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Kinova.DLL.Data.Jaco.Config.CClientConfigurations Class Reference

This class encapsulates and represent all informations about a client's configuration. If you want to configure the client's No, the client's name, The client organization's name or anything related to the client, this is the class you need to use. More...

Public Member Functions

 CClientConfigurations ()
 Initializes a new instance of the CClientConfigurations, Initialize all communication and call the CClientConfigurations.Init method. More...
 
void Init ()
 Initialize this instance and put a valid value in all its fields; More...
 
void InitRetract ()
 
bool IsEqual (CClientConfigurations OtherConfigurations)
 Determines whether the specified other configurations is equal. The equality is based on these member : Laterality, MaxLinearSpeed, MaxAngularSpeed, MaxLinearAcceleration, MaxAngularAcceleration, MaxForce, Sensibility, AngleRetractedPosition, DrinkingHeight, DrinkingDistance. If all of them are equal, the method return true. More...
 
bool IsValid ()
 A validation check for the client configuration's value. It checks if all the value are between the threshold setted by the CThreshold class. More...
 

Public Attributes

const int EXPANSION_LENGTH = 200
 This member is for internal use only, nobody should use it. More...
 
const int RETRACT_POSITION_QUANTITY = 20
 Quantity of retrated position. This value is used during the defining of the forward retracted position. More...
 

Properties

string ClientNo [get, set]
 Gets or sets the client no. More...
 
string ClientName [get, set]
 Gets or sets the name of the client. More...
 
string Organization [get, set]
 Gets or sets the organization. More...
 
string ModelNo [get, set]
 Gets or sets the model no. More...
 
string SerialNo [get, set]
 Gets or sets the serial no. More...
 
CJacoStructures.ArmLaterality Laterality [get, set]
 Gets or sets the laterality. If you change the laterality and you load a new client configuration into JACO, you need to reboot JACO(hardware). More...
 
float MaxLinearSpeed [get, set]
 Gets or sets the cartesian linear's max speed in meter per second. Must be between 0 and 0.15. More...
 
float MaxAngularSpeed [get, set]
 Gets or sets the angular's max speed in meter per second. Must be between 0 and 0.6. More...
 
float MaxLinearAcceleration [get, set]
 Gets or sets the cartesian linear's max acceleration in meter per second squared.(Not activated in the actual version) More...
 
float MaxAngularAcceleration [get, set]
 Gets or sets the angular's max acceleration in meter per second squared.(Not activated in the actual version) More...
 
float MaxForce [get, set]
 Gets or sets the max cartesian force that the robot can apply in newton.(Not activated in the actual version) More...
 
float Sensibility [get, set]
 Gets or sets the sensibility's rate (percentage). More...
 
float DrinkingHeight [get, set]
 Gets or sets the drinking height in meter. The drinking height is the vertical distance between the joint #5 and the middle of the hand. More...
 
float DrinkingDistance [get, set]
 Gets or sets the drinking distance in meter. The drinking distance is the horizontal distance between the joint #5 and the middle of the hand. More...
 
int ComplexRetractActive [get, set]
 Gets or sets the complex retract active. More...
 
float AngleRetractedPosition [get, set]
 Gets or sets the angle retracted position. More...
 
List< CUserPositionRetractPositions [get, set]
 Gets or sets the retract positions. More...
 
int Fingers2and3inverted [get, set]
 Gets or sets the retract positions. More...
 
float DrinkingLength [get, set]
 The drinking length in meter. This is the distance, along the last axis, of the rotation center when the robot is in drinking mode. A length of 0 indicates the center of the hand. The value must be between CThreshold.RETRACT_ANGLE_POSITION_LOWER and CThreshold.RETRACT_ANGLE_POSITION_UPPER. More...
 
int DeletePreProgrammedPositionsAtRetract [get, set]
 Gets or sets the DeletePreProgrammedPositionsAtRetract flag. More...
 
float[] Expansion [get, set]
 Gets or sets the expansion. More...
 

Detailed Description

This class encapsulates and represent all informations about a client's configuration. If you want to configure the client's No, the client's name, The client organization's name or anything related to the client, this is the class you need to use.

