#include <math.h>#include <stdbool.h>#include <stddef.h>#include <stdint.h>
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Classes | |
| struct | HebiCommandMetadata_ |
| struct | HebiCommandRef_ |
| struct | HebiFeedbackMetadata_ |
| struct | HebiFeedbackRef_ |
| struct | HebiHighResAngleStruct_ |
| struct | HebiInfoMetadata_ |
| struct | HebiInfoRef_ |
| struct | HebiIoBankPinStruct_ |
| struct | HebiMacAddress_ |
| Structures. More... | |
| struct | HebiQuaternionf_ |
| struct | HebiRobotModelElementMetadata_ |
| struct | HebiRobotModelElementTopology_ |
| struct | HebiVector3f_ |
Macros | |
| #define | M_PI 3.14159265358979323846 |
Functions | |
| void | hebiCleanup (void) |
| Frees all resources created by the library. Note: any calls to the HEBI library functions after this will result in undefined behavior! More... | |
| void | hebiCommandGetMetadata (HebiCommandMetadata *metadata) |
| void | hebiCommandGetReference (HebiCommandPtr command, HebiCommandRef *ref) |
| HebiStatusCode | hebiCommandGetString (HebiCommandPtr command, HebiCommandStringField field, char *buffer, size_t *length) |
| Command API. More... | |
| void | hebiCommandSetString (HebiCommandPtr command, HebiCommandStringField field, const char *buffer, const size_t *length) |
| HebiLookupEntryListPtr | hebiCreateLookupEntryList (HebiLookupPtr lookup) |
| Return a snapshot of the contents of the module registry – i.e., which modules have been found by the lookup. More... | |
| void | hebiFeedbackGetMetadata (HebiFeedbackMetadata *metadata) |
| void | hebiFeedbackGetReference (HebiFeedbackPtr feedback, HebiFeedbackRef *ref) |
| Feedback API. More... | |
| HebiStatusCode | hebiGetLibraryVersion (int32_t *major, int32_t *minor, int32_t *revision) |
| Get the version of the library. More... | |
| void | hebiGroupClearFeedbackHandlers (HebiGroupPtr group) |
| Removes all feedback handling functions from the queue to be called on receipt of group feedback. More... | |
| void | hebiGroupCommandClear (HebiGroupCommandPtr command) |
| Clears all data in the GroupCommand object. More... | |
| HebiStatusCode | hebiGroupCommandCopy (HebiGroupCommandPtr dest, HebiGroupCommandPtr src) |
Clears the dest GroupCommand object, and copies all data from the src GroupCommand object to dest. More... | |
| HebiGroupCommandPtr | hebiGroupCommandCreate (size_t size) |
| Creates a GroupCommand for a group with the specified number of modules. More... | |
| HebiCommandPtr | hebiGroupCommandGetModuleCommand (HebiGroupCommandPtr command, size_t module_index) |
Get an individual command for a particular module at index module_index. More... | |
| size_t | hebiGroupCommandGetSize (HebiGroupCommandPtr command) |
| Return the number of modules in this group Command. More... | |
| HebiStatusCode | hebiGroupCommandReadGains (HebiGroupCommandPtr command, const char *file) |
| Import gains from a file into a GroupCommand object. More... | |
| HebiStatusCode | hebiGroupCommandReadSafetyParameters (HebiGroupCommandPtr command, const char *file) |
| Import safety parameters from a file into a GroupCommand object. More... | |
| void | hebiGroupCommandRelease (HebiGroupCommandPtr command) |
| Frees resources created by the GroupCommand object. More... | |
| HebiStatusCode | hebiGroupCommandWriteGains (HebiGroupCommandPtr command, const char *file) |
| Export gains from a GroupCommand object into a file. More... | |
| HebiStatusCode | hebiGroupCommandWriteSafetyParameters (HebiGroupCommandPtr command, const char *file) |
| Export safety parameters from a GroupCommand object into a file. More... | |
| HebiGroupPtr | hebiGroupCreateConnectedFromMac (HebiLookupPtr lookup, const HebiMacAddress *address, int32_t timeout_ms) |
| Create a group with all modules connected to module with the given MAC address. More... | |
| HebiGroupPtr | hebiGroupCreateConnectedFromName (HebiLookupPtr lookup, const char *family, const char *name, int32_t timeout_ms) |
| Create a group with all modules connected to module with the given name and family. More... | |
| HebiGroupPtr | hebiGroupCreateFromFamily (HebiLookupPtr lookup, const char *family, int32_t timeout_ms) |
| Create a group with all modules known to the lookup with the given family. More... | |
| HebiGroupPtr | hebiGroupCreateFromMacs (HebiLookupPtr lookup, const HebiMacAddress *const *addresses, size_t num_addresses, int32_t timeout_ms) |
| Create a group of modules with the given MAC addresses. More... | |
| HebiGroupPtr | hebiGroupCreateFromNames (HebiLookupPtr lookup, const char *const *families, size_t num_families, const char *const *names, size_t num_names, int32_t timeout_ms) |
| Create a group with modules matching the given names and families. More... | |
| HebiGroupPtr | hebiGroupCreateImitation (size_t size) |
| Group API. More... | |
| void | hebiGroupFeedbackClear (HebiGroupFeedbackPtr feedback) |
| Clears all data in the GroupFeedback object. More... | |
| HebiStatusCode | hebiGroupFeedbackCopy (HebiGroupFeedbackPtr dest, HebiGroupFeedbackPtr src) |
Clears the dest GroupFeedback object, and copies all data from the src GroupFeedback object to dest. More... | |
| HebiGroupFeedbackPtr | hebiGroupFeedbackCreate (size_t size) |
| Creates a GroupFeedback for a group with the specified number of modules. More... | |
| HebiFeedbackPtr | hebiGroupFeedbackGetModuleFeedback (HebiGroupFeedbackPtr feedback, size_t module_index) |
Get an individual feedback for a particular module at index module_index. More... | |
| size_t | hebiGroupFeedbackGetSize (HebiGroupFeedbackPtr feedback) |
| Return the number of modules in this group Feedback. More... | |
| void | hebiGroupFeedbackRelease (HebiGroupFeedbackPtr feedback) |
| Frees resources created by the GroupFeedback object. More... | |
| int32_t | hebiGroupGetCommandLifetime (HebiGroupPtr group) |
| Returns the current command lifetime, in milliseconds. More... | |
| float | hebiGroupGetFeedbackFrequencyHz (HebiGroupPtr group) |
| Returns the current feedback request loop frequency (in Hz). More... | |
| HebiStatusCode | hebiGroupGetNextFeedback (HebiGroupPtr group, HebiGroupFeedbackPtr feedback, int32_t timeout_ms) |
| Returns the most recently stored feedback from a sent feedback request, or returns the next one received (up to the requested timeout). More... | |
| size_t | hebiGroupGetSize (HebiGroupPtr group) |
| Returns the number of modules in a group. More... | |
| void | hebiGroupInfoClear (HebiGroupInfoPtr info) |
| Clears all data in the GroupInfo object. More... | |
| HebiStatusCode | hebiGroupInfoCopy (HebiGroupInfoPtr dest, HebiGroupInfoPtr src) |
Clears the dest GroupInfo object, and copies all data from the src GroupInfo object to dest. More... | |
| HebiGroupInfoPtr | hebiGroupInfoCreate (size_t size) |
| Creates a GroupInfo for a group with the specified number of modules. More... | |
| HebiInfoPtr | hebiGroupInfoGetModuleInfo (HebiGroupInfoPtr info, size_t module_index) |
Get an individual info for a particular module at index module_index. More... | |
| size_t | hebiGroupInfoGetSize (HebiGroupInfoPtr info) |
| Return the number of modules in this group Info. More... | |
| void | hebiGroupInfoRelease (HebiGroupInfoPtr info) |
| Frees resources created by the GroupInfo object. More... | |
| HebiStatusCode | hebiGroupInfoWriteGains (HebiGroupInfoPtr info, const char *file) |
| Export gains from a GroupInfo object into a file. More... | |
| HebiStatusCode | hebiGroupInfoWriteSafetyParameters (HebiGroupInfoPtr info, const char *file) |
| Export safety parameters from a GroupInfo object into a file. More... | |
| HebiStatusCode | hebiGroupRegisterFeedbackHandler (HebiGroupPtr group, GroupFeedbackHandlerFunction handler, void *user_data) |
| Add a function that is called whenever feedback is returned from the group. More... | |
| void | hebiGroupRelease (HebiGroupPtr group) |
| Release resources for a given group; group should not be used after this call. More... | |
| HebiStatusCode | hebiGroupRequestInfo (HebiGroupPtr group, HebiGroupInfoPtr info, int32_t timeout_ms) |
| Requests info from the group, and writes it to the provided info object. More... | |
| HebiStatusCode | hebiGroupSendCommand (HebiGroupPtr group, HebiGroupCommandPtr command) |
| Sends a command to the given group without requesting an acknowledgement. More... | |
| HebiStatusCode | hebiGroupSendCommandWithAcknowledgement (HebiGroupPtr group, HebiGroupCommandPtr command, int32_t timeout_ms) |
| Sends a command to the given group, requesting an acknowledgement of transmission to be sent back. More... | |
| HebiStatusCode | hebiGroupSendFeedbackRequest (HebiGroupPtr group) |
| Requests feedback from the group. More... | |
| HebiStatusCode | hebiGroupSetCommandLifetime (HebiGroupPtr group, int32_t lifetime_ms) |
| Sets the command lifetime for the group, in milliseconds. More... | |
| HebiStatusCode | hebiGroupSetFeedbackFrequencyHz (HebiGroupPtr group, float frequency) |
| Sets the feedback request loop frequency (in Hz). More... | |
| HebiStatusCode | hebiGroupStartLog (HebiGroupPtr group, const char *dir, const char *file, HebiStringPtr *ret) |
| Starts logging data to a file. More... | |
| HebiLogFilePtr | hebiGroupStopLog (HebiGroupPtr group) |
| Stops logging data to a file. More... | |
| HebiStatusCode | hebiIKAddConstraintJointAngles (HebiIKPtr ik, double weight, size_t num_joints, const double *min_positions, const double *max_positions) |
| Define joint angle constraints. More... | |
| HebiStatusCode | hebiIKAddObjectiveCustom (HebiIKPtr ik, double weight, size_t num_errors, void(*err_fnc)(void *user_data, size_t num_positions, const double *positions, double *errors), void *user_data) |
| Add a custom objective function to be minimized by the IK solver. More... | |
| HebiStatusCode | hebiIKAddObjectiveEndEffectorPosition (HebiIKPtr ik, double weight, size_t end_effector_index, double x, double y, double z) |
| Add an objective that optimizes for the end effector output frame origin to be at the given (x, y, z) point. More... | |
| HebiStatusCode | hebiIKAddObjectiveEndEffectorSO3 (HebiIKPtr ik, double weight, size_t end_effector_index, const double *matrix, HebiMatrixOrdering ordering) |
| Add an objective that optimizes for the end effector output frame orientation to be given by the 3x3 rotation matrix. Note that this is incompatible with the end effector tip axis objective. More... | |
| HebiStatusCode | hebiIKAddObjectiveEndEffectorTipAxis (HebiIKPtr ik, double weight, size_t end_effector_index, double x, double y, double z) |
| Add an objective that points the end effector's z axis in a given direction. Note that this is incompatible with the end effector S03 orientation objective. More... | |
| void | hebiIKClearAll (HebiIKPtr ik) |
| Clears the objectives and constraints from this IK object, along with any modifications to the default algorithm parameters. More... | |
| HebiIKPtr | hebiIKCreate (void) |
| Inverse Kinematics API. More... | |
