#include <math.h>
#include <stddef.h>
#include <stdint.h>

Include dependency graph for hebi.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	_HebiMacAddress

struct	_HebiQuaternionf

struct	_HebiVector3f

Macros
#define	M_PI 3.14159265358979323846

Typedefs
typedef void(*	GroupFeedbackHandlerFunction) (HebiGroupFeedbackPtr fbk, void *user_data)
	Group feedback handling function signature. More...

typedef enum HebiCommandBoolField	HebiCommandBoolField

typedef enum HebiCommandEnumField	HebiCommandEnumField

typedef enum HebiCommandFlagField	HebiCommandFlagField

typedef enum HebiCommandFloatField	HebiCommandFloatField

typedef enum HebiCommandHighResAngleField	HebiCommandHighResAngleField

typedef enum HebiCommandIoPinBank	HebiCommandIoPinBank

typedef enum HebiCommandLedField	HebiCommandLedField

typedef enum HebiCommandNumberedFloatField	HebiCommandNumberedFloatField

typedef struct _HebiCommand *	HebiCommandPtr
	The C-style's API representation of a command. More...

typedef enum HebiCommandStringField	HebiCommandStringField

typedef enum HebiFeedbackEnumField	HebiFeedbackEnumField

typedef enum HebiFeedbackFloatField	HebiFeedbackFloatField

typedef enum HebiFeedbackHighResAngleField	HebiFeedbackHighResAngleField

typedef enum HebiFeedbackIoPinBank	HebiFeedbackIoPinBank

typedef enum HebiFeedbackLedField	HebiFeedbackLedField

typedef enum HebiFeedbackNumberedFloatField	HebiFeedbackNumberedFloatField

typedef struct _HebiFeedback *	HebiFeedbackPtr
	The C-style's API representation of feedback. More...

typedef enum HebiFeedbackQuaternionfField	HebiFeedbackQuaternionfField

typedef enum HebiFeedbackUInt64Field	HebiFeedbackUInt64Field

typedef enum HebiFeedbackVector3fField	HebiFeedbackVector3fField

typedef enum HebiFrameType	HebiFrameType

typedef struct _HebiGroupCommand *	HebiGroupCommandPtr
	The C-style's API representation of a group command. More...

typedef struct _HebiGroupFeedback *	HebiGroupFeedbackPtr
	The C-style's API representation of group feedback. More...

typedef struct _HebiGroupInfo *	HebiGroupInfoPtr
	The C-style's API representation of group info. More...

typedef struct _HebiGroup *	HebiGroupPtr
	The C-style's API representation of a group. More...

typedef struct _HebiIK *	HebiIKPtr

typedef enum HebiInfoBoolField	HebiInfoBoolField

typedef enum HebiInfoEnumField	HebiInfoEnumField

typedef enum HebiInfoFlagField	HebiInfoFlagField

typedef enum HebiInfoFloatField	HebiInfoFloatField

typedef enum HebiInfoHighResAngleField	HebiInfoHighResAngleField

typedef enum HebiInfoLedField	HebiInfoLedField

typedef struct _HebiInfo *	HebiInfoPtr
	The C-style's API representation of a group. More...

typedef enum HebiInfoStringField	HebiInfoStringField

typedef enum HebiJointType	HebiJointType

typedef struct _HebiLogFile *	HebiLogFilePtr
	The C-style's API representation of a log file. More...

typedef struct _HebiLookupEntryList *	HebiLookupEntryListPtr

typedef struct _HebiLookup *	HebiLookupPtr

typedef struct _HebiMacAddress	HebiMacAddress

typedef struct _HebiQuaternionf	HebiQuaternionf

typedef struct _HebiRobotModelElement *	HebiRobotModelElementPtr

typedef struct _HebiRobotModel *	HebiRobotModelPtr

typedef enum HebiStatusCode	HebiStatusCode

typedef struct _HebiString *	HebiStringPtr
	The C-style's API representation of a string. More...

typedef struct _HebiTrajectory *	HebiTrajectoryPtr
	The C-style's API representation of a trajectory. More...

typedef struct _HebiVector3f	HebiVector3f

Enumerations
enum	HebiCommandBoolField { HebiCommandBoolPositionDOnError, HebiCommandBoolVelocityDOnError, HebiCommandBoolEffortDOnError }

enum	HebiCommandEnumField { HebiCommandEnumControlStrategy }

enum	HebiCommandFlagField { HebiCommandFlagSaveCurrentSettings, HebiCommandFlagReset, HebiCommandFlagBoot, HebiCommandFlagStopBoot }

enum	HebiCommandFloatField { HebiCommandFloatVelocity, HebiCommandFloatEffort, HebiCommandFloatPositionKp, HebiCommandFloatPositionKi, HebiCommandFloatPositionKd, HebiCommandFloatPositionFeedForward, HebiCommandFloatPositionDeadZone, HebiCommandFloatPositionIClamp, HebiCommandFloatPositionPunch, HebiCommandFloatPositionMinTarget, HebiCommandFloatPositionMaxTarget, HebiCommandFloatPositionTargetLowpass, HebiCommandFloatPositionMinOutput, HebiCommandFloatPositionMaxOutput, HebiCommandFloatPositionOutputLowpass, HebiCommandFloatVelocityKp, HebiCommandFloatVelocityKi, HebiCommandFloatVelocityKd, HebiCommandFloatVelocityFeedForward, HebiCommandFloatVelocityDeadZone, HebiCommandFloatVelocityIClamp, HebiCommandFloatVelocityPunch, HebiCommandFloatVelocityMinTarget, HebiCommandFloatVelocityMaxTarget, HebiCommandFloatVelocityTargetLowpass, HebiCommandFloatVelocityMinOutput, HebiCommandFloatVelocityMaxOutput, HebiCommandFloatVelocityOutputLowpass, HebiCommandFloatEffortKp, HebiCommandFloatEffortKi, HebiCommandFloatEffortKd, HebiCommandFloatEffortFeedForward, HebiCommandFloatEffortDeadZone, HebiCommandFloatEffortIClamp, HebiCommandFloatEffortPunch, HebiCommandFloatEffortMinTarget, HebiCommandFloatEffortMaxTarget, HebiCommandFloatEffortTargetLowpass, HebiCommandFloatEffortMinOutput, HebiCommandFloatEffortMaxOutput, HebiCommandFloatEffortOutputLowpass, HebiCommandFloatSpringConstant, HebiCommandFloatReferencePosition, HebiCommandFloatReferenceEffort }

enum	HebiCommandHighResAngleField { HebiCommandHighResAnglePosition, HebiCommandHighResAnglePositionLimitMin, HebiCommandHighResAnglePositionLimitMax }

enum	HebiCommandIoPinBank { HebiCommandIoBankA, HebiCommandIoBankB, HebiCommandIoBankC, HebiCommandIoBankD, HebiCommandIoBankE, HebiCommandIoBankF }

enum	HebiCommandLedField { HebiCommandLedLed }

enum	HebiCommandNumberedFloatField { HebiCommandNumberedFloatDebug }

enum	HebiCommandStringField { HebiCommandStringName, HebiCommandStringFamily }

enum	HebiFeedbackEnumField { HebiFeedbackEnumTemperatureState, HebiFeedbackEnumMstopState, HebiFeedbackEnumPositionLimitState, HebiFeedbackEnumVelocityLimitState, HebiFeedbackEnumEffortLimitState, HebiFeedbackEnumCommandLifetimeState }

enum	HebiFeedbackFloatField { HebiFeedbackFloatBoardTemperature, HebiFeedbackFloatProcessorTemperature, HebiFeedbackFloatVoltage, HebiFeedbackFloatVelocity, HebiFeedbackFloatEffort, HebiFeedbackFloatVelocityCommand, HebiFeedbackFloatEffortCommand, HebiFeedbackFloatDeflection, HebiFeedbackFloatDeflectionVelocity, HebiFeedbackFloatMotorVelocity, HebiFeedbackFloatMotorCurrent, HebiFeedbackFloatMotorSensorTemperature, HebiFeedbackFloatMotorWindingCurrent, HebiFeedbackFloatMotorWindingTemperature, HebiFeedbackFloatMotorHousingTemperature }

enum	HebiFeedbackHighResAngleField { HebiFeedbackHighResAnglePosition, HebiFeedbackHighResAnglePositionCommand }

enum	HebiFeedbackIoPinBank { HebiFeedbackIoBankA, HebiFeedbackIoBankB, HebiFeedbackIoBankC, HebiFeedbackIoBankD, HebiFeedbackIoBankE, HebiFeedbackIoBankF }

enum	HebiFeedbackLedField { HebiFeedbackLedLed }

enum	HebiFeedbackNumberedFloatField { HebiFeedbackNumberedFloatDebug }

enum	HebiFeedbackQuaternionfField { HebiFeedbackQuaternionfOrientation }

enum	HebiFeedbackUInt64Field { HebiFeedbackUInt64SequenceNumber, HebiFeedbackUInt64ReceiveTime, HebiFeedbackUInt64TransmitTime, HebiFeedbackUInt64HardwareReceiveTime, HebiFeedbackUInt64HardwareTransmitTime, HebiFeedbackUInt64SenderId }

enum	HebiFeedbackVector3fField { HebiFeedbackVector3fAccelerometer, HebiFeedbackVector3fGyro }

enum	HebiFrameType { HebiFrameTypeCenterOfMass, HebiFrameTypeOutput, HebiFrameTypeEndEffector }

enum	HebiInfoBoolField { HebiInfoBoolPositionDOnError, HebiInfoBoolVelocityDOnError, HebiInfoBoolEffortDOnError }

enum	HebiInfoEnumField { HebiInfoEnumControlStrategy, HebiInfoEnumCalibrationState }

enum	HebiInfoFlagField { HebiInfoFlagSaveCurrentSettings }

enum	HebiInfoFloatField { HebiInfoFloatPositionKp, HebiInfoFloatPositionKi, HebiInfoFloatPositionKd, HebiInfoFloatPositionFeedForward, HebiInfoFloatPositionDeadZone, HebiInfoFloatPositionIClamp, HebiInfoFloatPositionPunch, HebiInfoFloatPositionMinTarget, HebiInfoFloatPositionMaxTarget, HebiInfoFloatPositionTargetLowpass, HebiInfoFloatPositionMinOutput, HebiInfoFloatPositionMaxOutput, HebiInfoFloatPositionOutputLowpass, HebiInfoFloatVelocityKp, HebiInfoFloatVelocityKi, HebiInfoFloatVelocityKd, HebiInfoFloatVelocityFeedForward, HebiInfoFloatVelocityDeadZone, HebiInfoFloatVelocityIClamp, HebiInfoFloatVelocityPunch, HebiInfoFloatVelocityMinTarget, HebiInfoFloatVelocityMaxTarget, HebiInfoFloatVelocityTargetLowpass, HebiInfoFloatVelocityMinOutput, HebiInfoFloatVelocityMaxOutput, HebiInfoFloatVelocityOutputLowpass, HebiInfoFloatEffortKp, HebiInfoFloatEffortKi, HebiInfoFloatEffortKd, HebiInfoFloatEffortFeedForward, HebiInfoFloatEffortDeadZone, HebiInfoFloatEffortIClamp, HebiInfoFloatEffortPunch, HebiInfoFloatEffortMinTarget, HebiInfoFloatEffortMaxTarget, HebiInfoFloatEffortTargetLowpass, HebiInfoFloatEffortMinOutput, HebiInfoFloatEffortMaxOutput, HebiInfoFloatEffortOutputLowpass, HebiInfoFloatSpringConstant }

enum	HebiInfoHighResAngleField { HebiInfoHighResAnglePositionLimitMin, HebiInfoHighResAnglePositionLimitMax }

enum	HebiInfoLedField { HebiInfoLedLed }

enum	HebiInfoStringField { HebiInfoStringName, HebiInfoStringFamily, HebiInfoStringSerial }

enum	HebiJointType { HebiJointTypeRotationX, HebiJointTypeRotationY, HebiJointTypeRotationZ, HebiJointTypeTranslationX, HebiJointTypeTranslationY, HebiJointTypeTranslationZ }

enum	HebiStatusCode { HebiStatusSuccess = 0, HebiStatusInvalidArgument = 1, HebiStatusBufferTooSmall = 2, HebiStatusValueNotSet = 3, HebiStatusFailure = 4, HebiStatusArgumentOutOfRange = 5 }

Functions
void	hebiCleanup (void)
	Frees all resources created by the library. Note: any calls to the HEBI library functions after this will result in undefined behavior! More...

void	hebiCommandClearLed (HebiCommandPtr cmd, HebiCommandLedField field)

HebiStatusCode	hebiCommandGetBool (HebiCommandPtr cmd, HebiCommandBoolField field, int32_t *value)

HebiStatusCode	hebiCommandGetEnum (HebiCommandPtr cmd, HebiCommandEnumField field, int32_t *value)

int32_t	hebiCommandGetFlag (HebiCommandPtr cmd, HebiCommandFlagField field)

HebiStatusCode	hebiCommandGetFloat (HebiCommandPtr cmd, HebiCommandFloatField field, float *value)

HebiStatusCode	hebiCommandGetHighResAngle (HebiCommandPtr cmd, HebiCommandHighResAngleField field, int64_t int_part, float dec_part)

HebiStatusCode	hebiCommandGetIoPinFloat (HebiCommandPtr cmd, HebiCommandIoPinBank field, size_t pin_number, float *value)

HebiStatusCode	hebiCommandGetIoPinInt (HebiCommandPtr cmd, HebiCommandIoPinBank field, size_t pin_number, int64_t *value)

