| AngularAcceleration | This data structure holds acceleration values(X, Y, Z) in an angular(joint by joint) control context |
| AngularInfo | This data structure holds values in an angular(joint by joint) control context. As an example struct could contains position, temperature, torque, .. |
| AngularPosition | This data structure holds the values of an angular(actuators) position |
| ButtonEvents | This is an event from a controller's button. Each variable of the struct can be mapped with a ControlFunctionalityTypeEnum |
| CartesianInfo | This data structure holds values in an cartesian control context |
| CartesianPosition | This data structure holds the values of a cartesian position |
| ClientConfigurations | This structure holds informations relative to the client. It is mostly used for rehab clients. As an example, if you need to modify the max velocity or the retract position, it will be done here. The easiest way to modify the client configuration is to get the current one by calling the function GetClientConfigurations, modify all the parameters you need and send the structure back to the robot by calling the function SetClientConfigurations(). Note that some of the parameters are read only. That means that even if you modify them and send the structure to the robot, they will not be modified |
| ControlMapping | This represents a group of functionalities mapped to some events triggered by a specific controller |
| ControlMappingCharts | This structure holds all the control mapping of the system. It is the entry point if you want to use the mapping system |
| ControlsModeMap | Represents one mode map of a control mapping. Each control mapping has 2 list of mode map |
| Finger | Structure that represents a finger from the end effector's tool |
| FingersPosition | This data structure holds the values of the robot's fingers |
| ForcesInfo | This structure contains informations about the torque and the force of the robotical arm |
| GeneralInformations | This is structure hold almost all information of the robotical arm |
| Gripper | Structure that represents the robotical arm's gripper |
| JoystickCommand | This is a virtual representation of a 6-axis joystick |
| Limitation | This data structure represents all limitation that can be applied to a control context |
| PeripheralInfo | This data structure holds information that describes an abstract peripheral |
| QuickStatus | This structure holds various informations but mostly it is flag status |
| SensorsInfo | This data structure holds the values of the robot's sensors |
| SingularityVector | This data structure represents the informations regarding the singularities surrounding the end effector. It is not used for now but will be in the future |
| StickEvents | This is an event from a controller's stick. Each variable of the struct can be mapped with a ControlFunctionalityTypeEnum |
| SystemError | This represents a system error. Every error generated by the system is logged in the robot's flash memory |
| SystemStatus | This structure holds system status flags |
| TrajectoryFIFO | This data structure represents the informations regarding the robot's trajectory's FIFO |
| TrajectoryPoint | This data structure represents a point of a trajectory. It contains the position a limitation that you can applied |
| UserPosition | This data structure represents an abstract position built by a user. Depending on the control type the Cartesian information, the angular information or both will be used |
| Zone | That represents a protection zone |
| ZoneLimitation | This represents a group of limitations that can be applied to a trajectory point |
| ZoneList | This structure represents the complete list of protection zone of the robotical arm |
| ZoneShape | Represents the 3D shape of a protection zone |