#SDH::cSDH is the end user interface class to control a SDH (SCHUNK Dexterous Hand). More...

#include <sdh.h>

Inheritance diagram for cSDH:

Public Types
enum	eAxisState { eAS_IDLE = 0, eAS_POSITIONING, eAS_SPEED_MODE, eAS_NOT_INITIALIZED, eAS_CW_BLOCKED, eAS_CCW_BLOCKED, eAS_DISABLED, eAS_LIMITS_REACHED, eAS_DIMENSION }
	The state of an axis (see TPOSCON_STATE in global.h of the SDH firmware) More...
enum	eMotorCurrentMode { eMCM_MOVE = 0, eMCM_GRIP = 1, eMCM_HOLD = 2, eMCM_DIMENSION }
	the motor current can be set specifically for these modes: More...
Public Member Functions
	cSDH (bool _use_radians=false, bool _use_fahrenheit=false, int _debug_level=0)
	Constructor of cSDH class.
virtual	~cSDH ()
Communication methods

void	OpenRS232 (int _port=0, unsigned long _baudrate=115200, double _timeout=-1, char const _device_format_string="/dev/ttyS%d") throw (cSDHLibraryException)
void	OpenCAN_ESD (int _net=0, unsigned long _baudrate=1000000, double _timeout=0.0, Int32 _id_read=43, Int32 _id_write=42) throw (cSDHLibraryException*)
void	OpenCAN_ESD (tDeviceHandle _ntcan_handle, double _timeout=0.0, Int32 _id_read=43, Int32 _id_write=42) throw (cSDHLibraryException*)
void	OpenCAN_PEAK (unsigned long _baudrate=1000000, double _timeout=0.0, Int32 _id_read=43, Int32 _id_write=42, const char _device="/dev/pcanusb0") throw (cSDHLibraryException)
void	OpenCAN_PEAK (tDeviceHandle _handle, double _timeout=0.0, Int32 _id_read=43, Int32 _id_write=42) throw (cSDHLibraryException*)
void	OpenTCP (char const _tcp_adr="192.168.1.1", int _tcp_port=23, double _timeout=0.0) throw (cSDHLibraryException)
void	Close (bool leave_enabled=false) throw (cSDHLibraryException*)
virtual bool	IsOpen (void) throw ()
Auxiliary movement methods

void	EmergencyStop (void) throw (cSDHLibraryException*)
void	Stop (void) throw (cSDHLibraryException*)
void	SetController (cSDHBase::eControllerType controller) throw (cSDHLibraryException*)
eControllerType	GetController (void) throw (cSDHLibraryException*)
void	SetVelocityProfile (eVelocityProfile velocity_profile) throw (cSDHLibraryException*)
eVelocityProfile	GetVelocityProfile (void) throw (cSDHLibraryException*)
Methods to access SDH on axis-level

void	SetAxisMotorCurrent (std::vector< int > const &axes, std::vector< double > const &motor_currents, eMotorCurrentMode mode=eMCM_MOVE) throw (cSDHLibraryException*)
void	SetAxisMotorCurrent (int iAxis, double motor_current, eMotorCurrentMode mode=eMCM_MOVE) throw (cSDHLibraryException*)
std::vector< double >	GetAxisMotorCurrent (std::vector< int > const &axes, eMotorCurrentMode mode=eMCM_MOVE) throw (cSDHLibraryException*)
double	GetAxisMotorCurrent (int iAxis, eMotorCurrentMode mode=eMCM_MOVE) throw (cSDHLibraryException*)
void	SetAxisEnable (std::vector< int > const &axes, std::vector< double > const &states) throw (cSDHLibraryException*)
void	SetAxisEnable (int iAxis=All, double state=1.0) throw (cSDHLibraryException*)
void	SetAxisEnable (std::vector< int > const &axes, std::vector< bool > const &states) throw (cSDHLibraryException*)
void	SetAxisEnable (int iAxis=All, bool state=true) throw (cSDHLibraryException*)
std::vector< double >	GetAxisEnable (std::vector< int > const &axes) throw (cSDHLibraryException*)
double	GetAxisEnable (int iAxis) throw (cSDHLibraryException*)
std::vector< eAxisState >	GetAxisActualState (std::vector< int > const &axes) throw (cSDHLibraryException*)
eAxisState	GetAxisActualState (int iAxis) throw (cSDHLibraryException*)
void	WaitAxis (std::vector< int > const &axes, double timeout=-1.0) throw (cSDHLibraryException*)
void	WaitAxis (int iAxis, double timeout=-1.0) throw (cSDHLibraryException*)
void	SetAxisTargetAngle (std::vector< int > const &axes, std::vector< double > const &angles) throw (cSDHLibraryException*)
void	SetAxisTargetAngle (int iAxis, double angle) throw (cSDHLibraryException*)
std::vector< double >	SetAxisTargetGetAxisActualAngle (std::vector< int > const &axes, std::vector< double > const &angles) throw (cSDHLibraryException*)
std::vector< double >	GetAxisTargetAngle (std::vector< int > const &axes) throw (cSDHLibraryException*)
double	GetAxisTargetAngle (int iAxis) throw (cSDHLibraryException*)
std::vector< double >	GetAxisActualAngle (std::vector< int > const &axes) throw (cSDHLibraryException*)
double	GetAxisActualAngle (int iAxis) throw (cSDHLibraryException*)
void	SetAxisTargetVelocity (std::vector< int > const &axes, std::vector< double > const &velocities) throw (cSDHLibraryException*)
void	SetAxisTargetVelocity (int iAxis, double velocity) throw (cSDHLibraryException*)
std::vector< double >	SetAxisTargetGetAxisActualVelocity (std::vector< int > const &axes, std::vector< double > const &velocities) throw (cSDHLibraryException*)
std::vector< double >	GetAxisTargetVelocity (std::vector< int > const &axes) throw (cSDHLibraryException*)
double	GetAxisTargetVelocity (int iAxis) throw (cSDHLibraryException*)
std::vector< double >	GetAxisLimitVelocity (std::vector< int > const &axes) throw (cSDHLibraryException*)
double	GetAxisLimitVelocity (int iAxis) throw (cSDHLibraryException*)
std::vector< double >	GetAxisLimitAcceleration (std::vector< int > const &axes) throw (cSDHLibraryException*)
double	GetAxisLimitAcceleration (int iAxis) throw (cSDHLibraryException*)
std::vector< double >	GetAxisActualVelocity (std::vector< int >const &axes) throw (cSDHLibraryException*)
double	GetAxisActualVelocity (int iAxis) throw (cSDHLibraryException*)
std::vector< double >	GetAxisReferenceVelocity (std::vector< int >const &axes) throw (cSDHLibraryException*)
double	GetAxisReferenceVelocity (int iAxis) throw (cSDHLibraryException*)
void	SetAxisTargetAcceleration (std::vector< int >const &axes, std::vector< double >const &accelerations) throw (cSDHLibraryException*)
void	SetAxisTargetAcceleration (int iAxis, double acceleration) throw (cSDHLibraryException*)
std::vector< double >	GetAxisTargetAcceleration (std::vector< int >const &axes) throw (cSDHLibraryException*)
double	GetAxisTargetAcceleration (int iAxis) throw (cSDHLibraryException*)
std::vector< double >	GetAxisMinAngle (std::vector< int > const &axes) throw (cSDHLibraryException*)
double	GetAxisMinAngle (int iAxis) throw (cSDHLibraryException*)
std::vector< double >	GetAxisMaxAngle (std::vector< int > const &axes) throw (cSDHLibraryException*)
double	GetAxisMaxAngle (int iAxis) throw (cSDHLibraryException*)
std::vector< double >	GetAxisMaxVelocity (std::vector< int > const &axes) throw (cSDHLibraryException*)
double	GetAxisMaxVelocity (int iAxis) throw (cSDHLibraryException*)
std::vector< double >	GetAxisMaxAcceleration (std::vector< int > const &axes) throw (cSDHLibraryException*)
double	GetAxisMaxAcceleration (int iAxis) throw (cSDHLibraryException*)
double	MoveAxis (std::vector< int >const &axes, bool sequ=true) throw (cSDHLibraryException*)
double	MoveAxis (int iAxis, bool sequ=true) throw (cSDHLibraryException*)
Methods to access SDH on finger-level

void	SetFingerEnable (std::vector< int > const &fingers, std::vector< double > const &states) throw (cSDHLibraryException*)
void	SetFingerEnable (int iFinger, double state=1.0) throw (cSDHLibraryException*)
void	SetFingerEnable (std::vector< int > const &fingers, std::vector< bool > const &states) throw (cSDHLibraryException*)
void	SetFingerEnable (int iFinger, bool state) throw (cSDHLibraryException*)
std::vector< double >	GetFingerEnable (std::vector< int > const &fingers) throw (cSDHLibraryException*)
double	GetFingerEnable (int iFinger) throw (cSDHLibraryException*)
void	SetFingerTargetAngle (int iFinger, std::vector< double > const &angles) throw (cSDHLibraryException*)
void	SetFingerTargetAngle (int iFinger, double a0, double a1, double a2) throw (cSDHLibraryException*)
std::vector< double >	GetFingerTargetAngle (int iFinger) throw (cSDHLibraryException*)
void	GetFingerTargetAngle (int iFinger, double &a0, double &a1, double &a2) throw (cSDHLibraryException*)
std::vector< double >	GetFingerActualAngle (int iFinger) throw (cSDHLibraryException*)
void	GetFingerActualAngle (int iFinger, double &a0, double &a1, double &a2) throw (cSDHLibraryException*)
std::vector< double >	GetFingerMinAngle (int iFinger) throw (cSDHLibraryException*)
void	GetFingerMinAngle (int iFinger, double &a0, double &a1, double &a2) throw (cSDHLibraryException*)
std::vector< double >	GetFingerMaxAngle (int iFinger) throw (cSDHLibraryException*)
void	GetFingerMaxAngle (int iFinger, double &a0, double &a1, double &a2) throw (cSDHLibraryException*)
std::vector< double >	GetFingerXYZ (int iFinger, std::vector< double > const &angles) throw (cSDHLibraryException*)
std::vector< double >	GetFingerXYZ (int iFinger, double a0, double a1, double a2) throw (cSDHLibraryException*)
double	MoveFinger (std::vector< int >const &fingers, bool sequ=true) throw (cSDHLibraryException*)
double	MoveFinger (int iFinger, bool sequ=true) throw (cSDHLibraryException*)
double	MoveHand (bool sequ=true) throw (cSDHLibraryException*)
Methods to access %SDH grip skills

double	GetGripMaxVelocity (void)
double	GripHand (eGraspId grip, double close, double velocity, bool sequ=true) throw (cSDHLibraryException*)
Public Attributes
Predefined index vector objects

std::vector< int >	all_axes
	A vector with indices of all axes (in natural order), including the virtual axis.
std::vector< int >	all_real_axes
	A vector with indices of all real axes (in natural order), excluding the virtual axis.
std::vector< int >	all_fingers
	A vector with indices of all fingers (in natural order)
std::vector< int >	all_temperature_sensors
	A vector with indices of all temperature sensors.
Predefined unit conversion objects
Pointers to the unit converter objects used by this cSDH object. The refered objects convert values between different unit systems. Example: convert angle values between degrees and radians, temperatures between degrees celsius and degrees fahrenheit or the like. A cSDH object uses these converter objects to convert between external (user) and internal (SDH) units. The user can easily change the converter object that is used for a certain kind of unit. This way a cSDH object can easily report and accept parameters in the user or application specific unit system. Additionally, users can easily add conversion objects for their own, even more user- or application-specific unit systems.
const cUnitConverter *	uc_angle
	unit convert for (axis) angles: default = #SDH::cSDH::uc_angle_degrees
const cUnitConverter *	uc_angular_velocity
	unit convert for (axis) angular velocities: default = #SDH::cSDH::uc_angular_velocity_degrees_per_second
const cUnitConverter *	uc_angular_acceleration
	unit convert for (axis) angular accelerations: default = #SDH::cSDH::uc_angular_acceleration_degrees_per_second_squared
const cUnitConverter *	uc_time
	unit convert for times: default = uc_time_seconds
const cUnitConverter *	uc_temperature
	unit convert for temperatures: default = #SDH::cSDH::uc_temperature_celsius
const cUnitConverter *	uc_motor_current
	unit converter for motor curent: default = #SDH::cSDH::uc_motor_current_ampere
const cUnitConverter *	uc_position
	unit converter for position: default = #SDH::cSDH::uc_position_millimeter
Static Public Attributes
Predefined unit conversion objecs
Some predefined cUnitConverter unit conversion objects to convert values between different unit systems. These are static members since the converter objects do not depend on the individiual cSDH object. For every physical unit used in the cSDH class there is at least one (most of the time more than one) predefined unit converter. For example for angles there are radians and degrees.
static cUnitConverter const	uc_angle_degrees
	Default converter for angles (internal unit == external unit): degrees.
static cUnitConverter const	uc_angle_radians
	Converter for angles: external unit = radians.
static cUnitConverter const	uc_time_seconds
	Default converter for times (internal unit == external unit): seconds.
static cUnitConverter const	uc_time_milliseconds
	Converter for times: external unit = milliseconds.
static cUnitConverter const	uc_temperature_celsius
	Default converter for temparatures (internal unit == external unit): degrees celsius.
static cUnitConverter const	uc_temperature_fahrenheit
	Converter for temperatures: external unit = degrees fahrenheit.
static cUnitConverter const	uc_angular_velocity_degrees_per_second
	Default converter for angular velocities (internal unit == external unit): degrees / second.
static cUnitConverter const	uc_angular_velocity_radians_per_second
	Converter for angular velocieties: external unit = radians/second.
static cUnitConverter const	uc_angular_acceleration_degrees_per_second_squared
	Default converter for angular accelerations (internal unit == external unit): degrees / second.
static cUnitConverter const	uc_angular_acceleration_radians_per_second_squared
	Converter for angular velocieties: external unit = radians/second.
static cUnitConverter const	uc_motor_current_ampere
	Default converter for motor current (internal unit == external unit): Ampere.
static cUnitConverter const	uc_motor_current_milliampere
	Converter for motor current: external unit = milli Ampere.
static cUnitConverter const	uc_position_millimeter
	Default converter for position (internal unit == external unit): millimeter.
static cUnitConverter const	uc_position_meter
	Converter for position: external unit = meter.
Protected Member Functions
Internal helper methods

std::vector< double >	SetAxisValueVector (std::vector< int > const &axes, std::vector< double > const &values, pSetFunction ll_set, pGetFunction ll_get, cUnitConverter const uc, std::vector< double > const &min_values, std::vector< double > const &max_values, char const name) throw (cSDHLibraryException*)
std::vector< double >	GetAxisValueVector (std::vector< int > const &axes, pGetFunction ll_get, cUnitConverter const uc, char const name) throw (cSDHLibraryException*)
std::vector< int >	ToIndexVector (int index, std::vector< int > &all_replacement, int maxindex, char const name) throw (cSDHLibraryException)
pSetFunction	GetMotorCurrentModeFunction (eMotorCurrentMode mode) throw (cSDHLibraryException*)
std::vector< double >	_GetFingerXYZ (int fi, std::vector< double > r_angles) throw (cSDHLibraryException*)
Protected Attributes
std::vector< double >	f_max_acceleration_v
	Maximum allowed axis acceleration (in internal units (degrees/(second * second))), including the virtual axis.
std::vector< double >	f_max_angle_v
	Maximum allowed axis angles (in internal units (degrees)), including the virtual axis.
std::vector< double >	f_max_motor_current_v
	Maximum allowed motor currents (in internal units (Ampere)), including the virtual axis.
std::vector< double >	f_max_velocity_v
	Maximum allowed axis velocity (in internal units (degrees/second)), including the virtual axis.
std::vector< double >	f_min_acceleration_v
	Minimum allowed axis acceleration (in internal units (degrees/(second * second))), including the virtual axis.
std::vector< double >	f_min_angle_v
	Minimum allowed axis angles (in internal units (degrees)), including the virtual axis.
std::vector< double >	f_min_motor_current_v
	Minimum allowed motor currents (in internal units (Ampere)), including the virtual axis.
std::vector< double >	f_min_velocity_v
	Minimum allowed axis velocity (in internal units (degrees/second)), including the virtual axis.
std::vector< double >	f_ones_v
	Vector of 3 1.0 values.
std::vector< double >	f_zeros_v
	Vector of 3 epsilon values.
std::vector< std::vector< int > >	finger_axis_index
	Mapping of finger index, finger axis index to axis index:
std::vector< int >	finger_number_of_axes
	Mapping of finger index to number of real axes of fingers:
double	grip_max_velocity
	Maximum allowed grip velocity (in internal units (degrees/second))
int	nb_all_axes
	The number of all axes including virtual axes.
int	NUMBER_OF_AXES_PER_FINGER
	The number of axis per finger (for finger 1 this includes the "virtual" base axis)
int	NUMBER_OF_VIRTUAL_AXES
	The number of virtual axes.
std::vector< double >	ones_v
	Vector of nb_all_axes 1.0 values.
std::vector< double >	zeros_v
	Vector of nb_all_axes 0.0 values.
Private Member Functions
void	AdjustLimits (cSDHBase::eControllerType controller)
void	UpdateSettingsFromSDH ()
Private Attributes
eControllerType	controller_type
	cached value of the axis controller type
std::string	release_firmware
	string containing the SDH firmware release of the attaced SDH (something like "0.0.2.7")
Kinematic parameters of the Hand

double	l1
	length of limb 1 (proximal joint to distal joint) in mm
double	l2
	length of limb 2 (distal joint to fingertip) in mm
double	d
double	h
std::vector< std::vector < double > >	offset
cSerialBase *	com
cSDHSerial	comm_interface
	The object to interface with the SDH attached via serial RS232 or CAN or TCP.
virtual void	SetDebugOutput (std::ostream *debuglog)
	change the stream to use for debug messages
Miscellaneous methods

bool	IsVirtualAxis (int iAxis) throw (cSDHLibraryException*)
	Return `true` if index iAxis refers to a virtual axis.
void	UseRadians (void)
void	UseDegrees (void)
int	GetFingerNumberOfAxes (int iFinger) throw (cSDHLibraryException*)
int	GetFingerAxisIndex (int iFinger, int iFingerAxis) throw (cSDHLibraryException*)
char const *	GetFirmwareRelease (void) throw (cSDHLibraryException*)
bool	CheckFirmwareRelease (void) throw (cSDHLibraryException*)
char const *	GetInfo (char const what) throw (cSDHLibraryException)
std::vector< double >	GetTemperature (std::vector< int > const &sensors) throw (cSDHLibraryException*)
double	GetTemperature (int iSensor) throw (cSDHLibraryException*)
static char const *	GetLibraryRelease (void)
static char const *	GetLibraryName (void)
static char const *	GetFirmwareReleaseRecommended (void)

Detailed Description

#SDH::cSDH is the end user interface class to control a SDH (SCHUNK Dexterous Hand).