HebiStatusCode	hebiCommandGetLedColor (HebiCommandPtr cmd, HebiCommandLedField field, uint8_t r, uint8_t g, uint8_t *b)

HebiStatusCode	hebiCommandGetNumberedFloat (HebiCommandPtr cmd, HebiCommandNumberedFloatField field, size_t number, float *value)

HebiStatusCode	hebiCommandGetString (HebiCommandPtr cmd, HebiCommandStringField field, char buffer, size_t length)

int32_t	hebiCommandHasLedModuleControl (HebiCommandPtr cmd, HebiCommandLedField field)

void	hebiCommandSetBool (HebiCommandPtr cmd, HebiCommandBoolField field, const int32_t *value)

void	hebiCommandSetEnum (HebiCommandPtr cmd, HebiCommandEnumField field, const int32_t *value)

void	hebiCommandSetFlag (HebiCommandPtr cmd, HebiCommandFlagField field, int32_t value)

void	hebiCommandSetFloat (HebiCommandPtr cmd, HebiCommandFloatField field, const float *value)

void	hebiCommandSetHighResAngle (HebiCommandPtr cmd, HebiCommandHighResAngleField field, const int64_t int_part, const float dec_part)

void	hebiCommandSetIoPinFloat (HebiCommandPtr cmd, HebiCommandIoPinBank field, size_t pin_number, const float *value)

void	hebiCommandSetIoPinInt (HebiCommandPtr cmd, HebiCommandIoPinBank field, size_t pin_number, const int64_t *value)

void	hebiCommandSetLedModuleControl (HebiCommandPtr cmd, HebiCommandLedField field)

void	hebiCommandSetLedOverrideColor (HebiCommandPtr cmd, HebiCommandLedField field, uint8_t r, uint8_t g, uint8_t b)

void	hebiCommandSetNumberedFloat (HebiCommandPtr cmd, HebiCommandNumberedFloatField field, size_t number, const float *value)

void	hebiCommandSetString (HebiCommandPtr cmd, HebiCommandStringField field, const char buffer, const size_t length)

HebiLookupEntryListPtr	hebiCreateLookupEntryList (HebiLookupPtr lookup)
	Return a snapshot of the contents of the module registry – i.e., which modules have been found by the lookup. More...

HebiStatusCode	hebiFeedbackGetEnum (HebiFeedbackPtr, HebiFeedbackEnumField, int32_t *)

HebiStatusCode	hebiFeedbackGetFloat (HebiFeedbackPtr fbk, HebiFeedbackFloatField field, float *value)

HebiStatusCode	hebiFeedbackGetHighResAngle (HebiFeedbackPtr fbk, HebiFeedbackHighResAngleField field, int64_t int_part, float dec_part)

HebiStatusCode	hebiFeedbackGetIoPinFloat (HebiFeedbackPtr fbk, HebiFeedbackIoPinBank field, size_t pin_number, float *value)

HebiStatusCode	hebiFeedbackGetIoPinInt (HebiFeedbackPtr fbk, HebiFeedbackIoPinBank field, size_t pin_number, int64_t *value)

HebiStatusCode	hebiFeedbackGetLedColor (HebiFeedbackPtr fbk, HebiFeedbackLedField field, uint8_t r, uint8_t g, uint8_t *b)

HebiStatusCode	hebiFeedbackGetNumberedFloat (HebiFeedbackPtr fbk, HebiFeedbackNumberedFloatField field, size_t number, float *value)

HebiStatusCode	hebiFeedbackGetQuaternionf (HebiFeedbackPtr fbk, HebiFeedbackQuaternionfField field, HebiQuaternionf *value)

HebiStatusCode	hebiFeedbackGetUInt64 (HebiFeedbackPtr fbk, HebiFeedbackUInt64Field field, uint64_t *value)

HebiStatusCode	hebiFeedbackGetVector3f (HebiFeedbackPtr fbk, HebiFeedbackVector3fField field, HebiVector3f *value)

HebiStatusCode	hebiGetLibraryVersion (int32_t major, int32_t minor, int32_t *revision)
	Get the version of the library. More...

void	hebiGroupClearFeedbackHandlers (HebiGroupPtr group)
	Removes all feedback handling functions from the queue to be called on receipt of group feedback. More...

void	hebiGroupCommandClear (HebiGroupCommandPtr cmd)
	Clears all data in the GroupCommand object. More...

HebiStatusCode	hebiGroupCommandCopy (HebiGroupCommandPtr dest, HebiGroupCommandPtr src)
	Clears the `dest` GroupCommand object, and copies all data from the `src` GroupCommand object to `dest`. More...

HebiGroupCommandPtr	hebiGroupCommandCreate (size_t size)
	Creates a GroupCommand for a group with the specified number of modules. More...

HebiCommandPtr	hebiGroupCommandGetModuleCommand (HebiGroupCommandPtr cmd, size_t module_index)
	Get an individual command for a particular module at index `module_index`. More...

size_t	hebiGroupCommandGetSize (HebiGroupCommandPtr cmd)
	Return the number of modules in this group Command. More...

HebiStatusCode	hebiGroupCommandReadGains (HebiGroupCommandPtr cmd, const char *file)
	Import gains from a file into a GroupCommand object. More...

void	hebiGroupCommandRelease (HebiGroupCommandPtr cmd)
	Frees resources created by the GroupCommand object. More...

HebiStatusCode	hebiGroupCommandWriteGains (HebiGroupCommandPtr cmd, const char *file)
	Export gains from a GroupCommand object into a file. More...

HebiGroupPtr	hebiGroupCreateConnectedFromMac (HebiLookupPtr lookup, const HebiMacAddress *address, int32_t timeout_ms)
	Create a group with all modules connected to module with the given MAC address. More...

HebiGroupPtr	hebiGroupCreateConnectedFromName (HebiLookupPtr lookup, const char family, const char name, int32_t timeout_ms)
	Create a group with all modules connected to module with the given name and family. More...

HebiGroupPtr	hebiGroupCreateFromFamily (HebiLookupPtr lookup, const char *family, int32_t timeout_ms)
	Create a group with all modules known to the lookup with the given family. More...

HebiGroupPtr	hebiGroupCreateFromMacs (HebiLookupPtr lookup, const HebiMacAddress const addresses, size_t num_addresses, int32_t timeout_ms)
	Create a group of modules with the given MAC addresses. More...

HebiGroupPtr	hebiGroupCreateFromNames (HebiLookupPtr lookup, const char const families, size_t num_families, const char const names, size_t num_names, int32_t timeout_ms)
	Create a group with modules matching the given names and families. More...

HebiGroupPtr	hebiGroupCreateImitation (size_t size)
	Creates an "imitation" group with the specified number of modules. More...

void	hebiGroupFeedbackClear (HebiGroupFeedbackPtr fbk)
	Clears all data in the GroupFeedback object. More...

HebiStatusCode	hebiGroupFeedbackCopy (HebiGroupFeedbackPtr dest, HebiGroupFeedbackPtr src)
	Clears the `dest` GroupFeedback object, and copies all data from the `src` GroupFeedback object to `dest`. More...

HebiGroupFeedbackPtr	hebiGroupFeedbackCreate (size_t size)
	Creates a GroupFeedback for a group with the specified number of modules. More...

HebiFeedbackPtr	hebiGroupFeedbackGetModuleFeedback (HebiGroupFeedbackPtr fbk, size_t module_index)
	Get an individual feedback for a particular module at index `module_index`. More...

size_t	hebiGroupFeedbackGetSize (HebiGroupFeedbackPtr fbk)
	Return the number of modules in this group Feedback. More...

void	hebiGroupFeedbackRelease (HebiGroupFeedbackPtr fbk)
	Frees resources created by the GroupFeedback object. More...

int32_t	hebiGroupGetCommandLifetime (HebiGroupPtr group)
	Returns the current command lifetime, in milliseconds. More...

float	hebiGroupGetFeedbackFrequencyHz (HebiGroupPtr group)
	Returns the current feedback request loop frequency (in Hz). More...

HebiStatusCode	hebiGroupGetNextFeedback (HebiGroupPtr group, HebiGroupFeedbackPtr feedback, int32_t timeout_ms)
	Returns the most recently stored feedback from a sent feedback request, or returns the next one received (up to the requested timeout). More...

size_t	hebiGroupGetSize (HebiGroupPtr group)
	Returns the number of modules in a group. More...

void	hebiGroupInfoClear (HebiGroupInfoPtr info)
	Clears all data in the GroupInfo object. More...

HebiStatusCode	hebiGroupInfoCopy (HebiGroupInfoPtr dest, HebiGroupInfoPtr src)
	Clears the `dest` GroupInfo object, and copies all data from the `src` GroupInfo object to `dest`. More...

HebiGroupInfoPtr	hebiGroupInfoCreate (size_t size)
	Creates a GroupInfo for a group with the specified number of modules. More...

HebiInfoPtr	hebiGroupInfoGetModuleInfo (HebiGroupInfoPtr info, size_t module_index)
	Get an individual info for a particular module at index `module_index`. More...

size_t	hebiGroupInfoGetSize (HebiGroupInfoPtr info)
	Return the number of modules in this group Info. More...

void	hebiGroupInfoRelease (HebiGroupInfoPtr info)
	Frees resources created by the GroupInfo object. More...

HebiStatusCode	hebiGroupInfoWriteGains (HebiGroupInfoPtr info, const char *file)
	Export gains from a GroupInfo object into a file. More...

HebiStatusCode	hebiGroupRegisterFeedbackHandler (HebiGroupPtr group, GroupFeedbackHandlerFunction handler, void *user_data)
	Add a function that is called whenever feedback is returned from the group. More...

void	hebiGroupRelease (HebiGroupPtr group)
	Release resources for a given group; group should not be used after this call. More...

HebiStatusCode	hebiGroupRequestInfo (HebiGroupPtr group, HebiGroupInfoPtr info, int32_t timeout_ms)
	Requests info from the group, and writes it to the provided info object. More...

HebiStatusCode	hebiGroupSendCommand (HebiGroupPtr group, HebiGroupCommandPtr command)
	Sends a command to the given group without requesting an acknowledgement. More...

HebiStatusCode	hebiGroupSendCommandWithAcknowledgement (HebiGroupPtr group, HebiGroupCommandPtr command, int32_t timeout_ms)
	Sends a command to the given group, requesting an acknowledgement of transmission to be sent back. More...

HebiStatusCode	hebiGroupSendFeedbackRequest (HebiGroupPtr group)
	Requests feedback from the group. More...

HebiStatusCode	hebiGroupSetCommandLifetime (HebiGroupPtr group, int32_t lifetime_ms)
	Sets the command lifetime for the group, in milliseconds. More...

HebiStatusCode	hebiGroupSetFeedbackFrequencyHz (HebiGroupPtr group, float frequency)
	Sets the feedback request loop frequency (in Hz). More...

HebiStatusCode	hebiGroupStartLog (HebiGroupPtr group, const char dir, const char file, HebiStringPtr *ret)
	Starts logging data to a file. More...

HebiLogFilePtr	hebiGroupStopLog (HebiGroupPtr group)
	Stops logging data to a file. More...

HebiStatusCode	hebiIKAddConstraintJointAngles (HebiIKPtr ik, double weight, size_t num_joints, const double min_positions, const double max_positions)
	Define joint angle constraints. More...

HebiStatusCode	hebiIKAddObjectiveCustom (HebiIKPtr ik, double weight, size_t num_errors, void(err_fnc)(void user_data, size_t num_positions, const double positions, double errors), void *user_data)
	Add a custom objective function to be minimized by the IK solver. More...

HebiStatusCode	hebiIKAddObjectiveEndEffectorPosition (HebiIKPtr ik, float weight, size_t end_effector_index, double x, double y, double z)
	Add an objective that optimizes for the end effector output frame origin to be at the given (x, y, z) point. More...

HebiStatusCode	hebiIKAddObjectiveEndEffectorSO3 (HebiIKPtr ik, double weight, size_t end_effector_index, const double *matrix)
	Add an objective that optimizes for the end effector output frame orientation to be given by the 3x3 (row major) rotation matrix. Note that this is incompatible with the end effector tip axis objective. More...

HebiStatusCode	hebiIKAddObjectiveEndEffectorTipAxis (HebiIKPtr ik, double weight, size_t end_effector_index, double x, double y, double z)
	Add an objective that points the end effector's z axis in a given direction. Note that this is incompatible with the end effector S03 orientation objective. More...

void	hebiIKClearAll (HebiIKPtr ik)
	Clears the objectives and constraints from this IK object, along with any modifications to the default algorithm parameters. More...

HebiIKPtr	hebiIKCreate (void)
	Creates an IK (inverse kinematics) object that allows for solving for joint angles/positions given objectives and constraints. More...

void	hebiIKRelease (HebiIKPtr ik)
	Frees resources created by this inverse kinematics object. More...

HebiStatusCode	hebiIKSolve (HebiIKPtr ik, HebiRobotModelPtr model, const double initial_positions, double ik_solution, void *result_info)
	Solves for an inverse kinematics solution that moves the end effector to a given point. More...

HebiStatusCode	hebiInfoGetBool (HebiInfoPtr info, HebiInfoBoolField field, int32_t *value)

HebiStatusCode	hebiInfoGetEnum (HebiInfoPtr info, HebiInfoEnumField field, int32_t *value)

int32_t	hebiInfoGetFlag (HebiInfoPtr info, HebiInfoFlagField field)

HebiStatusCode	hebiInfoGetFloat (HebiInfoPtr info, HebiInfoFloatField field, float *value)

HebiStatusCode	hebiInfoGetHighResAngle (HebiInfoPtr, HebiInfoHighResAngleField, int64_t int_part, float dec_part)

HebiStatusCode	hebiInfoGetLedColor (HebiInfoPtr info, HebiInfoLedField field, uint8_t r, uint8_t g, uint8_t *b)

HebiStatusCode	hebiInfoGetString (HebiInfoPtr info, HebiInfoStringField field, char buffer, size_t length)

HebiStatusCode	hebiLogFileGetFileName (HebiLogFilePtr log_file, char buffer, size_t length)
	Copy the path and name of the log file into a buffer. More...

