the diameter of a glass when you drink.
Definition at line 894 of file KinovaTypes.h.
This value is used only when the drinking mode is active. This add a an offset to the translation Y value. It is the height of a glass when you drink.
Definition at line 870 of file KinovaTypes.h.
This value is used only when the drinking mode is active. This add a an offset to the translation Z axis based on the end effector frame. It is the distance between the end effector and the glass when you drink.
Definition at line 905 of file KinovaTypes.h.
Not used for now.
Definition at line 915 of file KinovaTypes.h.
Not used for now.
Definition at line 920 of file KinovaTypes.h.
| int ClientConfigurations::Expansion[198] |
Not used for now.
Definition at line 925 of file KinovaTypes.h.
This is a flag to invert finger 2 and 3. It is mostly used in rehab for left handed robot.(0 = normal, 1 = inverted)
Definition at line 899 of file KinovaTypes.h.
That tells you if the robot is left handed or right handed. If you modify this parameter, the change will take effect on the next REBOOT.
Definition at line 832 of file KinovaTypes.h.
Not used for now.
Definition at line 857 of file KinovaTypes.h.
This is the max orientation acceleration of the robot's end effector.
Definition at line 852 of file KinovaTypes.h.
This is the max orientation(ThetaX, ThetaY and ThetaZ) velocity of the robot's end effector.
Definition at line 842 of file KinovaTypes.h.
This is the max translation acceleration of the robot's end effector.
Definition at line 847 of file KinovaTypes.h.
This is the max translation(X, Y and Z) velocity of the robot's end effector.
Definition at line 837 of file KinovaTypes.h.
This is where you can store the model number of the robot. The string must ends with a EndOfString character(\0).
Definition at line 826 of file KinovaTypes.h.
This is the name of the organization. The string must ends with a EndOfString character(\0).
Definition at line 816 of file KinovaTypes.h.
This value is the angle between the second carbon link(between actuator 2 and 3) and the X-Y plane.
Definition at line 882 of file KinovaTypes.h.
This tells you how many positions there is in the advance retract trajectory.
Definition at line 887 of file KinovaTypes.h.
Definition at line 888 of file KinovaTypes.h.
This is the sensibility of the controller. The value is a % of the command received by the controller. Higher is the value and higher is the sensibility. Higher is the sensibility, quicker the end effector will reach the desired velocity for the same joystick command.
Definition at line 864 of file KinovaTypes.h.
This is where you can store the serial number of the robot. The string must ends with a EndOfString character(\0).
Definition at line 821 of file KinovaTypes.h.