A general overview of the structure and architecture used is given here.

Remarks:

The cSDH class provides methods to access the 7 axes of the SDH individually as well as on a finger level.
- When accessing the axes individually then the following axis indices must be used to address an axis / some axes:
  - 0 : common base axis of finger 0 and 2
  - 1 : proximal axis of finger 0
  - 2 : distal axis of finger 0
  - 3 : proximal axis of finger 1
  - 4 : distal axis of finger 1
  - 5 : proximal axis of finger 2
  - 6 : distal axis of finger 2
- When accessing the axes on finger level then every finger has 3 axes for a uniform interface of the access methods. Her the following finger axis indices must be used:
  - 0 : base axis of finger (for finger 1 this is a "virtual" axis with min angle = max angle = 0.0)
  - 1 : proximal axis of finger
  - 2 : distal axis of finger
Vector-like parmeters: The interface functions defined here make full use of the flexibility provided by the STL vector<T> type. I.E. for parameters of functions like axis indices or axis angles not only single numerical values can be given, but also vectors of int or double values. This way the same (overloaded) interface function can address a single axis individually or multiple axes in a call, as required by the application. Such parameters are herein refered to as "vectors".
Parameters for methods are checked for validity. In case an invalid parameter is given the method throws a cSDHErrorInvalidParameter exception.
The underlying physical unit system of parameters that do have a unit (like angles, velocities or temperatures) can be adapted to the users or the applications need. See also unit conversion objects". The default converter objects are set as the uc_* member variables (uc_angle, uc_angular_velocity, uc_angular_acceleration, uc_time, uc_temperature, uc_position). The units are changed in the communication between user application and cSDH object instance only (USERAPP and SDHLibrary-CPP in the overview figure"). For now the SDH firmware knows only about its internal unit system.

Definition at line 189 of file sdh.h.

Member Enumeration Documentation

enum cSDH::eAxisState

The state of an axis (see TPOSCON_STATE in global.h of the SDH firmware)

Enumerator:

eAS_IDLE	axis is idle
eAS_POSITIONING	the goal position has not been reached yet
eAS_SPEED_MODE	axis is in speed mode
eAS_NOT_INITIALIZED	axis is not initialized or doesn't exist
eAS_CW_BLOCKED	axis is blocked in counterwise direction
eAS_CCW_BLOCKED	axis is blocked is blocked in against counterwise direction
eAS_DISABLED	axis is disabled
eAS_LIMITS_REACHED	position limits reached and axis stopped
eAS_DIMENSION	Endmarker and Dimension.

Definition at line 205 of file sdh.h.

enum cSDH::eMotorCurrentMode

the motor current can be set specifically for these modes:

Enumerator:

eMCM_MOVE	The motor currents used while "moving" with a MoveHand() or MoveFinger() command.
eMCM_GRIP	The motor currents used while "gripping" with a GripHand() command.
eMCM_HOLD	The motor currents used after "gripping" with a GripHand() command (i.e. "holding")
eMCM_DIMENSION	Endmarker and Dimension.

Definition at line 194 of file sdh.h.

Constructor & Destructor Documentation

cSDH::cSDH	(	bool	_use_radians = `false`,
		bool	_use_fahrenheit = `false`,
		int	_debug_level = `0`
	)

Constructor of cSDH class.

Creates an new object of type cSDH. One such object is needed for each SDH that you want to control. The constructor initializes internal data structures. A connection the SDH is not yet established, see OpenRS232() on how to do that.

After an object is created the user can adjust the unit systems used to set/report parameters to/from SDH. This is shown in the example code below. The default units used (if not overwritten by constructor parameters) are:

degrees [deg] for (axis) angles
degrees per second [deg/s] for (axis) angular velocities
seconds [s] for times
degrees celsius [deg C] for temperatures

Parameters:

_use_radians	: Flag, if true then use radians and radians/second to set/report (axis) angles and angular velocities instead of default degrees and degrees/s.
_use_fahrenheit	: Flag, if true then use degrees fahrenheit to report temperatures instead of default degrees celsius.
_debug_level	: The level of debug messages to print 0: (default) no messages 1: messages of this cSDH instance 2: like 1 plus messages of the inner cSDHSerial instance

Examples:

Common use:

       // Include the cSDH interface
       #include <sdh.h>

       // Create a cSDH object 'hand'.
       cSDH hand();

The mentioned change of a unit system can be done like this:

       // Assuming 'hand' is a cSDH object ...

       // override default unit converter for (axis) angles:
       hand.uc_angle = &cSDH::uc_angle_radians;

       // override default unit converter for (axis) angular velocities:
       hand.uc_angular_velocity = &cSDH::uc_angular_velocity_radians_per_second;

       // override default unit converter for (axis) angular accelerations:
       hand.uc_angular_acceleration = &cSDH::uc_angular_acceleration_radians_per_second_squared;

       // instead of the last 3 calls the following shortcut could be used:
       hand.UseRadians();

       // override default unit converter for times:
       hand.uc_time  = &cSDH::uc_time_milliseconds;

       // override default unit converter for temperatures:
       hand.uc_temperature = &cSDH::uc_temperature_fahrenheit;

       // override default unit converter for positions:
       hand.uc_position = &cSDH::uc_position_meter;

For convenience the most common settings can be specified as bool parameters for the constructor, like in:

       // Include the cSDH interface
       #include <sdh.h>

       // Create a cSDH object 'hand' that uses
       // - the non default radians and radians/s units,
       // - the default temperature in degrees celsius,
       // - A debug level of 2
       cSDH hand( true, false, 2 );

virtual cSDH::~cSDH ( ) [virtual]

Virtual destructor to make compiler happy

If the connection to the SDH hardware/firmware is still open then the connection is closed, which will stop the axis controllers (and thus prevent overheating).

Member Function Documentation

std::vector<double> cSDH::_GetFingerXYZ	(	int	fi,
		std::vector< double >	r_angles
	)		throw (cSDHLibraryException*) `[protected]`

return cartesian [x,y,z] position in mm of fingertip for finger fi at angles r_angles (rad)

void cSDH::AdjustLimits ( cSDHBase::eControllerType controller ) [private]

Adjust the limits for the velocity and acceleration according to the controller type.

in pose controller the velocities and accelerations are always positive and thus the minimum is 0.0
in velocity based controllers the velocities and accelerations can be positive or negative and thus the minimum is -maximum

bool cSDH::CheckFirmwareRelease ( void ) throw (cSDHLibraryException*)

Check the actual release of the firmware of the connected SDH against the recommended firmware release.

Returns:: true - if the actual firmware is the recommended one false - the actual firmware is NOT the recommended one (communication with the SDH might not work as expected)

This will throw a (cSDHErrorCommunication*) exception if the connection to the SDH is not yet opened.

Examples:

       // Assuming 'hand' is a cSDH object ...

       if ( hand.CheckFirmwareRelease() )
       {
           cout << "The firmware release of the connected SDH is the one recommended by this SDHLibrary\n";
       }
       else
       {
           cout << "The firmware release of the connected SDH is NOT the one recommended by this SDHLibrary\n";
           cout << "  Actual SDH firmware release      " << hand.GetFirmwareRelease() << "\n";
           cout << "  Recommended SDH firmware release " << hand.GetFirmwareReleaseRecommended() << "\n";
       }

See also:: See GetFirmwareReleaseRecommended() to get the recommended SDH firmware release.

void cSDH::Close ( bool leave_enabled = false ) throw (cSDHLibraryException*)

Close connection to SDH.

The default behaviour is to not leave the controllers of the SDH enabled (to prevent overheating). To keep the controllers enabled (e.g. to keep the finger axes actively in position) set leave_enabled to true. Only already enabled axes will be left enabled.

Parameters:

leave_enabled - Flag: true to leave the controllers on, false (default) to disable the controllers (switch powerless)

This throws a (cSDHErrorCommunication*) exception if the connection was not opened before.

Examples:

       // Assuming 'hand' is a cSDH object ...

       // Close connection to SDH, power off controllers:
       hand.Close();

       // To leave the already enabled controllers enabled:
       hand.Close( true );

void cSDH::EmergencyStop ( void ) throw (cSDHLibraryException*)

Stop movement of all axes of the SDH and switch off the controllers

This command will always be executed sequentially: it will return only after the SDH has confirmed the emergency stop.

Bug:: For now this will NOT work while a GripHand() command is executing, even if that was initiated non-sequentially!

Examples:

       // Assuming 'hand' is a cSDH object ...

       // Perform an emergency stop:
       hand.EmergencyStop();

std::vector<double> cSDH::GetAxisActualAngle ( std::vector< int > const & axes ) throw (cSDHLibraryException*)

Get the current actual angle(s) of axis(axes).

The actual angles are read from the SDH.

Parameters:

axes	- A vector of axis indices to access.

The indices in axes are checked if they are valid axis indices.
If any axis index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of the actual angles of the selected axes.
The values are converted to the selected external unit system using the configured uc_angle unit converter object.
The order of the elements of the axes vector and the returned values vector rv matches. I.e. rv[i] will be the value of axis axes[i] (not axis i).

See also GetAxisActualAngle(int) for an overloaded variant to access a single axis.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get actual axis angle of all axes
        std::vector<double> v = hand.GetAxisActualAngle( hand.all_axes );
        // now v is something like {0.0, 0.0, 42.0, 0.0, 47.11, 0,0, 0.0}

        // Get actual axis angle of axis 2
        double v2 = hand.GetAxisActualAngle( 2 );
        // 2 is now something like 42.0


        // Get actual axis angle of axis 2 and 4
        std::vector<int> axes24;
        axes24.push_back( 2 );
        axes24.push_back( 4 );

        v = hand.GetAxisActualAngle( axes24 );
        // now v is something like {42.0, 47.11}

double cSDH::GetAxisActualAngle ( int iAxis ) throw (cSDHLibraryException*)

Like GetAxisActualAngle(std::vector<int>const&), just for a single axis iAxis and returning a single angle, see there for details and examples.

std::vector<eAxisState> cSDH::GetAxisActualState ( std::vector< int > const & axes ) throw (cSDHLibraryException*)

Get the current actual state(s) of axis(axes).

The actual axis states are read from the SDH.

Parameters:

axes	- A vector of axis indices to access.

The indices in axes are checked if they are valid axis indices.
If any axis index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of the actual states of the selected axes.
The values are given as eAxisState enum values
The order of the elements of the axes vector and the returned values vector rv matches. I.e. rv[i] will be the value of axis axes[i] (not axis i).

See also GetAxisActualState(int) for an overloaded variant to access a single axis.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get actual axis state of all axes
        std::vector<eAxisState> v = hand.GetAxisActualState( hand.all_axes )
        // now v is something like {eAS_IDLE, eAS_POSITIONING, eAS_IDLE, eAS_IDLE, eAS_IDLE, eAS_DISABLED, eAS_IDLE}

        // Get actual axis state of axis 3
        eAxisState v3 = hand.GetAxisActualState( 3 );
        // v3 is now something like eAS_IDLE


        // Get actual state of axis 2 and 5
        std::vector<int> axes25;
        axes25.push_back( 2 );
        axes25.push_back( 5 );

        v = hand.GetAxisActualState( axes25 );
        // now v is something like {eAS_IDLE, eAS_DISABLED}

eAxisState cSDH::GetAxisActualState ( int iAxis ) throw (cSDHLibraryException*)

Like GetAxisActualState(std::vector<int>const&), just for a single axis iAxis, see there for details and examples.

std::vector<double> cSDH::GetAxisActualVelocity ( std::vector< int >const & axes ) throw (cSDHLibraryException*)

Get the actual velocity(s) of axis(axes).

Parameters:

axes	- A vector of axis indices to access.

The indices in axes are checked if they are valid axis indices.
If any axis index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of the actual velocities of the selected axes.
The values are converted to the selected external unit system using the configured uc_angular_velocity unit converter object.
The order of the elements of the axes vector and the returned values vector rv matches. I.e. rv[i] will be the value of axis axes[i] (not axis i).

See also GetAxisActualVelocity(int) for an overloaded variant to access a single axis.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get actual axis velocity of all axes
        std::vector<double> v = hand.GetAxisActualVelocity( hand.all_axes );
        // now v is something like {0.1, 0.2, 0.3, 13.2, 0.5, 0.0, 0.7}

        // Get actual axis velocity of axis 2 and 4
        std::vector<int> axes24;
        axes24.push_back( 2 );
        axes24.push_back( 4 );
        v = hand.GetAxisActualVelocity( axes24 );
        // now v is something like {13.2, 0.0}

        // Get actual axis velocity of axis 2
        double v3 = hand.GetAxisActualVelocity( 2 );
        // v3 is now something like 13.2

double cSDH::GetAxisActualVelocity ( int iAxis ) throw (cSDHLibraryException*)

Like GetAxisActualVelocity(std::vector<int>const&), just for a single axis iAxis and returning a single velocity, see there for details and examples.

std::vector<double> cSDH::GetAxisEnable ( std::vector< int > const & axes ) throw (cSDHLibraryException*)

Get enabled/disabled state of axis controller(s).

The enabled/disabled state of the controllers of the selected axes is read from the SDH.

Parameters:

axes	- A vector of axis indices to access.

The indices in axes are checked if they are valid axis indices.
If any axis index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of enabled/disabled states as doubles (0=disabled, 1.0=enabled) of the selected axes.
The order of the elements of the axes vector and the returned values vector rv matches. I.e. rv[i] will be the value of axis axes[i] (not axis i).

See also GetAxisEnable(int) for an overloaded variant to access a single axis.

Examples:

        // Assuming 'hand' is a cSDH object ...

        // Get enabled state of all axes:
        std::vector<double> v = hand.GetAxisEnable( hand.all_axes );
        // now v is something like {0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0}

        // Get enabled state of axis 3 and 5
        std::vector<int> axes35;
        axes35.push_back( 3 );
        axes35.push_back( 5 );

        v = hand.GetAxisEnable( axes35 );
        // now v is something like {1.0, 0.0}


        // Get enabled state of axis 3
        double v3 = hand.GetAxisEnable( 3 );
        // now v3 is something like 1.0

double cSDH::GetAxisEnable ( int iAxis ) throw (cSDHLibraryException*)

Like GetAxisEnable(std::vector<int>const&), just for a single axis iAxis, see there for details and examples.

std::vector<double> cSDH::GetAxisLimitAcceleration ( std::vector< int > const & axes ) throw (cSDHLibraryException*)

Get the acceleration limit(s) of axis(axes).

The acceleration limit(s) are read from the SDH.

Parameters:

axes	- A vector of axis indices to access.

The indices in axes are checked if they are valid axis indices.
If any axis index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of the acceleration limits of the selected axes.
The values are converted to the selected external unit system using the configured uc_angular_acceleration unit converter object.
The order of the elements of the axes vector and the returned values vector rv matches. I.e. rv[i] will be the value of axis axes[i] (not axis i).