HebiStatusCode	hebiLogFileGetNextFeedback (HebiLogFilePtr log_file, HebiGroupFeedbackPtr field)
	Retrieve the next group feedback from the opened log file. More...

size_t	hebiLogFileGetNumberOfModules (HebiLogFilePtr log_file)
	Retrieve the number of modules in the group represented by an opened log file. More...

HebiLogFilePtr	hebiLogFileOpen (const char *file)
	Opens an existing log file. More...

void	hebiLogFileRelease (HebiLogFilePtr log_file)
	Releases a log file instance. More...

HebiLookupPtr	hebiLookupCreate (void)
	Create a Lookup instance. More...

HebiStatusCode	hebiLookupEntryListGetFamily (HebiLookupEntryListPtr lookup_list, size_t index, char buffer, size_t length)

HebiStatusCode	hebiLookupEntryListGetMacAddress (HebiLookupEntryListPtr lookup_list, size_t index, HebiMacAddress *mac_address)

HebiStatusCode	hebiLookupEntryListGetName (HebiLookupEntryListPtr lookup_list, size_t index, char buffer, size_t length)

size_t	hebiLookupEntryListGetSize (HebiLookupEntryListPtr lookup_list)

void	hebiLookupEntryListRelease (HebiLookupEntryListPtr lookup_list)
	Release resources for a given lookup entry list; list should not be used after this call. More...

void	hebiLookupRelease (HebiLookupPtr lookup)
	Frees resources created by the lookup object. More...

HebiStatusCode	hebiRobotModelAdd (HebiRobotModelPtr robot_model, HebiRobotModelElementPtr existing_element, size_t output_index, HebiRobotModelElementPtr new_element, int32_t combine)
	Add an element to a parent element connected to a robot model object. More...

HebiRobotModelPtr	hebiRobotModelCreate (void)
	Creates an object to hold a robot model (tree topology). This structure has a single output available at the origin. More...

HebiRobotModelElementPtr	hebiRobotModelElementCreateJoint (HebiJointType joint_type)
	Creates a one-dof joint about the specified axis. More...

HebiRobotModelElementPtr	hebiRobotModelElementCreateRigidBody (const double com, const double inertia, double mass, size_t num_outputs, const double *outputs)
	Creates a rigid body defining static transforms to the given outputs. More...

void	hebiRobotModelElementRelease (HebiRobotModelElementPtr element)
	Frees resources created by this element. More...

HebiStatusCode	hebiRobotModelGetBaseFrame (HebiRobotModelPtr robot_model, double *transform)
	Retreives the fixed transform from the origin to the input of the first added model element. More...

HebiStatusCode	hebiRobotModelGetForwardKinematics (HebiRobotModelPtr robot_model, HebiFrameType frame_type, const double positions, double frames)
	Generates the transforms for the forward kinematics of the given robot model. More...

HebiStatusCode	hebiRobotModelGetJacobians (HebiRobotModelPtr robot_model, HebiFrameType frame_type, const double positions, double jacobians)
	Generates the jacobian for each frame in the given kinematic tree. More...

HebiStatusCode	hebiRobotModelGetMasses (HebiRobotModelPtr robot_model, double *masses)
	Fill in the masses vector with the mass of each body with mass in the kinematic tree, reported in a depth-first ordering. More...

size_t	hebiRobotModelGetNumberOfDoFs (HebiRobotModelPtr robot_model)
	Returns the number of settable degrees of freedom in the kinematic tree. (This is equal to the number of joints added). More...

size_t	hebiRobotModelGetNumberOfFrames (HebiRobotModelPtr robot_model, HebiFrameType frame_type)
	Return the number of frames in the forward kinematic tree of the robot model. More...

void	hebiRobotModelRelease (HebiRobotModelPtr robot_model)
	Frees resources created by this robot model object. More...

HebiStatusCode	hebiRobotModelSetBaseFrame (HebiRobotModelPtr robot_model, const double *transform)
	Sets the fixed transform from the origin to the input of the first added model element. More...

HebiStatusCode	hebiStringGetString (HebiStringPtr str, char buffer, size_t length)
	Copy the string into a buffer. More...

void	hebiStringRelease (HebiStringPtr str)
	Releases a string instance. More...

HebiTrajectoryPtr	hebiTrajectoryCreateUnconstrainedQp (size_t num_waypoints, const double positions, const double velocities, const double accelerations, const double time_vector)
	Creates a HebiTrajectory object for a single joint using the given parameters; this must be released with hebiTrajectoryRelease after use. More...

double	hebiTrajectoryGetDuration (HebiTrajectoryPtr trajectory)
	Returns the length of this trajectory (in seconds). More...

HebiStatusCode	hebiTrajectoryGetState (HebiTrajectoryPtr trajectory, double time, double position, double velocity, double *acceleration)
	Gets the value of the trajectory at a given time. More...

void	hebiTrajectoryRelease (HebiTrajectoryPtr trajectory)
	Frees resources created by this trajectory. More...

Macro Definition Documentation

#define M_PI 3.14159265358979323846

Definition at line 12 of file hebi.h.

Typedef Documentation

typedef void(* GroupFeedbackHandlerFunction) (HebiGroupFeedbackPtr fbk, void *user_data)

Group feedback handling function signature.

Definition at line 416 of file hebi.h.

typedef enum HebiCommandBoolField HebiCommandBoolField

typedef enum HebiCommandEnumField HebiCommandEnumField

typedef enum HebiCommandFlagField HebiCommandFlagField

typedef enum HebiCommandFloatField HebiCommandFloatField

typedef enum HebiCommandHighResAngleField HebiCommandHighResAngleField

typedef enum HebiCommandIoPinBank HebiCommandIoPinBank

typedef enum HebiCommandLedField HebiCommandLedField

typedef enum HebiCommandNumberedFloatField HebiCommandNumberedFloatField

typedef struct _HebiCommand* HebiCommandPtr

The C-style's API representation of a command.

Encapsulates data to be sent to a module

Definition at line 315 of file hebi.h.

typedef enum HebiCommandStringField HebiCommandStringField

typedef enum HebiFeedbackEnumField HebiFeedbackEnumField

typedef enum HebiFeedbackFloatField HebiFeedbackFloatField

typedef enum HebiFeedbackHighResAngleField HebiFeedbackHighResAngleField

typedef enum HebiFeedbackIoPinBank HebiFeedbackIoPinBank

typedef enum HebiFeedbackLedField HebiFeedbackLedField

typedef enum HebiFeedbackNumberedFloatField HebiFeedbackNumberedFloatField

typedef struct _HebiFeedback* HebiFeedbackPtr

The C-style's API representation of feedback.

Encapsulates feedback received from a module

Definition at line 322 of file hebi.h.

typedef enum HebiFeedbackQuaternionfField HebiFeedbackQuaternionfField

typedef enum HebiFeedbackUInt64Field HebiFeedbackUInt64Field

typedef enum HebiFeedbackVector3fField HebiFeedbackVector3fField

typedef enum HebiFrameType HebiFrameType

Which frame to report results in (e.g., for getForwardKinematics and other functions.

typedef struct _HebiGroupCommand* HebiGroupCommandPtr

The C-style's API representation of a group command.

This is an iterable list of command structures; commands are sent to modules in a group using the fields within this structure.

Definition at line 338 of file hebi.h.

typedef struct _HebiGroupFeedback* HebiGroupFeedbackPtr

The C-style's API representation of group feedback.

This is an iterable list of feedback structures; feedback from modules in a group are retrieved primarily through this structure.

Definition at line 346 of file hebi.h.

typedef struct _HebiGroupInfo* HebiGroupInfoPtr

The C-style's API representation of group info.

This is an iterable list of info structures; info from modules in a group are retrieved primarily through this structure.

Definition at line 354 of file hebi.h.

typedef struct _HebiGroup* HebiGroupPtr

The C-style's API representation of a group.

Represents a connection to a group of modules. Sends commands to and receives feedback from the group.

Definition at line 330 of file hebi.h.

typedef struct _HebiIK* HebiIKPtr

An inverse kinematics object which uses a kinematics object to search for joint angles that optimize any of several objectives while respecting defined constraints.

Definition at line 369 of file hebi.h.

typedef enum HebiInfoBoolField HebiInfoBoolField

typedef enum HebiInfoEnumField HebiInfoEnumField

typedef enum HebiInfoFlagField HebiInfoFlagField

typedef enum HebiInfoFloatField HebiInfoFloatField

typedef enum HebiInfoHighResAngleField HebiInfoHighResAngleField

typedef enum HebiInfoLedField HebiInfoLedField

typedef struct _HebiInfo* HebiInfoPtr

The C-style's API representation of a group.

Represents a connection to a group of modules. Sends commands to and receives feedback from the group.

Definition at line 362 of file hebi.h.

typedef enum HebiInfoStringField HebiInfoStringField

typedef enum HebiJointType HebiJointType

What the type of motion (axis, rotation, translation, etc) is allowed by a joint.

typedef struct _HebiLogFile* HebiLogFilePtr

The C-style's API representation of a log file.

Represents a log file generated by the API.

Definition at line 388 of file hebi.h.

typedef struct _HebiLookupEntryList* HebiLookupEntryListPtr

A list of entries that represent a snapshot of the state of the lookup object at some point in time. These entries include network HEBI devices such as actuators.

Definition at line 402 of file hebi.h.

typedef struct _HebiLookup* HebiLookupPtr

Maintains a registry of network-connected modules and returns Group objects to the user. Only one Lookup object is needed per application.

Definition at line 395 of file hebi.h.

typedef struct _HebiMacAddress HebiMacAddress

typedef struct _HebiQuaternionf HebiQuaternionf

typedef struct _HebiRobotModelElement* HebiRobotModelElementPtr

Contains a robot model element, which has an input and zero or more outputs. This may refer to a rigid body or a massless joint.

Definition at line 381 of file hebi.h.

typedef struct _HebiRobotModel* HebiRobotModelPtr

A robot model object which stores a tree of connected modules, and allows for computation of forward kinematics, jacobians, and more.

Definition at line 375 of file hebi.h.

typedef enum HebiStatusCode HebiStatusCode

typedef struct _HebiString* HebiStringPtr

The C-style's API representation of a string.

Represents a null terminated UTF-8 string

Definition at line 308 of file hebi.h.

typedef struct _HebiTrajectory* HebiTrajectoryPtr

The C-style's API representation of a trajectory.

Do not inherit from this; only obtain pointers through the API!

Used to generate position, velocity, and acceleration for different joints.

Definition at line 411 of file hebi.h.

typedef struct _HebiVector3f HebiVector3f

Enumeration Type Documentation

enum HebiCommandBoolField

Enumerator
HebiCommandBoolPositionDOnError
HebiCommandBoolVelocityDOnError	Controls whether the Kd term uses the "derivative of error" or "derivative of measurement." When the setpoints have step inputs or are noisy, setting this to `false` can eliminate corresponding spikes or noise in the output.
HebiCommandBoolEffortDOnError	Controls whether the Kd term uses the "derivative of error" or "derivative of measurement." When the setpoints have step inputs or are noisy, setting this to `false` can eliminate corresponding spikes or noise in the output.

Definition at line 89 of file hebi.h.

enum HebiCommandEnumField

Enumerator
HebiCommandEnumControlStrategy

Definition at line 107 of file hebi.h.

enum HebiCommandFlagField

Enumerator
HebiCommandFlagSaveCurrentSettings
HebiCommandFlagReset	Indicates if the module should save the current values of all of its settings.
HebiCommandFlagBoot	Restart the module.
HebiCommandFlagStopBoot	Boot the module from bootloader into application.

