Kinova.API.UsbCommandLayerUbuntu.h File Reference

This file contains header of all available functions of this API. More...

#include <vector>
#include "KinovaTypes.h"
#include "Kinova.API.CommLayerUbuntu.h"
#include <stdio.h>

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Defines
#define	COMM_LAYER_PATH   "Kinova.API.CommLayerUbuntu.so"
#define	COMMAND_LAYER_VERSION   50101
#define	ERROR_API_NOT_INITIALIZED   2101
#define	ERROR_CLOSE_METHOD   2007
#define	ERROR_GET_DEVICE_COUNT_METHOD   2008
#define	ERROR_GET_DEVICES_LIST_METHOD   2011
#define	ERROR_INIT_API   2001
#define	ERROR_INIT_COMM_METHOD   2006
#define	ERROR_INVALID_PARAM   2100
#define	ERROR_LOAD_COMM_DLL   2002
#define	ERROR_SEMAPHORE_FAILED   2012
#define	ERROR_SEND_PACKET_METHOD   2009
#define	ERROR_SET_ACTIVE_DEVICE_METHOD   2010
#define	JACO_COMM_FAILED   2004
#define	JACO_NACK_FIRST   2003
#define	JACO_NACK_NORMAL   2005
#define	KINOVA_   1
#define	KINOVAAPIUSBCOMMANDLAYER_API   __attribute__ ((visibility ("default")))
#define	SUCCESS   1
Functions
KINOVAAPIUSBCOMMANDLAYER_API int	ClearErrorLog ()
KINOVAAPIUSBCOMMANDLAYER_API int	CloseAPI (void)
KINOVAAPIUSBCOMMANDLAYER_API int	EraseAllProtectionZones ()
KINOVAAPIUSBCOMMANDLAYER_API int	EraseAllTrajectories ()
KINOVAAPIUSBCOMMANDLAYER_API int	GetActualTrajectoryInfo (TrajectoryPoint &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetActuatorAcceleration (AngularAcceleration &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetAngularCommand (AngularPosition &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetAngularCurrent (AngularPosition &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetAngularCurrentMotor (AngularPosition &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetAngularForce (AngularPosition &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetAngularForceGravityFree (AngularPosition &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetAngularPosition (AngularPosition &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetAngularVelocity (AngularPosition &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetAPIVersion (std::vector< int > &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetCartesianCommand (CartesianPosition &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetCartesianForce (CartesianPosition &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetCartesianPosition (CartesianPosition &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetClientConfigurations (ClientConfigurations &config)
KINOVAAPIUSBCOMMANDLAYER_API int	GetCodeVersion (std::vector< int > &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetControlMapping (ControlMappingCharts &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetControlType (int &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetDevices (std::vector< KinovaDevice > &devices, int &result)
KINOVAAPIUSBCOMMANDLAYER_API int	GetDevValue (std::vector< float > &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetForcesInfo (ForcesInfo &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetGeneralInformations (GeneralInformations &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetGlobalTrajectoryInfo (TrajectoryFIFO &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetGripperStatus (Gripper &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetPeripheralInventory (std::vector< PeripheralInfo > &)