See also GetAxisLimitAcceleration(int) for an overloaded variant to access a single axis.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get axis acceleration limits of all axes
        std::vector<double> v = hand.GetAxisLimitAcceleration( hand.all_axes );
        // now v is something like {81.0, 140.0, 120.0, 140.0, 120.0, 140.0, 120.0}

        // Get axis acceleration limit of axis 2
        double v2 = hand.GetAxisLimitAcceleration( 2 );
        // v2 is now something like 120.0


        // Get axis acceleration limits of axis 2 and 4
        std::vector<int> axes24;
        axes24.push_back( 2 );
        axes24.push_back( 4 );

        v = hand.GetAxisLimitAcceleration( axes24 );
        // now v is something like {120.0,120.0}

double cSDH::GetAxisLimitAcceleration ( int iAxis ) throw (cSDHLibraryException*)

Like GetAxisLimitAcceleration(std::vector<int>const&), just for a single axis iAxis and returning a single acceleration limit, see there for details and examples.

std::vector<double> cSDH::GetAxisLimitVelocity ( std::vector< int > const & axes ) throw (cSDHLibraryException*)

Get the velocity limit(s) of axis(axes).

The velocity limit(s) are read from the SDH.

Parameters:

axes	- A vector of axis indices to access.

The indices in axes are checked if they are valid axis indices.
If any axis index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of the velocity limits of the selected axes.
The values are converted to the selected external unit system using the configured uc_angular_velocity unit converter object.
The order of the elements of the axes vector and the returned values vector rv matches. I.e. rv[i] will be the value of axis axes[i] (not axis i).

See also GetAxisLimitVelocity(int) for an overloaded variant to access a single axis.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get axis velocity limits of all axes
        std::vector<double> v = hand.GetAxisLimitVelocity( hand.all_axes );
        // now v is something like {81.0, 140.0, 120.0, 140.0, 120.0, 140.0, 120.0}

        // Get axis velocity limit of axis 2
        double v2 = hand.GetAxisLimitVelocity( 2 );
        // v2 is now something like 120.0


        // Get axis velocity limits of axis 2 and 4
        std::vector<int> axes24;
        axes24.push_back( 2 );
        axes24.push_back( 4 );

        v = hand.GetAxisLimitVelocity( axes24 );
        // now v is something like {120.0,120.0}

double cSDH::GetAxisLimitVelocity ( int iAxis ) throw (cSDHLibraryException*)

Like GetAxisLimitVelocity(std::vector<int>const&), just for a single axis iAxis and returning a single velocity limit, see there for details and examples.

std::vector<double> cSDH::GetAxisMaxAcceleration ( std::vector< int > const & axes ) throw (cSDHLibraryException*)

Get the maximum acceleration(s) of axis(axes).

The maximum accelerations are currently not read from the SDH, but are stored in the library.

Parameters:

axes	- A vector of axis indices to access.

The indices in axes are checked if they are valid axis indices.
If any axis index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of the max angular accelerations of the selected axes.
The values are converted to the selected external unit system using the configured uc_angular_acceleration unit converter object.
The order of the elements of the axes vector and the returned values vector rv matches. I.e. rv[i] will be the value of axis axes[i] (not axis i).

See also GetAxisMaxAcceleration(int) for an overloaded variant to access a single axis.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get maximum axis angular accelerations of all axes
        std::vector<double> v = hand.GetAxisMaxAcceleration( hand.all_axes );
        // now v is something like {1000.0, 1000.0, 1000.0, 1000.0, 1000.0, 1000.0, 1000.0}

        // Get maximum axis angular acceleration of axis 3
        double v3 = hand.GetAxisMaxAcceleration( 3 );
        // v3 is now something like 1000.0

        // Get maximum axis angular acceleration of axis 2 and 4
        std::vector<int> axes24;
        axes24.push_back( 2 );
        axes24.push_back( 4 );

        v = hand.GetAxisMaxAcceleration( axes24 );
        // now v is something like {1000.0, 1000.0}


        // Or if you change the angular acceleration unit system:
        hand.UseRadians();

        v = hand.GetAxisMaxAcceleration( hand.all_axes );
        // now v is something like {17.453292519943293, 17.453292519943293, 17.453292519943293, 17.453292519943293, 17.453292519943293, 17.453292519943293, 17.453292519943293}

double cSDH::GetAxisMaxAcceleration ( int iAxis ) throw (cSDHLibraryException*)

Like GetAxisMaxAcceleration(std::vector<int>const&), just for a single axis iAxis and returning a single minimum angle, see there for details and examples.

std::vector<double> cSDH::GetAxisMaxAngle ( std::vector< int > const & axes ) throw (cSDHLibraryException*)

Get the maximum angle(s) of axis(axes).

The maximum angles are currently not read from the SDH, but are stored in the library.

Parameters:

axes	- A vector of axis indices to access.

The indices in axes are checked if they are valid axis indices.
If any axis index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of the max angles of the selected axes.
The values are converted to the selected external unit system using the configured uc_angle unit converter object.
The order of the elements of the axes vector and the returned values vector rv matches. I.e. rv[i] will be the value of axis axes[i] (not axis i).

See also GetAxisMaxAngle(int) for an overloaded variant to access a single axis.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get maximum axis angles of all axes
        std::vector<double> v = hand.GetAxisMaxAngle( hand.all_axes );
        // now v is something like {90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0}

        // Get maximum axis angle of axis 3
        double v3 = hand.GetAxisMaxAngle( 3 );
        // v3 is now something like 90.0

        // Get maximum axis angle of axis 2 and 4
        std::vector<int> axes24;
        axes24.push_back( 2 );
        axes24.push_back( 4 );

        v = hand.GetAxisMaxAngle( axes24 );
        // now v is something like {90.0, 90.0}


        // Or if you change the angle unit system:
        hand.UseRadians();

        v = hand.GetAxisMaxAngle( hand.all_axes );
        // now v is something like { 1.5707963267948966, 1.5707963267948966, 1.5707963267948966, 1.5707963267948966, 1.5707963267948966, 1.5707963267948966, 1.5707963267948966}

double cSDH::GetAxisMaxAngle ( int iAxis ) throw (cSDHLibraryException*)

Like GetAxisMaxAngle(std::vector<int>const&), just for a single axis iAxis and returning a single maximum angle, see there for details and examples.

std::vector<double> cSDH::GetAxisMaxVelocity ( std::vector< int > const & axes ) throw (cSDHLibraryException*)

Get the maximum velocity(s) of axis(axes). These are the (theoretical) maximum velocities as determined by the maximum motor velocity and gear box ratio. The values do not take things like friction or inertia into account. So it is likely that these maximum velocities cannot be reached by the real hardware in reality.

The maximum velocities are currently read once from the SDH when the communication to the SDH is opened. Later queries of this maximum velocities will use the values stored in the library.

Parameters:

axes	- A vector of axis indices to access.

The indices in axes are checked if they are valid axis indices.
If any axis index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of the max angular velocities of the selected axes.
The values are converted to the selected external unit system using the configured uc_angular_velocity unit converter object.
The order of the elements of the axes vector and the returned values vector rv matches. I.e. rv[i] will be the value of axis axes[i] (not axis i).

See also GetAxisMaxVelocity(int) for an overloaded variant to access a single axis.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get maximum axis angular velocities of all axes
        std::vector<double> v = hand.GetAxisMaxVelocity( hand.all_axes );
        // now v is something like {83.857,200.000,157.895,200.000,157.895,200.000,157.895}

        // Get maximum axis angular velocity of axis 3
        double v3 = hand.GetAxisMaxVelocity( 3 );
        // v3 is now something like 200.0

        // Get maximum axis angular velocity of axis 2 and 4
        std::vector<int> axes24;
        axes24.push_back( 2 );
        axes24.push_back( 4 );

        v = hand.GetAxisMaxVelocity( axes24 );
        // now v is something like {157.895, 157.895}


        // Or if you change the angular velocity unit system:
        hand.UseRadians();

        v = hand.GetAxisMaxVelocity( hand.all_axes );
        // now v is something like {1.46358075084, 3.49065850399, 2.75578762244, 3.49065850399, 2.75578762244, 3.49065850399, 2.75578762244}

double cSDH::GetAxisMaxVelocity ( int iAxis ) throw (cSDHLibraryException*)

Like GetAxisMaxVelocity(std::vector<int>const&), just for a single axis iAxis and returning a single minimum angle, see there for details and examples.

std::vector<double> cSDH::GetAxisMinAngle ( std::vector< int > const & axes ) throw (cSDHLibraryException*)

Get the minimum angle(s) of axis(axes).

The minimum angles are currently not read from the SDH, but are stored in the library.

Parameters:

axes	- A vector of axis indices to access.

The indices in axes are checked if they are valid axis indices.
If any axis index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of the min angles of the selected axes.
The values are converted to the selected external unit system using the configured uc_angle unit converter object.
The order of the elements of the axes vector and the returned values vector rv matches. I.e. rv[i] will be the value of axis axes[i] (not axis i).

See also GetAxisMinAngle(int) for an overloaded variant to access a single axis.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get minimum axis angles of all axes
        std::vector<double> v = hand.GetAxisMinAngle( hand.all_axes );
        // now v is something like {0.0, -90.0, -90.0, -90.0, -90.0, -90.0, -90.0}

        // Get minimum axis angle of axis 3
        double v3 = hand.GetAxisMinAngle( 3 );
        // v3 is now something like -90.0

        // Get minimum axis angle of axis 2 and 4
        std::vector<int> axes24;
        axes24.push_back( 2 );
        axes24.push_back( 4 );

        v = hand.GetAxisMinAngle( axes24 );
        // now v is something like {-90.0, -90.0}


        // Or if you change the angle unit system:
        hand.UseRadians();

        v = hand.GetAxisMinAngle( hand.all_axes );
        // now v is something like {0.0, -1.5707963267948966, -1.5707963267948966, -1.5707963267948966, -1.5707963267948966, -1.5707963267948966, -1.5707963267948966}

double cSDH::GetAxisMinAngle ( int iAxis ) throw (cSDHLibraryException*)

Like GetAxisMinAngle(std::vector<int>const&), just for a single axis iAxis and returning a single minimum angle, see there for details and examples.

std::vector<double> cSDH::GetAxisMotorCurrent	(	std::vector< int > const &	axes,
		eMotorCurrentMode	mode = `eMCM_MOVE`
	)		throw (cSDHLibraryException*)

Get the maximum allowed motor current(s) of axis(axes).

The maximum allowed motor currents are read from the SDH. The motor currents are stored:

axis specific
mode specific (see eMotorCurrentMode)

Parameters:

axes	- A vector of axis indices to access.
mode	- the mode to set the maximum motor current for. One of the eMotorCurrentMode modes.

The indices in axes are checked if they are valid axis indices.
If any axis index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of the motor currents of the selected axes.
The values are converted to the selected external unit system using the configured uc_motor_current unit converter object.
The order of the elements of the axes vector and the returned values vector rv matches. I.e. rv[i] will be the value of axis axes[i] (not axis i).

See also GetAxisMotorCurrent(int,eMotorCurrentMode) for an overloaded variant to access a single axis.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get maximum allowed motor currents of all axes
        std::vector<double> v = hand.GetAxisMotorCurrent( hand.all_axes );
        // now v is something like {0.1, 0.2, 0.3, 0.4, 0.5, 0,6, 0.7}

        // Get maximum allowed motor current of axis 3 in mode "eMCM_MOVE"
        double mc3 = hand.GetAxisMotorCurrent( 3, eMCM_MOVE );
        // mc3 is now something like 0.75

        // Get maximum allowed motor current of axis 3 and 5 in mode "eMCM_GRIP"
        std::vector<int> axes35;
        axes35.push_back( 3 );
        axes35.push_back( 5 );

        v = hand.GetAxisMotorCurrent( axes35, eMCM_GRIP );
        // now v is something like {0.5,0.5};

double cSDH::GetAxisMotorCurrent	(	int	iAxis,
		eMotorCurrentMode	mode = `eMCM_MOVE`
	)		throw (cSDHLibraryException*)

Like GetAxisMotorCurrent(std::vector<int>const&,eMotorCurrentMode), just for a single axis, see there for details and examples.

std::vector<double> cSDH::GetAxisReferenceVelocity ( std::vector< int >const & axes ) throw (cSDHLibraryException*)

Get the current reference velocity(s) of axis(axes). (This velocity is used internally by the SDH in eCT_VELOCITY_ACCELERATION mode).

Parameters:

axes	- A vector of axis indices to access.

The indices in axes are checked if they are valid axis indices.
If any axis index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of the reference velocities of the selected axes.
The values are converted to the selected external unit system using the configured uc_angular_velocity unit converter object.
The order of the elements of the axes vector and the returned values vector rv matches. I.e. rv[i] will be the value of axis axes[i] (not axis i).

See also GetAxisReferenceVelocity(int) for an overloaded variant to access a single axis.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Switch to "velocity control with acceleration ramp" controller mode first.
        // (When in another controller mode like the default eCT_POSE,
        //  then the reference velocities will not be valid):
        hand.SetController( eCT_VELOCITY_ACCELERATION );

        // Get reference axis velocity of all axes
        std::vector<double> v = hand.GetAxisReferenceVelocity( hand.all_axes );
        // now v is something like {0.1, 0.2, 0.3, 13.2, 0.5, 0.0, 0.7}

        // Get reference axis velocity of axis 2 and 4
        std::vector<int> axes24;
        axes24.push_back( 2 );
        axes24.push_back( 4 );
        v = hand.GetAxisReferenceVelocity( axes24 );
        // now v is something like {13.2, 0.0}

        // Get reference axis velocity of axis 2
        double v3 = hand.GetAxisReferenceVelocity( 2 );
        // v3 is now something like 13.2

Remarks:

the underlying rvel command of the SDH firmware is not available in firmwares prior to 0.0.2.6. For such hands calling rvel will fail miserably.
The availability of an appropriate SDH firmware is not checked here due to performance losses when this function is used often.

double cSDH::GetAxisReferenceVelocity ( int iAxis ) throw (cSDHLibraryException*)

Like GetAxisReferenceVelocity(std::vector<int>const&), just for a single axis iAxis and returning a single velocity, see there for details and examples.

std::vector<double> cSDH::GetAxisTargetAcceleration ( std::vector< int >const & axes ) throw (cSDHLibraryException*)

Get the target acceleration(s) of axis(axes).

The currently set target accelerations are read from the SDH.

Parameters:

axes	- A vector of axis indices to access.

The indices in axes are checked if they are valid axis indices.
If any axis index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of the target accelerations of the selected axes.
The values are converted to the selected external unit system using the configured uc_angular_acceleration unit converter object.
The order of the elements of the axes vector and the returned values vector rv matches. I.e. rv[i] will be the value of axis axes[i] (not axis i).

See also GetAxisTargetAcceleration(int) for an overloaded variant to access a single axis.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get target axis acceleration of all axes
        std::vector<double> v = hand.GetAxisTargetAcceleration( hand.all_axes );
        // now v is something like {100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0}

        // Get target axis acceleration of axis 2
        double v2 = hand.GetAxisTargetAcceleration( 2 );
        // v2 is now something like 100.0


        // Get target axis acceleration of axis 2 and 4
        std::vector<int> axes24;
        axes24.push_back( 2 );
        axes24.push_back( 4 );

        v = hand.GetAxisTargetAcceleration( axes24 );
        // now v is something like {100.0, 100.0}

double cSDH::GetAxisTargetAcceleration ( int iAxis ) throw (cSDHLibraryException*)

Like GetAxisTargetAcceleration(std::vector<int>const&), just for a single axis iAxis and returning a single acceleration, see there for details and examples.

std::vector<double> cSDH::GetAxisTargetAngle ( std::vector< int > const & axes ) throw (cSDHLibraryException*)

Get the target angle(s) of axis(axes).

The currently set target angles are read from the SDH.

Parameters:

axes	- A vector of axis indices to access.

The indices in axes are checked if they are valid axis indices.
If any axis index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of the target angles of the selected axes.
The values are converted to the selected external unit system using the configured uc_angle unit converter object.
The order of the elements of the axes vector and the returned values vector rv matches. I.e. rv[i] will be the value of axis axes[i] (not axis i).

See also GetAxisTargetAngle(int) for an overloaded variant to access a single axis.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get target axis angle of all axes
        std::vector<double> v = hand.GetAxisTargetAngle( hand.all_axes );
        // now v is something like {0.0, 0.0, 42.0, 0.0, 47.11, 0,0, 0.0}

        // Get target axis angle of axis 2
        double v2 = hand.GetAxisTargetAngle( 2 );
        // v2 is now something like 42.0


        // Get target axis angle of axis 2 and 4
        std::vector<int> axes24;
        axes24.push_back( 2 );
        axes24.push_back( 4 );

        v = hand.GetAxisTargetAngle( axes24 );
        // now v is something like {42.0, 47.11}

double cSDH::GetAxisTargetAngle ( int iAxis ) throw (cSDHLibraryException*)

Like GetAxisTargetAngle(std::vector<int>const&), just for a single axis iAxis and returning a single angle, see there for details and examples.

std::vector<double> cSDH::GetAxisTargetVelocity ( std::vector< int > const & axes ) throw (cSDHLibraryException*)

Get the target velocity(s) of axis(axes).