Definition at line 100 of file hebi.h.

enum HebiCommandFloatField

Enumerator
HebiCommandFloatVelocity
HebiCommandFloatEffort	Velocity of the module output (post-spring), in radians/second.
HebiCommandFloatPositionKp	Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).
HebiCommandFloatPositionKi	Proportional PID gain for position.
HebiCommandFloatPositionKd	Integral PID gain for position.
HebiCommandFloatPositionFeedForward	Derivative PID gain for position.
HebiCommandFloatPositionDeadZone	Feed forward term for position (this term is multiplied by the target and added to the output).
HebiCommandFloatPositionIClamp	Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error).
HebiCommandFloatPositionPunch	Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number.
HebiCommandFloatPositionMinTarget	Constant offset to the position PID output outside of the deadzone; it is added when the error is positive and subtracted when it is negative.
HebiCommandFloatPositionMaxTarget	Minimum allowed value for input to the PID controller.
HebiCommandFloatPositionTargetLowpass	Maximum allowed value for input to the PID controller.
HebiCommandFloatPositionMinOutput	A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).
HebiCommandFloatPositionMaxOutput	Output from the PID controller is limited to a minimum of this value.
HebiCommandFloatPositionOutputLowpass	Output from the PID controller is limited to a maximum of this value.
HebiCommandFloatVelocityKp	A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).
HebiCommandFloatVelocityKi	Proportional PID gain for velocity.
HebiCommandFloatVelocityKd	Integral PID gain for velocity.
HebiCommandFloatVelocityFeedForward	Derivative PID gain for velocity.
HebiCommandFloatVelocityDeadZone	Feed forward term for velocity (this term is multiplied by the target and added to the output).
HebiCommandFloatVelocityIClamp	Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error).
HebiCommandFloatVelocityPunch	Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number.
HebiCommandFloatVelocityMinTarget	Constant offset to the velocity PID output outside of the deadzone; it is added when the error is positive and subtracted when it is negative.
HebiCommandFloatVelocityMaxTarget	Minimum allowed value for input to the PID controller.
HebiCommandFloatVelocityTargetLowpass	Maximum allowed value for input to the PID controller.
HebiCommandFloatVelocityMinOutput	A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).
HebiCommandFloatVelocityMaxOutput	Output from the PID controller is limited to a minimum of this value.
HebiCommandFloatVelocityOutputLowpass	Output from the PID controller is limited to a maximum of this value.
HebiCommandFloatEffortKp	A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).
HebiCommandFloatEffortKi	Proportional PID gain for effort.
HebiCommandFloatEffortKd	Integral PID gain for effort.
HebiCommandFloatEffortFeedForward	Derivative PID gain for effort.
HebiCommandFloatEffortDeadZone	Feed forward term for effort (this term is multiplied by the target and added to the output).
HebiCommandFloatEffortIClamp	Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error).
HebiCommandFloatEffortPunch	Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number.
HebiCommandFloatEffortMinTarget	Constant offset to the effort PID output outside of the deadzone; it is added when the error is positive and subtracted when it is negative.
HebiCommandFloatEffortMaxTarget	Minimum allowed value for input to the PID controller.
HebiCommandFloatEffortTargetLowpass	Maximum allowed value for input to the PID controller.
HebiCommandFloatEffortMinOutput	A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).
HebiCommandFloatEffortMaxOutput	Output from the PID controller is limited to a minimum of this value.
HebiCommandFloatEffortOutputLowpass	Output from the PID controller is limited to a maximum of this value.
HebiCommandFloatSpringConstant	A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).
HebiCommandFloatReferencePosition	The spring constant of the module.
HebiCommandFloatReferenceEffort	Set the internal encoder reference offset so that the current position matches the given reference command.

Definition at line 32 of file hebi.h.

enum HebiCommandHighResAngleField

Enumerator
HebiCommandHighResAnglePosition
HebiCommandHighResAnglePositionLimitMin	Position of the module output (post-spring), in radians.
HebiCommandHighResAnglePositionLimitMax	Set the firmware safety limit for the minimum allowed position.

Definition at line 79 of file hebi.h.

enum HebiCommandIoPinBank

Enumerator
HebiCommandIoBankA
HebiCommandIoBankB	I/O pin bank a (pins 1-8 available)
HebiCommandIoBankC	I/O pin bank b (pins 1-8 available)
HebiCommandIoBankD	I/O pin bank c (pins 1-8 available)
HebiCommandIoBankE	I/O pin bank d (pins 1-8 available)
HebiCommandIoBankF	I/O pin bank e (pins 1-8 available)

Definition at line 111 of file hebi.h.

enum HebiCommandLedField

Enumerator
HebiCommandLedLed

Definition at line 120 of file hebi.h.

enum HebiCommandNumberedFloatField

Enumerator
HebiCommandNumberedFloatDebug

Definition at line 85 of file hebi.h.

enum HebiCommandStringField

Enumerator
HebiCommandStringName
HebiCommandStringFamily	Sets the name for this module. Name must be null-terminated character string for the name; must be <= 20 characters.

Definition at line 95 of file hebi.h.

enum HebiFeedbackEnumField

Enumerator
HebiFeedbackEnumTemperatureState
HebiFeedbackEnumMstopState	Describes how the temperature inside the module is limiting the output of the motor.
HebiFeedbackEnumPositionLimitState	Current status of the MStop.
HebiFeedbackEnumVelocityLimitState	Software-controlled bounds on the allowable position of the module; user settable.
HebiFeedbackEnumEffortLimitState	Software-controlled bounds on the allowable velocity of the module.
HebiFeedbackEnumCommandLifetimeState	Software-controlled bounds on the allowable effort of the module.

Definition at line 173 of file hebi.h.

enum HebiFeedbackFloatField

Enumerator
HebiFeedbackFloatBoardTemperature
HebiFeedbackFloatProcessorTemperature	Ambient temperature inside the module (measured at the IMU chip), in degrees Celsius.
HebiFeedbackFloatVoltage	Temperature of the processor chip, in degrees Celsius.
HebiFeedbackFloatVelocity	Bus voltage that the module is running at (in Volts).
HebiFeedbackFloatEffort	Velocity of the module output (post-spring), in radians/second.
HebiFeedbackFloatVelocityCommand	Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).
HebiFeedbackFloatEffortCommand	Commanded velocity of the module output (post-spring), in radians/second.
HebiFeedbackFloatDeflection	Commanded effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).
HebiFeedbackFloatDeflectionVelocity	Difference (in radians) between the pre-spring and post-spring output position.
HebiFeedbackFloatMotorVelocity	Velocity (in radians/second) of the difference between the pre-spring and post-spring output position.
HebiFeedbackFloatMotorCurrent	The velocity (in radians/second) of the motor shaft.
HebiFeedbackFloatMotorSensorTemperature	Current supplied to the motor.
HebiFeedbackFloatMotorWindingCurrent	The temperature from a sensor near the motor housing.
HebiFeedbackFloatMotorWindingTemperature	The estimated current in the motor windings.
HebiFeedbackFloatMotorHousingTemperature	The estimated temperature of the motor windings.

Definition at line 128 of file hebi.h.

enum HebiFeedbackHighResAngleField

Enumerator
HebiFeedbackHighResAnglePosition
HebiFeedbackHighResAnglePositionCommand	Position of the module output (post-spring), in radians.

Definition at line 146 of file hebi.h.

enum HebiFeedbackIoPinBank

Enumerator
HebiFeedbackIoBankA
HebiFeedbackIoBankB	I/O pin bank a (pins 1-8 available)
HebiFeedbackIoBankC	I/O pin bank b (pins 1-8 available)
HebiFeedbackIoBankD	I/O pin bank c (pins 1-8 available)
HebiFeedbackIoBankE	I/O pin bank d (pins 1-8 available)
HebiFeedbackIoBankF	I/O pin bank e (pins 1-8 available)

Definition at line 182 of file hebi.h.

enum HebiFeedbackLedField

Enumerator
HebiFeedbackLedLed

Definition at line 191 of file hebi.h.

enum HebiFeedbackNumberedFloatField

Enumerator
HebiFeedbackNumberedFloatDebug

Definition at line 151 of file hebi.h.

enum HebiFeedbackQuaternionfField

Enumerator
HebiFeedbackQuaternionfOrientation

Definition at line 169 of file hebi.h.

enum HebiFeedbackUInt64Field

Enumerator
HebiFeedbackUInt64SequenceNumber
HebiFeedbackUInt64ReceiveTime	Sequence number going to module (local)
HebiFeedbackUInt64TransmitTime	Timestamp of when message was received from module (local)
HebiFeedbackUInt64HardwareReceiveTime	Timestamp of when message was transmitted to module (local)
HebiFeedbackUInt64HardwareTransmitTime	Timestamp of when message was received by module (remote)
HebiFeedbackUInt64SenderId	Timestamp of when message was transmitted from module (remote)

Definition at line 155 of file hebi.h.

enum HebiFeedbackVector3fField

Enumerator
HebiFeedbackVector3fAccelerometer
HebiFeedbackVector3fGyro	Accelerometer data, in m/s^2.

Definition at line 164 of file hebi.h.

enum HebiFrameType

Which frame to report results in (e.g., for getForwardKinematics and other functions.

Enumerator
HebiFrameTypeCenterOfMass
HebiFrameTypeOutput
HebiFrameTypeEndEffector

Definition at line 280 of file hebi.h.

enum HebiInfoBoolField

Enumerator
HebiInfoBoolPositionDOnError
HebiInfoBoolVelocityDOnError	Controls whether the Kd term uses the "derivative of error" or "derivative of measurement." When the setpoints have step inputs or are noisy, setting this to `false` can eliminate corresponding spikes or noise in the output.
HebiInfoBoolEffortDOnError	Controls whether the Kd term uses the "derivative of error" or "derivative of measurement." When the setpoints have step inputs or are noisy, setting this to `false` can eliminate corresponding spikes or noise in the output.

Definition at line 247 of file hebi.h.

enum HebiInfoEnumField

Enumerator
HebiInfoEnumControlStrategy
HebiInfoEnumCalibrationState	How the position, velocity, and effort PID loops are connected in order to control motor PWM.

Definition at line 263 of file hebi.h.

enum HebiInfoFlagField

Enumerator
HebiInfoFlagSaveCurrentSettings

Definition at line 259 of file hebi.h.

enum HebiInfoFloatField

Enumerator
HebiInfoFloatPositionKp
HebiInfoFloatPositionKi	Proportional PID gain for position.
HebiInfoFloatPositionKd	Integral PID gain for position.
HebiInfoFloatPositionFeedForward	Derivative PID gain for position.
HebiInfoFloatPositionDeadZone	Feed forward term for position (this term is multiplied by the target and added to the output).
HebiInfoFloatPositionIClamp	Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error).
HebiInfoFloatPositionPunch	Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number.
HebiInfoFloatPositionMinTarget	Constant offset to the position PID output outside of the deadzone; it is added when the error is positive and subtracted when it is negative.
HebiInfoFloatPositionMaxTarget	Minimum allowed value for input to the PID controller.
HebiInfoFloatPositionTargetLowpass	Maximum allowed value for input to the PID controller.
HebiInfoFloatPositionMinOutput	A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).
HebiInfoFloatPositionMaxOutput	Output from the PID controller is limited to a minimum of this value.
HebiInfoFloatPositionOutputLowpass	Output from the PID controller is limited to a maximum of this value.
HebiInfoFloatVelocityKp	A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).
HebiInfoFloatVelocityKi	Proportional PID gain for velocity.
HebiInfoFloatVelocityKd	Integral PID gain for velocity.
HebiInfoFloatVelocityFeedForward	Derivative PID gain for velocity.
HebiInfoFloatVelocityDeadZone	Feed forward term for velocity (this term is multiplied by the target and added to the output).
HebiInfoFloatVelocityIClamp	Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error).
HebiInfoFloatVelocityPunch	Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number.
HebiInfoFloatVelocityMinTarget	Constant offset to the velocity PID output outside of the deadzone; it is added when the error is positive and subtracted when it is negative.
HebiInfoFloatVelocityMaxTarget	Minimum allowed value for input to the PID controller.
HebiInfoFloatVelocityTargetLowpass	Maximum allowed value for input to the PID controller.
HebiInfoFloatVelocityMinOutput	A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).
HebiInfoFloatVelocityMaxOutput	Output from the PID controller is limited to a minimum of this value.
HebiInfoFloatVelocityOutputLowpass	Output from the PID controller is limited to a maximum of this value.
HebiInfoFloatEffortKp	A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).
HebiInfoFloatEffortKi	Proportional PID gain for effort.
HebiInfoFloatEffortKd	Integral PID gain for effort.
HebiInfoFloatEffortFeedForward	Derivative PID gain for effort.
HebiInfoFloatEffortDeadZone	Feed forward term for effort (this term is multiplied by the target and added to the output).
HebiInfoFloatEffortIClamp	Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error).
HebiInfoFloatEffortPunch	Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number.
HebiInfoFloatEffortMinTarget	Constant offset to the effort PID output outside of the deadzone; it is added when the error is positive and subtracted when it is negative.
HebiInfoFloatEffortMaxTarget	Minimum allowed value for input to the PID controller.
HebiInfoFloatEffortTargetLowpass	Maximum allowed value for input to the PID controller.
HebiInfoFloatEffortMinOutput	A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).
HebiInfoFloatEffortMaxOutput	Output from the PID controller is limited to a minimum of this value.
HebiInfoFloatEffortOutputLowpass	Output from the PID controller is limited to a maximum of this value.
HebiInfoFloatSpringConstant	A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).

Definition at line 199 of file hebi.h.

enum HebiInfoHighResAngleField

Enumerator
HebiInfoHighResAnglePositionLimitMin
HebiInfoHighResAnglePositionLimitMax	The firmware safety limit for the minimum allowed position.

Definition at line 242 of file hebi.h.

enum HebiInfoLedField

Enumerator
HebiInfoLedLed

Definition at line 268 of file hebi.h.

enum HebiInfoStringField

Enumerator
HebiInfoStringName
HebiInfoStringFamily	Gets the name for this module.
HebiInfoStringSerial	Gets the family for this module.

Definition at line 253 of file hebi.h.

enum HebiJointType

What the type of motion (axis, rotation, translation, etc) is allowed by a joint.

Enumerator
HebiJointTypeRotationX
HebiJointTypeRotationY
HebiJointTypeRotationZ
HebiJointTypeTranslationX
HebiJointTypeTranslationY
HebiJointTypeTranslationZ

Definition at line 290 of file hebi.h.

enum HebiStatusCode

Enumerator
HebiStatusSuccess
HebiStatusInvalidArgument	Success; no failures occurred.
HebiStatusBufferTooSmall	An invalid argument was supplied to the routine (e.g. null pointer)
HebiStatusValueNotSet	A buffer supplied to the routine was too small (normally determined by a size parameter)
HebiStatusFailure	Returned when an accessor function attempts to retrieve a field which is not set.
HebiStatusArgumentOutOfRange	Generic code for failure; this is generally used for an internal or unknown failure.

Definition at line 19 of file hebi.h.