| void | hebiIKRelease (HebiIKPtr ik) |
| Frees resources created by this inverse kinematics object. More... | |
| HebiStatusCode | hebiIKSolve (HebiIKPtr ik, HebiRobotModelPtr model, const double *initial_positions, double *ik_solution, void *result_info) |
| Solves for an inverse kinematics solution that moves the end effector to a given point. More... | |
| void | hebiInfoGetMetadata (HebiInfoMetadata *metadata) |
| void | hebiInfoGetReference (HebiInfoPtr info, HebiInfoRef *ref) |
| HebiStatusCode | hebiInfoGetString (HebiInfoPtr info, HebiInfoStringField field, char *buffer, size_t *length) |
| Info API. More... | |
| HebiStatusCode | hebiLogFileGetFileName (HebiLogFilePtr log_file, char *buffer, size_t *length) |
| Copy the path and name of the log file into a buffer. More... | |
| HebiStatusCode | hebiLogFileGetNextFeedback (HebiLogFilePtr log_file, HebiGroupFeedbackPtr field) |
| Retrieve the next group feedback from the opened log file. More... | |
| size_t | hebiLogFileGetNumberOfModules (HebiLogFilePtr log_file) |
| Retrieve the number of modules in the group represented by an opened log file. More... | |
| HebiLogFilePtr | hebiLogFileOpen (const char *file) |
| Opens an existing log file. More... | |
| void | hebiLogFileRelease (HebiLogFilePtr log_file) |
| Logging API. More... | |
| HebiLookupPtr | hebiLookupCreate (const char *const *ifaces, size_t ifaces_length) |
| Lookup API. More... | |
| HebiStatusCode | hebiLookupEntryListGetFamily (HebiLookupEntryListPtr lookup_list, size_t index, char *buffer, size_t *length) |
| HebiStatusCode | hebiLookupEntryListGetMacAddress (HebiLookupEntryListPtr lookup_list, size_t index, HebiMacAddress *mac_address) |
| HebiStatusCode | hebiLookupEntryListGetName (HebiLookupEntryListPtr lookup_list, size_t index, char *buffer, size_t *length) |
| size_t | hebiLookupEntryListGetSize (HebiLookupEntryListPtr lookup_list) |
| void | hebiLookupEntryListRelease (HebiLookupEntryListPtr lookup_list) |
| Release resources for a given lookup entry list; list should not be used after this call. More... | |
| double | hebiLookupGetLookupFrequencyHz (HebiLookupPtr lookup) |
| gets the lookup request rate [Hz] More... | |
| void | hebiLookupRelease (HebiLookupPtr lookup) |
| Frees resources created by the lookup object. More... | |
| HebiStatusCode | hebiLookupSetLookupFrequencyHz (HebiLookupPtr lookup, double frequency) |
| sets the lookup request rate [Hz] More... | |
| HebiStatusCode | hebiRobotModelAdd (HebiRobotModelPtr robot_model, HebiRobotModelElementPtr existing_element, size_t output_index, HebiRobotModelElementPtr new_element) |
| Add an element to a parent element connected to a robot model object. More... | |
| HebiRobotModelPtr | hebiRobotModelCreate (void) |
| Creates an object to hold a robot model (tree topology). This structure has a single output available at the origin. More... | |
| HebiRobotModelElementPtr | hebiRobotModelElementCreateActuator (HebiActuatorType actuator_type) |
| Creates a robot model element corresponding to a standard HEBI actuator. More... | |
| HebiRobotModelElementPtr | hebiRobotModelElementCreateBracket (HebiBracketType bracket_type) |
| Creates a rigid body, including mass and static transforms, corresponding to a standard HEBI bracket. More... | |
| HebiRobotModelElementPtr | hebiRobotModelElementCreateEndEffector (HebiEndEffectorType end_effector_type, const double *com, const double *inertia, double mass, const double *output_frame, HebiMatrixOrdering ordering) |
| Creates a robot model element corresponding to a standard HEBI end effector, or a custom end effector defining static transforms to the given outputs. More... | |
| HebiRobotModelElementPtr | hebiRobotModelElementCreateJoint (HebiJointType joint_type) |
| RobotModel API. More... | |
| HebiRobotModelElementPtr | hebiRobotModelElementCreateLink (HebiLinkType link_type, HebiLinkInputType input_type, HebiLinkOutputType output_type, double extension, double twist) |
| Creates a rigid body, including mass and static transforms, corresponding to a standard HEBI link. More... | |
| HebiRobotModelElementPtr | hebiRobotModelElementCreateRigidBody (const double *com, const double *inertia, double mass, size_t num_outputs, const double *outputs, HebiMatrixOrdering ordering) |
| Creates a rigid body defining static transforms to the given outputs. More... | |
| void | hebiRobotModelElementRelease (HebiRobotModelElementPtr element) |
| Frees resources created by this element. More... | |
| HebiStatusCode | hebiRobotModelGetBaseFrame (HebiRobotModelPtr robot_model, double *transform, HebiMatrixOrdering ordering) |
| Retreives the fixed transform from the origin to the input of the first added model element. More... | |
| HebiStatusCode | hebiRobotModelGetElementMetadata (HebiRobotModelPtr model, size_t index, HebiRobotModelElementMetadata *output) |
| Retrieves metadata about an element in the robot model. This metadata includes what type of element this is, and per-element-type information. More... | |
| HebiStatusCode | hebiRobotModelGetForwardKinematics (HebiRobotModelPtr robot_model, HebiFrameType frame_type, const double *positions, double *frames, HebiMatrixOrdering ordering) |
| Generates the transforms for the forward kinematics of the given robot model. More... | |
| const char * | hebiRobotModelGetImportError () |
| Retrieve any error string from the last call to hebiRobotModelImport. This must be called on the same thread as the call to hebiRobotModelImport. More... | |
| const char * | hebiRobotModelGetImportWarning (size_t warning_index) |
| Retrieve the 'ith' warning string from the last call to hebiRobotModelImport. This must be called on the same thread as the call to hebiRobotModelImport. More... | |
| size_t | hebiRobotModelGetImportWarningCount () |
| Retrieve the number of warnings corresponding to the last call to hebiRobotModelImport. This must be called on the same thread as the call to hebiRobotModelImport. More... | |
| HebiStatusCode | hebiRobotModelGetJacobians (HebiRobotModelPtr robot_model, HebiFrameType frame_type, const double *positions, double *jacobians, HebiMatrixOrdering ordering) |
| Generates the jacobian for each frame in the given kinematic tree. More... | |
| HebiStatusCode | hebiRobotModelGetMasses (HebiRobotModelPtr robot_model, double *masses) |
| Fill in the masses vector with the mass of each body with mass in the kinematic tree, reported in a depth-first ordering. More... | |
| size_t | hebiRobotModelGetNumberOfDoFs (HebiRobotModelPtr robot_model) |
| Returns the number of settable degrees of freedom in the kinematic tree. (This is equal to the number of joints added). More... | |
| size_t | hebiRobotModelGetNumberOfElements (HebiRobotModelPtr robot_model) |
| Returns the number of elements added to the kinematic tree. More... | |
| size_t | hebiRobotModelGetNumberOfFrames (HebiRobotModelPtr robot_model, HebiFrameType frame_type) |
| Return the number of frames in the forward kinematic tree of the robot model. More... | |
| HebiStatusCode | hebiRobotModelGetTreeTopology (HebiRobotModelPtr robot_model, HebiFrameType frame_type, HebiRobotModelElementTopology *table) |
| returns table of information about the shape of kinematic tree More... | |
| HebiRobotModelPtr | hebiRobotModelImport (const char *file) |
| Import robot model from a file into a RobotModel object. More... | |
| HebiRobotModelPtr | hebiRobotModelImportBuffer (const char *buffer, size_t buffer_size) |
| Import robot model from a buffer into a RobotModel object. More... | |
| void | hebiRobotModelRelease (HebiRobotModelPtr robot_model) |
| Frees resources created by this robot model object. More... | |
| HebiStatusCode | hebiRobotModelSetBaseFrame (HebiRobotModelPtr robot_model, const double *transform, HebiMatrixOrdering ordering) |
| Sets the fixed transform from the origin to the input of the first added model element. More... | |
| const char * | hebiSafetyParametersGetLastError (void) |
| Misc Functions. More... | |
| HebiStatusCode | hebiStringGetString (HebiStringPtr str, char *buffer, size_t *length) |
| String Functions. More... | |
| void | hebiStringRelease (HebiStringPtr str) |
| Releases a string instance. More... | |
| HebiTrajectoryPtr | hebiTrajectoryCreateUnconstrainedQp (size_t num_waypoints, const double *positions, const double *velocities, const double *accelerations, const double *time_vector) |
| Trajectory API. More... | |
| double | hebiTrajectoryGetDuration (HebiTrajectoryPtr trajectory) |
| Returns the length of this trajectory (in seconds). More... | |
| HebiStatusCode | hebiTrajectoryGetState (HebiTrajectoryPtr trajectory, double time, double *position, double *velocity, double *acceleration) |
| Gets the value of the trajectory at a given time. More... | |
| void | hebiTrajectoryRelease (HebiTrajectoryPtr trajectory) |
| Frees resources created by this trajectory. More... | |
Macro Definition Documentation
Typedef Documentation
| typedef void(* GroupFeedbackHandlerFunction) (HebiGroupFeedbackPtr fbk, void *user_data) |
| typedef enum HebiActuatorType HebiActuatorType |
The type of actuators supported by the API
| typedef enum HebiArQuality HebiArQuality |
AR Quality codes
| typedef enum HebiBracketType HebiBracketType |
The type of brackets supported by the API
| typedef enum HebiCommandBoolField HebiCommandBoolField |
| typedef enum HebiCommandEnumField HebiCommandEnumField |
| typedef enum HebiCommandFlagField HebiCommandFlagField |
| typedef enum HebiCommandFloatField HebiCommandFloatField |
Command Enums.
| typedef enum HebiCommandHighResAngleField HebiCommandHighResAngleField |
| typedef enum HebiCommandIoPinBank HebiCommandIoPinBank |
| typedef enum HebiCommandLedField HebiCommandLedField |
| typedef struct HebiCommandMetadata_ HebiCommandMetadata |
Command metadata which is guaranteed to be static for the loaded library
| typedef struct HebiCommand_* HebiCommandPtr |
| typedef struct HebiCommandRef_ HebiCommandRef |
Direct Command field reference
| typedef enum HebiCommandStringField HebiCommandStringField |
| typedef enum HebiEndEffectorType HebiEndEffectorType |
The type of end effectors supported by the API
| typedef enum HebiFeedbackEnumField HebiFeedbackEnumField |
| typedef enum HebiFeedbackFloatField HebiFeedbackFloatField |
Feedback Enums.
| typedef enum HebiFeedbackIoPinBank HebiFeedbackIoPinBank |
| typedef enum HebiFeedbackLedField HebiFeedbackLedField |
| typedef struct HebiFeedbackMetadata_ HebiFeedbackMetadata |
Feedback metadata which is guaranteed to be static for the loaded library
| typedef struct HebiFeedback_* HebiFeedbackPtr |
| typedef enum HebiFeedbackQuaternionfField HebiFeedbackQuaternionfField |
| typedef struct HebiFeedbackRef_ HebiFeedbackRef |
Direct Feedback field reference
| typedef enum HebiFeedbackUInt64Field HebiFeedbackUInt64Field |
| typedef enum HebiFeedbackVector3fField HebiFeedbackVector3fField |
| typedef enum HebiFrameType HebiFrameType |
RobotModel Enums.