The currently set target velocities are read from the SDH.

Parameters:

axes	- A vector of axis indices to access.

The indices in axes are checked if they are valid axis indices.
If any axis index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of the target velocities of the selected axes.
The values are converted to the selected external unit system using the configured uc_angular_velocity unit converter object.
The order of the elements of the axes vector and the returned values vector rv matches. I.e. rv[i] will be the value of axis axes[i] (not axis i).

See also GetAxisTargetVelocity(int) for an overloaded variant to access a single axis.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get target axis velocity of all axes
        std::vector<double> v = hand.GetAxisTargetVelocity( hand.all_axes );
        // now v is something like {0.0, 0.0, 42.0, 0.0, 47.11, 0,0, 0.0}

        // Get target axis velocity of axis 2
        double v2 = hand.GetAxisTargetVelocity( 2 );
        // v2 is now something like 42.0


        // Get target axis velocity of axis 2 and 4
        std::vector<int> axes24;
        axes24.push_back( 2 );
        axes24.push_back( 4 );

        v = hand.GetAxisTargetVelocity( axes24 );
        // now v is something like {42.0, 47.11}

double cSDH::GetAxisTargetVelocity ( int iAxis ) throw (cSDHLibraryException*)

Like GetAxisTargetVelocity(std::vector<int>const&), just for a single axis iAxis and returning a single velocity, see there for details and examples.

std::vector<double> cSDH::GetAxisValueVector	(	std::vector< int > const &	axes,
		pGetFunction	ll_get,
		cUnitConverter const *	uc,
		char const *	name
	)		throw (cSDHLibraryException*) `[protected]`

Generic get function: get some given axes values

Parameters:

axes	- a vector of axis indices
ll_get	- a pointer to the low level get function to use
uc	- a pointer to the unit converter object to apply before returning values
name	- a string with the name of the values (for constructing error message)

The indices in axes are checked if they are valid axis indices.
If any axis index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of the addressed values for the selected axes.
The values are converted to external unit system using the uc unit converter object.
The order of the elements of the axes vector and the returned values vector rv matches. I.e. rv[i] will be the value of axis axes[i] (not axis i).

eControllerType cSDH::GetController ( void ) throw (cSDHLibraryException*)

Get the type of axis controller used in the SDH

The currently set controller type will be queried and returned (One of eControllerType)

Examples:

      // Assuming 'hand' is a sdh.cSDH object ...

      // Get the controller type of the attached SDH:
      ct = hand.GetController();

      // Print result, numerically and symbolically
      std::cout << "Currently the axis controller type is set to " << ct;
      std::cout << "(" << GetStringFromControllerType(ct) << ")\n";

std::vector<double> cSDH::GetFingerActualAngle ( int iFinger ) throw (cSDHLibraryException*)

Get the current actual axis angles of a single finger.

The current actual axis angles of finger iFinger are read from the SDH.

Parameters:

iFinger - index of finger to access. This must be a single index.

Remarks:

The iFinger index is checked if it is a valid finger index.
If iFinger is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A list of the current actual axis angles of the selected finger
The values are returned in the configured angle unit system uc_angle.

See also GetFingerActualAngle(int,double&,double&,double&) for an overloaded variant to get finger axis actual angles into single double values.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get actual axis angles of finger 0
        std::vector<double> v = hand.GetFingerActualAngle( 0 );
        // v is now something like {42.0, -10.0, 47.11}

        // Get actual axis angles of finger 1
        double a0, a1, a2;
        hand.GetFingerTargetAngle( 1, a0, a1, a2 );
        // now a0, a1, a2 are something like 0.0, 24.7 and -5.5 respectively.

void cSDH::GetFingerActualAngle	(	int	iFinger,
		double &	a0,
		double &	a1,
		double &	a2
	)		throw (cSDHLibraryException*)

Like GetFingerActualAngle(int), just returning the actual axis angles in the a0, a1 and a2 parameters which are given by reference.

int cSDH::GetFingerAxisIndex	(	int	iFinger,
		int	iFingerAxis
	)		throw (cSDHLibraryException*)

Return axis index of iFingerAxis axis of finger with index iFinger

For iFinger=2, iFingerAxis=0 this will return the index of the virtual base axis of the finger

Parameters:

iFinger	- index of finger in range [0..NUMBER_OF_FINGERS-1]
iFingerAxis	- index of finger axis in range [0..NUMBER_OF_AXES_PER_FINGER-1]

Returns:

Axis index of iFingerAxis-th axis of finger with index iFinger
If iFinger or iFingerAxis is invalid a (cSDHErrorInvalidParameter*) exception is thrown.

Examples:

       // Assuming 'hand' is a cSDH object ...

       cout << "The 1st axis of finger 2 has real axis index " << hand.GetFingerNumberOfAxes( 2, 0 ) << "\n";

std::vector<double> cSDH::GetFingerEnable ( std::vector< int > const & fingers ) throw (cSDHLibraryException*)

Get enabled/disabled state of axis controllers of finger(s).

The enabled/disabled state of the controllers of the selected fingers is read from the SDH. A finger is reported disabled if any of its axes is disabled and reported enabled if all its axes are enabled.

Parameters:

fingers - A vector of finger indices to access.

The indices in fingers are checked if they are valid finger indices.
If any finger index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of enabled/disabled states as doubles (0=disabled, 1.0=enabled) of the selected axes.
The order of the elements of the axes vector and the returned values vector rv matches. I.e. rv[i] will be the value of axis axes[i] (not axis i).

See also GetAxisEnable(int) for an overloaded variant to access a single axis.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get enabled state of all fingers:
        std::vector<double> v = hand.GetFingerEnable( hand.all_fingers );
        // now v is something like {0.0, 1.0, 0.0}

        // Get enabled state of finger 0 and 2
        std::vector<int> fingers02;
        fingers02.push_back( 0 );
        fingers02.push_back( 2 );

        v = hand.GetFingerEnable( fingers02 );
        // now v is something like {0.0, 0.0}

        // Get enabled state of finger 1
        double v1 = hand.GetFingerEnable( 1 );
        // now v1 is something like 1.0

double cSDH::GetFingerEnable ( int iFinger ) throw (cSDHLibraryException*)

Like GetFingerEnable(std::vector<int>const&), just for a single finger iFinger and returning a single double value

std::vector<double> cSDH::GetFingerMaxAngle ( int iFinger ) throw (cSDHLibraryException*)

Get the maximum axis angles of a single finger.

The maximum axis angles of finger iFingers axes, stored in the library, are returned.

Parameters:

iFinger - index of finger to access. This must be a single index

Remarks:

The iFinger index is checked if it is a valid finger index.
If iFinger is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A list of the selected fingers maximum axis angles
The values are returned in the configured angle unit system uc_angle.

See also GetFingerMaxAngle(int,double&,double&,double&) for an overloaded variant to get finger axis max angles into single double values.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get maximum axis angles of finger 0
        std::vector<double> v = hand.GetFingerMaxAngle( 0 );
        // now v is something like {90.0, 90.0, 90.0}


        // Get target axis angles of finger 1
        double a0, a1, a2;
        hand.GetFingerMaxAngle( 1, a0, a1, a2 );
        // now a0, a1, a2 are something like 90.0, 90.0, 90.0 respectively.


        // Or if you change the angle unit system:
        hand.UseRadians();
        v = hand.GetFingerMaxAngle( 0 );
        // now v is something like {1.5707963267948966, 1.5707963267948966, 1.5707963267948966}

void cSDH::GetFingerMaxAngle	(	int	iFinger,
		double &	a0,
		double &	a1,
		double &	a2
	)		throw (cSDHLibraryException*)

Like GetFingerMaxAngle(int), just returning the finger axis max angles in the a0, a1 and a2 parameters which are given by reference.

std::vector<double> cSDH::GetFingerMinAngle ( int iFinger ) throw (cSDHLibraryException*)

Get the minimum axis angles of a single finger.

The minimum axis angles of finger iFingers axes, stored in the library, are returned.

Parameters:

iFinger - index of finger to access. This must be a single index

Remarks:

The iFinger index is checked if it is a valid finger index.
If iFinger is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A list of the selected fingers minimum axis angles
The values are returned in the configured angle unit system uc_angle.

See also GetFingerMinAngle(int,double&,double&,double&) for an overloaded variant to get finger axis min angles into single double values.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get minimum axis angles of finger 0
        std::vector<double> v = hand.GetFingerMinAngle( 0 );
        // now v is something like {0.0, -90.0, -90.0}


        // Get target axis angles of finger 1
        double a0, a1, a2;
        hand.GetFingerMinAngle( 1, a0, a1, a2 );
        // now a0, a1, a2 are something like 0.0, -90.0, -90.0 respectively.


        // Or if you change the angle unit system:
        hand.UseRadians();
        v = hand.GetFingerMinAngle( 0 );
        // now v is something like {0.0, -1.5707963267948966, -1.5707963267948966}

void cSDH::GetFingerMinAngle	(	int	iFinger,
		double &	a0,
		double &	a1,
		double &	a2
	)		throw (cSDHLibraryException*)

Like GetFingerMinAngle(int), just returning the finger axis min angles in the a0, a1 and a2 parameters which are given by reference.

int cSDH::GetFingerNumberOfAxes ( int iFinger ) throw (cSDHLibraryException*)

Return the number of real axes of finger with index iFinger.

Parameters:

iFinger - index of finger in range [0..NUMBER_OF_FINGERS-1]

Returns:

Number of real axes of finger with index iFinger
If iFinger is invalid a (cSDHErrorInvalidParameter*) exception is thrown.

Examples:

       // Assuming 'hand' is a cSDH object ...

       cout << "The finger 0 has " << hand.GetFingerNumberOfAxes( 0 ) << " real axes\n";

std::vector<double> cSDH::GetFingerTargetAngle ( int iFinger ) throw (cSDHLibraryException*)

Get the target axis angles of a single finger.

The target axis angles of finger iFinger are read from the SDH.

Parameters:

iFinger - index of finger to access. This must be a single index

Remarks:

The iFinger index is checked if it is a valid finger index.
If iFinger is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A list of the selected fingers target axis angles
The values are returned in the configured angle unit system uc_angle.

See also GetFingerTargetAngle(int,double&,double&,double&) for an overloaded variant to get finger axis target angles into single double values.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get target axis angles of finger 0
        std::vector<double> v = hand.GetFingerTargetAngle( 0 );
        // now v is something like {42.0, -10.0, 47.11}

        // Get target axis angles of finger 1
        double a0, a1, a2;
        hand.GetFingerTargetAngle( 1, a0, a1, a2 );
        // now a0, a1, a2 are something like 0.0, 24.7 and -5.5 respectively.

void cSDH::GetFingerTargetAngle	(	int	iFinger,
		double &	a0,
		double &	a1,
		double &	a2
	)		throw (cSDHLibraryException*)

Like GetFingerTargetAngle(int), just returning the target axis angles in the a0, a1 and a2 parameters which are given by reference.

std::vector<double> cSDH::GetFingerXYZ	(	int	iFinger,
		std::vector< double > const &	angles
	)		throw (cSDHLibraryException*)

Get the cartesian xyz finger tip position of a single finger from the given axis angles (forward kinematics).

Parameters:

iFinger	- index of finger to access. This must be a single index
angles	- a vector of NUMBER_OF_AXES_PER_FINGER angles. The values are expected in the configured angle unit system uc_angle.

Remarks:

The iFinger index is checked if it is a valid finger index.
The angles are checked if they are in the allowed range [0 .. f_max_angle_v], i.e. it is checked that angles[i], converted to internal units, is in [0 .. f_max_angle_v[finger_axis_index[iFinger][i]]].
If any index or value is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:

A vector of the x,y,z values of the finger tip position
The values are returned in the configured position unit system uc_position.

See also GetFingerXYZ(int,double,double,double) for an overloaded variant to get finger tip position from single double values.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Get actual finger angles of finger 0:
        std::vector<double> angles = hand.GetFingerActualAngle( 0 );

        // Get actual finger tip position of finger 0:
        std::vector<double> position = hand.GetFingerXYZ( 0, angles );
        // now position is something like {18.821618775581801, 32.600000000000001, 174.0}
        // (assuming that finger 0 is at axis angles {0,0,0})

        // Get finger tip position of finger 2 at axis angles {90,-90,-90}:
        position = hand.GetFingerXYZ( 2, 90, -90, -90 );
        // now position is something like {18.821618775581804, 119.60000000000002, -53.0}

        // Or if you change the angle unit system:
        hand.UseRadians();
        position = hand.GetFingerXYZ( 0, 1.5707963267948966, -1.5707963267948966, -1.5707963267948966 );
        // now position is still something like {18.821618775581804, 119.60000000000002, -53.0}

        // Or if you change the position unit system too:
        hand.uc_position = &cSDH::uc_position_meter
        position = hand.GetFingerXYZ( 0, 1.5707963267948966, -1.5707963267948966, -1.5707963267948966 );
        // now position is still something like {0.018821618775581, 0.119.60000000000002, -0.052999999999}

std::vector<double> cSDH::GetFingerXYZ	(	int	iFinger,
		double	a0,
		double	a1,
		double	a2
	)		throw (cSDHLibraryException*)

Like SetFingerTargetAngle(int,std::vector<double>const&), just with individual finger axis angles a0, a1 and a2.

char const* cSDH::GetFirmwareRelease ( void ) throw (cSDHLibraryException*)

Return the actual release name of the firmware of the SDH (not the library) as string.

This will throw a (cSDHErrorCommunication*) exception if the connection to the SDH is not yet opened.

Examples:

       // Assuming 'hand' is a cSDH object ...

       cout << "The SDH firmware reports release " << hand.GetFirmwareRelease() << "\n";

See also:: See GetFirmwareReleaseRecommended() to get the recommended SDH firmware release.

static char const* cSDH::GetFirmwareReleaseRecommended ( void ) [static]

Return the recommended release of the firmware of the SDH by this library as string.

Examples:

       // static member function, so no cSDH object is needed for access:

       cout << "This SDHLibrary recommends an SDH firmware release " << cSDH::GetFirmwareReleaseRecommended() << "\n";

See also:: See GetFirmwareRelease() to get the actual release of the SDH firmware

double cSDH::GetGripMaxVelocity ( void )

Get the maximum velocity of grip skills

The maximum velocity is currently not read from the SDH, but is stored in the library.

Returns:

a single double value is returned representing the velocity in the uc_angular_velocity unit system

Examples:

       // Assuming "hand" is a cSDH object ...

       // Get maximum grip skill velocity
       double v = hand.GetGripMaxVelocity();
       // v is now something like 100.0

       // Or if you change the velocity unit system:
       hand.UseRadians();
       v = hand.GetGripMaxVelocity();
       // now v is something like 1.7453292519943295

char const* cSDH::GetInfo ( char const * what ) throw (cSDHLibraryException*)

Return info according to what # # The following values are valid for what: # - "date-library" : date of the SDHLibrary-python release # - "release-library" : release name of the sdh.py python module # - "release-firmware" : release name of the SDH firmware (requires # an opened communication to the SDH) # - "release-firmware-recommended" : recommended release name of the SDH # firmware # - "date-firmware" : date of the SDH firmware (requires # an opened communication to the SDH) # - "release-soc" : release name of the SDH SoC (requires # an opened communication to the SDH) # - "date-soc" : date of the SDH SoC (requires # an opened communication to the SDH) # - "id-sdh" : ID of SDH # - "sn-sdh" : Serial number of SDH # #

Examples:

#

  #    # Assuming 'hand' is a sdh.cSDH object ...
  #
  #    print "The SDH firmware reports release %s" % ( hand.GetInfo( "release-firmware" ) )
  #
  #

# #

static char const* cSDH::GetLibraryName ( void ) [static]

Return the name of the library as string.

Examples:

       // static member function, so no cSDH object is needed for access:

       cout << "The SDHLibrary reports name " << cSDH::GetLibraryName() << "\n";

static char const* cSDH::GetLibraryRelease ( void ) [static]

Return the release name of the library (not the firmware of the SDH) as string.

Examples:

       // static member function, so no cSDH object is needed for access:

       cout << "The SDHLibrary reports release name " << cSDH::GetReleaseLibrary() << "\n";

pSetFunction cSDH::GetMotorCurrentModeFunction ( eMotorCurrentMode mode ) throw (cSDHLibraryException*) [protected]

Internal helper function: return the get/set function of the comm_interface object that is responsible for setting/getting motor currents in mode.

std::vector<double> cSDH::GetTemperature ( std::vector< int > const & sensors ) throw (cSDHLibraryException*)

Return temperature(s) measured within the SDH.