KINOVAAPIUSBCOMMANDLAYER_API int	GetPositionCurrentActuators (std::vector< float > &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetProtectionZone (ZoneList &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetQuickStatus (QuickStatus &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetSensorsInfo (SensorsInfo &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetSingularityVector (SingularityVector &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetSpasmFilterValues (std::vector< float > &Response, int &activationStatus)
KINOVAAPIUSBCOMMANDLAYER_API int	GetSystemError (unsigned int indexError, SystemError &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	GetSystemErrorCount (unsigned int &Response)
KINOVAAPIUSBCOMMANDLAYER_API int	InitAPI (void)
KINOVAAPIUSBCOMMANDLAYER_API int	InitFingers ()
KINOVAAPIUSBCOMMANDLAYER_API int	MoveHome ()
KINOVAAPIUSBCOMMANDLAYER_API int	ProgramFlash (char *filename)
KINOVAAPIUSBCOMMANDLAYER_API int	RestoreFactoryDefault ()
KINOVAAPIUSBCOMMANDLAYER_API int	SendAdvanceTrajectory (TrajectoryPoint trajectory)
KINOVAAPIUSBCOMMANDLAYER_API int	SendBasicTrajectory (TrajectoryPoint trajectory)
KINOVAAPIUSBCOMMANDLAYER_API int	SendJoystickCommand (JoystickCommand joystickCommand)
KINOVAAPIUSBCOMMANDLAYER_API int	SetActiveDevice (KinovaDevice device)
KINOVAAPIUSBCOMMANDLAYER_API int	SetActuatorAddress (int ActuatorAdress, int newAddress)
KINOVAAPIUSBCOMMANDLAYER_API int	SetActuatorPID (unsigned int address, float P, float I, float D)
KINOVAAPIUSBCOMMANDLAYER_API int	SetActuatorPIDFilter (int ActuatorAdress, float filterP, float filterI, float filterD)
KINOVAAPIUSBCOMMANDLAYER_API int	SetAngularControl ()
KINOVAAPIUSBCOMMANDLAYER_API int	SetAngularInertiaDamping (AngularInfo inertia, AngularInfo damping)
KINOVAAPIUSBCOMMANDLAYER_API int	SetAngularTorqueMinMax (AngularInfo min, AngularInfo max)
KINOVAAPIUSBCOMMANDLAYER_API int	SetCartesianControl ()
KINOVAAPIUSBCOMMANDLAYER_API int	SetCartesianForceMinMax (CartesianInfo min, CartesianInfo max)
KINOVAAPIUSBCOMMANDLAYER_API int	SetCartesianInertiaDamping (CartesianInfo inertia, CartesianInfo damping)
KINOVAAPIUSBCOMMANDLAYER_API int	SetClientConfigurations (ClientConfigurations config)
KINOVAAPIUSBCOMMANDLAYER_API int	SetControlMapping (ControlMappingCharts Command)
KINOVAAPIUSBCOMMANDLAYER_API int	SetDevValue (std::vector< float > command)
KINOVAAPIUSBCOMMANDLAYER_API int	SetFrameType (int frameType)
KINOVAAPIUSBCOMMANDLAYER_API int	SetJointZero (int ActuatorAdress)
KINOVAAPIUSBCOMMANDLAYER_API int	SetModel (char Command[STRING_LENGTH], char temp[STRING_LENGTH])
KINOVAAPIUSBCOMMANDLAYER_API int	SetProtectionZone (ZoneList Command)
KINOVAAPIUSBCOMMANDLAYER_API int	SetSerialNumber (char Command[STRING_LENGTH], char temp[STRING_LENGTH])
KINOVAAPIUSBCOMMANDLAYER_API int	SetSpasmFilterValues (std::vector< float > Response, int activationStatus)
KINOVAAPIUSBCOMMANDLAYER_API int	SetTorqueGain (int ActuatorAdress, int Gain)
KINOVAAPIUSBCOMMANDLAYER_API int	SetTorqueZero (int ActuatorAdress)
KINOVAAPIUSBCOMMANDLAYER_API int	StartControlAPI ()
KINOVAAPIUSBCOMMANDLAYER_API int	StartCurrentLimitation ()
KINOVAAPIUSBCOMMANDLAYER_API int	StartForceControl ()
KINOVAAPIUSBCOMMANDLAYER_API int	StopControlAPI ()
KINOVAAPIUSBCOMMANDLAYER_API int	StopCurrentLimitation ()
KINOVAAPIUSBCOMMANDLAYER_API int	StopForceControl ()