Function Documentation

void hebiCleanup ( void )

Frees all resources created by the library. Note: any calls to the HEBI library functions after this will result in undefined behavior!

void hebiCommandClearLed	(	HebiCommandPtr	cmd,
		HebiCommandLedField	field
	)

Clears the given LED field, so that the module maintains its previous state of LED control/color (i.e., does not have an override color command or an explicit 'module control' command).

HebiStatusCode hebiCommandGetBool	(	HebiCommandPtr	cmd,
		HebiCommandBoolField	field,
		int32_t *	value
	)

If the specified value is set, writes the value of the field to the pointer (if not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

The value written to the pointer will be 1 for true and 0 for false.

HebiStatusCode hebiCommandGetEnum	(	HebiCommandPtr	cmd,
		HebiCommandEnumField	field,
		int32_t *	value
	)

If the specified value is set, writes the value of the field to the pointer (if not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

int32_t hebiCommandGetFlag	(	HebiCommandPtr	cmd,
		HebiCommandFlagField	field
	)

Checks whether this flag is set. Returns '1' for yes, '0' for no.

HebiStatusCode hebiCommandGetFloat	(	HebiCommandPtr	cmd,
		HebiCommandFloatField	field,
		float *	value
	)

If the specified value is set, writes the value of the field to the pointer (if not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

HebiStatusCode hebiCommandGetHighResAngle	(	HebiCommandPtr	cmd,
		HebiCommandHighResAngleField	field,
		int64_t *	int_part,
		float *	dec_part
	)

If the specified value is set, writes the value of the field to the pointers (if both are not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

HebiStatusCode hebiCommandGetIoPinFloat	(	HebiCommandPtr	cmd,
		HebiCommandIoPinBank	field,
		size_t	pin_number,
		float *	value
	)

If the indicated pin has an floating point value, writes it to the pointer (if not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

HebiStatusCode hebiCommandGetIoPinInt	(	HebiCommandPtr	cmd,
		HebiCommandIoPinBank	field,
		size_t	pin_number,
		int64_t *	value
	)

If the indicated pin has an integer value, writes it to the pointer (if not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

HebiStatusCode hebiCommandGetLedColor	(	HebiCommandPtr	cmd,
		HebiCommandLedField	field,
		uint8_t *	r,
		uint8_t *	g,
		uint8_t *	b
	)

If the led color is set, writes it to the three output integer pointers (if all are not NULL), each 0-255, and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

For command-style messages, this refers to the color to override the module's default control of the LED.

HebiStatusCode hebiCommandGetNumberedFloat	(	HebiCommandPtr	cmd,
		HebiCommandNumberedFloatField	field,
		size_t	number,
		float *	value
	)

If the specified value is set, writes the value of the field to the pointer (if not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

HebiStatusCode hebiCommandGetString	(	HebiCommandPtr	cmd,
		HebiCommandStringField	field,
		char *	buffer,
		size_t *	length
	)

Retrieves the value and/or the length of the string field.

If this string is not set in the Command, HebiStatusValueNotSet is returned (regardless of any other arguments) and any pointer values are unchanged.

If 'length' is NULL, returns HebiStatusValueSuccess if this string value is set (the value of 'buffer' is ignored in this case).

If 'buffer' is not NULL, then 'length' should be non-NULL and set to the number of characters that can be written to 'buffer'. If the specified string is set, and it can fit into the provided buffer (including a null terminating character), then the string is copied to 'buffer' and HebiStatusSuccess is returned. If the buffer is not large enough to contain the string, then HebiStatusBufferTooSmall is returned.

If 'buffer' is NULL, returns HebiStatusValueSuccess if this string value is set.

If 'length' is not NULL (regardless of the state of 'buffer'), it is set to the necessary size to hold the specified string value (including the null terminating character).

Note - assumes ASCII string encoding.

int32_t hebiCommandHasLedModuleControl	(	HebiCommandPtr	cmd,
		HebiCommandLedField	field
	)

Returns '1' if this message indicates that the module should resume control of the LED. A '0' can indicate either an override command (if and only if HasLedColor() returns '1'), or no information about the LED (i.e., the module should maintain it's current state regarding the LED).

void hebiCommandSetBool	(	HebiCommandPtr	cmd,
		HebiCommandBoolField	field,
		const int32_t *	value
	)

Sets the given field. If the provided pointer is null, the field is cleared.

void hebiCommandSetEnum	(	HebiCommandPtr	cmd,
		HebiCommandEnumField	field,
		const int32_t *	value
	)

Sets the given field. If the provided pointer is null, the field is cleared.

void hebiCommandSetFlag	(	HebiCommandPtr	cmd,
		HebiCommandFlagField	field,
		int32_t	value
	)

Sets or clears a flag value. A nonzero value sets this flag and a value of zero clears this flag.

void hebiCommandSetFloat	(	HebiCommandPtr	cmd,
		HebiCommandFloatField	field,
		const float *	value
	)

Sets the given field. If the provided pointer is null, the field is cleared.

void hebiCommandSetHighResAngle	(	HebiCommandPtr	cmd,
		HebiCommandHighResAngleField	field,
		const int64_t *	int_part,
		const float *	dec_part
	)

Sets the given field. If any of the provided pointers are null, the field is cleared.

void hebiCommandSetIoPinFloat	(	HebiCommandPtr	cmd,
		HebiCommandIoPinBank	field,
		size_t	pin_number,
		const float *	value
	)

Sets the indicated pin to this floating point value. If the provided pointer is NULL the field is cleared (of values of any type).

void hebiCommandSetIoPinInt	(	HebiCommandPtr	cmd,
		HebiCommandIoPinBank	field,
		size_t	pin_number,
		const int64_t *	value
	)

Sets the indicated pin to this integer value. If the provided pointer is NULL the field is cleared (of values of any type).

void hebiCommandSetLedModuleControl	(	HebiCommandPtr	cmd,
		HebiCommandLedField	field
	)

Sets the module to regain control of the LED.

void hebiCommandSetLedOverrideColor	(	HebiCommandPtr	cmd,
		HebiCommandLedField	field,
		uint8_t	r,
		uint8_t	g,
		uint8_t	b
	)

Commands a color that overrides the module's control of the LED.

void hebiCommandSetNumberedFloat	(	HebiCommandPtr	cmd,
		HebiCommandNumberedFloatField	field,
		size_t	number,
		const float *	value
	)

Sets the given field. If the provided pointer is null, the field is cleared.

void hebiCommandSetString	(	HebiCommandPtr	cmd,
		HebiCommandStringField	field,
		const char *	buffer,
		const size_t *	length
	)

Sets the given string to the value given in the buffer (if given). If any of the provided pointers are null, the field is cleared.

If not null, 'length' should be set to the length of the c-style string in 'buffer', without including the terminating null character. The data in 'buffer' does not need to be null terminated.

Note - assumes ASCII string encoding.

HebiLookupEntryListPtr hebiCreateLookupEntryList ( HebiLookupPtr lookup )

Return a snapshot of the contents of the module registry – i.e., which modules have been found by the lookup.

Parameters

lookup A valid HebiLookup object.

HebiStatusCode hebiFeedbackGetEnum	(	HebiFeedbackPtr	,
		HebiFeedbackEnumField	,
		int32_t *
	)

If the specified value is set, writes the value of the field to the pointer (if not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

HebiStatusCode hebiFeedbackGetFloat	(	HebiFeedbackPtr	fbk,
		HebiFeedbackFloatField	field,
		float *	value
	)

If the specified value is set, writes the value of the field to the pointer (if not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

HebiStatusCode hebiFeedbackGetHighResAngle	(	HebiFeedbackPtr	fbk,
		HebiFeedbackHighResAngleField	field,
		int64_t *	int_part,
		float *	dec_part
	)

If the specified value is set, writes the value of the field to the pointers (if both are not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

HebiStatusCode hebiFeedbackGetIoPinFloat	(	HebiFeedbackPtr	fbk,
		HebiFeedbackIoPinBank	field,
		size_t	pin_number,
		float *	value
	)

If the indicated pin has an floating point value, writes it to the pointer (if not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

HebiStatusCode hebiFeedbackGetIoPinInt	(	HebiFeedbackPtr	fbk,
		HebiFeedbackIoPinBank	field,
		size_t	pin_number,
		int64_t *	value
	)

If the indicated pin has an integer value, writes it to the pointer (if not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

HebiStatusCode hebiFeedbackGetLedColor	(	HebiFeedbackPtr	fbk,
		HebiFeedbackLedField	field,
		uint8_t *	r,
		uint8_t *	g,
		uint8_t *	b
	)

If the led color is set, writes it to the three output integer pointers (if all are not NULL), each 0-255, and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

For command-style messages, this refers to the color to override the module's default control of the LED.

HebiStatusCode hebiFeedbackGetNumberedFloat	(	HebiFeedbackPtr	fbk,
		HebiFeedbackNumberedFloatField	field,
		size_t	number,
		float *	value
	)

If the specified value is set, writes the value of the field to the pointer (if not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

HebiStatusCode hebiFeedbackGetQuaternionf	(	HebiFeedbackPtr	fbk,
		HebiFeedbackQuaternionfField	field,
		HebiQuaternionf *	value
	)

If the specified value is set, writes the value of the field to the pointer (if not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

HebiStatusCode hebiFeedbackGetUInt64	(	HebiFeedbackPtr	fbk,
		HebiFeedbackUInt64Field	field,
		uint64_t *	value
	)

If the specified value is set, writes the value of the field to the pointer (if not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

HebiStatusCode hebiFeedbackGetVector3f	(	HebiFeedbackPtr	fbk,
		HebiFeedbackVector3fField	field,
		HebiVector3f *	value
	)

If the specified value is set, writes the value of the field to the pointer (if not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

HebiStatusCode hebiGetLibraryVersion	(	int32_t *	major,
		int32_t *	minor,
		int32_t *	revision
	)

Get the version of the library.

All parameters must not be NULL.

Returns: HebiStatusSuccess on success, otherwise HebiStatusInvalidArgument if a parameter is NULL.

void hebiGroupClearFeedbackHandlers ( HebiGroupPtr group )

Removes all feedback handling functions from the queue to be called on receipt of group feedback.

Parameters

group The group to which the handlers are attached.

void hebiGroupCommandClear ( HebiGroupCommandPtr cmd )

Clears all data in the GroupCommand object.

HebiStatusCode hebiGroupCommandCopy	(	HebiGroupCommandPtr	dest,
		HebiGroupCommandPtr	src
	)

Clears the dest GroupCommand object, and copies all data from the src GroupCommand object to dest.

The GroupCommand objects should have identical state after this.

Parameters

dest	The GroupCommandPtr to copy data into. The previous state of this object will be cleared.
src	The GroupCommandPtr to copy data from. This object will remain unchanged.

Returns: HebiStatusSuccess if the operation succeeds; HebiStatusInvalidArgument if the sizes of the two messages do not match; HebiStatusError for any other error.

HebiGroupCommandPtr hebiGroupCommandCreate ( size_t size )

Creates a GroupCommand for a group with the specified number of modules.

Parameters

size	The number of modules in the group.

Returns: A pointer to a new GroupCommand object. This must be released with hebiGroupCommandRelease(HebiGroupCommandPtr).

HebiCommandPtr hebiGroupCommandGetModuleCommand	(	HebiGroupCommandPtr	cmd,
		size_t	module_index
	)

Get an individual command for a particular module at index module_index.

Parameters

module_index The index to retrieve the module command; must be from 0 to the size - 1, inclusive, or results in undefined behavior.

Returns: The command corresponding to the module at the specified index

size_t hebiGroupCommandGetSize ( HebiGroupCommandPtr cmd )

Return the number of modules in this group Command.

Returns: The number of module commands in this group command.

HebiStatusCode hebiGroupCommandReadGains	(	HebiGroupCommandPtr	cmd,
		const char *	file
	)

Import gains from a file into a GroupCommand object.

Parameters

file	A null-terminated string that gives the path/filename of the gains XML file. Must not be NULL.

Returns

HebiStatusSuccess on success, or a failure code if the file could note be opened or read. In particular:

if the file was successfully read, but the number of modules in the file is not equal to '1' or the size of the group, returns HebiStatusInvalidArgument.
if file is NULL, returns HebiStatusInvalidArgument.
for other parsing errors, may return HebiStatusFailure or HebiStatusInvalidArgument.

void hebiGroupCommandRelease ( HebiGroupCommandPtr cmd )

Frees resources created by the GroupCommand object.

The GroupCommandPtr must not be used after this function is called.

HebiStatusCode hebiGroupCommandWriteGains	(	HebiGroupCommandPtr	cmd,
		const char *	file
	)

Export gains from a GroupCommand object into a file.

Parameters

file	A null-terminated string that gives the path/filename to save the gains XML file at. Must not be NULL.

Returns: HebiStatusSuccess on success, or a failure code if the file could not be written to or an internal error occurs.

HebiGroupPtr hebiGroupCreateConnectedFromMac	(	HebiLookupPtr	lookup,
		const HebiMacAddress *	address,
		int32_t	timeout_ms
	)

Create a group with all modules connected to module with the given MAC address.

Modules in group will be ordered depth-first, starting with the most proximal module.

Blocking call which waits to get a pointer to a Group object with the given parameters. Times out after timeout_msec milliseconds. Must be released when use is complete via the hebiGroupRelease function.

Parameters

lookup	A valid HebiLookup object.
address	Pointer to a HebiMacAddress structure representing the physical mac address of the given module (serves as unique id). Must not be NULL.
timeout_ms	Timeout in milliseconds. A value of -1 blocks until a module is found, and a value of 0 returns immediately if no module with that address is currently known by the Lookup class.