Which frame to report results in (e.g., for getForwardKinematics and other functions.
| typedef struct HebiGroupCommand_* HebiGroupCommandPtr |
| typedef struct HebiGroupFeedback_* HebiGroupFeedbackPtr |
| typedef struct HebiGroupInfo_* HebiGroupInfoPtr |
| typedef struct HebiGroup_* HebiGroupPtr |
| typedef struct HebiHighResAngleStruct_ HebiHighResAngleStruct |
| typedef struct HebiIK_* HebiIKPtr |
| typedef enum HebiInfoBoolField HebiInfoBoolField |
| typedef enum HebiInfoEnumField HebiInfoEnumField |
| typedef enum HebiInfoFlagField HebiInfoFlagField |
| typedef enum HebiInfoFloatField HebiInfoFloatField |
Info Enums.
| typedef enum HebiInfoHighResAngleField HebiInfoHighResAngleField |
| typedef enum HebiInfoLedField HebiInfoLedField |
| typedef struct HebiInfoMetadata_ HebiInfoMetadata |
Info metadata which is guaranteed to be static for the loaded library
| typedef struct HebiInfo_* HebiInfoPtr |
| typedef struct HebiInfoRef_ HebiInfoRef |
Direct Info field reference
| typedef enum HebiInfoStringField HebiInfoStringField |
| typedef enum HebiIoBankPinResidentType HebiIoBankPinResidentType |
| typedef struct HebiIoBankPinStruct_ HebiIoBankPinStruct |
| typedef enum HebiJointType HebiJointType |
What the type of motion (axis, rotation, translation, etc) is allowed by a joint.
| typedef enum HebiLinkInputType HebiLinkInputType |
The type of link inputs supported by the API
| typedef enum HebiLinkOutputType HebiLinkOutputType |
The type of link outputs supported by the API
| typedef enum HebiLinkType HebiLinkType |
The type of links supported by the API
| typedef struct HebiLogFile_* HebiLogFilePtr |
| typedef struct HebiLookupEntryList_* HebiLookupEntryListPtr |
| typedef struct HebiLookup_* HebiLookupPtr |
| typedef struct HebiMacAddress_ HebiMacAddress |
Structures.
| typedef enum HebiMatrixOrdering HebiMatrixOrdering |
How a matrix is serialized to an array.
| typedef struct HebiQuaternionf_ HebiQuaternionf |
| typedef struct HebiRobotModelElementMetadata_ HebiRobotModelElementMetadata |
Contains matadata information about a robot element (e.g. element is an X5-9 actuator)
| typedef struct HebiRobotModelElement_* HebiRobotModelElementPtr |
| typedef struct HebiRobotModelElementTopology_ HebiRobotModelElementTopology |
| typedef enum HebiRobotModelElementType HebiRobotModelElementType |
Which type of robot model element (e.g. actuator, link, etc.)
| typedef struct HebiRobotModel_* HebiRobotModelPtr |
| typedef enum HebiStatusCode HebiStatusCode |
Enum Types.
API call status codes
| typedef struct HebiString_* HebiStringPtr |
| typedef struct HebiTrajectory_* HebiTrajectoryPtr |
| typedef struct HebiVector3f_ HebiVector3f |
Enumeration Type Documentation
| enum HebiActuatorType |
| enum HebiArQuality |
AR Quality codes
| enum HebiBracketType |
The type of brackets supported by the API
| enum HebiCommandBoolField |
| enum HebiCommandEnumField |
| enum HebiCommandFlagField |
Command Enums.
| enum HebiCommandIoPinBank |
| enum HebiCommandLedField |
| enum HebiEndEffectorType |
Feedback Enums.
| enum HebiFeedbackLedField |
| enum HebiFrameType |
| enum HebiInfoBoolField |
| enum HebiInfoEnumField |
| enum HebiInfoFlagField |
| enum HebiInfoFloatField |
Info Enums.
| enum HebiInfoLedField |
| enum HebiInfoStringField |
| enum HebiJointType |
| enum HebiLinkInputType |
| enum HebiLinkOutputType |
| enum HebiLinkType |
| enum HebiMatrixOrdering |
Which type of robot model element (e.g. actuator, link, etc.)
| enum HebiStatusCode |
Enum Types.
API call status codes
Function Documentation
| void hebiCleanup | ( | void | ) |
Frees all resources created by the library. Note: any calls to the HEBI library functions after this will result in undefined behavior!
| void hebiCommandGetMetadata | ( | HebiCommandMetadata * | metadata | ) |
Retrieve the static metadata for all Command instances
| void hebiCommandGetReference | ( | HebiCommandPtr | command, |
| HebiCommandRef * | ref | ||
| ) |
Retrieves a reference of the Command instance for direct access of fields
| HebiStatusCode hebiCommandGetString | ( | HebiCommandPtr | command, |
| HebiCommandStringField | field, | ||
| char * | buffer, | ||
| size_t * | length | ||
| ) |
Command API.
Retrieves the value and/or the length of the string field.
If this string is not set in the Command, HebiStatusValueNotSet is returned (regardless of any other arguments) and any pointer values are unchanged.
If 'length' is NULL, returns HebiStatusValueSuccess if this string value is set (the value of 'buffer' is ignored in this case).
If 'buffer' is not NULL, then 'length' should be non-NULL and set to the number of characters that can be written to 'buffer'. If the specified string is set, and it can fit into the provided buffer (including a null terminating character), then the string is copied to 'buffer' and HebiStatusSuccess is returned. If the buffer is not large enough to contain the string, then HebiStatusBufferTooSmall is returned.
If 'buffer' is NULL, returns HebiStatusValueSuccess if this string value is set.
If 'length' is not NULL (regardless of the state of 'buffer'), it is set to the necessary size to hold the specified string value (including the null terminating character).
Note - assumes ASCII string encoding.
| void hebiCommandSetString | ( | HebiCommandPtr | command, |
| HebiCommandStringField | field, | ||
| const char * | buffer, | ||
| const size_t * | length | ||
| ) |
Sets the given string to the value given in the buffer (if given). If any of the provided pointers are null, the field is cleared.
If not NULL, 'length' should be set to the length of the c-style string in 'buffer', without including the terminating null character. The data in 'buffer' does not need to be null terminated.
Note - assumes ASCII string encoding.
| HebiLookupEntryListPtr hebiCreateLookupEntryList | ( | HebiLookupPtr | lookup | ) |
Return a snapshot of the contents of the module registry – i.e., which modules have been found by the lookup.
- Parameters
-
lookup A valid HebiLookup object.
| void hebiFeedbackGetMetadata | ( | HebiFeedbackMetadata * | metadata | ) |
Retrieve the static metadata for all Feedback instances
| void hebiFeedbackGetReference | ( | HebiFeedbackPtr | feedback, |
| HebiFeedbackRef * | ref | ||
| ) |
Feedback API.
Retrieves a reference of the Feedback instance for direct access of fields
| HebiStatusCode hebiGetLibraryVersion | ( | int32_t * | major, |
| int32_t * | minor, | ||
| int32_t * | revision | ||
| ) |
Get the version of the library.
All parameters must not be NULL.
- Returns
- HebiStatusSuccess on success, otherwise HebiStatusInvalidArgument if a parameter is NULL.
| void hebiGroupClearFeedbackHandlers | ( | HebiGroupPtr | group | ) |
Removes all feedback handling functions from the queue to be called on receipt of group feedback.
- Parameters
-
group The group to which the handlers are attached.
| void hebiGroupCommandClear | ( | HebiGroupCommandPtr | command | ) |
Clears all data in the GroupCommand object.
| HebiStatusCode hebiGroupCommandCopy | ( | HebiGroupCommandPtr | dest, |
| HebiGroupCommandPtr | src | ||
| ) |
Clears the dest GroupCommand object, and copies all data from the src GroupCommand object to dest.
The GroupCommand objects should have identical state after this.
- Parameters
-
dest The GroupCommandPtr to copy data into. The previous state of this object will be cleared. src The GroupCommandPtr to copy data from. This object will remain unchanged.
- Returns
- HebiStatusSuccess if the operation succeeds; HebiStatusInvalidArgument if the sizes of the two messages do not match; HebiStatusError for any other error.
| HebiGroupCommandPtr hebiGroupCommandCreate | ( | size_t | size | ) |
Creates a GroupCommand for a group with the specified number of modules.
- Parameters
-
size The number of modules in the group.
- Returns
- A pointer to a new GroupCommand object. This must be released with
hebiGroupCommandRelease(HebiGroupCommandPtr).
| HebiCommandPtr hebiGroupCommandGetModuleCommand | ( | HebiGroupCommandPtr | command, |
| size_t | module_index | ||
| ) |
Get an individual command for a particular module at index module_index.
- Parameters
-
module_index The index to retrieve the module command; must be from 0 to the size - 1, inclusive, or results in undefined behavior.
- Returns
- The command corresponding to the module at index
module_index.
| size_t hebiGroupCommandGetSize | ( | HebiGroupCommandPtr | command | ) |
Return the number of modules in this group Command.
- Returns
- The number of module commands in this group command.
| HebiStatusCode hebiGroupCommandReadGains | ( | HebiGroupCommandPtr | command, |
| const char * | file | ||
| ) |
Import gains from a file into a GroupCommand object.
- Parameters
-
file A null-terminated string that gives the path/filename of the gains XML file. Must not be NULL.