Parameters:

sensors

- A vector of indices of temperature sensors to access.

index 0 is sensor near motor of axis 0 (root)
index 1 is sensor near motor of axis 1 (proximal finger 1)
index 2 is sensor near motor of axis 2 (distal finger 1)
index 3 is sensor near motor of axis 3 (proximal finger 2)
index 4 is sensor near motor of axis 4 (distal finger 2)
index 5 is sensor near motor of axis 5 (proximal finger 3)
index 6 is sensor near motor of axis 6 (distal finger 3)
index 7 is FPGA temperature (controller chip)
index 8 is PCB temperature (Printed Circuit Board)

Remarks:

The indices in sensors are checked if they are valid sensor indices.
If any sensor index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.

To access a single temperature sensor use GetTemperature(int), see there.

Returns:: The temperatures of the selected sensors are returned as std::vector<double> in the configured temperature unit system uc_temperature.

Examples:

        // Assuming 'hand' is a cSDH object ...

        // Get measured values of all sensors
        std::vector<double> temps = hand.GetTemperature( hand.all_temperature_sensors );
        // Now temps is something like { 38.500,37.250,35.750,37.250,33.500,36.500,32.250,59.625,52.500 }

        // Get controller temperature only:
        double temp_controller = hand.GetTemperature( 0 );
        // Now temp_controller is something like 40.5

        // If we - for some obscure islandish reason - would want
        // temperatures reported in degrees fahrenheit, the unit
        // converter can be changed:
        hand.uc_temperature = &cSDH::uc_temperature_fahrenheit;

        // Get all temperaturs again:
        temps = hand.GetTemperature( hand.all_temperature_sensors );
        // Now temps is something like {100.0, 96.8, 92.3, 97.7, 91.8, 96.8, 90.1,  137.5,  125.2}

double cSDH::GetTemperature ( int iSensor ) throw (cSDHLibraryException*)

Like GetTemperature(std::vector<int>const&), just for one sensor iSensor and returning a single temperature as double.

eVelocityProfile cSDH::GetVelocityProfile ( void ) throw (cSDHLibraryException*)

Get the type of velocity profile used in the SDH

Returns:: the currently set velocity profile as integer, see eVelocityProfileType

Examples:

      // Assuming 'hand' is a cSDH object ...

      // Get the velocity profile from the SDH:
      velocity_profile = hand.GetVelocityProfile();
      // now velocity_profile is something like eVP_SIN_SQUARE or eVP_RAMP

double cSDH::GripHand	(	eGraspId	grip,
		double	close,
		double	velocity,
		bool	sequ = `true`
	)		throw (cSDHLibraryException*)

Perform one of the internal eGraspId "grips" or "grasps"

Warning:: THIS DOES NOT WORK WITH SDH FIRMWARE PRIOR TO 0.0.2.6 AND SDHLIBRARY-CPP PRIOR to 0.0.1.12 This was a feature in the ancient times of the SDH1 and now does work again for SDH firmware 0.0.2.6 and newer and SDHLIBRARY-CPP 0.0.1.12 and newer. We intend to further improve this feature (e.g. store user defined grips within the SDH) in the future, but a particular deadline a has not been determined yet.

Bug:: With SDH firmware > 0.0.2.6 and SDHLibrary < 0.0.1.12 GripHand() does not work (Bug 575)
=> Resolved in SDHLibrary 0.0.1.12

Bug:: With SDH firmware < 0.0.2.6 GripHand() does not work and might yield undefined behaviour there
=> Resolved in SDH firmware 0.0.2.6

Bug:: Currently the performing of a skill or grip with GripHand() can NOT be interrupted!!! Even if the command is sent with sequ=false it cannot be stoped or emergency stopped.

Parameters:

grip	- The index of the grip to perform [0..eGID_DIMENSION-1] (s.a. eGraspId)
close	- close-ratio: [0.0 .. 1.0] where 0.0 is 'fully opened' and 1.0 is 'fully closed'
velocity	- maximum allowed angular axis velocity in the chosen external unit system uc_angular_velocity
sequ	- flag: if true (default) then the function executes sequentially and returns not until after the SDH has finished the movement. If false then the function returns immediately after the movement command has been sent to the SDH.

The close and velocity values are checked if they are in their allowed range.
If any value is invalid then no grip is perfomed, instead a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:: The expected/elapsed execution time for the movement in the configured time unit system uc_time.

Remarks:

Currently the actual movement velocity of an axis is determined by the SDH firmware to make the movements of all involved axes start and end synchronously at the same time. Therefore the axis that needs the longest time for its movement at its given maximum velocity determines the velocities of all the other axes.
The currently set target axis angles are not changed by this command
The movement uses the eMotorCurrentMode motor current modes "eMCM_GRIP" while gripping and then changes the motor current mode to "eMCM_HOLD". After the movement previously set motor currents set for mode "eMCM_MOVE" are overwritten!

Examples:

        // Assuming 'hand' is a cSDH object ...

        // Perform a fully opened centrical grip at 50 degrees per second:
        hand.GripHand( hand.eGID_CENTRICAL, 0.0, 50.0, true );

        // Now close it 50% with 30 degrees per second:
        hand.GripHand( hand.eGID_CENTRICAL, 0.5, 30.0, true );

        // Then close it completely with 20 degrees per second:
        hand.GripHand( hand.eGID_CENTRICAL, 1.0, 20.0, true );

virtual bool cSDH::IsOpen ( void ) throw () [virtual]

Return true if connection to SDH firmware/hardware is open.

Implements cSDHBase.

bool cSDH::IsVirtualAxis ( int iAxis ) throw (cSDHLibraryException*)

Return true if index iAxis refers to a virtual axis.

double cSDH::MoveAxis	(	std::vector< int >const &	axes,
		bool	sequ = `true`
	)		throw (cSDHLibraryException*)

Move selected axis/axes to the previously set target pose with the previously set velocity profile, (maximum) target velocities and target accelerations

Parameters:

axes	- A vector of axis indices to access.
sequ	- flag: if true (default) then the function executes sequentially and returns not until after the SDH has finished the movement. If false then the function returns immediately after the movement command has been sent to the SDH (the currently set target axis angles for other axes will then be overwritten with their current actual axis angles).

The indices in axes are checked if they are valid axis indices.
If any index is invalid then no movement is performed, instead a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:: The expected/elapsed execution time for the movement in the configured time unit system uc_time

Remarks:

The axes will be enabled automatically.
Currently the actual movement velocity of an axis is determined by the SDH firmware to make the movements of all involved axes start and end synchronously at the same time. Therefore the axis that needs the longest time for its movement at its given maximum velocity determines the velocities of all the other axes.
Other axes than those selected by axes will NOT move, even if target axis angles for the axes have been set. (Remember: as axis 0 is used by finger 0 and 2 these two fingers cannot be moved completely idependent of each other.)
If sequ is true then the currently set target axis angles for other fingers will be restored upon return of the function.
If sequ is false then the currently set target axis angles for other fingers will be overwritten with their current actual axis angles

See also MoveAxis(int,bool) for an overloaded variant to move a single axis.

Examples:

        // Assuming 'hand' is a cSDH object ...

        // create an index vector for adressing axes 0, 4 and 2 (in that order)
        std::vector<int> axes042;
        axes042.push_back( 0 );
        axes042.push_back( 4 );
        axes042.push_back( 2 );

        // Set a new target pose for axes 0, 4 and 2:
        std::vector<double> angles042;
        angles042.push_back( 0.0 );
        angles042.push_back( -44.4 );
        angles042.push_back( -22.2 );

        hand.SetFingerTargetAngle( axes042, angles042 );


        // First move Axis 0 only to its new target position:
        hand.MoveAxis( 0 );

        // The axis 0 has now reached its target position 0.0 degrees.  The
        // target poses for axes 4 and 2 are still set since the
        // last MoveAxes() call was sequentially (und thus it could
        // restore the previously set target axis angles of not
        // selected axes after the movement finished)


        // So move axes 4 and 2 now, this time non-sequentially:
        std::vector<int> axes42;
        axes42.push_back( 4 );
        axes42.push_back( 2 );

        double t = hand.MoveAxes( axis42, false );

        // The two axes 4 and 2 are now moving to their target position.
        // We have to wait until the non-sequential call has finished:
        SleepSec( t );

        // The axes 4 and 2 have now moved to -44.4 and -22.2.

        // The target angles for other axes have by now been
        // overwritten since the last MoveAxis() call was
        // non-sequentially (und thus it could \b NOT restore the
        // previously set target axis angles of not selected axes
        // after the movement finished)


        // Set new target angles for all axes ("home pose");
        hand.SetAxisTargetAngle( hand.All, 0.0 );

        // Now move all axes back to home pose:
        hand.MoveAxes( hand.All );

Bug:: With SDH firmware < 0.0.2.7 calling MoveAxis() while some axes are moving in eCT_POSE controller type will make the joints jerk. This is resolved in SDH firmware 0.0.2.7 for the eCT_POSE controller type with velocity profile eVP_RAMP. For the eCT_POSE controller type with velocity profile eVP_SIN_SQUARE changing target points/ velocities while moving will still make the axes jerk.
=> Partly resolved in SDH firmware 0.0.2.7

double cSDH::MoveAxis	(	int	iAxis,
		bool	sequ = `true`
	)		throw (cSDHLibraryException*)

Like MoveAxis(std::vector<int>const&,bool), just for a single axis iAxis (or all axes if All is given).

double cSDH::MoveFinger	(	std::vector< int >const &	fingers,
		bool	sequ = `true`
	)		throw (cSDHLibraryException*)

Move selected finger(s) to the previously set target pose with the previously set velocity profile, (maximum) target velocities and target accelerations.

Parameters:

fingers	- A vector of finger indices to access.
sequ	- flag: if true (default) then the function executes sequentially and returns not until after the SDH has finished the movement. If false then the function returns immediately after the movement command has been sent to the SDH (the currently set target axis angles for other fingers will then be overwritten with their current actual axis angles).

The indices in fingers are checked if they are valid finger indices.
If any index is invalid then no movement is performed, instead a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Returns:: The expected/elapsed execution time for the movement in the configured time unit system uc_time

Remarks:

The axes will be enabled automatically.
Currently the actual movement velocity of an axis is determined by the SDH firmware to make the movements of all involved axes start and end synchronously at the same time. Therefore the axis that needs the longest time for its movement at its given maximum velocity determines the velocities of all the other axes.
Other fingers than iFinger will NOT move, even if target axis angles for their axes have been set. (Exception: as axis 0 is used by finger 0 and 2 these two fingers cannot be moved completely idependent of each other.)
If sequ is true then the currently set target axis angles for other fingers will be restored upon return of the function.
If sequ is false then the currently set target axis angles for other fingers will be overwritten with their current actual axis angles

See also MoveFinger(int,bool) for an overloaded variant to move a single finger.

Examples:

        // Assuming 'hand' is a cSDH object ...

        // Set a new target pose for finger 0:
        hand.SetFingerTargetAngle( 0, 0.0, 0.0, 0.0 );

        // Set a new target pose for finger 1
        hand.SetFingerTargetAngle( 1, 0.0, -10.0, -10.0 );

        // Set a new target pose for finger 2
        hand.SetFingerTargetAngle( 2, 20.0, -20.0, -20.0 );

        // Move finger 0 only (and finger 2 partly as axis 0 also belongs to finger 2);
        hand.MoveFinger( 0, true );
        // The finger 0 has been moved to {20,0,0}
        // (axis 0 is 'wrong' since the target angle for axis 0 has been overwritten
        //  while setting the target angles for finger 2);

        // The target poses for finger 1 and 2 are still set since the
        // last MoveFinger() call was sequentially.
        // So move finger 1 now:
        double t = hand.MoveFinger( 1, false );

        // wait until the non-sequential call has finished:
        SleepSec( t );

        // The finger 1 has been moved to {0,-10,-10}.

        // The target angles for finger 2 have been overwritten since the
        // last MoveFinger() call was non-sequentially.

        // Therefore this next call will just keep the fingers in their
        // current positions:
        hand.MoveFinger( hand.All, true );


        // Set new target angles for all axes ("home pose");
        hand.SetAxisTargetAngle( hand.All, 0.0 );

        // Now move all axes back to home pose:
        hand.MoveHand();

Bug:: With SDH firmware < 0.0.2.7 calling MoveFinger() while some axes are moving in eCT_POSE controller type will make the joints jerk. This is resolved in SDH firmware 0.0.2.7 for the eCT_POSE controller type with velocity profile eVP_RAMP. For the eCT_POSE controller type with velocity profile eVP_SIN_SQUARE changing target points/ velocities while moving will still make the axes jerk.
=> Partly resolved in SDH firmware 0.0.2.7

double cSDH::MoveFinger	(	int	iFinger,
		bool	sequ = `true`
	)		throw (cSDHLibraryException*)

Like MoveFinger(std::vector<int>const&,bool), just for a single finger iFinger (or all fingers if All is given).

double cSDH::MoveHand ( bool sequ = true ) throw (cSDHLibraryException*)

Move all fingers to the previously set target pose with the previously set (maximum) velocities.

This is just a shortcut to MoveFinger(int,bool) with iFinger set to hand.All and sequ as indicated, so see there for details and examples.

Bug:: With SDH firmware < 0.0.2.7 calling MoveHand() while some axes are moving in eCT_POSE controller type will make the joints jerk. This is resolved in SDH firmware 0.0.2.7 for the eCT_POSE controller type with velocity profile eVP_RAMP. For the eCT_POSE controller type with velocity profile eVP_SIN_SQUARE changing target points/ velocities while moving will still make the axes jerk.
=> Parltly resolved in SDH firmware 0.0.2.7

void cSDH::OpenCAN_ESD	(	int	_net = `0`,
		unsigned long	_baudrate = `1000000`,
		double	_timeout = `0.0`,
		Int32	_id_read = `43`,
		Int32	_id_write = `42`
	)		throw (cSDHLibraryException*)

Open connection to SDH via CAN using an ESD CAN card. If the library was compiled without ESD CAN support then this will just throw an exception. See setting for WITH_ESD_CAN in the top level makefile.

Parameters:

_net	: The ESD CAN net number of the CAN port to use. (default: 0)
_baudrate	: the CAN baudrate in bit/s. Only some bitrates are valid: (1000000 (default),800000,500000,250000,125000,100000,50000,20000,10000)
_timeout	: The timeout to use: <= 0 : wait forever (default) T : wait for T seconds
_id_read	- the CAN ID to use for reading (The SDH sends data on this ID, default=43=0x02b)
_id_write	- the CAN ID to use for writing (The SDH receives data on this ID, default=42=0x02a)

Examples:

       // Assuming 'hand' is a cSDH object ...

       // use default parameters for net, baudrate, timeout and IDs
       hand.OpenCAN_ESD( );

       // use non default settings:
       // net=1, baudrate=500000, timeout=1.0, id_read=0x143, id_write=0x142
       hand.OpenCAN_ESD( 1, 500000, 1.0, 0x143, 0x142 );

void cSDH::OpenCAN_ESD	(	tDeviceHandle	_ntcan_handle,
		double	_timeout = `0.0`,
		Int32	_id_read = `43`,
		Int32	_id_write = `42`
	)		throw (cSDHLibraryException*)

Open connection to SDH via CAN using an ESD CAN card using an existing handle. If the library was compiled without ESD CAN support then this will just throw an exception. See setting for WITH_ESD_CAN in the top level makefile.

Parameters:

_ntcan_handle	: the ESD CAN handle to reuse (please cast your NTCAN_HANDLE to tDeviceHandle! It is save to do that!)
_timeout	: The timeout to use: <= 0 : wait forever (default) T : wait for T seconds
_id_read	- the CAN ID to use for reading (The SDH sends data on this ID, default=43=0x2a)
_id_write	- the CAN ID to use for writing (The SDH receives data on this ID, default=42=0x2a)

Examples:

       // Assuming 'hand' is a cSDH object ...
       // and 'handle' is a valid NTCAN_HANDLE for the ESD device

       // use default parameters for timeout and IDs
       hand.OpenCAN_ESD( tDeviceHandle(handle) );

       // or use non default settings:
       // timeout=1.0, id_read=0x143, id_write=0x142
       hand.OpenCAN_ESD( handle, 1.0, 0x143, 0x142 );

void cSDH::OpenCAN_PEAK	(	unsigned long	_baudrate = `1000000`,
		double	_timeout = `0.0`,
		Int32	_id_read = `43`,
		Int32	_id_write = `42`,
		const char *	_device = `"/dev/pcanusb0"`
	)		throw (cSDHLibraryException*)

Open connection to SDH via CAN using an PEAK CAN card. If the library was compiled without PEAK CAN support then this will just throw an exception. See setting for WITH_PEAK_CAN in the top level makefile.