Returns: NULL if matching group not found in allotted time; pointer to newly allocated group object otherwise.

HebiGroupPtr hebiGroupCreateConnectedFromName	(	HebiLookupPtr	lookup,
		const char *	family,
		const char *	name,
		int32_t	timeout_ms
	)

Create a group with all modules connected to module with the given name and family.

Modules in group will be ordered depth-first, starting with the most proximal module.

Blocking call which waits to get a pointer to a Group object with the given parameters. Times out after timeout_msec milliseconds. Must be released when use is complete via the hebiGroupRelease function.

Parameters

lookup	A valid HebiLookup object.
name	The given name of the key module, as viewable in the HEBI GUI. Must be a null-terminated string, and must not be NULL.
family	The given family of the key module, as viewable in the HEBI GUI. Must be a null-terminated string, and must not be NULL.
timeout_ms	Timeout in milliseconds. A value of -1 blocks until a module is found, and a value of 0 returns immediately if no module with that address is currently known by the Lookup class.

Returns: NULL if matching group not found in allotted time; pointer to newly allocated group object otherwise.

HebiGroupPtr hebiGroupCreateFromFamily	(	HebiLookupPtr	lookup,
		const char *	family,
		int32_t	timeout_ms
	)

Create a group with all modules known to the lookup with the given family.

Group contains all modules with the given family, regardless of name.

Blocking call which waits to get a pointer to a Group object with the given parameters. Times out after timeout_msec milliseconds. Must be released when use is complete via the hebiGroupRelease function.

Parameters

lookup	A valid HebiLookup object.
family	The given family of the modules, as viewable in the HEBI GUI. Must be a null-terminated string, and must not be NULL.
timeout_ms	Timeout in milliseconds. A value of -1 blocks until a module is found, and a value of 0 returns immediately if no module with that address is currently known by the Lookup class.

Returns: NULL if matching group not found in allotted time; pointer to newly allocated group object otherwise.

HebiGroupPtr hebiGroupCreateFromMacs	(	HebiLookupPtr	lookup,
		const HebiMacAddress const	addresses,
		size_t	num_addresses,
		int32_t	timeout_ms
	)

Create a group of modules with the given MAC addresses.

If any given modules are not found, no group is created.

Blocking call which waits to get a pointer to a Group object with the given parameters. Times out after timeout_msec milliseconds. Must be released when use is complete via the hebiGroupRelease function.

Parameters

lookup	A valid HebiLookup object.
addresses	An array of pointers to physical mac addresses of the given modules. Length of the array must equal num_addresses. This param must not be NULL, and each element of this list must not be NULL.
num_addresses	Length of the addresses array of pointers (number of pointers in the array, not cumulative size of objects they point to).
timeout_ms	Timeout in milliseconds. A value of -1 blocks until a module is found, and a value of 0 returns immediately if no module with that address is currently known by the Lookup class.

Returns: NULL if matching group not found in allotted time; pointer to newly allocated group object otherwise.

HebiGroupPtr hebiGroupCreateFromNames	(	HebiLookupPtr	lookup,
		const char const	families,
		size_t	num_families,
		const char const	names,
		size_t	num_names,
		int32_t	timeout_ms
	)

Create a group with modules matching the given names and families.

If only one family is given, it is used for all modules. Otherwise, number of names and families must match. If any given modules are not found, no group is created.

Blocking call which waits to get a pointer to a Group object with the given parameters. Times out after timeout_msec milliseconds. Must be released when use is complete via the hebiGroupRelease function.

Parameters

lookup	A valid HebiLookup object.
families	The given families of the modules, as viewable in the HEBI GUI. Must be a list of pointers to null-terminated strings. The number of pointers must match the num_families parameter. Note that a single string (with corresponding value of num_families == 1) will be used with each name in the names list. This param must not be NULL, and each element of this list must not be NULL.
num_families	The number of pointers to null-terminated strings given by the families parameter. Note that this must either be 1, or be equal to num_names.
names	The given names of the modules, as viewable in the HEBI GUI. Must be a list of pointers to null-terminated strings. The number of pointers must match the num_names parameter. This param must not be NULL, and each element of this list must not be NULL.
num_names	The number of pointers to null-terminated strings given by the names parameter.
timeout_ms	Timeout in milliseconds. A value of -1 blocks until a module is found, and a value of 0 returns immediately if no module with that address is currently known by the Lookup class.

Returns: NULL if matching group not found in allotted time; pointer to newly allocated group object otherwise.

HebiGroupPtr hebiGroupCreateImitation ( size_t size )

Creates an "imitation" group with the specified number of modules.

The imitation group is useful for testing the API, as it acts like a Group would in most cases, but is not backed by hardware. Commands that are sent to the imitation group are returned as feedback, using the standard feedback request methods.

Note that standard groups are created through the HebiLookup objects.

Parameters

size	The number of modules in the group.

Returns: An imitation group that returns commanded values as feedback.

void hebiGroupFeedbackClear ( HebiGroupFeedbackPtr fbk )

Clears all data in the GroupFeedback object.

HebiStatusCode hebiGroupFeedbackCopy	(	HebiGroupFeedbackPtr	dest,
		HebiGroupFeedbackPtr	src
	)

Clears the dest GroupFeedback object, and copies all data from the src GroupFeedback object to dest.

The GroupFeedback objects should have identical state after this.

Parameters

dest	The GroupFeedbackPtr to copy data into. The previous state of this object will be cleared.
src	The GroupFeedbackPtr to copy data from. This object will remain unchanged.

Returns: HebiStatusSuccess if the operation succeeds; HebiStatusInvalidArgument if the sizes of the two messages do not match; HebiStatusError for any other error.

HebiGroupFeedbackPtr hebiGroupFeedbackCreate ( size_t size )

Creates a GroupFeedback for a group with the specified number of modules.

Parameters

size	The number of modules in the group.

Returns: A pointer to a new GroupFeedback object. This must be released with hebiGroupFeedbackRelease(HebiGroupFeedbackPtr).

HebiFeedbackPtr hebiGroupFeedbackGetModuleFeedback	(	HebiGroupFeedbackPtr	fbk,
		size_t	module_index
	)

Get an individual feedback for a particular module at index module_index.

Parameters

module_index The index to retrieve the module feedback; must be from 0 to the size - 1, inclusive, or results in undefined behavior.

Returns: The feedback corresponding to the module at the specified index.

size_t hebiGroupFeedbackGetSize ( HebiGroupFeedbackPtr fbk )

Return the number of modules in this group Feedback.

Returns: The number of module feedbacks in this group feedback.

void hebiGroupFeedbackRelease ( HebiGroupFeedbackPtr fbk )

Frees resources created by the GroupFeedback object.

The GroupFeedbackPtr should must not be used after this function is called.

int32_t hebiGroupGetCommandLifetime ( HebiGroupPtr group )

Returns the current command lifetime, in milliseconds.

Parameters

group Which group is being queried.

Returns: The current command lifetime, in milliseconds. A value of '0' indicates that commands remain active until the next command is received.

float hebiGroupGetFeedbackFrequencyHz ( HebiGroupPtr group )

Returns the current feedback request loop frequency (in Hz).

Parameters

group Which group is being queried.

Returns: The current feedback request loop frequency (in Hz).

HebiStatusCode hebiGroupGetNextFeedback	(	HebiGroupPtr	group,
		HebiGroupFeedbackPtr	feedback,
		int32_t	timeout_ms
	)

Returns the most recently stored feedback from a sent feedback request, or returns the next one received (up to the requested timeout).

Note that a feedback request can be sent either with the hebiGroupSendFeedbackRequest function, or by setting a background feedback frequency with hebiGroupSetFeedbackFrequencyHz.

Warning: other data in the provided 'Feedback' object is erased!

Parameters

group	The group to return feedback from.
feedback	On success, the feedback read from the group are written into this structure.
timeout_ms	Indicates how many milliseconds to wait for feedback. For typical networks, '15' ms is a value that can be reasonably expected to allow for a round trip transmission after the last 'send feedback request' call.

Returns: HebiStatusSuccess if feedback was returned, or a failure code if not (i.e., connection error or timeout waiting for response).

size_t hebiGroupGetSize ( HebiGroupPtr group )

Returns the number of modules in a group.

Parameters

group The group to send this command to.

Returns: the number of modules in the group.

void hebiGroupInfoClear ( HebiGroupInfoPtr info )

Clears all data in the GroupInfo object.

HebiStatusCode hebiGroupInfoCopy	(	HebiGroupInfoPtr	dest,
		HebiGroupInfoPtr	src
	)

Clears the dest GroupInfo object, and copies all data from the src GroupInfo object to dest.

The GroupInfo objects should have identical state after this.

Parameters

dest	The GroupInfoPtr to copy data into. The previous state of this object will be cleared.
src	The GroupInfoPtr to copy data from. This object will remain unchanged.

Returns: HebiStatusSuccess if the operation succeeds; HebiStatusInvalidArgument if the sizes of the two messages do not match; HebiStatusError for any other error.

HebiGroupInfoPtr hebiGroupInfoCreate ( size_t size )

Creates a GroupInfo for a group with the specified number of modules.

Parameters

size	The number of modules in the group.

Returns: A pointer to a new GroupInfo object. This must be released with hebiGroupInfoRelease(HebiGroupInfoPtr).

HebiInfoPtr hebiGroupInfoGetModuleInfo	(	HebiGroupInfoPtr	info,
		size_t	module_index
	)

Get an individual info for a particular module at index module_index.

Parameters

module_index The index to retrieve the module info; must be from 0 to the size - 1, inclusive, or results in undefined behavior.

Returns: The info corresponding to the module at the specified index.

size_t hebiGroupInfoGetSize ( HebiGroupInfoPtr info )

Return the number of modules in this group Info.

Returns: The number of module infos in this group info.

void hebiGroupInfoRelease ( HebiGroupInfoPtr info )

Frees resources created by the GroupInfo object.

The GroupInfoPtr must not be used after this function is called.

HebiStatusCode hebiGroupInfoWriteGains	(	HebiGroupInfoPtr	info,
		const char *	file
	)

Export gains from a GroupInfo object into a file.

Parameters

file	A null-terminated string that gives the path/filename to save the gains XML file at. Must not be NULL.

Returns: HebiStatusSuccess on success, or a failure code if the file could not be written to or an internal error occurs.

HebiStatusCode hebiGroupRegisterFeedbackHandler	(	HebiGroupPtr	group,
		GroupFeedbackHandlerFunction	handler,
		void *	user_data
	)

Add a function that is called whenever feedback is returned from the group.

Parameters

group	The group to attach this handler to.
handler	A feedback handling function called whenever feedback is received from the group.
user_data	A pointer to user data which will be returned as the second callback argument. This pointer can be NULL if desired.

void hebiGroupRelease ( HebiGroupPtr group )

Release resources for a given group; group should not be used after this call.

Parameters

group A valid HebiGroup object.

HebiStatusCode hebiGroupRequestInfo	(	HebiGroupPtr	group,
		HebiGroupInfoPtr	info,
		int32_t	timeout_ms
	)

Requests info from the group, and writes it to the provided info object.

Warning: other data in the provided 'Info' object is erased!

Parameters

group	The group to send this command to.
info	On success, the info read from the group is written into this structure.
timeout_ms	Indicates how many milliseconds to wait for a response after sending a packet. For typical networks, '15' ms is a value that can be reasonably expected to encompass the time required for a round-trip transmission.

Returns: HebiStatusSuccess if info was received, or a failure code if not (i.e., connection error or timeout waiting for response).

HebiStatusCode hebiGroupSendCommand	(	HebiGroupPtr	group,
		HebiGroupCommandPtr	command
	)

Sends a command to the given group without requesting an acknowledgement.

Appropriate for high-frequency applications.

Parameters

group	The group to send this command to.
command	The HebiGroupCommand object containing information to be sent to the group.

Returns: HebiStatusSuccess if the command was successfully sent, otherwise a failure code.

HebiStatusCode hebiGroupSendCommandWithAcknowledgement	(	HebiGroupPtr	group,
		HebiGroupCommandPtr	command,
		int32_t	timeout_ms
	)

Sends a command to the given group, requesting an acknowledgement of transmission to be sent back.

Note: A non-HebiStatusSuccess return does not indicate a specific failure, and may result from an error while sending or simply a timeout/dropped response packet after a successful transmission.

Parameters

group	The group to send this command to.
command	The HebiGroupCommand object containing information to be sent to the group.
timeout_ms	Indicates how many milliseconds to wait for a response after sending a packet. For typical networks, '15' ms is a value that can be reasonably expected to encompass the time required for a round-trip transmission.

Returns: HebiStatusSuccess if an acknowledgement was successfully received (guaranteeing the group received this command), or a failure code for an error otherwise.

HebiStatusCode hebiGroupSendFeedbackRequest ( HebiGroupPtr group )

Requests feedback from the group.

Sends a background request to the modules in the group; if/when all modules return feedback, any associated handler functions are called. This returned feedback is also stored to be returned by the next call to hebiGroupGetNextFeedback (any previously returned data is discarded).

Parameters

group The group to return feedback from.

Returns: HebiStatusSuccess if request was successfully sent, or a failure code if not (i.e., connection error).

HebiStatusCode hebiGroupSetCommandLifetime	(	HebiGroupPtr	group,
		int32_t	lifetime_ms
	)

Sets the command lifetime for the group, in milliseconds.

The command lifetime is the duration for which a sent command remains active. If the hardware does not receive further commands within the specified time frame, all local controllers get deactivated. This is a safety feature to mitigate the risk of accidents in case programs get interrupted in an unsafe state, e.g., on program exceptions or during a network fault.