- Returns
- HebiStatusSuccess on success, or a failure code if the file could note be opened or read. In particular:
- if the file was successfully read, but the number of modules in the file is not equal to '1' or the size of the group, returns HebiStatusInvalidArgument.
- if file is NULL, returns HebiStatusInvalidArgument.
- for other parsing errors, may return HebiStatusFailure or HebiStatusInvalidArgument.
| HebiStatusCode hebiGroupCommandReadSafetyParameters | ( | HebiGroupCommandPtr | command, |
| const char * | file | ||
| ) |
Import safety parameters from a file into a GroupCommand object.
- Parameters
-
file A null-terminated string that gives the path/filename of the safety parameters XML file. Must not be NULL.
- Returns
- HebiStatusSuccess on success, or a failure code if the file could note be opened or read. In particular:
- if the file was successfully read, but the number of modules in the file is not equal to '1' or the size of the group, returns HebiStatusInvalidArgument.
- if file is NULL, returns HebiStatusInvalidArgument.
- for other parsing errors, may return HebiStatusFailure or HebiStatusInvalidArgument.
| void hebiGroupCommandRelease | ( | HebiGroupCommandPtr | command | ) |
Frees resources created by the GroupCommand object.
The GroupCommandPtr must not be used after this function is called.
| HebiStatusCode hebiGroupCommandWriteGains | ( | HebiGroupCommandPtr | command, |
| const char * | file | ||
| ) |
Export gains from a GroupCommand object into a file.
- Parameters
-
file A null-terminated string that gives the path/filename to save the gains XML file at. Must not be NULL.
- Returns
- HebiStatusSuccess on success, or a failure code if the file could not be written to or an internal error occurs.
| HebiStatusCode hebiGroupCommandWriteSafetyParameters | ( | HebiGroupCommandPtr | command, |
| const char * | file | ||
| ) |
Export safety parameters from a GroupCommand object into a file.
- Parameters
-
file A null-terminated string that gives the path/filename to which the safety parameters will be saved. Must not be NULL.
- Returns
- HebiStatusSuccess on success, or a failure code if the file could not be written to or an internal error occurs.
| HebiGroupPtr hebiGroupCreateConnectedFromMac | ( | HebiLookupPtr | lookup, |
| const HebiMacAddress * | address, | ||
| int32_t | timeout_ms | ||
| ) |
Create a group with all modules connected to module with the given MAC address.
Modules in group will be ordered depth-first, starting with the most proximal module.
Blocking call which waits to get a pointer to a Group object with the given parameters. Times out after timeout_msec milliseconds. Must be released when use is complete via the hebiGroupRelease function.
- Parameters
-
lookup A valid HebiLookup object. address Pointer to a HebiMacAddress structure representing the physical mac address of the given module (serves as unique id). Must not be NULL. timeout_ms Timeout in milliseconds. A value of -1 blocks until a module is found, and a value of 0 returns immediately if no module with that address is currently known by the Lookup class.
- Returns
- NULL if matching group not found in allotted time; pointer to newly allocated group object otherwise.
| HebiGroupPtr hebiGroupCreateConnectedFromName | ( | HebiLookupPtr | lookup, |
| const char * | family, | ||
| const char * | name, | ||
| int32_t | timeout_ms | ||
| ) |
Create a group with all modules connected to module with the given name and family.
Modules in group will be ordered depth-first, starting with the most proximal module.
Blocking call which waits to get a pointer to a Group object with the given parameters. Times out after timeout_msec milliseconds. Must be released when use is complete via the hebiGroupRelease function.
- Parameters
-
lookup A valid HebiLookup object. name The given name of the key module, as viewable in the HEBI GUI. Must be a null-terminated string, and must not be NULL. family The given family of the key module, as viewable in the HEBI GUI. Must be a null-terminated string, and must not be NULL. timeout_ms Timeout in milliseconds. A value of -1 blocks until a module is found, and a value of 0 returns immediately if no module with that address is currently known by the Lookup class.
- Returns
- NULL if matching group not found in allotted time; pointer to newly allocated group object otherwise.
| HebiGroupPtr hebiGroupCreateFromFamily | ( | HebiLookupPtr | lookup, |
| const char * | family, | ||
| int32_t | timeout_ms | ||
| ) |
Create a group with all modules known to the lookup with the given family.
Group contains all modules with the given family, regardless of name.
Blocking call which waits to get a pointer to a Group object with the given parameters. Times out after timeout_msec milliseconds. Must be released when use is complete via the hebiGroupRelease function.
- Parameters
-
lookup A valid HebiLookup object. family The given family of the modules, as viewable in the HEBI GUI. Must be a null-terminated string, and must not be NULL. timeout_ms Timeout in milliseconds. A value of -1 blocks until a module is found, and a value of 0 returns immediately if no module with that address is currently known by the Lookup class.
- Returns
- NULL if matching group not found in allotted time; pointer to newly allocated group object otherwise.
| HebiGroupPtr hebiGroupCreateFromMacs | ( | HebiLookupPtr | lookup, |
| const HebiMacAddress *const * | addresses, | ||
| size_t | num_addresses, | ||
| int32_t | timeout_ms | ||
| ) |
Create a group of modules with the given MAC addresses.
If any given modules are not found, no group is created.
Blocking call which waits to get a pointer to a Group object with the given parameters. Times out after timeout_msec milliseconds. Must be released when use is complete via the hebiGroupRelease function.
- Parameters
-
lookup A valid HebiLookup object. addresses An array of pointers to physical mac addresses of the given modules. Length of the array must equal num_addresses. This param must not be NULL, and each element of this list must not be NULL. num_addresses Length of the addresses array of pointers (number of pointers in the array, not cumulative size of objects they point to). timeout_ms Timeout in milliseconds. A value of -1 blocks until a module is found, and a value of 0 returns immediately if no module with that address is currently known by the Lookup class.
- Returns
- NULL if matching group not found in allotted time; pointer to newly allocated group object otherwise.
| HebiGroupPtr hebiGroupCreateFromNames | ( | HebiLookupPtr | lookup, |
| const char *const * | families, | ||
| size_t | num_families, | ||
| const char *const * | names, | ||
| size_t | num_names, | ||
| int32_t | timeout_ms | ||
| ) |
Create a group with modules matching the given names and families.
If only one family is given, it is used for all modules. Otherwise, number of names and families must match. If any given modules are not found, no group is created.
Blocking call which waits to get a pointer to a Group object with the given parameters. Times out after timeout_msec milliseconds. Must be released when use is complete via the hebiGroupRelease function.
- Parameters
-
lookup A valid HebiLookup object. families The given families of the modules, as viewable in the HEBI GUI. Must be a list of pointers to null-terminated strings. The number of pointers must match the num_families parameter. Note that a single string (with corresponding value of num_families == 1) will be used with each name in the names list. This param must not be NULL, and each element of this list must not be NULL. num_families The number of pointers to null-terminated strings given by the families parameter. Note that this must either be 1, or be equal to num_names. names The given names of the modules, as viewable in the HEBI GUI. Must be a list of pointers to null-terminated strings. The number of pointers must match the num_names parameter. This param must not be NULL, and each element of this list must not be NULL. num_names The number of pointers to null-terminated strings given by the names parameter. timeout_ms Timeout in milliseconds. A value of -1 blocks until a module is found, and a value of 0 returns immediately if no module with that address is currently known by the Lookup class.
- Returns
- NULL if matching group not found in allotted time; pointer to newly allocated group object otherwise.
| HebiGroupPtr hebiGroupCreateImitation | ( | size_t | size | ) |
Group API.
Creates an "imitation" group with the specified number of modules.
The imitation group is useful for testing the API, as it acts like a Group would in most cases, but is not backed by hardware. Commands that are sent to the imitation group are returned as feedback, using the standard feedback request methods.
Note that standard groups are created through the HebiLookup objects.
- Parameters
-
size The number of modules in the group.
- Returns
- An imitation group that returns commanded values as feedback.
| void hebiGroupFeedbackClear | ( | HebiGroupFeedbackPtr | feedback | ) |
Clears all data in the GroupFeedback object.
| HebiStatusCode hebiGroupFeedbackCopy | ( | HebiGroupFeedbackPtr | dest, |
| HebiGroupFeedbackPtr | src | ||
| ) |
Clears the dest GroupFeedback object, and copies all data from the src GroupFeedback object to dest.
The GroupFeedback objects should have identical state after this.
- Parameters
-
dest The GroupFeedbackPtr to copy data into. The previous state of this object will be cleared. src The GroupFeedbackPtr to copy data from. This object will remain unchanged.
- Returns
- HebiStatusSuccess if the operation succeeds; HebiStatusInvalidArgument if the sizes of the two messages do not match; HebiStatusError for any other error.
| HebiGroupFeedbackPtr hebiGroupFeedbackCreate | ( | size_t | size | ) |
Creates a GroupFeedback for a group with the specified number of modules.
- Parameters
-
size The number of modules in the group.
- Returns
- A pointer to a new GroupFeedback object. This must be released with
hebiGroupFeedbackRelease(HebiGroupFeedbackPtr).
| HebiFeedbackPtr hebiGroupFeedbackGetModuleFeedback | ( | HebiGroupFeedbackPtr | feedback, |
| size_t | module_index | ||
| ) |
Get an individual feedback for a particular module at index module_index.
- Parameters
-
module_index The index to retrieve the module feedback; must be from 0 to the size - 1, inclusive, or results in undefined behavior.
- Returns
- The feedback corresponding to the module at index
module_index.
| size_t hebiGroupFeedbackGetSize | ( | HebiGroupFeedbackPtr | feedback | ) |
Return the number of modules in this group Feedback.
- Returns
- The number of module feedbacks in this group feedback.
| void hebiGroupFeedbackRelease | ( | HebiGroupFeedbackPtr | feedback | ) |
Frees resources created by the GroupFeedback object.
The GroupFeedbackPtr must not be used after this function is called.
| int32_t hebiGroupGetCommandLifetime | ( | HebiGroupPtr | group | ) |
Returns the current command lifetime, in milliseconds.
- Parameters
-
group Which group is being queried.
- Returns
- The current command lifetime, in milliseconds. A value of '0' indicates that commands remain active until the next command is received.
| float hebiGroupGetFeedbackFrequencyHz | ( | HebiGroupPtr | group | ) |
Returns the current feedback request loop frequency (in Hz).
- Parameters
-
group Which group is being queried.
- Returns
- The current feedback request loop frequency (in Hz).
| HebiStatusCode hebiGroupGetNextFeedback | ( | HebiGroupPtr | group, |
| HebiGroupFeedbackPtr | feedback, | ||
| int32_t | timeout_ms | ||
| ) |
Returns the most recently stored feedback from a sent feedback request, or returns the next one received (up to the requested timeout).
Note that a feedback request can be sent either with the hebiGroupSendFeedbackRequest function, or by setting a background feedback frequency with hebiGroupSetFeedbackFrequencyHz.