Parameters:

_baudrate	: the CAN baudrate in bit/s. Only some bitrates are valid: (1000000 (default),800000,500000,250000,125000,100000,50000,20000,10000)
_timeout	: The timeout to use: <= 0 : wait forever (default) T : wait for T seconds
_id_read	- the CAN ID to use for reading (The SDH sends data on this ID, default=43=0x02b)
_id_write	- the CAN ID to use for writing (The SDH receives data on this ID, default=42=0x02a)
_device	- the PEAK device name. Used for the Linux char dev driver only. default="/dev/pcanusb0"

Examples:

       // Assuming 'hand' is a cSDH object ...

       // use default parameters for baudrate, timeout, IDs and device
       hand.OpenCAN_PEAK( );

       // use non default settings:
       // baudrate=500000, timeout=1.0, id_read=0x143, id_write=0x142, , const char *device="/dev/pcanusb1"
       hand.OpenCAN_PEAK( 500000, 1.0, 0x143, 0x142, "/dev/pcanusb1" );

void cSDH::OpenCAN_PEAK	(	tDeviceHandle	_handle,
		double	_timeout = `0.0`,
		Int32	_id_read = `43`,
		Int32	_id_write = `42`
	)		throw (cSDHLibraryException*)

Open connection to SDH via CAN using an PEAK CAN card using an existing handle. If the library was compiled without PEAK CAN support then this will just throw an exception. See setting for WITH_PEAK_CAN in the top level makefile.

Parameters:

_handle	: The PEAK CAN handle to reuse to connect to the PEAK CAN driver (please cast your PEAK_HANDLE to tDeviceHandle! It is save to do that!)
_timeout	: The timeout to use: <= 0 : wait forever (default) T : wait for T seconds
_id_read	- the CAN ID to use for reading (The SDH sends data on this ID, default=43=0x2a)
_id_write	- the CAN ID to use for writing (The SDH receives data on this ID, default=42=0x2a)

Examples:

       // Assuming 'hand' is a cSDH object ...
       // and 'handle' is a valid HANDLE for the PEAK device

       // use default parameters for timeout and IDs
       hand.OpenCAN_PEAK( tDeviceHandle(handle) );

       // or use non default settings:
       // timeout=1.0, id_read=0x143, id_write=0x142
       hand.OpenCAN_PEAK( handle, 1.0, 0x143, 0x142 );

void cSDH::OpenRS232	(	int	_port = `0`,
		unsigned long	_baudrate = `115200`,
		double	_timeout = `-1`,
		char const *	_device_format_string = `"/dev/ttyS%d"`
	)		throw (cSDHLibraryException*)

Open connection to SDH via RS232.

Parameters:

_port	: The number of the serial port to use. The default value port=0 refers to 'COM1' in Windows and to the corresponding '/dev/ttyS0' in Linux.
_baudrate,:	the baudrate in bit/s, the default is 115200 which happens to be the default for the SDH too
_timeout	: The timeout to use: -1 : wait forever T : wait for T seconds
_device_format_string	: a format string (C string) for generating the device name, like "/dev/ttyS%d" (default) or "/dev/ttyUSB%d". Must contain a d where the port number should be inserted. This char array is duplicated on construction When compiled with VCC (MS-Visual C++) then this is not used.

Examples:

       // Assuming 'hand' is a cSDH object ...

       // Open connection to SDH via default port:
       hand.OpenRS232();

       // Use a different port 2 == COM3 == /dev/ttyS2 for a second hand "hand2":
       cSDH hand2();
       hand2.OpenRS232( 2 );

       // Linux only: Use a different USB to RS232 device on port 3 /dev/ttyUSB3 for a third hand "hand3":
       cSDH hand3();
       hand2.OpenRS232( 3, 115200, -1, "/dev/ttyUSB%d" );

void cSDH::OpenTCP	(	char const *	_tcp_adr = `"192.168.1.1"`,
		int	_tcp_port = `23`,
		double	_timeout = `0.0`
	)		throw (cSDHLibraryException*)

Open connection to SDH via TCP using TCP/IP address _tcp_adr and _tcp_port.

Parameters:

_tcp_adr	: The tcp host address of the SDH. Either a numeric IP as string or a hostname
_tcp_port	: the tcp port number on the SDH to connect to
_timeout	: The timeout to use: <= 0 : wait forever (default) T : wait for T seconds

Examples:

       // Assuming 'hand' is a cSDH object ...

       // IP-address 192.168.1.1, port 23, timeout=0.0
       hand.OpenTCP( "192.168.1.1.", 23, 0.0 );

void cSDH::SetAxisEnable	(	std::vector< int > const &	axes,
		std::vector< double > const &	states
	)		throw (cSDHLibraryException*)

Set enabled/disabled state of axis controller(s).

The controllers of the selected axes are enabled/disabled in the SDH. Disabled axes are not powered and thus might not remain in their current pose due to gravity, inertia or other external influences. But to prevent overheating the axis controllers should be switched of when not needed.

Parameters:

axes	- A vector of axis indices to access.
states	- A vector of enabled states (0 = disabled, !=0 = enabled) to set. If any of the numbers in the vector is `NaN` (Not a Number) then the currently set enabled state will be kept for the corresponding axis.

Remarks:

The lengths of the axes and states vector must match.
The indices can be given in any order, but the order of their elements must match, i.e. state[i] will be applied to axis axes[i] (not axis i).
The indices are checked if they are valid axis indices.
If any index is invalid then none of the specified values is sent to the SDH, instead a #SDH::cSDHErrorInvalidParameter* exception is thrown.

See also SetAxisEnable(int,double), SetAxisEnable(int,bool) for overloaded variants to set a single axis enabled/disabled or to set the same state for all axes. See further SetAxisEnable(std::vector<int>const&,std::vector<bool>const&) for a variant that accepts a bool vector for the states to set.

Examples:

        // Assuming 'hand' is a cSDH object ...

        // Enable all axes:
        hand.SetAxisEnable( hand.all_axes, hand.ones_v );

        // Disable all axes:
        hand.SetAxisEnable( All, 0 );

        // Enable axis 0 and 2 while disabling axis 4:
        std::vector<int> axes042;
        axes042.push_back( 0 );
        axes042.push_back( 4 );
        axes042.push_back( 2 );

        std::vector<double> states042;
        states042.push_back( 1.0 );
        states042.push_back( 0.0 );
        states042.push_back( 1.0 );

        hand.SetAxisEnable( axes042, states042 );


        // Disable axis 2
        hand.SetAxisEnable( 2, false );

void cSDH::SetAxisEnable	(	int	iAxis = `All`,
		double	state = `1.0`
	)		throw (cSDHLibraryException*)

Like SetAxisEnable(std::vector<int>const&,std::vector<double>const&), just for a single axis iAxis and a single axis state state, see there.

If iAxis is All then state is applied to all axes.

void cSDH::SetAxisEnable	(	std::vector< int > const &	axes,
		std::vector< bool > const &	states
	)		throw (cSDHLibraryException*)

Like SetAxisEnable(std::vector<int>const&,std::vector<double>const&), just accepting a vector of bool values as states, see there.

void cSDH::SetAxisEnable	(	int	iAxis = `All`,
		bool	state = `true`
	)		throw (cSDHLibraryException*)

Like SetAxisEnable(std::vector<int>const&,std::vector<double>const&), just for a single axis iAxis and a single axis state state, see there.

If iAxis is All then state is applied to all axes.

void cSDH::SetAxisMotorCurrent	(	std::vector< int > const &	axes,
		std::vector< double > const &	motor_currents,
		eMotorCurrentMode	mode = `eMCM_MOVE`
	)		throw (cSDHLibraryException*)

Set the maximum allowed motor current(s) for axes.

The maximum allowed motor currents are sent to the SDH. The motor currents can be stored:

axis specific
mode specific (see eMotorCurrentMode)

Parameters:

axes	- A vector of axis indices to access.
motor_currents	- A vector of motor currents to set. If any of the numbers in the vector is `NaN` (Not a Number) then the currently set axis motor current will be kept for the corresponding axis. The value(s) are expected in the configured motor current unit system uc_motor_current.
mode	- the mode to set the maximum motor current for. One of the eMotorCurrentMode modes.

Remarks:

The lengths of the axes and motor_currents vector must match.
The indices can be given in any order, but the order of their elements must match, i.e. motor_currents[i] will be applied to axis axes[i] (not axis i).
The indices are checked if they are valid axis indices.
The motor currents are checked if they are in the allowed range [0 .. f_max_motor_current_v], i.e. it is checked that motor_currents[i], converted to internal units, is in [0 .. f_max_motor_currents_v[axes[i]]].
If any index or value is invalid then none of the specified values is sent to the SDH, instead a #SDH::cSDHErrorInvalidParameter* exception is thrown.

See also SetAxisMotorCurrent(int,double,eMotorCurrentMode) for an overloaded variant to set a single axis motor current or to set the same motor current for all axes.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Set maximum allowed motor current of all axes to the given values in mode "eMCM_MOVE"::
        std::vector<double> all_motor_currents;
        all_motor_currents.push_back( 0.0 );
        all_motor_currents.push_back( 0.1 );
        all_motor_currents.push_back( 0.2 );
        all_motor_currents.push_back( 0.3 );
        all_motor_currents.push_back( 0.4 );
        all_motor_currents.push_back( 0.5 );
        all_motor_currents.push_back( 0.6 );

        hand.SetAxisMotorCurrent( hand.all_axes, all_motor_currents );


        // Set maximum allowed motor current of all axes to 0.1 A in mode "eMCM_HOLD":
        hand.SetAxisMotorCurrent( hand.All, 1.0, eMCM_HOLD );

        // Set maximum allowed motor current of axis 3 to 0.75 A in mode "eMCM_MOVE":
        hand.SetAxisMotorCurrent( 3, 0.75, eMCM_MOVE );

        // Set maximum allowed motor current of for axis 0, 4 and 2 to 0.0 A,
        // 0.4 A and 0.2 A respectively in mode "eMCM_GRIP"
        std::vector<int> axes042;
        axes042.push_back( 0 );
        axes042.push_back( 4 );
        axes042.push_back( 2 );
        std::vector<double> motor_currents042;
        motor_currents042.push_back( 0.0 );
        motor_currents042.push_back( 0.4 );
        motor_currents042.push_back( 0.2 );

        hand.SetAxisMotorCurrent( axes042, states042, eMCM_GRIP );

void cSDH::SetAxisMotorCurrent	(	int	iAxis,
		double	motor_current,
		eMotorCurrentMode	mode = `eMCM_MOVE`
	)		throw (cSDHLibraryException*)

Like SetAxisMotorCurrent(std::vector<int>const&,std::vector<double>const&,eMotorCurrentMode), just for a single axis iAxis and a single motor current motor_current, see there.

If iAxis is All then motor_current is set for all axes.

void cSDH::SetAxisTargetAcceleration	(	std::vector< int >const &	axes,
		std::vector< double >const &	accelerations
	)		throw (cSDHLibraryException*)

Set the target acceleration(s) for axis(axes).

The target accelerations are stored in the SDH and are used only for:

the eCT_POSE controller type with eVP_RAMP velocity profile
the eCT_VELOCITY_ACCELERATION controller type

Setting the target acceleration will not affect an ongoing movement, nor will it start a new movement. To take effect an additional command must be sent:

in eCT_POSE controller type a move command: MoveAxis() MoveFinger() MoveHand()
in eCT_VELOCITY_ACCELERATION controller type the velocity must be set: SetAxisTargetVelocity()

Parameters:

axes	- A vector of axis indices to access.
accelerations	- A vector of axis target accelerations to set. If any of the numbers in the vector is `NaN` (Not a Number) then the currently set axis target angle will be kept for the corresponding axis. The value(s) are expected in the configured angular acceleration unit system uc_angular_acceleration.

Remarks:

The lengths of the axes and accelerations vector must match.
The indices can be given in any order, but the order of their elements must match, i.e. accelerations[i] will be applied to axis axes[i] (not axis i).
The indices are checked if they are valid axis indices.
The accelerations are checked if they are in the allowed range [0 .. f_max_velocity_v], i.e. it is checked that accelerations[i], converted to internal units, is in [0 .. f_max_velocity_v[axes[i]]].
If any index or value is invalid then none of the specified values is sent to the SDH, instead a #SDH::cSDHErrorInvalidParameter* exception is thrown.

See also SetAxisTargetAcceleration(int,double) for an overloaded variant to set a single axis target acceleration or to set the same target acceleration for all axes.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Set target axis acceleration of all axes to the given values:
        std::vector<double> all_accelerations;
        all_accelerations.push_back( 100.0 );
        all_accelerations.push_back( 101.0 );
        all_accelerations.push_back( 102.0 );
        all_accelerations.push_back( 103.0 );
        all_accelerations.push_back( 104.0 );
        all_accelerations.push_back( 105.0 );
        all_accelerations.push_back( 106.0 );

        hand.SetAxisTargetAcceleration( hand.all_axes, all_accelerations );


        // Set target axis acceleration of axis 3 to 420 degrees per square-second:
        hand.SetAxisTargetAcceleration( 3, 420.0 );

        // Set target acceleration of for axis 0,4 and 2 to 0.0, 444.0 and 222 degrees per square-second respectively:
        std::vector<int> axes042;
        axes042.push_back( 0 );
        axes042.push_back( 4 );
        axes042.push_back( 2 );
        std::vector<double> accelerations042;
        accelerations042.push_back( 100.0 );
        accelerations042.push_back( 104.0 );
        accelerations042.push_back( 102.0 );

        hand.SetAxisTargetAcceleration( axes042, accelerations042 );


        // Set target axis acceleration of all axes to 142.1 degrees per square-second
        hand.SetAxisTargetAcceleration( hand.All, 142.1 );

void cSDH::SetAxisTargetAcceleration	(	int	iAxis,
		double	acceleration
	)		throw (cSDHLibraryException*)

Like SetAxisTargetAcceleration(std::vector<int>const&,std::vector<double>const&), just for a single axis iAxis and a single acceleration acceleration, see there for details and examples.

void cSDH::SetAxisTargetAngle	(	std::vector< int > const &	axes,
		std::vector< double > const &	angles
	)		throw (cSDHLibraryException*)

Set the target angle(s) for axis(axes).

The target angles are stored in the SDH, the movement is not executed until an additional move command is sent.

Parameters:

axes	- A vector of axis indices to access.
angles	- A vector of axis target angles to set. If any of the numbers in the vector is `NaN` (Not a Number) then the currently set axis target angle will be kept for the corresponding axis. The value(s) are expected in the configured angle unit system uc_angle.

Remarks:

Setting the target angle will not make the axis/axes move.
The lengths of the axes and angles vector must match.
The indices can be given in any order, but the order of their elements must match, i.e. angles[i] will be applied to axis axes[i] (not axis i).
The indices are checked if they are valid axis indices.
The angles are checked if they are in the allowed range [f_min_angle_v .. f_max_angle_v], i.e. it is checked that angles[i], converted to internal units, is in [f_min_angle_v[axes[i]] .. f_max_angle_v[axes[i]]].
If any index or value is invalid then none of the specified values is sent to the SDH, instead a #SDH::cSDHErrorInvalidParameter* exception is thrown.

See also SetAxisTargetAngle(int,double) for an overloaded variant to set a single axis target angle or to set the same target angle for all axes.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Set target axis angle of all axes to the given values:
        std::vector<double> all_angles;
        all_angles.push_back( 0.0 );
        all_angles.push_back( -11.0 );
        all_angles.push_back( -22.0 );
        all_angles.push_back( -33.0 );
        all_angles.push_back( -44.0 );
        all_angles.push_back( -55.0 );
        all_angles.push_back( -66.0 );

        hand.SetAxisTargetAngle( hand.all_axes, all_angles );


        // Set target axis angle of axis 3 to -42 degrees:
        hand.SetAxisTargetAngle( 3, -42.0 );

        // Set target angle of for axis 0, 4 and 2 to 0.0, -44.4 and -2.22 degrees respectively:
        std::vector<int> axes042;
        axes042.push_back( 0 );
        axes042.push_back( 4 );
        axes042.push_back( 2 );
        std::vector<double> angles042;
        angles042.push_back( 0.0 );
        angles042.push_back( -44.4 );
        angles042.push_back( -2.22 );

        hand.SetAxisTargetAngle( axes042, angles042 );


        // Set target axis angle of all axes to 0 degrees (home-position)
        hand.SetAxisTargetAngle( hand.All, 0.0 );

void cSDH::SetAxisTargetAngle	(	int	iAxis,
		double	angle
	)		throw (cSDHLibraryException*)

Like SetAxisTargetAngle(std::vector<int>const&,std::vector<double>const&), just for a single axis iAxis and a single angle angle, see there for details and examples.

If iAxis is All then motor_current is set for all axes.

std::vector<double> cSDH::SetAxisTargetGetAxisActualAngle	(	std::vector< int > const &	axes,
		std::vector< double > const &	angles
	)		throw (cSDHLibraryException*)

Set the target angle(s) and get the actual angle(s) for axis(axes).

Opposed to SetAxisTargetAngle() this will make the fingers move to the set target angles immediately, if the axis controllers are already enabled!