//Declaration and initialization of the object. CClientConfigurations client = new CClientConfigurations();

//Here we set the value we need to configurate. Make sure that every value is valid with the CThreshold class. client.AngleRetractedPosition = 40; client.ClientName = "PseudoClient"; client.ClientNo = "3.14159"; client.ComplexRetractActive = 1; client.DrinkingDistance = 0.04f; client.DrinkingHeight = 0.03f; client.Laterality = CJacoStructures.ArmLaterality.LeftHandedness; client.MaxAngularSpeed = 0.5f; client.MaxForce = 15;

//For example, the max linear speed cannot exceed the CThreshold.LINEAR_SPEED_MAX_UPPER value. client.MaxLinearSpeed = 0.11f; client.ModelNo = "666"; client.Organization = "S.C.R.S.";

This class is mainly use with the class CJacoConfigurationManager via the CJacoArm.ConfigurationsManager.GetClientConfigurations method and the CJacoArm.ConfigurationsManager.SetClientConfigurations method.

Constructor & Destructor Documentation

Kinova.DLL.Data.Jaco.Config.CClientConfigurations.CClientConfigurations ( )

Initializes a new instance of the CClientConfigurations, Initialize all communication and call the CClientConfigurations.Init method.

Member Function Documentation

void Kinova.DLL.Data.Jaco.Config.CClientConfigurations.Init ( )

Initialize this instance and put a valid value in all its fields;

bool Kinova.DLL.Data.Jaco.Config.CClientConfigurations.IsEqual ( CClientConfigurations  OtherConfigurations)

Determines whether the specified other configurations is equal. The equality is based on these member : Laterality, MaxLinearSpeed, MaxAngularSpeed, MaxLinearAcceleration, MaxAngularAcceleration, MaxForce, Sensibility, AngleRetractedPosition, DrinkingHeight, DrinkingDistance. If all of them are equal, the method return true.

CClientConfiguration ObjectAlpha = new CClientConfiguration(); CClientConfiguration ObjectBeta = new CClientConfiguration();

ObjectAlpha.SetDrinkingDistance(0.05f); ObjectBeta.SetDrinkingDistance(0.05f);

if(ObjectAlpha.IsEqual(ObjectBeta)) { //This condition return true. //Cette condition est vrai. }

ObjectBeta.SetDrinkingDistance(0.04f);

if(ObjectAlpha.IsEqual(ObjectBeta)) { //This condition return false. //Cette condition est fausse. }

Parameters
OtherConfigurationsThe other configurations to be compared.
Returns
true if the specified other configurations is equal; otherwise, false.
bool Kinova.DLL.Data.Jaco.Config.CClientConfigurations.IsValid ( )

A validation check for the client configuration's value. It checks if all the value are between the threshold setted by the CThreshold class.

CClientConfiguration Object = new CClientConfiguration();

ObjectAlpha.SetDrinkingDistance(150);

if(Object.IsValid()) { // This condition is false. // Cette condition est fausse. }

Member Data Documentation

const int Kinova.DLL.Data.Jaco.Config.CClientConfigurations.EXPANSION_LENGTH = 200

This member is for internal use only, nobody should use it.

const int Kinova.DLL.Data.Jaco.Config.CClientConfigurations.RETRACT_POSITION_QUANTITY = 20

Quantity of retrated position. This value is used during the defining of the forward retracted position.

Property Documentation

float Kinova.DLL.Data.Jaco.Config.CClientConfigurations.AngleRetractedPosition
getset

Gets or sets the angle retracted position.

The angle retracted position.

Exceptions
ArgumentNullExceptionIf the value passed is null.
string Kinova.DLL.Data.Jaco.Config.CClientConfigurations.ClientName
getset

Gets or sets the name of the client.

The name of the client.

Exceptions
ArgumentNullExceptionIf the value passed is null.
string Kinova.DLL.Data.Jaco.Config.CClientConfigurations.ClientNo
getset

Gets or sets the client no.

The client no.

Exceptions
ArgumentNullExceptionIf the value passed is null.
int Kinova.DLL.Data.Jaco.Config.CClientConfigurations.ComplexRetractActive
getset

Gets or sets the complex retract active.

The complex retract active.

Exceptions
ArgumentNullExceptionIf the value passed is null.
int Kinova.DLL.Data.Jaco.Config.CClientConfigurations.DeletePreProgrammedPositionsAtRetract
getset

Gets or sets the DeletePreProgrammedPositionsAtRetract flag.