Additionally, supporting hardware does not accept commands from any other sources during the lifetime of a command. This mitigates the risk of other users accidentally sending conflicting targets from, e.g., the GUI.

Parameters

group	Which group the command lifetime is being set for.
lifetime_ms	The number of milliseconds which the command 'lives' for. Setting a value less than or equal to '0' disables command lifetime. When disabled, the hardware will continue to execute the last sent command. Setting a value above the accepted maximum will set the lockout to the maximum value.

Returns: HebiStatusSuccess if command lifetime successfully set, or a failure code if value was outside of accepted range (higher than supported maximum or negative).

HebiStatusCode hebiGroupSetFeedbackFrequencyHz	(	HebiGroupPtr	group,
		float	frequency
	)

Sets the feedback request loop frequency (in Hz).

The group is queried for feedback in a background thread at this frequency, and any added callbacks are called from this background thread.

Parameters

group	Which group this frequency set is for.
frequency	The feedback request loop frequency (in Hz). A value of '0' is the default, and disables the feedback request thread.

Returns: HebiStatusSuccess if feedback frequency successfully set, or a failure code if value was outside of accepted range (higher than supported maximum, NaN or negative).

HebiStatusCode hebiGroupStartLog	(	HebiGroupPtr	group,
		const char *	dir,
		const char *	file,
		HebiStringPtr *	ret
	)

Starts logging data to a file.

Note: If a non null parameter is used for the returned string, and it is populated with a non null reference to a string, it must be explicitly freed using hebiStringRelease(HebiStringPtr str)

Parameters

dir	The relative or absolute path to the directory in which to log. To use the current directory, pass in a null pointer
file	The optional file name. If this is null, a name will be created using the time at the moment which this function was invoked.
ret	The optional pointer to a string reference. If this is null, this is ignored. Otherwise, a reference to a string is populated with the path and name of the log file created. If this function does not return HebiStatusSuccess and this parameter is not null, the value at this pointer is set to null.

Returns: HebiStatusSuccess if successfully started a log, a failure code otherwise.

HebiLogFilePtr hebiGroupStopLog ( HebiGroupPtr group )

Stops logging data to a file.

Note: This function allocates a log file structure on the heap, so make sure to release the pointer returned by this function by calling hebiLogFileRelease(HebiLogFilePtr ptr)

Parameters

group The group that is logging.

Returns: a log file instance on success, otherwise a null pointer.

HebiStatusCode hebiIKAddConstraintJointAngles	(	HebiIKPtr	ik,
		double	weight,
		size_t	num_joints,
		const double *	min_positions,
		const double *	max_positions
	)

Define joint angle constraints.

NaN or +/- infinity can be set on particular joints to ignore joint limits. Currently, the joint limit constraints are two-sided, which means that any joint must either have both min/max set to NaN/inf, or have neither.

Parameters

weight	The weight of this constraint relative to any other objective functions (this constraint is multiplied by this weight before passing to the optimizer). Defaults to 1.0.
num_joints	The number of elements in the min_positions and max_positions arrays.
min_positions	An array with the minimum joint limit for each joint, or NaN or inf if unlimited. Must have num_joints elements, and must not be NULL.
max_positions	An array with the maximum joint limit for each joint, or NaN or inf if unlimited. Must have num_joints elements, and must not be NULL.

Returns: HebiStatusSuccess on success; otherwise a failure code.

HebiStatusCode hebiIKAddObjectiveCustom	(	HebiIKPtr	ik,
		double	weight,
		size_t	num_errors,
		void()(void user_data, size_t num_positions, const double positions, double errors)	err_fnc,
		void *	user_data
	)

Add a custom objective function to be minimized by the IK solver.

The given callback is called at each iteration of the local optimization, and is expected to fill in each entry of the "errors" vector.

Parameters

weight	The weight of this constraint relative to any other objective functions (this constraint is multiplied by this weight before passing to the optimizer). Defaults to 1.0.
num_errors	The number of independent error values that this objective returns.
err_fnc	The callback function which is used to compute the errors. The arguments are: user_data - The pointer passed in when adding a custom objective; this can be anything (even NULL), and is designed to allow the user to easily access information in the callback. num_positions - the number of elements in the 'positions' array positions - an array of the joint positions at this point in the optimization; of length 'num_positions' errors - an array of error values which must be filled in by the callback; of length 'num_errors'.

HebiStatusCode hebiIKAddObjectiveEndEffectorPosition	(	HebiIKPtr	ik,
		float	weight,
		size_t	end_effector_index,
		double	x,
		double	y,
		double	z
	)

Add an objective that optimizes for the end effector output frame origin to be at the given (x, y, z) point.

If an end effector position objective already exists, this will replace it.

Parameters

weight	The weight of this objective relative to any other objective functions (this objective is multiplied by this weight before passing to the optimizer). Defaults to 1.0.
x	The desired x position of the end effector frame. 'NaN' can be passed to ignore this variable.
y	The desired y position of the end effector frame. 'NaN' can be passed to ignore this variable.
z	The desired z position of the end effector frame. 'NaN' can be passed to ignore this variable.

Returns: HebiStatusSuccess on success, otherwise a failure code (e.g. incompatible with existing objectives, or all components are set to 'NaN')

HebiStatusCode hebiIKAddObjectiveEndEffectorSO3	(	HebiIKPtr	ik,
		double	weight,
		size_t	end_effector_index,
		const double *	matrix
	)

Add an objective that optimizes for the end effector output frame orientation to be given by the 3x3 (row major) rotation matrix. Note that this is incompatible with the end effector tip axis objective.

If an end effector orientation objective already exists, this will replace it.

Parameters

weight	The weight of this objective relative to any other objective functions (this objective is multiplied by this weight before passing to the optimizer). Defaults to 1.0.
matrix	The desired orientation of the end effector frame, as a 3x3 rotation matrix in row major order. Must not be NULL.

Returns: HebiStatusSuccess on success, otherwise a failure code (e.g. incompatible with existing objectives, or rotation matrix is invalid or null.)

HebiStatusCode hebiIKAddObjectiveEndEffectorTipAxis	(	HebiIKPtr	ik,
		double	weight,
		size_t	end_effector_index,
		double	x,
		double	y,
		double	z
	)

Add an objective that points the end effector's z axis in a given direction. Note that this is incompatible with the end effector S03 orientation objective.

If an end effector orientation objective already exists, this will replace it.

Parameters

weight	The weight of this objective relative to any other objective functions (this objective is multiplied by this weight before passing to the optimizer). Defaults to 1.0.
x	The desired end effector z axis, projected onto the x axis.
y	The desired end effector z axis, projected onto the y axis.
z	The desired end effector z axis, projected onto the z axis.

Returns: HebiStatusSuccess on success, otherwise a failure code (e.g. incompatible with existing objectives, or rotation matrix is invalid.)

void hebiIKClearAll ( HebiIKPtr ik )

Clears the objectives and constraints from this IK object, along with any modifications to the default algorithm parameters.

HebiIKPtr hebiIKCreate ( void )

Creates an IK (inverse kinematics) object that allows for solving for joint angles/positions given objectives and constraints.

This optimization is completed using a specified forward kinematics object. The objectives and constraints are stored with this object.

void hebiIKRelease ( HebiIKPtr ik )

Frees resources created by this inverse kinematics object.

IK object should no longer be used after this function is called!

Parameters

ik	A valid HEBI inverse kinematics object.

HebiStatusCode hebiIKSolve	(	HebiIKPtr	ik,
		HebiRobotModelPtr	model,
		const double *	initial_positions,
		double *	ik_solution,
		void *	result_info
	)

Solves for an inverse kinematics solution that moves the end effector to a given point.

Note: multiple "hebiIKSolve" calls can be made using the same IK object.

Parameters

ik	A valid HEBI IK object.
model	A valid HEBI RobotModel object.
initial_positions	The seed positions/angles (in SI units of meters or radians) to start the IK search from; equal in length to the number of DoFs of the kinematic tree. Must not be NULL.
ik_solution	Allocated array of doubles equal in length to the number of DoFs of the kinematic tree; the function will fill in this array with the IK solution (in SI units of meters or radians). Must not be NULL.
result_info	Reserved for future use (will enable more information about output of optimization such as success/failure, function error, etc). This should currently be set to NULL.

Returns: HebiStatusSuccess on success, other values on failure (e.g., no objectives given or dimension mismatch between kinematics object and stored objectives).

HebiStatusCode hebiInfoGetBool	(	HebiInfoPtr	info,
		HebiInfoBoolField	field,
		int32_t *	value
	)

If the specified value is set, writes the value of the field to the pointer (if not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

The value written to the pointer will be 1 for true and 0 for false.

HebiStatusCode hebiInfoGetEnum	(	HebiInfoPtr	info,
		HebiInfoEnumField	field,
		int32_t *	value
	)

If the specified value is set, writes the value of the field to the pointer (if not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

int32_t hebiInfoGetFlag	(	HebiInfoPtr	info,
		HebiInfoFlagField	field
	)

Checks whether this flag is set. Returns '1' for yes, '0' for no.

HebiStatusCode hebiInfoGetFloat	(	HebiInfoPtr	info,
		HebiInfoFloatField	field,
		float *	value
	)

If the specified value is set, writes the value of the field to the pointer (if not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

HebiStatusCode hebiInfoGetHighResAngle	(	HebiInfoPtr	,
		HebiInfoHighResAngleField	,
		int64_t *	int_part,
		float *	dec_part
	)

If the specified value is set, writes the value of the field to the pointers (if both are not NULL), and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

HebiStatusCode hebiInfoGetLedColor	(	HebiInfoPtr	info,
		HebiInfoLedField	field,
		uint8_t *	r,
		uint8_t *	g,
		uint8_t *	b
	)

If the led color is set, writes it to the three output integer pointers (if all are not NULL), each 0-255, and returns HebiStatusSuccess. Otherwise, returns HebiStatusValueNotSet.

For command-style messages, this refers to the color to override the module's default control of the LED.

HebiStatusCode hebiInfoGetString	(	HebiInfoPtr	info,
		HebiInfoStringField	field,
		char *	buffer,
		size_t *	length
	)

Retrieves the value and/or the length of the string field.

If this string is not set in the Info, HebiStatusValueNotSet is returned (regardless of any other arguments) and any pointer values are unchanged.

If 'length' is NULL, returns HebiStatusValueSuccess if this string value is set (the value of 'buffer' is ignored in this case).

If 'buffer' is not NULL, then 'length' should be non-NULL and set to the number of characters that can be written to 'buffer'. If the specified string is set, and it can fit into the provided buffer (including a null terminating character), then the string is copied to 'buffer' and HebiStatusSuccess is returned. If the buffer is not large enough to contain the string, then HebiStatusBufferTooSmall is returned.

If 'buffer' is NULL, returns HebiStatusValueSuccess if this string value is set.

If 'length' is not NULL (regardless of the state of 'buffer'), it is set to the necessary size to hold the specified string value (including the null terminating character).

Note - assumes ASCII string encoding.

HebiStatusCode hebiLogFileGetFileName	(	HebiLogFilePtr	log_file,
		char *	buffer,
		size_t *	length
	)

Copy the path and name of the log file into a buffer.

To only query the length of the string, provide a null pointer for the buffer parameter. If the provided buffer is not large enough to hold the string (the length determined by the length parameter), the call will fail. Note that the size of this buffer includes the null terminating character.

Parameters

buffer	Pointer to a buffer into which the string will be written. This can be null, in which case this function will write the size of the string (including null character) into length.
length	Pointer to the length of the input buffer. This parameter must not be null, or this function will return HebiStatusInvalidArgument

Returns: HebiStatusSuccess on success, HebiStatusBufferTooSmall if the value referenced by length is smaller than the string (including the character), or HebiStatusInvalidArgument if length pointer is null

HebiStatusCode hebiLogFileGetNextFeedback	(	HebiLogFilePtr	log_file,
		HebiGroupFeedbackPtr	field
	)

Retrieve the next group feedback from the opened log file.

Parameters

feedback the feedback object into which the contents will be copied

Returns: HebiStatusSuccess on success, otherwise HebiStatusFailure

size_t hebiLogFileGetNumberOfModules ( HebiLogFilePtr log_file )

Retrieve the number of modules in the group represented by an opened log file.

Returns: The number of modules in the group

HebiLogFilePtr hebiLogFileOpen ( const char * file )

Opens an existing log file.

Note: It is up to the user to check if the returned pointer is null. If the file does not exist, or if the file is not a valid log file, this function returns null.

If this function returns a pointer, you must call hebiLogFileRelease(HebiLogFilePtr) to release the allocated memory.

Parameters

file	the directory and path of the file to open. Must not be NULL.

Returns: a pointer to the file; null if the file could not be opened

void hebiLogFileRelease ( HebiLogFilePtr log_file )

Releases a log file instance.

HebiLookupPtr hebiLookupCreate ( void )

Create a Lookup instance.

Lookup created by this function must be released with 'hebiLookupRelease' when no longer needed.

Note that this call invokes a background thread to query the network for modules at regular intervals.

HebiStatusCode hebiLookupEntryListGetFamily	(	HebiLookupEntryListPtr	lookup_list,
		size_t	index,
		char *	buffer,
		size_t *	length
	)

Gets the family of the given entry in the lookup entry list. Must be a valid index.

To only query the length of the string, provide a null pointer for the buffer parameter. If the provided buffer is not large enough to hold the string (the length determined by the length parameter), the call will fail. Note that the size of this buffer includes the null terminating character.

Note - assumes ASCII string encoding.