Parameters:

axes	- A vector of axis indices to access.
angles	- A vector of axis target angles to set. If any of the numbers in the vector is `NaN` (Not a Number) then the currently set axis target angle will be kept for the corresponding axis. The value(s) are expected in the configured angle unit system uc_angle.

Returns:: the actual angle(s) of the selected axes

Remarks:

The lengths of the axes and angles vector must match.
The indices can be given in any order, but the order of their elements must match, i.e. angles[i] will be applied to axis axes[i] (not axis i).
The indices are checked if they are valid axis indices.
The angles are checked if they are in the allowed range [f_min_angle_v .. f_max_angle_v], i.e. it is checked that angles[i], converted to internal units, is in [f_min_angle_v[axis[i]] .. f_max_angle_v[axes[i]]].
If any index or value is invalid then none of the specified values is sent to the SDH, instead a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Set target axis angles of all axes to the given values and read back the actual angle:
        std::vector<double> all_target_angles;
        all_target_angles.push_back( 0.0 );
        all_target_angles.push_back( 11.0 );
        all_target_angles.push_back( 22.0 );
        all_target_angles.push_back( 33.0 );
        all_target_angles.push_back( 44.0 );
        all_target_angles.push_back( 55.0 );
        all_target_angles.push_back( 66.0 );

        std::vector<double> all_acutal_angles;
        all_acutal_angles = hand.SetAxisTargetGetAxisActualAngle( hand.all_axes, all_target_angles );


        // Set target angle of for axis 0,4 and 2 to 0.0, 44.4 and 2.22 degrees per second respectively:
        std::vector<int> axes042;
        axes042.push_back( 0 );
        axes042.push_back( 4 );
        axes042.push_back( 2 );
        std::vector<double> target_angles042;
        target_angles042.push_back( 0.0 );
        target_angles042.push_back( 44.4 );
        target_angles042.push_back( 2.22 );

        std::vector<double> actual_angles042;
        actual_angles042 = hand.SetAxisTargetGetAxisActualAngle( axes042, target_angles042 );

std::vector<double> cSDH::SetAxisTargetGetAxisActualVelocity	(	std::vector< int > const &	axes,
		std::vector< double > const &	velocities
	)		throw (cSDHLibraryException*)

Set the target velocity(s) and get the actual velocitiy(s) for axis(axes).

The target velocities are stored in the SDH. The time at which a new target velocities will take effect depends on the current axis controller type:

in eCT_POSE controller type the new target velocities will not take effect until an additional move command is sent: MoveAxis(), MoveFinger(), MoveHand()
in eCT_VELOCITY and eCT_VELOCITY_ACCELERATION controller type the new target velocity will take effect immediately, if the axis controllers are already enabled. This means that in eCT_VELOCITY_ACCELERATION controller type the accelerations must be set with SetAxisTargetAcceleration() before calling SetAxisTargetVelocity().

Parameters:

axes	- A vector of axis indices to access.
velocities	- A vector of axis target velocities to set. If any of the numbers in the vector is `NaN` (Not a Number) then the currently set axis target velocity will be kept for the corresponding axis. The value(s) are expected in the configured angular velocity unit system uc_angular_velocity.

Returns:: the actual velocity(s) of the selected axes

Remarks:

The lengths of the axes and velocities vector must match.
The indices can be given in any order, but the order of their elements must match, i.e. velocities[i] will be applied to axis axes[i] (not axis i).
The indices are checked if they are valid axis indices.
The velocities are checked if they are in the allowed range:
- in eCT_POSE controller type: [0 .. f_max_velocity_v], i.e. it is checked that velocities[i], converted to internal units, is in [0 .. f_max_velocity_v[axes[i]]].
- in eCT_VELOCITY and eCT_VELOCITY_ACCELERATION controller type: [-f_max_velocity_v .. f_max_velocity_v], i.e. it is checked that velocities[i], converted to internal units, is in [-f_max_velocity_v[axes[i]] .. f_max_velocity_v[axes[i]]].
If any index or value is invalid then none of the specified values is sent to the SDH, instead a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Set target axis velocity of all axes to the given values and read back the actual velocity:
        std::vector<double> all_target_velocities;
        all_target_velocities.push_back( 0.0 );
        all_target_velocities.push_back( 11.0 );
        all_target_velocities.push_back( 22.0 );
        all_target_velocities.push_back( 33.0 );
        all_target_velocities.push_back( 44.0 );
        all_target_velocities.push_back( 55.0 );
        all_target_velocities.push_back( 66.0 );

        std::vector<double> all_acutal_velocities;
        all_acutal_velocities = hand.SetAxisTargetGetAxisActualVelocity( hand.all_axes, all_target_velocities );


        // Set target velocity of for axis 0,4 and 2 to 0.0, 44.4 and 2.22 degrees per second respectively:
        std::vector<int> axes042;
        axes042.push_back( 0 );
        axes042.push_back( 4 );
        axes042.push_back( 2 );
        std::vector<double> target_velocities042;
        target_velocities042.push_back( 0.0 );
        target_velocities042.push_back( 44.4 );
        target_velocities042.push_back( 2.22 );

        std::vector<double> actual_velocities042;
        actual_velocities042 = hand.SetAxisTargetGetAxisActualVelocity( axes042, target_velocities042 );

void cSDH::SetAxisTargetVelocity	(	std::vector< int > const &	axes,
		std::vector< double > const &	velocities
	)		throw (cSDHLibraryException*)

Set the target velocity(s) for axis(axes).

The target velocities are stored in the SDH. The time at which a new target velocities will take effect depends on the current axis controller type:

in eCT_POSE controller type the new target velocities will not take effect until an additional move command is sent: MoveAxis(), MoveFinger(), MoveHand()
in eCT_VELOCITY and eCT_VELOCITY_ACCELERATION controller type the new target velocity will take effect immediately, if the axis controllers are already enabled. This means that in eCT_VELOCITY_ACCELERATION controller type the accelerations must be set with SetAxisTargetAcceleration() before calling SetAxisTargetVelocity().

Parameters:

axes	- A vector of axis indices to access.
velocities	- A vector of axis target angles to set. If any of the numbers in the vector is `NaN` (Not a Number) then the currently set axis target velocity will be kept for the corresponding axis. The value(s) are expected in the configured angular velocity unit system uc_angular_velocity.

Remarks:

The lengths of the axes and velocities vector must match.
The indices can be given in any order, but the order of their elements must match, i.e. velocities[i] will be applied to axis axes[i] (not axis i).
The indices are checked if they are valid axis indices.
The velocities are checked if they are in the allowed range:
- in eCT_POSE controller type: [0 .. f_max_velocity_v], i.e. it is checked that velocities[i], converted to internal units, is in [0 .. f_max_velocity_v[axes[i]]].
- in eCT_VELOCITY and eCT_VELOCITY_ACCELERATION controller type: [-f_max_velocity_v .. f_max_velocity_v], i.e. it is checked that velocities[i], converted to internal units, is in [-f_max_velocity_v[axes[i]] .. f_max_velocity_v[axes[i]]].
If any index or value is invalid then none of the specified values is sent to the SDH, instead a #SDH::cSDHErrorInvalidParameter* exception is thrown.

See also SetAxisTargetVelocity(int,double) for an overloaded variant to set a single axis target velocity or to set the same target velocity for all axes.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Set target axis velocity of all axes to the given values:
        std::vector<double> all_velocities;
        all_velocities.push_back( 0.0 );
        all_velocities.push_back( 11.0 );
        all_velocities.push_back( 22.0 );
        all_velocities.push_back( 33.0 );
        all_velocities.push_back( 44.0 );
        all_velocities.push_back( 55.0 );
        all_velocities.push_back( 66.0 );

        hand.SetAxisTargetVelocity( hand.all_axes, all_velocities );


        // Set target axis velocity of axis 3 to 42 degrees per second:
        hand.SetAxisTargetVelocity( 3, 42.0 );

        // Set target velocity of for axis 0,4 and 2 to 0.0, 44.4 and 2.22 degrees per second respectively:
        std::vector<int> axes042;
        axes042.push_back( 0 );
        axes042.push_back( 4 );
        axes042.push_back( 2 );
        std::vector<double> velocities042;
        velocities042.push_back( 0.0 );
        velocities042.push_back( 44.4 );
        velocities042.push_back( 2.22 );

        hand.SetAxisTargetVelocity( axes042, velocities042 );


        // Set target axis velocity of all axes to 47.11 degrees per second
        hand.SetAxisTargetVelocity( hand.All, 47.11 );

void cSDH::SetAxisTargetVelocity	(	int	iAxis,
		double	velocity
	)		throw (cSDHLibraryException*)

Like SetAxisTargetVelocity(std::vector<int>const&,std::vector<double>const&), just for a single axis iAxis and a single velocity velocity, see there for details and examples.

std::vector<double> cSDH::SetAxisValueVector	(	std::vector< int > const &	axes,
		std::vector< double > const &	values,
		pSetFunction	ll_set,
		pGetFunction	ll_get,
		cUnitConverter const *	uc,
		std::vector< double > const &	min_values,
		std::vector< double > const &	max_values,
		char const *	name
	)		throw (cSDHLibraryException*) `[protected]`

Generic set function: set some given axes to given values

Parameters:

axes	- a vector of axis indices
values	- a vector of values
ll_set	- a pointer to the low level set function to use
ll_get	- a pointer to the low level get function to use (for those axes where the given value is NaN)
uc	- a pointer to the unit converter object to use before sending values to ll_set
min_values	- a vector with the minimum allowed values
max_values	- a vector with the maximum allowed values
name	- a string with the name of the values (for constructing error message)

Returns:: the values returned from the SDH will be returned (for most commands ll_set/ll_get functions this will be the values, except for the cSDHSerial::tvav and cSDHSerial::tpap functions)

Remarks:

The length of the axis and values vector must match.
The indices can be given in any order, but the order of the elements of axes and values must match too. I.e. values[i] will be applied to axis axes[i] (not axis i)
The indices are checked if they are valid axis indices.
The values are checked if they are in the allowed range [min_values .. f_max_values], i.e. it is checked that value[i], converted to the internal unit system by uc->ToInternal(), is in [min_values[axes[i]] .. max_values[axes[i]]].
If any index or value is invalid then none of the specified values is sent to the SDH, instead a #SDH::cSDHErrorInvalidParameter* exception is thrown.

Bug:

: setting a single axis velocity only sets the velocities of all other axes to 0! So in order to address only some axes you must provide the desired velocity for all axes that you want to move in every call:

With SDH firmware 0.0.2.16 and SDHLibrary-CPP 0.0.2.3 and binary communication (see also SDH_USE_BINARY_COMMUNICATION) setting of single (more precisely: less-than-all) axis parameters (position, velocity, acceleration) does not work as expected: If a single parameter is to be set for a single axis then that parameter is set to 0 for all other axes.
Workaround: If you want to access several different axes one after another then you have to keep a vector of the parameter for all your used axes in your application. You can then update single values of the vector on demand, but you have to send the complete vector to the SDHlibrary functions on every call.

void cSDH::SetController ( cSDHBase::eControllerType controller ) throw (cSDHLibraryException*)

Set the type of axis controller to be used in the SDH

With SDH firmware >= 0.0.2.7 this will automatically set valid default values for all target velocities, accelerations and positions in the SDH firmware, according to the controller type:

eCT_POSE:
- target velocities will be set to default (40 deg/s)
- target accelerations will be set to default (100 deg/(s*s))
- target positions will be set to default (0.0 deg)
eCT_VELOCITY:
- target velocities will be set to default (0 deg/s)
eCT_VELOCITY_ACCELERATION:
- target velocities will be set to default (0 deg/s)
- target accelerations will be set to default (100 deg/(s*s))

This will also adjust the lower limits of the allowed velocities here in the SDHLibrary, since the eCT_POSE controller allows only positive velocities while the eCT_VELOCITY and eCT_VELOCITY_ACCELERATION controllers require also negative velocities.

Attention:

The availability of a controller type depends on the SDH firmware of the attached SDH and is checked here.

firmware <= 0.0.2.5: only eCT_POSE
firmware >= 0.0.2.6: eCT_POSE, eCT_VELOCITY, eCT_VELOCITY_ACCELERATION

Parameters:

controller - identifier of controller to set. Valid values are defined in eControllerType

Examples:

       // Assuming 'hand' is a cSDH object ...

       // Set the pose controller in the SDH
       // (see e.g. demo-simple.cpp, demo-simple2.cpp, demo-simple3.cpp for further examples)
       hand.SetController( hand.eCT_POSE );

       // Set the simple velocity controller in the SDH:
       hand.SetController( hand.eCT_VELOCITY );

       // Set the velocity with acceleration ramp controller in the SDH:
       // (see e.g. demo-velocity-acceleration.cpp for further examples)
       hand.SetController( hand.eCT_VELOCITY_ACCELERATION );

virtual void cSDH::SetDebugOutput ( std::ostream * debuglog ) [inline, virtual]

change the stream to use for debug messages

Reimplemented from cSDHBase.

Definition at line 382 of file sdh.h.

void cSDH::SetFingerEnable	(	std::vector< int > const &	fingers,
		std::vector< double > const &	states
	)		throw (cSDHLibraryException*)

Set enabled/disabled state of axis controllers of finger(s).

The controllers of the axes of the selected fingers are enabled/disabled in the SDH. Disabled axes are not powered and thus might not remain in their current pose due to gravity, inertia or other external influences. But to prevent overheating the axis controllers should be switched of when not needed.

Parameters:

fingers	- A vector of finger indices to access.
states	- A vector of enabled states (0 = disabled, !=0 = enabled) to set. If any of the numbers in the vector is `NaN` (Not a Number) then the currently set enabled state will be kept for the corresponding axis.

Remarks:

The lengths of the fingers and states vector must match.
The indices can be given in any order, but the order of their elements must match, i.e. state[i] will be applied to finger fingers[i] (not finger i).
The indices are checked if they are valid finger indices.
If any index is invalid then none of the specified values is sent to the SDH, instead a #SDH::cSDHErrorInvalidParameter* exception is thrown.
As axis 0 is used for finger 0 and 2, axis 0 is disabled only if both finger 0 and 1 are disabled.

See also SetFingerEnable(int,double), SetFingerEnable(int,bool) for overloaded variants to set a single finger enabled/disabled or to set the same state for all fingers. See further SetFingerEnable(std::vector<int>const&,std::vector<bool>const&) for a variant that accepts a bool vector for the states to set.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Enable finger 1 and 2 while disabling finger 0 :
        std::vector<double> states012;
        states012.push_back( 0.0 );
        states012.push_back( 1.0 );
        states012.push_back( 1.0 );

        hand.SetFingerEnable( hand.all_axes, states012 );
        // (this will keep axis 0 (used by the disabled finger 0) enabled,
        // since axis 0 is needed by the enabled finger 2 too);

        // Enable all fingers:
        hand.SetFingerEnable( hand.All,true );

        // Disable all fingers:
        hand.SetFingerEnable( hand.All, 0.0 );

        // Disable finger 2:
        hand.SetFingerEnable( 2, false );

void cSDH::SetFingerEnable	(	int	iFinger,
		double	state = `1.0`
	)		throw (cSDHLibraryException*)

Like SetFingerEnable(std::vector<int>const&,std::vector<double>const&), just for a single finger iAxis and a single angle angle, see there for details and examples.

void cSDH::SetFingerEnable	(	std::vector< int > const &	fingers,
		std::vector< bool > const &	states
	)		throw (cSDHLibraryException*)

Like SetFingerEnable(std::vector<int>const&,std::vector<double>const&), just with states as vector of bool values, see there for details and examples.

void cSDH::SetFingerEnable	(	int	iFinger,
		bool	state
	)		throw (cSDHLibraryException*)

Like SetFingerEnable(std::vector<int>const&,std::vector<double>const&), just for a single finger iAxis and a single angle angle, see there for details and examples.

void cSDH::SetFingerTargetAngle	(	int	iFinger,
		std::vector< double > const &	angles
	)		throw (cSDHLibraryException*)

Set the target angle(s) for a single finger.

The target axis angles angle of finger iFinger are stored in the SDH. The movement is not executed until an additional move command is sent.

Parameters:

iFinger	- index of finger to access. This must be a single index.
angles	- the angle(s) to set or `None` to set the current actual axis angles of the finger as target angle. This can be a single number or a vector of numbers. The value(s) are expected in the configured angle unit system uc_angle.

Remarks:

Setting the target angles will not make the finger move.
The iFinger index is checked if it is a valid finger index.
The angles are checked if they are in the allowed range [0 .. f_max_angle_v], i.e. it is checked that angles[i], converted to internal units, is in [0 .. f_max_angle_v[finger_axis_index[iFinger][i]]].
If any index or value is invalid then none of the specified values is sent to the SDH, instead a #SDH::cSDHErrorInvalidParameter* exception is thrown.

See also SetFingerTargetAngle(int,double,double,double) for an overloaded variant to set finger axis target angles from single double values.