---

Detailed Description

This file contains header of all available functions of this API.

Definition in file Kinova.API.UsbCommandLayerUbuntu.h.

---

Define Documentation

#define COMM_LAYER_PATH   "Kinova.API.CommLayerUbuntu.so"

Definition at line 18 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define COMMAND_LAYER_VERSION   50101

Definition at line 63 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define ERROR_API_NOT_INITIALIZED   2101

Definition at line 58 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define ERROR_CLOSE_METHOD   2007

Definition at line 37 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define ERROR_GET_DEVICE_COUNT_METHOD   2008

Definition at line 40 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define ERROR_GET_DEVICES_LIST_METHOD   2011

Definition at line 49 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define ERROR_INIT_API   2001

Definition at line 25 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define ERROR_INIT_COMM_METHOD   2006

Definition at line 34 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define ERROR_INVALID_PARAM   2100

Definition at line 55 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define ERROR_LOAD_COMM_DLL   2002

Definition at line 26 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define ERROR_SEMAPHORE_FAILED   2012

Definition at line 52 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define ERROR_SEND_PACKET_METHOD   2009

Definition at line 43 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define ERROR_SET_ACTIVE_DEVICE_METHOD   2010

Definition at line 46 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define JACO_COMM_FAILED   2004

Definition at line 30 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define JACO_NACK_FIRST   2003

Definition at line 29 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define JACO_NACK_NORMAL   2005

Definition at line 31 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define KINOVA_   1

Definition at line 22 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define KINOVAAPIUSBCOMMANDLAYER_API   __attribute__ ((visibility ("default")))

Definition at line 4 of file Kinova.API.UsbCommandLayerUbuntu.h.

#define SUCCESS   1

Definition at line 21 of file Kinova.API.UsbCommandLayerUbuntu.h.

---

Function Documentation

KINOVAAPIUSBCOMMANDLAYER_API int ClearErrorLog

(

)

KINOVAAPIUSBCOMMANDLAYER_API int CloseAPI

(

void

)

KINOVAAPIUSBCOMMANDLAYER_API int EraseAllProtectionZones

(

)

KINOVAAPIUSBCOMMANDLAYER_API int EraseAllTrajectories

(

)

KINOVAAPIUSBCOMMANDLAYER_API int GetActualTrajectoryInfo

(

TrajectoryPoint &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetActuatorAcceleration

(

AngularAcceleration &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetAngularCommand

(

AngularPosition &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetAngularCurrent

(

AngularPosition &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetAngularCurrentMotor

(

AngularPosition &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetAngularForce

(

AngularPosition &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetAngularForceGravityFree

(

AngularPosition &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetAngularPosition

(

AngularPosition &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetAngularVelocity

(

AngularPosition &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetAPIVersion

(

std::vector< int > &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetCartesianCommand

(

CartesianPosition &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetCartesianForce

(

CartesianPosition &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetCartesianPosition

(

CartesianPosition &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetClientConfigurations

(

ClientConfigurations &

config

)

KINOVAAPIUSBCOMMANDLAYER_API int GetCodeVersion

(

std::vector< int > &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetControlMapping

(

ControlMappingCharts &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetControlType

(

int &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetDevices	(	std::vector< KinovaDevice > &	devices,
		int &	result
	)

KINOVAAPIUSBCOMMANDLAYER_API int GetDevValue

(

std::vector< float > &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetForcesInfo

(

ForcesInfo &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetGeneralInformations

(

GeneralInformations &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetGlobalTrajectoryInfo

(

TrajectoryFIFO &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetGripperStatus

(

Gripper &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetPeripheralInventory

(

std::vector< PeripheralInfo > &

)

KINOVAAPIUSBCOMMANDLAYER_API int GetPositionCurrentActuators

(

std::vector< float > &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetProtectionZone

(

ZoneList &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetQuickStatus

(

QuickStatus &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetSensorsInfo

(

SensorsInfo &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetSingularityVector

(

SingularityVector &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int GetSpasmFilterValues	(	std::vector< float > &	Response,
		int &	activationStatus
	)

KINOVAAPIUSBCOMMANDLAYER_API int GetSystemError	(	unsigned int	indexError,
		SystemError &	Response
	)

KINOVAAPIUSBCOMMANDLAYER_API int GetSystemErrorCount

(

unsigned int &

Response

)

KINOVAAPIUSBCOMMANDLAYER_API int InitAPI

(

void

)

KINOVAAPIUSBCOMMANDLAYER_API int InitFingers

(

)

KINOVAAPIUSBCOMMANDLAYER_API int MoveHome

(

)

