jaco_driver: Kinova.API.UsbCommandLayerUbuntu.h Source File

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00001 #ifdef KINOVAAPIUSBCOMMANDLAYER_EXPORTS
00002 #define KINOVAAPIUSBCOMMANDLAYER_API __declspec(dllexport)
00003 #else
00004 #define KINOVAAPIUSBCOMMANDLAYER_API __declspec(dllimport)
00005 #endif
00006 
00007 #include <vector>
00008 #include <jaco_driver/KinovaTypes.h>
00009 
00010 //namespace jaco_arm {
00011 // ***** E R R O R   C O D E S ******
00012 
00013 #define ERROR_INIT_API 2001      // Error while initializing the API
00014 #define ERROR_LOAD_COMM_DLL 2002 // Error while loading the communication layer
00015 
00016 //Those 3 codes are mostly for internal use
00017 #define JACO_NACK_FIRST 2003
00018 #define JACO_COMM_FAILED 2004
00019 #define JACO_NACK_NORMAL 2005
00020 
00021 #define COMMAND_LAYER_VERSION 10001
00022 
00023 // ***** API'S FUNCTIONAL CORE *****
00024 extern "C" __attribute__ ((visibility ("default"))) int InitAPI(void);
00025 
00026 extern "C" __attribute__ ((visibility ("default"))) int CloseAPI(void);
00027 
00028 extern "C" __attribute__ ((visibility ("default"))) int GetCodeVersion(std::vector<int> &Response);
00029 
00030 extern "C" __attribute__ ((visibility ("default"))) int GetCartesianPosition(CartesianPosition &Response);
00031 
00032 extern "C" __attribute__ ((visibility ("default"))) int GetAngularPosition(AngularPosition &Response);
00033 
00034 extern "C" __attribute__ ((visibility ("default"))) int GetCartesianForce(CartesianPosition &Response);
00035 
00036 extern "C" __attribute__ ((visibility ("default"))) int GetAngularForce(AngularPosition &Response);
00037 
00038 extern "C" __attribute__ ((visibility ("default"))) int GetAngularCurrent(AngularPosition &Response);
00039 
00040 extern "C" __attribute__ ((visibility ("default"))) int GetControlOperator(int &Response);
00041 
00042 extern "C" __attribute__ ((visibility ("default"))) int GetActualTrajectoryInfo(TrajectoryPoint &Response);
00043 
00044 extern "C" __attribute__ ((visibility ("default"))) int GetGlobalTrajectoryInfo(TrajectoryFIFO &Response);
00045 
00046 extern "C" __attribute__ ((visibility ("default"))) int GetSensorsInfo(SensorsInfo &Response);
00047 
00048 extern "C" __attribute__ ((visibility ("default"))) int GetSingularityVector(SingularityVector &Response);
00049 
00050 extern "C" __attribute__ ((visibility ("default"))) int SetAngularControl();
00051 
00052 extern "C" __attribute__ ((visibility ("default"))) int SetCartesianControl();
00053 
00054 extern "C" __attribute__ ((visibility ("default"))) int StartControlAPI();
00055 
00056 extern "C" __attribute__ ((visibility ("default"))) int StopControlAPI();
00057 
00058 extern "C" __attribute__ ((visibility ("default"))) int RestoreFactoryDefault();
00059 
00060 extern "C" __attribute__ ((visibility ("default"))) int SendJoystickCommand(JoystickCommand joystickCommand);
00061 
00062 extern "C" __attribute__ ((visibility ("default"))) int SendAdvanceTrajectory(TrajectoryPoint trajectory);
00063 
00064 extern "C" __attribute__ ((visibility ("default"))) int SendBasicTrajectory(TrajectoryPoint trajectory);
00065 
00066 extern "C" __attribute__ ((visibility ("default"))) int GetClientConfigurations(ClientConfigurations &config);
00067 
00068 extern "C" __attribute__ ((visibility ("default"))) int SetClientConfigurations(ClientConfigurations config);
00069 
00070 extern "C" __attribute__ ((visibility ("default"))) int EraseAllTrajectories();
00071 
00072 extern "C" __attribute__ ((visibility ("default"))) int GetPositionCurrentActuators(std::vector<float> &Response);
00073 
00074 extern "C" __attribute__ ((visibility ("default"))) int SetActuatorPID(unsigned int address, float P, float I, float D);
00075 //}