Examples:

        // Assuming "hand" is a cSDH object ...

        // Set target axis angles of finger 0 to { 10.0, -08.15, 47.11 } degrees
        std::vector<double> angles;
        angles.push_back( 10.0 );
        angles.push_back( -08.15 );
        angles.push_back(  47.11 );

        hand.SetFingerTargetAngle( 0, angles );


        // Set target axis angles of finger 1 to { 0.0, 24.7, 17.4 } degrees
        angles[0] = 0.0;   // "virtual" base axis of finger 1
        angles[1] = 24.7;
        angles[2] = 17.4;
        hand.SetFingerTargetAngle( 1, { 0.0, 24.7, 17.4 } );


        // Set target axis angles of all axes of finger 0 to 12.34 degrees
        hand.SetFingerTargetAngle( 0, 12.34, 12.34, 12.34 );


        // REMARK: the last command changed the previously set target axis
        // angle for axis 0, since axis 0 is used as base axis for both
        // finger 0 and 2!

void cSDH::SetFingerTargetAngle	(	int	iFinger,
		double	a0,
		double	a1,
		double	a2
	)		throw (cSDHLibraryException*)

Like SetFingerTargetAngle(int,std::vector<double>const&), just with individual finger axis angles a0, a1 and a2.

void cSDH::SetVelocityProfile ( eVelocityProfile velocity_profile ) throw (cSDHLibraryException*)

Set the type of velocity profile to be used in the SDH

Parameters:

velocity_profile - Name or number of velocity profile to set. Valid values are defined in eVelocityProfileType

Examples:

      // Assuming 'hand' is a cSDH object ...

      // Set the sin square velocity profile in the SDH:
      hand.SetVelocityProfile( hand.eVP_SIN_SQUARE );

      // Or else set the ramp velocity profile in the SDH:
      hand.SetVelocityProfile( hand.eVP_RAMP )

void cSDH::Stop ( void ) throw (cSDHLibraryException*)

Stop movement of all axes but keep controllers on

This command will always be executed sequentially: it will return only after the SDH has confirmed the stop

Bug:: For now this will NOT work while a GripHand() command is executing, even if that was initiated non-sequentially!

Bug:: With SDH firmware < 0.0.2.7 this made the axis jerk in eCT_POSE controller type. This is resolved in SDH firmware 0.0.2.7 for the eCT_POSE controller type with velocity profile eVP_RAMP. For the eCT_POSE controller type with velocity profile eVP_SIN_SQUARE changing target points/ velocities while moving will still make the axes jerk.
=> Partly resolved in SDH firmware 0.0.2.7

Examples:

       // Assuming 'hand' is a cSDH object ...

       // Perform a stop:
       hand.Stop();

std::vector<int> cSDH::ToIndexVector	(	int	index,
		std::vector< int > &	all_replacement,
		int	maxindex,
		char const *	name
	)		throw (cSDHLibraryException*) `[protected]`

Internal helper function: return a vector of checked indices according to index.

Parameters:

index	- The index to vectorize or All
all_replacement	- a vector to return if index is All
maxindex	- the index is checked if in [0..\ maxindex[ (i.e. not including maxindex)
name	- A name for the things index, used to report out of bounds errors

Returns:

If index is All then all_replacement is returned.
If index is a single number >= 0 then it is checked if in [0..\ maxindex[ and a vector of length 1 is returned containing only index.
In case index exceeds maxindex a (cSDHErrorInvalidParameter*) exception is thrown.

void cSDH::UpdateSettingsFromSDH ( ) [private]

Update settings like min/max velocities and accelerations from the connected SDH

void cSDH::UseDegrees ( void )

Shortcut to set the unit system to degrees.

After calling this (axis) angles are set/reported in degrees and angular velocities are set/reported in degrees/second

Examples:

       // Assuming 'hand' is a cSDH object ...

       // make hand object use degrees and degrees/second for angles and angular velocities
       hand.UseDegrees();
       // as degrees, degrees/second are the default this is needed only if the
       // unit system was changed before

void cSDH::UseRadians ( void )

Shortcut to set the unit system to radians.

After calling this axis angles are set/reported in radians and angular velocities are set/reported in radians/second

Examples:

       // Assuming 'hand' is a cSDH object ...

       // make hand object use radians and radians/second for angles and angular velocities
       hand.UseRadians();

void cSDH::WaitAxis	(	std::vector< int > const &	axes,
		double	timeout = `-1.0`
	)		throw (cSDHLibraryException*)

Wait until the movement(s) of of axis(axes) has finished

The state of the given axis(axes) is(are) queried until all axes are no longer moving.

Parameters:

axes	- A vector of axis indices to access.
timeout	- a timeout in seconds or -1.0 (default) to wait indefinetly.

The indices in axes are checked if they are valid axis indices.
If any axis index is invalid then a #SDH::cSDHErrorInvalidParameter* exception is thrown.
- If timeout < 0 then this function will wait arbitrarily long
- If a timeout is given then this function will throw a cSDHErrorCommunication exception if the given axes are still moving after timeout many seconds

See also WaitAxis(int,double) for an overloaded variant to wait for a single axis or all axes.

Bug:: Due to a bug in SDH firmwares prior to 0.0.2.6 the WaitAxis() command was somewhat unreliable there. When called immediately after a movement command like MoveHand(), then the WaitAxis() command returned immediately without waiting for the end of the movement. With SDH firmwares 0.0.2.6 and newer this is no longer problematic and WaitAxis() works as expected.
=> Resolved in SDH firmware 0.0.2.6

Bug:: With SDH firmware 0.0.2.6 WaitAxis() did not work if one of the new velocity based controllers (eCT_VELOCITY, eCT_VELOCITY_ACCELERATION) was used. With SDH firmwares 0.0.2.7 and newer this now works. Here the WaitAxis() waits until the selected axes come to velocity 0.0
=> Resolved in SDH firmware 0.0.2.7

Examples:

Example 1, WaitAxis and eCT_POSE controller, see also the demo program demo-simple3:

        // Assuming "hand" is a cSDH object ...

        hand.SetController( eCT_POSE );

        // Set a new target pose for axis 1,2 and 3
        std::vector<int> axes123;
        axes123.push_back( 1 );
        axes123.push_back( 2 );
        axes123.push_back( 3 );

        std::vector<double> angles123;
        angles123.push_back( -20.0 );
        angles123.push_back( -30.0 );
        angles123.push_back( -40.0 );


        hand.SetAxisTargetAngle( axes123, angles123 );

        // Move axes there non sequentially:
        hand.MoveAxis( axes123, false );

        // The last call returned immediately so we now have time to
        // do something else while the hand is moving:

        // ... insert any calculation here ...

        // Before doing something else with the hand make sure the
        // selected axes have finished the last movement:
        hand.WaitAxis( axes123 );


        // go back home (all angles to 0.0):
        hand.SetAxisTargetAngle( hand.All, 0.0 );

        // Move all axes there non sequentially:
        hand.MoveAxis( hand.All, False );

        // ... insert any other calculation here ...

        // Wait until all axes are there, with a timeout of 10s:
        hand.WaitAxis( hand.All, 10.0 );

        // now we are at the desired position.

Example 2, WaitAxis and eCT_VELOCITY_ACCELERATION controller, see also the demo program demo-velocity-acceleration

        // Assuming "hand" is a cSDH object ...

        hand.SetController( eCT_VELOCITY_ACCELERATION);

        // Set a new target velocity for axis 1,2 and 3
        std::vector<int> axes123;
        axes123.push_back( 1 );
        axes123.push_back( 2 );
        axes123.push_back( 3 );

        std::vector<double> velocities123;
        velocities123.push_back( -20.0 );
        velocities123.push_back( -30.0 );
        velocities123.push_back( -40.0 );


        hand.SetAxisTargetVelocity( axes123, velocities123 ); // this will make the axes move!

        // The last call returned immediately so we now have time to
        // do something else while the hand is moving:

        // ... insert any calculation here ...

        // to break and stop the movement just set the target velocities to 0.0
        velocities123[0] = 0.0;
        velocities123[1] = 0.0;
        velocities123[2] = 0.0;

        hand.SetAxisTargetVelocity( axes123, velocities123 ); // this will make the axes break with the default (de)acceleration

        // The previous command returned immediately, so
        // before doing something else with the hand make sure the
        // selected axes have stopped:
        hand.WaitAxis( axes123 );

        // now the axes have stopped

void cSDH::WaitAxis	(	int	iAxis,
		double	timeout = `-1.0`
	)		throw (cSDHLibraryException*)

Like WaitAxis(std::vector<int>const&,double), just for a single axis iAxis, see there for details and examples.

If iAxis is All then wait for all axes axes.

Member Data Documentation

std::vector<int> cSDH::all_axes

A vector with indices of all axes (in natural order), including the virtual axis.

Definition at line 537 of file sdh.h.

std::vector<int> cSDH::all_fingers

A vector with indices of all fingers (in natural order)

Definition at line 543 of file sdh.h.

std::vector<int> cSDH::all_real_axes

A vector with indices of all real axes (in natural order), excluding the virtual axis.

Definition at line 540 of file sdh.h.

std::vector<int> cSDH::all_temperature_sensors

A vector with indices of all temperature sensors.

Definition at line 546 of file sdh.h.

cSerialBase* cSDH::com [protected]

Definition at line 374 of file sdh.h.

cSDHSerial cSDH::comm_interface

The object to interface with the SDH attached via serial RS232 or CAN or TCP.

Definition at line 379 of file sdh.h.

eControllerType cSDH::controller_type [private]

cached value of the axis controller type

Definition at line 4167 of file sdh.h.

double cSDH::d [protected]

Definition at line 363 of file sdh.h.

std::vector<double> cSDH::f_max_acceleration_v [protected]

Maximum allowed axis acceleration (in internal units (degrees/(second * second))), including the virtual axis.

Definition at line 344 of file sdh.h.

std::vector<double> cSDH::f_max_angle_v [protected]

Maximum allowed axis angles (in internal units (degrees)), including the virtual axis.

Definition at line 332 of file sdh.h.

std::vector<double> cSDH::f_max_motor_current_v [protected]

Maximum allowed motor currents (in internal units (Ampere)), including the virtual axis.

Definition at line 324 of file sdh.h.

std::vector<double> cSDH::f_max_velocity_v [protected]

Maximum allowed axis velocity (in internal units (degrees/second)), including the virtual axis.

Definition at line 338 of file sdh.h.

std::vector<double> cSDH::f_min_acceleration_v [protected]

Minimum allowed axis acceleration (in internal units (degrees/(second * second))), including the virtual axis.

Definition at line 341 of file sdh.h.

std::vector<double> cSDH::f_min_angle_v [protected]

Minimum allowed axis angles (in internal units (degrees)), including the virtual axis.

Definition at line 329 of file sdh.h.

std::vector<double> cSDH::f_min_motor_current_v [protected]

Minimum allowed motor currents (in internal units (Ampere)), including the virtual axis.

Definition at line 321 of file sdh.h.

std::vector<double> cSDH::f_min_velocity_v [protected]

Minimum allowed axis velocity (in internal units (degrees/second)), including the virtual axis.

Definition at line 335 of file sdh.h.

std::vector<double> cSDH::f_ones_v [protected]

Vector of 3 1.0 values.

Definition at line 310 of file sdh.h.

std::vector<double> cSDH::f_zeros_v [protected]

Vector of 3 epsilon values.

Vector of 3 0.0 values

Definition at line 307 of file sdh.h.

std::vector<std::vector<int> > cSDH::finger_axis_index [protected]

Mapping of finger index, finger axis index to axis index:

Definition at line 301 of file sdh.h.

std::vector<int> cSDH::finger_number_of_axes [protected]

Mapping of finger index to number of real axes of fingers:

Definition at line 297 of file sdh.h.

double cSDH::grip_max_velocity [protected]

Maximum allowed grip velocity (in internal units (degrees/second))

Definition at line 347 of file sdh.h.

double cSDH::h [protected]

Definition at line 366 of file sdh.h.

double cSDH::l1 [protected]

length of limb 1 (proximal joint to distal joint) in mm

Definition at line 357 of file sdh.h.

double cSDH::l2 [protected]

length of limb 2 (distal joint to fingertip) in mm

Definition at line 360 of file sdh.h.

int cSDH::nb_all_axes [protected]

The number of all axes including virtual axes.

Definition at line 294 of file sdh.h.

int cSDH::NUMBER_OF_AXES_PER_FINGER [protected]

The number of axis per finger (for finger 1 this includes the "virtual" base axis)

Definition at line 287 of file sdh.h.

int cSDH::NUMBER_OF_VIRTUAL_AXES [protected]

The number of virtual axes.

Definition at line 291 of file sdh.h.

std::vector<std::vector<double> > cSDH::offset [protected]

list of xyz-vectors for all fingers with offset from (0,0,0) of proximal joint in mm

Definition at line 372 of file sdh.h.

std::vector<double> cSDH::ones_v [protected]

Vector of nb_all_axes 1.0 values.

Definition at line 317 of file sdh.h.

std::string cSDH::release_firmware [private]

string containing the SDH firmware release of the attaced SDH (something like "0.0.2.7")

Definition at line 4164 of file sdh.h.

const cUnitConverter* cSDH::uc_angle

unit convert for (axis) angles: default = #SDH::cSDH::uc_angle_degrees

Definition at line 578 of file sdh.h.

cUnitConverter const cSDH::uc_angle_degrees [static]

Default converter for angles (internal unit == external unit): degrees.

Definition at line 237 of file sdh.h.

cUnitConverter const cSDH::uc_angle_radians [static]

Converter for angles: external unit = radians.

Definition at line 240 of file sdh.h.

const cUnitConverter* cSDH::uc_angular_acceleration

unit convert for (axis) angular accelerations: default = #SDH::cSDH::uc_angular_acceleration_degrees_per_second_squared

Definition at line 586 of file sdh.h.

cUnitConverter const cSDH::uc_angular_acceleration_degrees_per_second_squared [static]

Default converter for angular accelerations (internal unit == external unit): degrees / second.

Definition at line 261 of file sdh.h.

cUnitConverter const cSDH::uc_angular_acceleration_radians_per_second_squared [static]

Converter for angular velocieties: external unit = radians/second.

Definition at line 264 of file sdh.h.

const cUnitConverter* cSDH::uc_angular_velocity

unit convert for (axis) angular velocities: default = #SDH::cSDH::uc_angular_velocity_degrees_per_second

Definition at line 582 of file sdh.h.

cUnitConverter const cSDH::uc_angular_velocity_degrees_per_second [static]

Default converter for angular velocities (internal unit == external unit): degrees / second.

Definition at line 255 of file sdh.h.

cUnitConverter const cSDH::uc_angular_velocity_radians_per_second [static]

Converter for angular velocieties: external unit = radians/second.

Definition at line 258 of file sdh.h.

const cUnitConverter* cSDH::uc_motor_current

unit converter for motor curent: default = #SDH::cSDH::uc_motor_current_ampere

Definition at line 598 of file sdh.h.

cUnitConverter const cSDH::uc_motor_current_ampere [static]

Default converter for motor current (internal unit == external unit): Ampere.

Definition at line 267 of file sdh.h.

cUnitConverter const cSDH::uc_motor_current_milliampere [static]

Converter for motor current: external unit = milli Ampere.

Definition at line 270 of file sdh.h.

const cUnitConverter* cSDH::uc_position

unit converter for position: default = #SDH::cSDH::uc_position_millimeter

Definition at line 602 of file sdh.h.

cUnitConverter const cSDH::uc_position_meter [static]

Converter for position: external unit = meter.

Definition at line 276 of file sdh.h.

cUnitConverter const cSDH::uc_position_millimeter [static]

Default converter for position (internal unit == external unit): millimeter.

Definition at line 273 of file sdh.h.

const cUnitConverter* cSDH::uc_temperature

unit convert for temperatures: default = #SDH::cSDH::uc_temperature_celsius

Definition at line 594 of file sdh.h.

cUnitConverter const cSDH::uc_temperature_celsius [static]

Default converter for temparatures (internal unit == external unit): degrees celsius.

Definition at line 249 of file sdh.h.

cUnitConverter const cSDH::uc_temperature_fahrenheit [static]

Converter for temperatures: external unit = degrees fahrenheit.

Definition at line 252 of file sdh.h.

const cUnitConverter* cSDH::uc_time

unit convert for times: default = uc_time_seconds

Definition at line 590 of file sdh.h.

cUnitConverter const cSDH::uc_time_milliseconds [static]

Converter for times: external unit = milliseconds.

Definition at line 246 of file sdh.h.

cUnitConverter const cSDH::uc_time_seconds [static]

Default converter for times (internal unit == external unit): seconds.

Definition at line 243 of file sdh.h.

std::vector<double> cSDH::zeros_v [protected]

Vector of nb_all_axes 0.0 values.

Definition at line 314 of file sdh.h.

The documentation for this class was generated from the following file:

sdh.h

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Kinematic parameters of the Hand

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