Parameters

lookup_list	A valid HebiLookupEntryList object.
index	The entry index that is being queried.
buffer	An allocated buffer of length 'length'.
length	the length of the provided buffer. After calling this function, the value dereferenced will be updated with the length of the string plus the null character. This argument must not be NULL.

Returns: HebiStatusSuccess on success, HebiStatusBufferTooSmall if the provided buffer is too small, or HebiStatusInvalidArgument if the length parameter is null

HebiStatusCode hebiLookupEntryListGetMacAddress	(	HebiLookupEntryListPtr	lookup_list,
		size_t	index,
		HebiMacAddress *	mac_address
	)

Parameters

lookup_list	A valid HebiLookupEntryList object.
index	The entry index that is being queried.
mac_address	A pointer to an allocated HebiMacAddress structure that the function will update with the mac address of the given entry.

Returns: HebiStatusSuccess on success, HebiStatusInvalidArgument if the mac_address parameter is null, or HebiStatusArgumentOutOfRange if there is no entry with the given index.

HebiStatusCode hebiLookupEntryListGetName	(	HebiLookupEntryListPtr	lookup_list,
		size_t	index,
		char *	buffer,
		size_t *	length
	)

Gets the name of the given entry in the lookup entry list. Must be a valid index.

To only query the length of the string, provide a null pointer for the buffer parameter. If the provided buffer is not large enough to hold the string (the length determined by the length parameter), the call will fail. Note that the size of this buffer includes the null terminating character.

Note - assumes ASCII string encoding.

Parameters

lookup_list	A valid HebiLookupEntryList object.
index	The entry index that is being queried.
buffer	An allocated buffer of length 'length'
length	the length of the provided buffer. After calling this function, the value dereferenced will be updated with the length of the string plus the null character. This argument must not be NULL.

Returns: HebiStatusSuccess on success, HebiStatusBufferTooSmall if the provided buffer is too small, or HebiStatusInvalidArgument if the length parameter is null

size_t hebiLookupEntryListGetSize ( HebiLookupEntryListPtr lookup_list )

Gets the number of entries in the lookup entry list.

Parameters

lookup_list A valid HebiLookupEntryList object.

void hebiLookupEntryListRelease ( HebiLookupEntryListPtr lookup_list )

Release resources for a given lookup entry list; list should not be used after this call.

Parameters

lookup_list A valid HebiLookupEntryList object.

void hebiLookupRelease ( HebiLookupPtr lookup )

Frees resources created by the lookup object.

Lookup object should no longer be used after this function is called! Note that background query thread is stopped by this function.

HebiStatusCode hebiRobotModelAdd	(	HebiRobotModelPtr	robot_model,
		HebiRobotModelElementPtr	existing_element,
		size_t	output_index,
		HebiRobotModelElementPtr	new_element,
		int32_t	combine
	)

Add an element to a parent element connected to a robot model object.

After the addition, the robot model object manages the resources of the added element.

The added element is assumed to connect to an available output on a element that has already been attached to the kinematic tree. That element should be passed in as 'existing_element', and the index of the requested output on that element should be given as 'output_index'.

To attach the initial element to the robot model object, use NULL for the 'existing_element' argument.

NOTE: currently, only a single output is supported for each element (e.g., a kinematic chain), and so the 'existing_element' and 'output_index' parameters are not checked; this will be changed in an upcoming minor release so do not rely on this behavior!

Parameters

robot_model	A valid HEBI RobotModel object.
existing_element	The parent element which the element is added to (or NULL to add the initial element to the tree).
output_index	The index of the requested output on the parent element on which to attach this element.
new_element	The kinematic element which is added to the tree. Must not be NULL.
combine	Whether or not to combine this with the output frame where this is being attached to, essentially "hiding" this existing output frame from returned frames and replacing it with the output from this. Body masses and inertias are also combined. '1' means combine; '0' means do not combine.

Returns: HebiStatusSuccess on success, otherwise HebiStatusFailure (e.g., the parent body's requested output is invalid or already occupied) or HebiStatusInvalidArgument (e.g., 'new_element' is NULL).

HebiRobotModelPtr hebiRobotModelCreate ( void )

Creates an object to hold a robot model (tree topology). This structure has a single output available at the origin.

RobotModel object created by this function must be released with 'hebiRobotModelRelease' when no longer needed.

HebiRobotModelElementPtr hebiRobotModelElementCreateJoint ( HebiJointType joint_type )

Creates a one-dof joint about the specified axis.

Parameters

joint_type What the axis of motion for this joint is. The coordinate frame is relative to the previous robot model element this is attached to.

Returns: NULL if the joint could not be created; otherwise, pointer to newly allocated joint. Must either be added to a robot model object or released via hebiRobotModelElementRelease(HebiRobotModelElementPtr).

HebiRobotModelElementPtr hebiRobotModelElementCreateRigidBody	(	const double *	com,
		const double *	inertia,
		double	mass,
		size_t	num_outputs,
		const double *	outputs
	)

Creates a rigid body defining static transforms to the given outputs.

Parameters

com	Matrix (4x4 tranform, row major order) for the center of mass location, including the frame which the inertia tensor is given in. Must not be NULL.
inertia	Vector (6 elements, Ixx, Iyy, Izz, Ixy, Ixz, Iyz) of the inertia tensor, in the frame given by the COM. Must not be NULL.
mass	Mass (in kg) of the rigid body.
num_outputs	The number of available outputs.
outputs	Matrices (list of n 4x4 transforms, row major order) of the transforms from input to the available outputs of the body. Must not be NULL unless num_outputs is 0.

NOTE: currently, num_outputs must be 1.

Returns: NULL if the rigid body could not be created; otherwise, pointer to newly allocated body. Must either be added to a robot model object or released via 'hebiRobotModelElementRelease'.

void hebiRobotModelElementRelease ( HebiRobotModelElementPtr element )

Frees resources created by this element.

Note: Only do this if element has not been added to a robot model object! Once added, the robot model object manages the element's resources.

The element should no longer be used after this function is called.

Parameters

A	valid robot model element object which has not been added to a robot_model object.

HebiStatusCode hebiRobotModelGetBaseFrame	(	HebiRobotModelPtr	robot_model,
		double *	transform
	)

Retreives the fixed transform from the origin to the input of the first added model element.

Parameters

robot_model	A valid HEBI RobotModel object.
transform	A allocated 16 element array of doubles; this is filled in by the function with the 4x4 homogeneous transform in row major order. Must not be NULL.

Returns: HebiStatusSuccess on success, or HebiStatusInvalidArgument if transform is null.

HebiStatusCode hebiRobotModelGetForwardKinematics	(	HebiRobotModelPtr	robot_model,
		HebiFrameType	frame_type,
		const double *	positions,
		double *	frames
	)

Generates the transforms for the forward kinematics of the given robot model.

The order of the returned frames is in a depth-first tree. As an example, assume an element A has one output, to which element B is connected to. Element B has two outputs; C is attached to the first output and E is attached to the second output. Element D is attached to the only output of element C:

(BASE) A - B(1) - C - D (2) | E

For center of mass frames, the returned frames would be A-B-C-D-E.

For output frames, the returned frames would be A-B(1)-C-D-B(2)-E.

For end effector frames, the returned frames are the outputs of the leaf nodes; here the output of D and E.

Parameters

robot_model	A valid HEBI RobotModel object.
frame_type	Which type of frame to consider – see HebiFrameType enum.
positions	A vector of joint positions/angles (in SI units of meters or radians) equal in length to the number of DoFs of the robot model. Must not be NULL.
frames	An allocated (16 x number of frames) array of doubles; this is filled in by the function with the 4x4 homogeneous transform of each frame, each given in row major order. Note that the number of frames depends on the frame type! Must not be NULL.

Returns: HebiStatusSuccess on success, or HebiStatusInvalidArgument if positions or frames are NULL.

HebiStatusCode hebiRobotModelGetJacobians	(	HebiRobotModelPtr	robot_model,
		HebiFrameType	frame_type,
		const double *	positions,
		double *	jacobians
	)

Generates the jacobian for each frame in the given kinematic tree.

Parameters

robot_model	A valid HEBI RobotModel object.
frame_type	Which type of frame to consider – see HebiFrameType enum.
positions	A vector of joint positions/angles (in SI units of meters or radians) equal in length to the number of DoFs of the robot model. Must not be NULL.
jacobians	An allocated (6 x number of dofs x number of frames) array of doubles; this is filled in by the function with the 6 x number of dofs jacobian for each frame, each given in row major order. Note that the number of frames depends on the frame type! Must not be NULL.

Returns: HebiStatusSuccess on success, or HebiStatusInvalidArgument if positions or jacobians are NULL.

HebiStatusCode hebiRobotModelGetMasses	(	HebiRobotModelPtr	robot_model,
		double *	masses
	)

Fill in the masses vector with the mass of each body with mass in the kinematic tree, reported in a depth-first ordering.

Parameters

robot_model	A valid HEBI RobotModel object.
masses	An allocated array of doubles, with length equal to the return value of hebiRobotModelGetNumberOfFrames with argument HebiFrameTypeCenterOfMass. Must not be NULL.

Returns: HebiStatusSuccess on success, or HebiStatusInvalidArgument if masses is NULL.

size_t hebiRobotModelGetNumberOfDoFs ( HebiRobotModelPtr robot_model )

Returns the number of settable degrees of freedom in the kinematic tree. (This is equal to the number of joints added).

Parameters

robot_model A valid HEBI RobotModel object.

size_t hebiRobotModelGetNumberOfFrames	(	HebiRobotModelPtr	robot_model,
		HebiFrameType	frame_type
	)

Return the number of frames in the forward kinematic tree of the robot model.

Note that this depends on the type of frame requested – for center of mass frames, there is one per added rigid body (that was not combined with another); for output frames, there is one per output per element. For end effectors, this is the total number of outputs on the leaves of the kinematic tree.

Parameters

robot_model	A valid HEBI RobotModel object.
frame_type	Which type of frame to consider – see HebiFrameType enum.

void hebiRobotModelRelease ( HebiRobotModelPtr robot_model )

Frees resources created by this robot model object.

RobotModel object should no longer be used after this function is called!

Parameters

robot_model A valid HEBI RobotModel object.

HebiStatusCode hebiRobotModelSetBaseFrame	(	HebiRobotModelPtr	robot_model,
		const double *	transform
	)

Sets the fixed transform from the origin to the input of the first added model element.

Parameters

robot_model	A valid HEBI RobotModel object.
transform	A 4x4 homogeneous transform, in row major order. Must not be null, and must be a valid transform.

Returns: HebiStatusSuccess on success, or HebiStatusInvalidArgument if transform is null or invalid.

HebiStatusCode hebiStringGetString	(	HebiStringPtr	str,
		char *	buffer,
		size_t *	length
	)

Copy the string into a buffer.

To only query the length of the string, provide a null pointer for the buffer parameter. If the provided buffer is not large enough to hold the string (the length determined by the length parameter), the call will fail. Note that the size of this buffer includes the null terminating character.

Parameters

buffer	Pointer to a buffer into which the string will be written. This can be null, in which case this function will write the size of the string (including null character) into length.
length	Pointer to the length of the input buffer. This parameter must not be null, or this function will return HebiStatusInvalidArgument

Returns: HebiStatusSuccess on success, HebiStatusBufferTooSmall if the value referenced by length is smaller than the string (including the character), or HebiStatusInvalidArgument if length pointer is null

void hebiStringRelease ( HebiStringPtr str )

Releases a string instance.

HebiTrajectoryPtr hebiTrajectoryCreateUnconstrainedQp	(	size_t	num_waypoints,
		const double *	positions,
		const double *	velocities,
		const double *	accelerations,
		const double *	time_vector
	)

Creates a HebiTrajectory object for a single joint using the given parameters; this must be released with hebiTrajectoryRelease after use.

Parameters

num_waypoints	The number of waypoints.
positions	A vector of waypoints for this joint; should be num_waypoints in length. Any elements that are NAN will be considered free parameters, and will be set by the function. Values of +/-infinity are not allowed. Must not be NULL.
velocities	An optional vector of velocity constraints at the corresponding waypoints; should either be NULL or num_waypoints in length. Any elements that are NAN will be considered free parameters, and will be set by the function. Values of +/-infinity are not allowed.
accelerations	An optional vector of acceleration constraints at the corresponding waypoints; should either be NULL or num_waypoints in length. Any elements that are NAN will be considered free parameters, and will be set by the function. Values of +/-infinity are not allowed.
time_vector	A vector of times to reach each waypoint; this must be defined (not NULL, and not NAN for any element). The first element must be zero.

Returns: A HebiTrajectory object if there were no errors, and the trajectory has been created. A NULL value indicates that there was an error, but does not specify any details about the error at this time.

double hebiTrajectoryGetDuration ( HebiTrajectoryPtr trajectory )

Returns the length of this trajectory (in seconds).

HebiStatusCode hebiTrajectoryGetState	(	HebiTrajectoryPtr	trajectory,
		double	time,
		double *	position,
		double *	velocity,
		double *	acceleration
	)

Gets the value of the trajectory at a given time.

Parameters

trajectory	A HebiTrajectory object
time	The time within the trajectory (from the beginning to the end of the trajectory's time vector) at which to query.
position	Filled in with the position at the given time, as defined by this trajectory. Must not be null.
velocity	Filled in with the velocity at the given time, as defined by this trajectory. Must not be null.
acceleration	Filled in with the acceleration at the given time, as defined by this trajectory. Must not be null.

Returns: HebiStatusSuccess on success, otherwise an error status.

void hebiTrajectoryRelease ( HebiTrajectoryPtr trajectory )

Frees resources created by this trajectory.

Trajectory should no longer be used after this function is called!

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