Warning: other data in the provided 'Feedback' object is erased!
- Parameters
-
group The group to return feedback from. feedback On success, the feedback read from the group are written into this structure. timeout_ms Indicates how many milliseconds to wait for feedback. For typical networks, '15' ms is a value that can be reasonably expected to allow for a round trip transmission after the last 'send feedback request' call.
- Returns
- HebiStatusSuccess if feedback was returned, or a failure code if not (i.e., connection error or timeout waiting for response).
| size_t hebiGroupGetSize | ( | HebiGroupPtr | group | ) |
Returns the number of modules in a group.
- Parameters
-
group The group to send this command to.
- Returns
- the number of modules in the group.
| void hebiGroupInfoClear | ( | HebiGroupInfoPtr | info | ) |
Clears all data in the GroupInfo object.
| HebiStatusCode hebiGroupInfoCopy | ( | HebiGroupInfoPtr | dest, |
| HebiGroupInfoPtr | src | ||
| ) |
Clears the dest GroupInfo object, and copies all data from the src GroupInfo object to dest.
The GroupInfo objects should have identical state after this.
- Parameters
-
dest The GroupInfoPtr to copy data into. The previous state of this object will be cleared. src The GroupInfoPtr to copy data from. This object will remain unchanged.
- Returns
- HebiStatusSuccess if the operation succeeds; HebiStatusInvalidArgument if the sizes of the two messages do not match; HebiStatusError for any other error.
| HebiGroupInfoPtr hebiGroupInfoCreate | ( | size_t | size | ) |
Creates a GroupInfo for a group with the specified number of modules.
- Parameters
-
size The number of modules in the group.
- Returns
- A pointer to a new GroupInfo object. This must be released with
hebiGroupInfoRelease(HebiGroupInfoPtr).
| HebiInfoPtr hebiGroupInfoGetModuleInfo | ( | HebiGroupInfoPtr | info, |
| size_t | module_index | ||
| ) |
Get an individual info for a particular module at index module_index.
- Parameters
-
module_index The index to retrieve the module info; must be from 0 to the size - 1, inclusive, or results in undefined behavior.
- Returns
- The info corresponding to the module at index
module_index.
| size_t hebiGroupInfoGetSize | ( | HebiGroupInfoPtr | info | ) |
Return the number of modules in this group Info.
- Returns
- The number of module infos in this group info.
| void hebiGroupInfoRelease | ( | HebiGroupInfoPtr | info | ) |
Frees resources created by the GroupInfo object.
The GroupInfoPtr must not be used after this function is called.
| HebiStatusCode hebiGroupInfoWriteGains | ( | HebiGroupInfoPtr | info, |
| const char * | file | ||
| ) |
Export gains from a GroupInfo object into a file.
- Parameters
-
file A null-terminated string that gives the path/filename to save the gains XML file at. Must not be NULL.
- Returns
- HebiStatusSuccess on success, or a failure code if the file could not be written to or an internal error occurs.
| HebiStatusCode hebiGroupInfoWriteSafetyParameters | ( | HebiGroupInfoPtr | info, |
| const char * | file | ||
| ) |
Export safety parameters from a GroupInfo object into a file.
- Parameters
-
file A null-terminated string that gives the path/filename to which the safety parameters will be saved. Must not be NULL.
- Returns
- HebiStatusSuccess on success, or a failure code if the file could not be written to or an internal error occurs.
| HebiStatusCode hebiGroupRegisterFeedbackHandler | ( | HebiGroupPtr | group, |
| GroupFeedbackHandlerFunction | handler, | ||
| void * | user_data | ||
| ) |
Add a function that is called whenever feedback is returned from the group.
- Parameters
-
group The group to attach this handler to. handler A feedback handling function called whenever feedback is received from the group. user_data A pointer to user data which will be returned as the second callback argument. This pointer can be NULL if desired.
| void hebiGroupRelease | ( | HebiGroupPtr | group | ) |
Release resources for a given group; group should not be used after this call.
- Parameters
-
group A valid HebiGroup object.
| HebiStatusCode hebiGroupRequestInfo | ( | HebiGroupPtr | group, |
| HebiGroupInfoPtr | info, | ||
| int32_t | timeout_ms | ||
| ) |
Requests info from the group, and writes it to the provided info object.
Warning: if successful, other data in the provided 'Info' object is erased!
- Parameters
-
group The group to send this command to. info On success, the info read from the group is written into this structure. timeout_ms Indicates how many milliseconds to wait for a response after sending a packet. For typical networks, '15' ms is a value that can be reasonably expected to encompass the time required for a round-trip transmission.
- Returns
- HebiStatusSuccess if info was received, or a failure code if not (i.e., connection error or timeout waiting for response).
| HebiStatusCode hebiGroupSendCommand | ( | HebiGroupPtr | group, |
| HebiGroupCommandPtr | command | ||
| ) |
Sends a command to the given group without requesting an acknowledgement.
Appropriate for high-frequency applications.
- Parameters
-
group The group to send this command to. command The HebiGroupCommand object containing information to be sent to the group.
- Returns
- HebiStatusSuccess if the command was successfully sent, otherwise a failure code.
| HebiStatusCode hebiGroupSendCommandWithAcknowledgement | ( | HebiGroupPtr | group, |
| HebiGroupCommandPtr | command, | ||
| int32_t | timeout_ms | ||
| ) |
Sends a command to the given group, requesting an acknowledgement of transmission to be sent back.
Note: A non-HebiStatusSuccess return does not indicate a specific failure, and may result from an error while sending or simply a timeout/dropped response packet after a successful transmission.
- Parameters
-
group The group to send this command to. command The HebiGroupCommand object containing information to be sent to the group. timeout_ms Indicates how many milliseconds to wait for a response after sending a packet. For typical networks, '15' ms is a value that can be reasonably expected to encompass the time required for a round-trip transmission.
- Returns
- HebiStatusSuccess if an acknowledgement was successfully received (guaranteeing the group received this command), or a failure code for an error otherwise.
| HebiStatusCode hebiGroupSendFeedbackRequest | ( | HebiGroupPtr | group | ) |
Requests feedback from the group.
Sends a background request to the modules in the group; if/when all modules return feedback, any associated handler functions are called. This returned feedback is also stored to be returned by the next call to hebiGroupGetNextFeedback (any previously returned data is discarded).
- Parameters
-
group The group to return feedback from.
- Returns
- HebiStatusSuccess if request was successfully sent, or a failure code if not (i.e., connection error).
| HebiStatusCode hebiGroupSetCommandLifetime | ( | HebiGroupPtr | group, |
| int32_t | lifetime_ms | ||
| ) |
Sets the command lifetime for the group, in milliseconds.
The command lifetime is the duration for which a sent command remains active. If the hardware does not receive further commands within the specified time frame, all local controllers get deactivated. This is a safety feature to mitigate the risk of accidents in case programs get interrupted in an unsafe state, e.g., on program exceptions or during a network fault.
Additionally, supporting hardware does not accept commands from any other sources during the lifetime of a command. This mitigates the risk of other users accidentally sending conflicting targets from, e.g., the GUI.
- Parameters
-
group Which group the command lifetime is being set for. lifetime_ms The number of milliseconds which the command 'lives' for. Setting a value less than or equal to '0' disables command lifetime. When disabled, the hardware will continue to execute the last sent command. Setting a value above the accepted maximum will set the lockout to the maximum value.
- Returns
- HebiStatusSuccess if command lifetime successfully set, or a failure code if value was outside of accepted range (higher than supported maximum or negative).
| HebiStatusCode hebiGroupSetFeedbackFrequencyHz | ( | HebiGroupPtr | group, |
| float | frequency | ||
| ) |
Sets the feedback request loop frequency (in Hz).
The group is queried for feedback in a background thread at this frequency, and any added callbacks are called from this background thread.
- Parameters
-
group Which group this frequency set is for. frequency The feedback request loop frequency (in Hz). A value of '0' is the default, and disables the feedback request thread.
- Returns
- HebiStatusSuccess if feedback frequency successfully set, or a failure code if value was outside of accepted range (higher than supported maximum, NaN or negative).
| HebiStatusCode hebiGroupStartLog | ( | HebiGroupPtr | group, |
| const char * | dir, | ||
| const char * | file, | ||
| HebiStringPtr * | ret | ||
| ) |
Starts logging data to a file.
Note: If a non null parameter is used for the returned string, and it is populated with a non null reference to a string, it must be explicitly freed using hebiStringRelease(HebiStringPtr str)
- Parameters
-
dir The relative or absolute path to the directory in which to log. To use the current directory, pass in a null pointer file The optional file name. If this is null, a name will be created using the time at the moment which this function was invoked. ret The optional pointer to a string reference. If this is null, this is ignored. Otherwise, a reference to a string is populated with the path and name of the log file created. If this function does not return HebiStatusSuccess and this parameter is not null, the value at this pointer is set to null.
- Returns
- HebiStatusSuccess if successfully started a log, a failure code otherwise.
| HebiLogFilePtr hebiGroupStopLog | ( | HebiGroupPtr | group | ) |
Stops logging data to a file.
Note: This function allocates a log file structure on the heap, so make sure to release the pointer returned by this function by calling hebiLogFileRelease(HebiLogFilePtr ptr)
- Parameters
-
group The group that is logging.
- Returns
- a log file instance on success, otherwise a null pointer.
| HebiStatusCode hebiIKAddConstraintJointAngles | ( | HebiIKPtr | ik, |
| double | weight, | ||
| size_t | num_joints, | ||
| const double * | min_positions, | ||
| const double * | max_positions | ||
| ) |
Define joint angle constraints.
NaN or +/- infinity can be set on particular joints to ignore joint limits. Currently, the joint limit constraints are two-sided, which means that any joint must either have both min/max set to NaN/inf, or have neither.
- Parameters
-
weight The weight of this constraint relative to any other objective functions (this constraint is multiplied by this weight before passing to the optimizer). Defaults to 1.0. num_joints The number of elements in the min_positions and max_positions arrays. min_positions An array with the minimum joint limit for each joint, or NaN or inf if unlimited. Must have num_joints elements, and must not be NULL. max_positions An array with the maximum joint limit for each joint, or NaN or inf if unlimited. Must have num_joints elements, and must not be NULL.
- Returns
- HebiStatusSuccess on success; otherwise a failure code.
| HebiStatusCode hebiIKAddObjectiveCustom | ( | HebiIKPtr | ik, |
| double | weight, | ||
| size_t | num_errors, | ||
| void(*)(void *user_data, size_t num_positions, const double *positions, double *errors) | err_fnc, | ||
| void * | user_data | ||
| ) |
Add a custom objective function to be minimized by the IK solver.
The given callback is called at each iteration of the local optimization, and is expected to fill in each entry of the "errors" vector.