The delete pre programmed positions at retract1.

float Kinova.DLL.Data.Jaco.Config.CClientConfigurations.DrinkingDistance
getset

Gets or sets the drinking distance in meter. The drinking distance is the horizontal distance between the joint #5 and the middle of the hand.

The drinking distance.

Exceptions
ArgumentNullExceptionIf the value passed is null.
float Kinova.DLL.Data.Jaco.Config.CClientConfigurations.DrinkingHeight
getset

Gets or sets the drinking height in meter. The drinking height is the vertical distance between the joint #5 and the middle of the hand.

The height of the drinking.

Exceptions
ArgumentNullExceptionIf the value passed is null.
float Kinova.DLL.Data.Jaco.Config.CClientConfigurations.DrinkingLength
getset

The drinking length in meter. This is the distance, along the last axis, of the rotation center when the robot is in drinking mode. A length of 0 indicates the center of the hand. The value must be between CThreshold.RETRACT_ANGLE_POSITION_LOWER and CThreshold.RETRACT_ANGLE_POSITION_UPPER.

float [] Kinova.DLL.Data.Jaco.Config.CClientConfigurations.Expansion
getset

Gets or sets the expansion.

The expansion.

Exceptions
ArgumentNullExceptionIf the value passed is null.
int Kinova.DLL.Data.Jaco.Config.CClientConfigurations.Fingers2and3inverted
getset

Gets or sets the retract positions.

The retract positions.

Exceptions
ArgumentNullExceptionIf the value passed is null.
CJacoStructures.ArmLaterality Kinova.DLL.Data.Jaco.Config.CClientConfigurations.Laterality
getset

Gets or sets the laterality. If you change the laterality and you load a new client configuration into JACO, you need to reboot JACO(hardware).

The laterality.

Exceptions
ArgumentNullExceptionIf the value passed is null.
float Kinova.DLL.Data.Jaco.Config.CClientConfigurations.MaxAngularAcceleration
getset

Gets or sets the angular's max acceleration in meter per second squared.(Not activated in the actual version)

The max angular acceleration.

Exceptions
ArgumentNullExceptionIf the value passed is null.
float Kinova.DLL.Data.Jaco.Config.CClientConfigurations.MaxAngularSpeed
getset

Gets or sets the angular's max speed in meter per second. Must be between 0 and 0.6.

The max angular speed.

Exceptions
ArgumentNullExceptionIf the value passed is null.
float Kinova.DLL.Data.Jaco.Config.CClientConfigurations.MaxForce
getset

Gets or sets the max cartesian force that the robot can apply in newton.(Not activated in the actual version)

The max force.

Exceptions
ArgumentNullExceptionIf the value passed is null.
float Kinova.DLL.Data.Jaco.Config.CClientConfigurations.MaxLinearAcceleration
getset

Gets or sets the cartesian linear's max acceleration in meter per second squared.(Not activated in the actual version)

The max linear acceleration.

Exceptions
ArgumentNullExceptionIf the value passed is null.
float Kinova.DLL.Data.Jaco.Config.CClientConfigurations.MaxLinearSpeed
getset

Gets or sets the cartesian linear's max speed in meter per second. Must be between 0 and 0.15.

The max linear speed.

Exceptions
ArgumentNullExceptionIf the value passed is null.
string Kinova.DLL.Data.Jaco.Config.CClientConfigurations.ModelNo
getset

Gets or sets the model no.

The model no.

Exceptions
ArgumentNullExceptionIf the value passed is null.
string Kinova.DLL.Data.Jaco.Config.CClientConfigurations.Organization
getset

Gets or sets the organization.

The organization.

Exceptions
ArgumentNullExceptionIf the value passed is null.
List<CUserPosition> Kinova.DLL.Data.Jaco.Config.CClientConfigurations.RetractPositions
getset

Gets or sets the retract positions.

The retract positions.

Exceptions
ArgumentNullExceptionIf the value passed is null.
float Kinova.DLL.Data.Jaco.Config.CClientConfigurations.Sensibility
getset

Gets or sets the sensibility's rate (percentage).

The sensibility.

Exceptions
ArgumentNullExceptionIf the value passed is null.
string Kinova.DLL.Data.Jaco.Config.CClientConfigurations.SerialNo
getset

Gets or sets the serial no.

The serial no.

Exceptions
ArgumentNullExceptionIf the value passed is null.

The documentation for this class was generated from the following file: