KNI.net.h
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00001 // KNI.net.h
00002 
00003 #pragma once
00004 
00005 #include "kniBase.h"
00006 #include <memory>
00007 namespace KNInet {
00008 
00009         public ref class Katana
00010         {
00011         private:
00012                 CLMBase* katana;
00013                 CCdlCOM* comm;
00014                 CCdlSocket* socket;
00015                 CCplSerialCRC* proto;
00016         public:
00017                 //Katana(System::String ^connectionString, System::String ^configurationFile);
00018                 Katana(System::String ^ipAddress, System::String ^configurationFile);
00019                 ~Katana();
00020 
00021                 void calibrate(void);
00022 
00023                 array<int>^ getRobotEncoders(bool refreshEncoders);
00024                 void moveRobotToEnc(array<int> ^encoders, bool waitUntilReached, int waitTimeout);
00025                 void moveMotorToEnc(int motor, int encoder, bool waitUntilReached, int waitTimeout);
00026                 array<double>^ getCoordinates(bool refreshEncoders);
00027                 void moveRobotTo(array<double> ^coordinates, bool waitUntilReached, int waitTimeout);
00028                 void moveRobotLinearTo(array<double> ^coordinates, bool waitUntilReached, int waitTimeout);
00029         
00030                 void setMaximumLinearVelocity(double maximumVelocity);
00031                 double getMaximumLinearVelocity();
00032 
00033                 void setActivatePositionController(bool activate);
00034                 bool getActivatePositionController();
00035 
00036                 void enableCollisionLimits();
00037                 void disableCollisionLimits();
00038                 void unBlock();
00039                 void setCollisionLimit(int number, int limit);
00040 
00041                 int getNumberOfMotors();
00042                 int getMotorEncoders(int number, bool refreshEncoders);
00043 
00044                 int getMotorVelocityLimit(int number);
00045                 int getMotorAccelerationLimit(int number);
00046                 void setMotorVelocityLimit(int number, int velocity);
00047                 void setMotorAccelerationLimit(int number, int acceleration);
00048 
00049                 void openGripper(bool waitUntilReached, int waitTimeout);
00050                 void closeGripper(bool waitUntilReached, int waitTimeout);
00051 
00052                 void freezeRobot();
00053                 void freezeMotor(int number);
00054                 void switchRobotOn();
00055                 void switchRobotOff();
00056                 void switchMotorOn(int number);
00057                 void switchMotorOff(int number);
00058         };
00059 }
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kni
Author(s): Neuronics AG (see AUTHORS.txt); ROS wrapper by Martin Günther
autogenerated on Tue May 28 2013 14:52:54