- Parameters
-
weight The weight of this constraint relative to any other objective functions (this constraint is multiplied by this weight before passing to the optimizer). Defaults to 1.0. num_errors The number of independent error values that this objective returns. err_fnc The callback function which is used to compute the errors. The arguments are: user_data - The pointer passed in when adding a custom objective; this can be anything (even NULL), and is designed to allow the user to easily access information in the callback. num_positions - the number of elements in the 'positions' array positions - an array of the joint positions at this point in the optimization; of length 'num_positions' errors - an array of error values which must be filled in by the callback; of length 'num_errors'.
| HebiStatusCode hebiIKAddObjectiveEndEffectorPosition | ( | HebiIKPtr | ik, |
| double | weight, | ||
| size_t | end_effector_index, | ||
| double | x, | ||
| double | y, | ||
| double | z | ||
| ) |
Add an objective that optimizes for the end effector output frame origin to be at the given (x, y, z) point.
If an end effector position objective already exists, this will replace it.
- Parameters
-
weight The weight of this objective relative to any other objective functions (this objective is multiplied by this weight before passing to the optimizer). Defaults to 1.0. x The desired x position of the end effector frame. 'NaN' can be passed to ignore this variable. y The desired y position of the end effector frame. 'NaN' can be passed to ignore this variable. z The desired z position of the end effector frame. 'NaN' can be passed to ignore this variable.
- Returns
- HebiStatusSuccess on success, otherwise a failure code (e.g. incompatible with existing objectives, or all components are set to 'NaN')
| HebiStatusCode hebiIKAddObjectiveEndEffectorSO3 | ( | HebiIKPtr | ik, |
| double | weight, | ||
| size_t | end_effector_index, | ||
| const double * | matrix, | ||
| HebiMatrixOrdering | ordering | ||
| ) |
Add an objective that optimizes for the end effector output frame orientation to be given by the 3x3 rotation matrix. Note that this is incompatible with the end effector tip axis objective.
If an end effector orientation objective already exists, this will replace it.
- Parameters
-
weight The weight of this objective relative to any other objective functions (this objective is multiplied by this weight before passing to the optimizer). Defaults to 1.0. matrix The desired orientation of the end effector frame, as a 3x3 rotation matrix. Must not be NULL. ordering How the data in matrixshould be serialized.
- Returns
- HebiStatusSuccess on success, otherwise a failure code (e.g. incompatible with existing objectives, or rotation matrix is invalid or null.)
| HebiStatusCode hebiIKAddObjectiveEndEffectorTipAxis | ( | HebiIKPtr | ik, |
| double | weight, | ||
| size_t | end_effector_index, | ||
| double | x, | ||
| double | y, | ||
| double | z | ||
| ) |
Add an objective that points the end effector's z axis in a given direction. Note that this is incompatible with the end effector S03 orientation objective.
If an end effector orientation objective already exists, this will replace it.
- Parameters
-
weight The weight of this objective relative to any other objective functions (this objective is multiplied by this weight before passing to the optimizer). Defaults to 1.0. x The desired end effector z axis, projected onto the x axis. y The desired end effector z axis, projected onto the y axis. z The desired end effector z axis, projected onto the z axis.
- Returns
- HebiStatusSuccess on success, otherwise a failure code (e.g. incompatible with existing objectives, or rotation matrix is invalid.)
| void hebiIKClearAll | ( | HebiIKPtr | ik | ) |
Clears the objectives and constraints from this IK object, along with any modifications to the default algorithm parameters.
| HebiIKPtr hebiIKCreate | ( | void | ) |
Inverse Kinematics API.
Creates an IK (inverse kinematics) object that allows for solving for joint angles/positions given objectives and constraints.
This optimization is completed using a specified forward kinematics object. The objectives and constraints are stored with this object.
| void hebiIKRelease | ( | HebiIKPtr | ik | ) |
Frees resources created by this inverse kinematics object.
IK object should no longer be used after this function is called!
- Parameters
-
ik A valid HEBI inverse kinematics object.
| HebiStatusCode hebiIKSolve | ( | HebiIKPtr | ik, |
| HebiRobotModelPtr | model, | ||
| const double * | initial_positions, | ||
| double * | ik_solution, | ||
| void * | result_info | ||
| ) |
Solves for an inverse kinematics solution that moves the end effector to a given point.
Note: multiple "hebiIKSolve" calls can be made using the same IK object.
- Parameters
-
ik A valid HEBI IK object. model A valid HEBI RobotModel object. initial_positions The seed positions/angles (in SI units of meters or radians) to start the IK search from; equal in length to the number of DoFs of the kinematic tree. Must not be NULL. ik_solution Allocated array of doubles equal in length to the number of DoFs of the kinematic tree; the function will fill in this array with the IK solution (in SI units of meters or radians). Must not be NULL. result_info Reserved for future use (will enable more information about output of optimization such as success/failure, function error, etc). This should currently be set to NULL.
- Returns
- HebiStatusSuccess on success, other values on failure (e.g., no objectives given or dimension mismatch between kinematics object and stored objectives).
| void hebiInfoGetMetadata | ( | HebiInfoMetadata * | metadata | ) |
Retrieve the static metadata for all Info instances
| void hebiInfoGetReference | ( | HebiInfoPtr | info, |
| HebiInfoRef * | ref | ||
| ) |
Retrieves a reference of the Info instance for direct access of fields
| HebiStatusCode hebiInfoGetString | ( | HebiInfoPtr | info, |
| HebiInfoStringField | field, | ||
| char * | buffer, | ||
| size_t * | length | ||
| ) |
Info API.
Retrieves the value and/or the length of the string field.
If this string is not set in the Info, HebiStatusValueNotSet is returned (regardless of any other arguments) and any pointer values are unchanged.
If 'length' is NULL, returns HebiStatusValueSuccess if this string value is set (the value of 'buffer' is ignored in this case).
If 'buffer' is not NULL, then 'length' should be non-NULL and set to the number of characters that can be written to 'buffer'. If the specified string is set, and it can fit into the provided buffer (including a null terminating character), then the string is copied to 'buffer' and HebiStatusSuccess is returned. If the buffer is not large enough to contain the string, then HebiStatusBufferTooSmall is returned.
If 'buffer' is NULL, returns HebiStatusValueSuccess if this string value is set.
If 'length' is not NULL (regardless of the state of 'buffer'), it is set to the necessary size to hold the specified string value (including the null terminating character).
Note - assumes ASCII string encoding.
| HebiStatusCode hebiLogFileGetFileName | ( | HebiLogFilePtr | log_file, |
| char * | buffer, | ||
| size_t * | length | ||
| ) |
Copy the path and name of the log file into a buffer.
To only query the length of the string, provide a null pointer for the buffer parameter. If the provided buffer is not large enough to hold the string (the length determined by the length parameter), the call will fail. Note that the size of this buffer includes the null terminating character.
- Parameters
-
buffer Pointer to a buffer into which the string will be written. This can be null, in which case this function will write the size of the string (including null character) into length. length Pointer to the length of the input buffer. This parameter must not be null, or this function will return HebiStatusInvalidArgument
- Returns
- HebiStatusSuccess on success, HebiStatusBufferTooSmall if the value referenced by length is smaller than the string (including the character), or HebiStatusInvalidArgument if length pointer is null
| HebiStatusCode hebiLogFileGetNextFeedback | ( | HebiLogFilePtr | log_file, |
| HebiGroupFeedbackPtr | field | ||
| ) |
Retrieve the next group feedback from the opened log file.
- Parameters
-
feedback the feedback object into which the contents will be copied
- Returns
- HebiStatusSuccess on success, otherwise HebiStatusFailure
| size_t hebiLogFileGetNumberOfModules | ( | HebiLogFilePtr | log_file | ) |
Retrieve the number of modules in the group represented by an opened log file.
- Returns
- The number of modules in the group
| HebiLogFilePtr hebiLogFileOpen | ( | const char * | file | ) |
Opens an existing log file.
Note: It is up to the user to check if the returned pointer is null. If the file does not exist, or if the file is not a valid log file, this function returns null.
If this function returns a pointer, you must call hebiLogFileRelease(HebiLogFilePtr) to release the allocated memory.
- Parameters
-
file the directory and path of the file to open. Must not be NULL.
- Returns
- a pointer to the file; null if the file could not be opened
| void hebiLogFileRelease | ( | HebiLogFilePtr | log_file | ) |
Logging API.
Releases a log file instance
| HebiLookupPtr hebiLookupCreate | ( | const char *const * | ifaces, |
| size_t | ifaces_length | ||
| ) |
Lookup API.
Create a Lookup instance.
Lookup created by this function must be released with 'hebiLookupRelease' when no longer needed.
Note that this call invokes a background thread to query the network for modules at regular intervals.
- Parameters
-
ifaces A buffer of c-style strings representing the interfaces to which to restrict the module discovery. The contents of the strings must be in human readable order (e.g., "192.168.1.0"). If this parameter is null, then all interfaces besides the loopback interface are used to discover modules. ifaces_length the length of the buffer ifaces. This must be zero ififacesis null.
| HebiStatusCode hebiLookupEntryListGetFamily | ( | HebiLookupEntryListPtr | lookup_list, |
| size_t | index, | ||
| char * | buffer, | ||
| size_t * | length | ||
| ) |
Gets the family of the given entry in the lookup entry list. Must be a valid index.
To only query the length of the string, provide a null pointer for the buffer parameter. If the provided buffer is not large enough to hold the string (the length determined by the length parameter), the call will fail. Note that the size of this buffer includes the null terminating character.
Note - assumes ASCII string encoding.
- Parameters
-
lookup_list A valid HebiLookupEntryList object. index The entry index that is being queried. buffer An allocated buffer of length 'length'. length the length of the provided buffer. After calling this function, the value dereferenced will be updated with the length of the string plus the null character. This argument must not be NULL.
- Returns
- HebiStatusSuccess on success, HebiStatusBufferTooSmall if the provided buffer is too small, or HebiStatusInvalidArgument if the length parameter is null
| HebiStatusCode hebiLookupEntryListGetMacAddress | ( | HebiLookupEntryListPtr | lookup_list, |
| size_t | index, | ||
| HebiMacAddress * | mac_address | ||
| ) |
- Parameters
-
lookup_list A valid HebiLookupEntryList object. index The entry index that is being queried. mac_address A pointer to an allocated HebiMacAddress structure that the function will update with the mac address of the given entry.
- Returns
- HebiStatusSuccess on success, HebiStatusInvalidArgument if the mac_address parameter is null, or HebiStatusArgumentOutOfRange if there is no entry with the given index.
| HebiStatusCode hebiLookupEntryListGetName | ( | HebiLookupEntryListPtr | lookup_list, |
| size_t | index, | ||
| char * | buffer, | ||
| size_t * | length | ||
| ) |
Gets the name of the given entry in the lookup entry list. Must be a valid index.
To only query the length of the string, provide a null pointer for the buffer parameter. If the provided buffer is not large enough to hold the string (the length determined by the length parameter), the call will fail. Note that the size of this buffer includes the null terminating character.