KINOVAAPIUSBCOMMANDLAYER_API int ProgramFlash

(

char *

filename

)

KINOVAAPIUSBCOMMANDLAYER_API int RestoreFactoryDefault

(

)

KINOVAAPIUSBCOMMANDLAYER_API int SendAdvanceTrajectory

(

TrajectoryPoint

trajectory

)

KINOVAAPIUSBCOMMANDLAYER_API int SendBasicTrajectory

(

TrajectoryPoint

trajectory

)

KINOVAAPIUSBCOMMANDLAYER_API int SendJoystickCommand

(

JoystickCommand

joystickCommand

)

KINOVAAPIUSBCOMMANDLAYER_API int SetActiveDevice

(

KinovaDevice

device

)

KINOVAAPIUSBCOMMANDLAYER_API int SetActuatorAddress	(	int	ActuatorAdress,
		int	newAddress
	)

KINOVAAPIUSBCOMMANDLAYER_API int SetActuatorPID	(	unsigned int	address,
		float	P,
		float	I,
		float	D
	)

KINOVAAPIUSBCOMMANDLAYER_API int SetActuatorPIDFilter	(	int	ActuatorAdress,
		float	filterP,
		float	filterI,
		float	filterD
	)

KINOVAAPIUSBCOMMANDLAYER_API int SetAngularControl

(

)

KINOVAAPIUSBCOMMANDLAYER_API int SetAngularInertiaDamping	(	AngularInfo	inertia,
		AngularInfo	damping
	)

KINOVAAPIUSBCOMMANDLAYER_API int SetAngularTorqueMinMax	(	AngularInfo	min,
		AngularInfo	max
	)

KINOVAAPIUSBCOMMANDLAYER_API int SetCartesianControl

(

)

KINOVAAPIUSBCOMMANDLAYER_API int SetCartesianForceMinMax	(	CartesianInfo	min,
		CartesianInfo	max
	)

KINOVAAPIUSBCOMMANDLAYER_API int SetCartesianInertiaDamping	(	CartesianInfo	inertia,
		CartesianInfo	damping
	)

KINOVAAPIUSBCOMMANDLAYER_API int SetClientConfigurations

(

ClientConfigurations

config

)

KINOVAAPIUSBCOMMANDLAYER_API int SetControlMapping

(

ControlMappingCharts

Command

)

KINOVAAPIUSBCOMMANDLAYER_API int SetDevValue

(

std::vector< float >

command

)

KINOVAAPIUSBCOMMANDLAYER_API int SetFrameType

(

int

frameType

)

KINOVAAPIUSBCOMMANDLAYER_API int SetJointZero

(

int

ActuatorAdress

)

KINOVAAPIUSBCOMMANDLAYER_API int SetModel	(	char	Command[STRING_LENGTH],
		char	temp[STRING_LENGTH]
	)

KINOVAAPIUSBCOMMANDLAYER_API int SetProtectionZone

(

ZoneList

Command

)

KINOVAAPIUSBCOMMANDLAYER_API int SetSerialNumber	(	char	Command[STRING_LENGTH],
		char	temp[STRING_LENGTH]
	)

KINOVAAPIUSBCOMMANDLAYER_API int SetSpasmFilterValues	(	std::vector< float >	Response,
		int	activationStatus
	)

KINOVAAPIUSBCOMMANDLAYER_API int SetTorqueGain	(	int	ActuatorAdress,
		int	Gain
	)

KINOVAAPIUSBCOMMANDLAYER_API int SetTorqueZero

(

int

ActuatorAdress

)

KINOVAAPIUSBCOMMANDLAYER_API int StartControlAPI

(

)

KINOVAAPIUSBCOMMANDLAYER_API int StartCurrentLimitation

(

)

KINOVAAPIUSBCOMMANDLAYER_API int StartForceControl

(

)

KINOVAAPIUSBCOMMANDLAYER_API int StopControlAPI

(

)

KINOVAAPIUSBCOMMANDLAYER_API int StopCurrentLimitation

(

)

KINOVAAPIUSBCOMMANDLAYER_API int StopForceControl

(

)