36 # pragma warning(disable : 4290) 168 eGID_CYLINDRICAL = 2,
222 void CheckIndex(
int index,
int maxindex,
char const* name=
"" );
226 void CheckRange(
double value,
double minvalue,
double maxvalue,
char const* name=
"" );
230 void CheckRange(
double* values,
double* minvalues,
double* maxvalues,
char const* name=
"" );
238 static char const* GetStringFromGraspId(
eGraspId grasp_id );
242 static char const* GetStringFromControllerType(
eControllerType controller_type );
246 int GetNumberOfAxes(
void );
250 int GetNumberOfFingers(
void );
254 int GetNumberOfTemperatureSensors(
void );
262 double GetEps(
void );
270 virtual bool IsOpen(
void ) = 0;
285 static char const* firmware_error_codes[];
289 static char const* grasp_id_name[];
293 static char const* controller_type_name[];
sin square velocity profile
The base class to control the SCHUNK Dexterous Hand.
A class to print colored debug messages.
eGraspId
The enum values of the known grasps.
NAMESPACE_SDH_START VCC_EXPORT std::ostream * g_sdh_debug_log
void SetOutput(std::ostream *fd)
A simple vector implementation.
velocity controller, velocities of axes are controlled independently (not implemented in SDH firmware...
UInt16 error_code
0000h, if successful, otherwise error code
velocity controller with acceleration ramp, velocities and accelerations of axes are controlled indep...
cSDHErrorInvalidParameter(cMsg const &_msg)
eVelocityProfile
An enum for all possible SDH internal velocity profile types.
eErrorCode firmware_state
the last known state of the SDH firmware
This file contains interface and implementation of class #SDH::cDBG, a class for colorfull debug mess...
Interface of the exception base class #SDH::cSDHLibraryException and #SDH::cMsg.
cSimpleVector min_angle_v
simple vector of 7 0 values ???
#define NAMESPACE_SDH_START
virtual void SetDebugOutput(std::ostream *debuglog)
change the stream to use for debug messages
int NUMBER_OF_AXES
The number of axes.
int NUMBER_OF_TEMPERATURE_SENSORS
The number of temperature sensors.
Base class for exceptions in the SDHLibrary-CPP.
int NUMBER_OF_FINGERS
The number of fingers.
eControllerType
An enum for all possible SDH internal controller types (order must match that in the SDH firmware in ...
cDBG cdbg
debug stream to print colored debug messages
cSimpleVector eps_v
simple vector of 7 epsilon values
Interface of class #SDH::cSimpleVector.
int all_axes_used
Bit field with the bits for all axes set.
#define NAMESPACE_SDH_END
This file contains settings to make the SDHLibrary compile on differen systems:
Class for short, fixed maximum length text messages.
Derived exception class for exceptions related to invalid parameters.
double eps
epsilon value (max absolute deviation of reported values from actual hardware values) (needed since S...
cSimpleVector max_angle_v
Maximum allowed axis angles (in internal units (degrees))
int debug_level
debug level of this object