Note - assumes ASCII string encoding.
- Parameters
-
lookup_list A valid HebiLookupEntryList object. index The entry index that is being queried. buffer An allocated buffer of length 'length' length the length of the provided buffer. After calling this function, the value dereferenced will be updated with the length of the string plus the null character. This argument must not be NULL.
- Returns
- HebiStatusSuccess on success, HebiStatusBufferTooSmall if the provided buffer is too small, or HebiStatusInvalidArgument if the length parameter is null
| size_t hebiLookupEntryListGetSize | ( | HebiLookupEntryListPtr | lookup_list | ) |
Gets the number of entries in the lookup entry list.
- Parameters
-
lookup_list A valid HebiLookupEntryList object.
| void hebiLookupEntryListRelease | ( | HebiLookupEntryListPtr | lookup_list | ) |
Release resources for a given lookup entry list; list should not be used after this call.
- Parameters
-
lookup_list A valid HebiLookupEntryList object.
| double hebiLookupGetLookupFrequencyHz | ( | HebiLookupPtr | lookup | ) |
gets the lookup request rate [Hz]
| void hebiLookupRelease | ( | HebiLookupPtr | lookup | ) |
Frees resources created by the lookup object.
Lookup object should no longer be used after this function is called! Note that background query thread is stopped by this function.
| HebiStatusCode hebiLookupSetLookupFrequencyHz | ( | HebiLookupPtr | lookup, |
| double | frequency | ||
| ) |
sets the lookup request rate [Hz]
- Returns
- HebiStatusSuccess on success, HebiStatusInvalidArgument on negative or non-finite frequency
| HebiStatusCode hebiRobotModelAdd | ( | HebiRobotModelPtr | robot_model, |
| HebiRobotModelElementPtr | existing_element, | ||
| size_t | output_index, | ||
| HebiRobotModelElementPtr | new_element | ||
| ) |
Add an element to a parent element connected to a robot model object.
After the addition, the robot model object manages the resources of the added element. On failure, the passed in 'new_element' argument is properly disposed by this function.
The added element is assumed to connect to an available output on a element that has already been attached to the kinematic tree. That element should be passed in as 'existing_element', and the index of the requested output on that element should be given as 'output_index'.
To attach the initial element to the robot model object, use NULL for the 'existing_element' argument.
NOTE: currently, only a single output is supported for each element (e.g., a kinematic chain), and so the 'existing_element' and 'output_index' parameters are not checked; this will be changed in an upcoming minor release so do not rely on this behavior!
- Parameters
-
robot_model A valid HEBI RobotModel object. existing_element The parent element which the element is added to (or NULL to add the initial element to the tree). output_index The index of the requested output on the parent element on which to attach this element. new_element The kinematic element which is added to the tree. Must not be NULL. combine Whether or not to combine this with the output frame where this is being attached to, essentially "hiding" this existing output frame from returned frames and replacing it with the output from this. Body masses and inertias are also combined. '1' means combine; '0' means do not combine.
- Returns
- HebiStatusSuccess on success, otherwise HebiStatusFailure (e.g., the parent body's requested output is invalid or already occupied) or HebiStatusInvalidArgument (e.g., 'new_element' is NULL).
| HebiRobotModelPtr hebiRobotModelCreate | ( | void | ) |
Creates an object to hold a robot model (tree topology). This structure has a single output available at the origin.
RobotModel object created by this function must be released with 'hebiRobotModelRelease' when no longer needed.
| HebiRobotModelElementPtr hebiRobotModelElementCreateActuator | ( | HebiActuatorType | actuator_type | ) |
Creates a robot model element corresponding to a standard HEBI actuator.
- Parameters
-
actuator_type The supported actuator type from the HEBI component library, as given by the HebiActuatorType enum.
- Returns
- NULL if the actuator could not be created; otherwise, pointer to newly allocated element. Must either be added to a robot model object or released via 'hebiRobotModelElementRelease'.
| HebiRobotModelElementPtr hebiRobotModelElementCreateBracket | ( | HebiBracketType | bracket_type | ) |
Creates a rigid body, including mass and static transforms, corresponding to a standard HEBI bracket.
- Parameters
-
bracket_type The supported bracket type from the HEBI component library, as given by the HebiBracketType enum.
- Returns
- NULL if the rigid body could not be created; otherwise, pointer to newly allocated body. Must either be added to a robot model object or released via 'hebiRobotModelElementRelease'.
| HebiRobotModelElementPtr hebiRobotModelElementCreateEndEffector | ( | HebiEndEffectorType | end_effector_type, |
| const double * | com, | ||
| const double * | inertia, | ||
| double | mass, | ||
| const double * | output_frame, | ||
| HebiMatrixOrdering | ordering | ||
| ) |
Creates a robot model element corresponding to a standard HEBI end effector, or a custom end effector defining static transforms to the given outputs.
- Parameters
-
end_effector_type The support end effector type from the HEBI component library, as given by the HebiEndEffectorType enum. If "Custom" is not given, then mass, center of mass, inertia, and output frame are ignored. com Matrix (4x4 tranform) for the center of mass location, including the frame which the inertia tensor is given in. Only used if end_effector_type is Custom; defaults to (0,0,0) if NULL. inertia Vector (6 elements, Ixx, Iyy, Izz, Ixy, Ixz, Iyz) of the inertia tensor, in the frame given by the COM. Only used if end_effector_type is Custom; defaults to point mass (all elements 0) if NULL. mass Mass (in kg) of the rigid body. Only used if end_effector_type is Custom. output_frame A matrix (4x4 transform) from the input to the available frames of the end effector. Only used if end_effector_type is Custom; defaults to identity if NULL. ordering How the data in comandoutput_frameshould be serialized.
- Returns
- NULL if the rigid body could not be created; otherwise, pointer to newly allocated body. Must either be added to a robot model object or released via 'hebiRobotModelElementRelease'.
| HebiRobotModelElementPtr hebiRobotModelElementCreateJoint | ( | HebiJointType | joint_type | ) |
RobotModel API.
Creates a one-dof joint about the specified axis.
- Parameters
-
joint_type What the axis of motion for this joint is. The coordinate frame is relative to the previous robot model element this is attached to.
- Returns
- NULL if the joint could not be created; otherwise, pointer to newly allocated joint. Must either be added to a robot model object or released via hebiRobotModelElementRelease(HebiRobotModelElementPtr).
| HebiRobotModelElementPtr hebiRobotModelElementCreateLink | ( | HebiLinkType | link_type, |
| HebiLinkInputType | input_type, | ||
| HebiLinkOutputType | output_type, | ||
| double | extension, | ||
| double | twist | ||
| ) |
Creates a rigid body, including mass and static transforms, corresponding to a standard HEBI link.
- Parameters
-
link_type The supported link type from the HEBI component library, as given by the HebiLinkType enum. input_type The supported link input style, as given by the HebiLinkInputType enum. output_type The supported link output style, as given by the HebiLinkOutputType enum. extension The z-axis to z-axis input to output distance, as defined at docs.hebi.us. twist Rotation (in radians) about the extension axis, as defined at docs.hebi.us.
- Returns
- NULL if the rigid body could not be created; otherwise, pointer to newly allocated body. Must either be added to a robot model object or released via 'hebiRobotModelElementRelease'.
| HebiRobotModelElementPtr hebiRobotModelElementCreateRigidBody | ( | const double * | com, |
| const double * | inertia, | ||
| double | mass, | ||
| size_t | num_outputs, | ||
| const double * | outputs, | ||
| HebiMatrixOrdering | ordering | ||
| ) |
Creates a rigid body defining static transforms to the given outputs.
- Parameters
-
com Matrix (4x4 tranform) for the center of mass location, including the frame which the inertia tensor is given in. Must not be NULL. inertia Vector (6 elements, Ixx, Iyy, Izz, Ixy, Ixz, Iyz) of the inertia tensor, in the frame given by the COM. Must not be NULL. mass Mass (in kg) of the rigid body. num_outputs The number of available outputs. outputs Matrices (list of n 4x4 transforms) of the transforms from input to the available outputs of the body. Must not be NULL unless num_outputs is 0. ordering How the data in comandoutputsshould be serialized.
NOTE: currently, num_outputs must be 1.
- Returns
- NULL if the rigid body could not be created; otherwise, pointer to newly allocated body. Must either be added to a robot model object or released via 'hebiRobotModelElementRelease'.
| void hebiRobotModelElementRelease | ( | HebiRobotModelElementPtr | element | ) |
Frees resources created by this element.
Note: Only do this if element has not been added to a robot model object! Once added, the robot model object manages the element's resources.
The element should no longer be used after this function is called.
- Parameters
-
A valid robot model element object which has not been added to a robot_model object.
| HebiStatusCode hebiRobotModelGetBaseFrame | ( | HebiRobotModelPtr | robot_model, |
| double * | transform, | ||
| HebiMatrixOrdering | ordering | ||
| ) |
Retreives the fixed transform from the origin to the input of the first added model element.
- Parameters
-
robot_model A valid HEBI RobotModel object. transform A allocated 16 element array of doubles; this is filled in by the function with the 4x4 homogeneous transform. Must not be NULL. ordering How the data in transformshould be serialized.
- Returns
- HebiStatusSuccess on success, or HebiStatusInvalidArgument if transform is null.
| HebiStatusCode hebiRobotModelGetElementMetadata | ( | HebiRobotModelPtr | model, |
| size_t | index, | ||
| HebiRobotModelElementMetadata * | output | ||
| ) |
Retrieves metadata about an element in the robot model. This metadata includes what type of element this is, and per-element-type information.
There is one "metadata" object for each element in the robot model.
- Parameters
-
model The robot model pointer to query. index The index of the element in the robot model; this corresponds to the "robot model element" frame with the same index. output This should be a HebiRobotModelElementMetadata structure, and cannot be NULL.
- Returns
- On success, HebiStatusSuccess will be returned. If "model" or "output" is NULL, then HebiStatusInvalidArgument will be returned. If the index does not exist in this robot model, then HebiStatusArgumentOutOfRange will be returned.
| HebiStatusCode hebiRobotModelGetForwardKinematics | ( | HebiRobotModelPtr | robot_model, |
| HebiFrameType | frame_type, | ||
| const double * | positions, | ||
| double * | frames, | ||
| HebiMatrixOrdering | ordering | ||
| ) |
Generates the transforms for the forward kinematics of the given robot model.
The order of the returned frames is in a depth-first tree. As an example, assume an element A has one output, to which element B is connected to. Element B has two outputs; C is attached to the first output and E is attached to the second output. Element D is attached to the only output of element C:
(BASE) A - B(1) - C - D (2) | E
For center of mass frames, the returned frames would be A-B-C-D-E.
For output frames, the returned frames would be A-B(1)-C-D-B(2)-E.
For end effector frames, the returned frames are the outputs of the leaf nodes; here the output of D and E.
