ClientConfigurations Struct Reference

Contains all the information about a client configuration
WARNING: If you send this structure, always define all variables, there is no initial values. Otherwise, there will be random information sent to the arm.
If you don't need a variable, set it to 0 (It's the case in many situations)
Suggestion: use the function memset(&yourStructure, 0, sizeof(yourStructure)) from the std lib and set the memory More...

#include <KinovaTypes.h>

List of all members.

Public Attributes
char	ClientID [20]
char	ClientName [20]
int	ComplexRetractActive
int	DeletePreProgrammedPositionsAtRetract
float	DrinkingDistance
float	DrinkingHeight
float	DrinkingLenght
int	EnableFlashErrorLog
int	EnableFlashPositionLog
int	Fingers2and3Inverted
ArmLaterality	Laterality
ARM_LATERALITY	Laterality
float	MaxAngularAcceleration
float	MaxAngularSpeed
float	MaxForce
float	MaxLinearAcceleration
float	MaxLinearSpeed
char	Model [20]
char	Organization [20]
float	RetractedPositionAngle
int	RetractedPositionCount
UserPosition	RetractPositions [NB_ADVANCE_RETRACT_POSITION]
float	Sensibility
char	Serial [20]

---

Detailed Description

Contains all the information about a client configuration
WARNING: If you send this structure, always define all variables, there is no initial values. Otherwise, there will be random information sent to the arm.
If you don't need a variable, set it to 0 (It's the case in many situations)
Suggestion: use the function memset(&yourStructure, 0, sizeof(yourStructure)) from the std lib and set the memory

Definition at line 251 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

---

Member Data Documentation

char ClientConfigurations::ClientID

Client ID, ex: MAX232

Definition at line 253 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

char ClientConfigurations::ClientName

Client Name, ex: Maxime Tremblay

Definition at line 254 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

int ClientConfigurations::ComplexRetractActive

Is the arm in complex retract mode (a custum position)

Definition at line 272 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

int ClientConfigurations::DeletePreProgrammedPositionsAtRetract

Are the preprogrammed retract positions deleted

Definition at line 281 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

float ClientConfigurations::DrinkingDistance

Y distance of the center of rotation from hand center (m), has a purpose for rehab

Definition at line 277 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

float ClientConfigurations::DrinkingHeight

X distance of the center of rotation from hand center (m), has a purpose for rehab

Definition at line 270 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

float ClientConfigurations::DrinkingLenght

Z distance of the center of rotation from hand center (m), has a purpose for rehab

Definition at line 279 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

int ClientConfigurations::EnableFlashErrorLog

Enable logging of flash memory errors

Definition at line 283 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

int ClientConfigurations::EnableFlashPositionLog

Enable logging of positions stored in flash memory

Definition at line 284 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

int ClientConfigurations::Fingers2and3Inverted

Is the fingers 2 and 3 control is inverted for left handed mode

Definition at line 278 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

ArmLaterality ClientConfigurations::Laterality

Definition at line 171 of file include/jaco_driver/KinovaTypes.h.

ARM_LATERALITY ClientConfigurations::Laterality

For REHAB: Laterality of the arm: can be right handed or left handed

Definition at line 260 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

float ClientConfigurations::MaxAngularAcceleration

Absolute arm angular acceleration (rad/s^2), range 0 to 2

Definition at line 265 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

float ClientConfigurations::MaxAngularSpeed

Absolute arm angular speed (rad/s) (thetaX, thetaY and thetaZ), range 0 to 0.6

Definition at line 263 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

float ClientConfigurations::MaxForce

Absolute linear force (X,Y,Z), 0 to 20N. THE LINEAR FORCE IS REALLY APPROXIMATIVE.

Definition at line 266 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

float ClientConfigurations::MaxLinearAcceleration

Absolute arm linear acceleration (m/s^2), range 0 to 0.8

Definition at line 264 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

float ClientConfigurations::MaxLinearSpeed

Absolute arm linear speed (m/s), range 0 to 0.15

Definition at line 262 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

char ClientConfigurations::Model

Arm model, ex: 3.0.1

Definition at line 258 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

char ClientConfigurations::Organization

Organization, ex: Kinova

Definition at line 255 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

float ClientConfigurations::RetractedPositionAngle

Angle of the joint 2 while using normal retract

Definition at line 273 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

int ClientConfigurations::RetractedPositionCount

Number of recorded retract positions

Definition at line 274 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

UserPosition ClientConfigurations::RetractPositions

Array of recorded retract positions

Definition at line 275 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

float ClientConfigurations::Sensibility

Sensibility of the joystick(%)(virtual or hard-wired), range 0 to 100

Definition at line 269 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

char ClientConfigurations::Serial

Serial number, ex: PJ 0000 0000 0000

Definition at line 257 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

---

The documentation for this struct was generated from the following files:

• docs/JacoDocs/JacoAPI/KinovaTypes.h
• include/jaco_driver/KinovaTypes.h