- Parameters
-
robot_model A valid HEBI RobotModel object. frame_type Which type of frame to consider – see HebiFrameType enum. positions A vector of joint positions/angles (in SI units of meters or radians) equal in length to the number of DoFs of the robot model. Must not be NULL. frames An allocated (16 x number of frames) array of doubles; this is filled in by the function with the 4x4 homogeneous transform of each frame. Note that the number of frames depends on the frame type! Must not be NULL. ordering How the data in framesshould be serialized.
- Returns
- HebiStatusSuccess on success, or HebiStatusInvalidArgument if positions or frames are NULL.
| const char* hebiRobotModelGetImportError | ( | ) |
Retrieve any error string from the last call to hebiRobotModelImport. This must be called on the same thread as the call to hebiRobotModelImport.
- Returns
- A null-terminated ASCII character array with a human readable error message describing the failure. This array is valid until the next call to 'hebiRobotModelImport' on this thread; accessing the array after that call is undefined behavior.
| const char* hebiRobotModelGetImportWarning | ( | size_t | warning_index | ) |
Retrieve the 'ith' warning string from the last call to hebiRobotModelImport. This must be called on the same thread as the call to hebiRobotModelImport.
- Parameters
-
warning_index The 0-based index of the warning to retrieve. Must be in the range [0, hebiRobotModelGetImportWarningCount), or NULL will be returned.
- Returns
- A null-terminated ASCII character array with a human readable error message describing the failure. This array is valid until the next call to 'hebiRobotModelImport' on this thread; accessing the array after that call is undefined behavior.
| size_t hebiRobotModelGetImportWarningCount | ( | ) |
Retrieve the number of warnings corresponding to the last call to hebiRobotModelImport. This must be called on the same thread as the call to hebiRobotModelImport.
- Returns
- The number of recoverable warnings encountered when importing the file.
| HebiStatusCode hebiRobotModelGetJacobians | ( | HebiRobotModelPtr | robot_model, |
| HebiFrameType | frame_type, | ||
| const double * | positions, | ||
| double * | jacobians, | ||
| HebiMatrixOrdering | ordering | ||
| ) |
Generates the jacobian for each frame in the given kinematic tree.
- Parameters
-
robot_model A valid HEBI RobotModel object. frame_type Which type of frame to consider – see HebiFrameType enum. positions A vector of joint positions/angles (in SI units of meters or radians) equal in length to the number of DoFs of the robot model. Must not be NULL. jacobians An allocated (6 x number of dofs x number of frames) array of doubles; this is filled in by the function with the 6 x number of dofs jacobian for each frame. Note that the number of frames depends on the frame type! Must not be NULL. ordering How the data in jacobiansshould be serialized.
- Returns
- HebiStatusSuccess on success, or HebiStatusInvalidArgument if positions or jacobians are NULL.
| HebiStatusCode hebiRobotModelGetMasses | ( | HebiRobotModelPtr | robot_model, |
| double * | masses | ||
| ) |
Fill in the masses vector with the mass of each body with mass in the kinematic tree, reported in a depth-first ordering.
- Parameters
-
robot_model A valid HEBI RobotModel object. masses An allocated array of doubles, with length equal to the return value of hebiRobotModelGetNumberOfFrames with argument HebiFrameTypeCenterOfMass. Must not be NULL.
- Returns
- HebiStatusSuccess on success, or HebiStatusInvalidArgument if masses is NULL.
| size_t hebiRobotModelGetNumberOfDoFs | ( | HebiRobotModelPtr | robot_model | ) |
Returns the number of settable degrees of freedom in the kinematic tree. (This is equal to the number of joints added).
- Parameters
-
robot_model A valid HEBI RobotModel object.
| size_t hebiRobotModelGetNumberOfElements | ( | HebiRobotModelPtr | robot_model | ) |
Returns the number of elements added to the kinematic tree.
- Parameters
-
robot_model A valid HEBI RobotModel object.
| size_t hebiRobotModelGetNumberOfFrames | ( | HebiRobotModelPtr | robot_model, |
| HebiFrameType | frame_type | ||
| ) |
Return the number of frames in the forward kinematic tree of the robot model.
Note that this depends on the type of frame requested – for center of mass frames, there is one per added rigid body (that was not combined with another); for output frames, there is one per output per element. For end effectors, this is the total number of outputs on the leaves of the kinematic tree.
- Parameters
-
robot_model A valid HEBI RobotModel object. frame_type Which type of frame to consider – see HebiFrameType enum.
| HebiStatusCode hebiRobotModelGetTreeTopology | ( | HebiRobotModelPtr | robot_model, |
| HebiFrameType | frame_type, | ||
| HebiRobotModelElementTopology * | table | ||
| ) |
returns table of information about the shape of kinematic tree
- Parameters
-
robot_model A valid HEBI RobotModel object. frame_type Which type of frame to consider – see HebiFrameType enum (index of table corresponds to index of forward kinematic frames of the specified type). table An allocated (number of frames for frame_type) array of HebiRobotModelElementTopology objects; this is filled by the function.
- Returns
- HebiStatusSuccess on success or HebiStatusInvalidArgument if robot_model or table is null.
| HebiRobotModelPtr hebiRobotModelImport | ( | const char * | file | ) |
Import robot model from a file into a RobotModel object.
- Parameters
-
file A null-terminated string that gives the path/filename of the robot model XML file (HRDF). Must not be NULL. The format of this file is documented at docs.hebi.us.
- Returns
- A HebiRobotModelPtr on success, or NULL if the file could not be opened or read. In the case that NULL is returned, an error message is set that is retrievable via hebiRobotModelGetImportError. This saved error message is thread-safe, and is available until hebiRobotModelImport is called again on this thread. In the case that a non-NULL object is returned, this must be released with 'hebiRobotModelRelease' when no longer needed.
| HebiRobotModelPtr hebiRobotModelImportBuffer | ( | const char * | buffer, |
| size_t | buffer_size | ||
| ) |
Import robot model from a buffer into a RobotModel object.
- Parameters
-
buffer A buffer of the text content of an robot model XML file (HRDF). Must not be NULL. The format of this file is documented at docs.hebi.us. buffer_size The length of the above buffer. The buffer does not need to be null terminated, and as such this buffer_size should not include any null terminating characters.
- Returns
- A HebiRobotModelPtr on success, or NULL if the file could not be parsed. In the case that NULL is returned, an error message is set that is retrievable via hebiRobotModelGetImportError. This saved error message is thread-safe, and is available until hebiRobotModelImport is called again on this thread. In the case that a non-NULL object is returned, this must be released with 'hebiRobotModelRelease' when no longer needed.
| void hebiRobotModelRelease | ( | HebiRobotModelPtr | robot_model | ) |
Frees resources created by this robot model object.
RobotModel object should no longer be used after this function is called!
- Parameters
-
robot_model A valid HEBI RobotModel object.
| HebiStatusCode hebiRobotModelSetBaseFrame | ( | HebiRobotModelPtr | robot_model, |
| const double * | transform, | ||
| HebiMatrixOrdering | ordering | ||
| ) |
Sets the fixed transform from the origin to the input of the first added model element.
- Parameters
-
robot_model A valid HEBI RobotModel object. transform A 4x4 homogeneous transform. Must not be null, and must be a valid transform. ordering How the data in transformshould be serialized.
- Returns
- HebiStatusSuccess on success, or HebiStatusInvalidArgument if transform is null or invalid.
| const char* hebiSafetyParametersGetLastError | ( | void | ) |
Misc Functions.
Get the string corresponding to the last error from any safety parameters function.
Note: This function returns the last error from the current thread.
- Returns
- a NULL terminated string which must not be deallocated
| HebiStatusCode hebiStringGetString | ( | HebiStringPtr | str, |
| char * | buffer, | ||
| size_t * | length | ||
| ) |
String Functions.
Copy the string into a buffer
To only query the length of the string, provide a null pointer for the buffer parameter. If the provided buffer is not large enough to hold the string (the length determined by the length parameter), the call will fail. Note that the size of this buffer includes the null terminating character.
- Parameters
-
buffer Pointer to a buffer into which the string will be written. This can be null, in which case this function will write the size of the string (including null character) into length. length Pointer to the length of the input buffer. This parameter must not be null, or this function will return HebiStatusInvalidArgument
- Returns
- HebiStatusSuccess on success, HebiStatusBufferTooSmall if the value referenced by length is smaller than the string (including the character), or HebiStatusInvalidArgument if length pointer is null
| void hebiStringRelease | ( | HebiStringPtr | str | ) |
Releases a string instance.
| HebiTrajectoryPtr hebiTrajectoryCreateUnconstrainedQp | ( | size_t | num_waypoints, |
| const double * | positions, | ||
| const double * | velocities, | ||
| const double * | accelerations, | ||
| const double * | time_vector | ||
| ) |
Trajectory API.
Creates a HebiTrajectory object for a single joint using the given parameters; this must be released with hebiTrajectoryRelease after use.
- Parameters
-
num_waypoints The number of waypoints. positions A vector of waypoints for this joint; should be num_waypoints in length. Any elements that are NAN will be considered free parameters, and will be set by the function. Values of +/-infinity are not allowed. Must not be NULL. velocities An optional vector of velocity constraints at the corresponding waypoints; should either be NULL or num_waypoints in length. Any elements that are NAN will be considered free parameters, and will be set by the function. Values of +/-infinity are not allowed. accelerations An optional vector of acceleration constraints at the corresponding waypoints; should either be NULL or num_waypoints in length. Any elements that are NAN will be considered free parameters, and will be set by the function. Values of +/-infinity are not allowed. time_vector A vector of times to reach each waypoint; this must be defined (not NULL, and not NAN for any element). The first element must be zero.
- Returns
- A HebiTrajectory object if there were no errors, and the trajectory has been created. A NULL value indicates that there was an error, but does not specify any details about the error at this time.
| double hebiTrajectoryGetDuration | ( | HebiTrajectoryPtr | trajectory | ) |
Returns the length of this trajectory (in seconds).
| HebiStatusCode hebiTrajectoryGetState | ( | HebiTrajectoryPtr | trajectory, |
| double | time, | ||
| double * | position, | ||
| double * | velocity, | ||
| double * | acceleration | ||
| ) |
Gets the value of the trajectory at a given time.
- Parameters
-
trajectory A HebiTrajectory object time The time within the trajectory (from the beginning to the end of the trajectory's time vector) at which to query. position Filled in with the position at the given time, as defined by this trajectory. Must not be null. velocity Filled in with the velocity at the given time, as defined by this trajectory. Must not be null. acceleration Filled in with the acceleration at the given time, as defined by this trajectory. Must not be null.
- Returns
- HebiStatusSuccess on success, otherwise an error status.
| void hebiTrajectoryRelease | ( | HebiTrajectoryPtr | trajectory | ) |
Frees resources created by this trajectory.
Trajectory should no longer be used after this function is called!