Kinova API Documentation
ClientConfigurations Struct Reference

This structure holds informations relative to the client. It is mostly used for rehab clients. As an example, if you need to modify the max velocity or the retract position, it will be done here. The easiest way to modify the client configuration is to get the current one by calling the function GetClientConfigurations, modify all the parameters you need and send the structure back to the robot by calling the function SetClientConfigurations(). Note that some of the parameters are read only. That means that even if you modify them and send the structure to the robot, they will not be modified. More...

List of all members.

Public Attributes

char ClientID [STRING_LENGTH]
 This is the ID of the client. The string must ends with a EndOfString character(\0).
char ClientName [STRING_LENGTH]
 This is the name of the client. The string must ends with a EndOfString character(\0).
char Organization [STRING_LENGTH]
 This is the name of the organization. The string must ends with a EndOfString character(\0).
char Serial [STRING_LENGTH]
 This is where you can store the serial number of the robot. The string must ends with a EndOfString character(\0).
char Model [STRING_LENGTH]
 This is where you can store the model number of the robot. The string must ends with a EndOfString character(\0).
ArmLaterality Laterality
 That tells you if the robot is left handed or right handed. If you modify this parameter, the change will take effect on the next REBOOT.
float MaxTranslationVelocity
 This is the max translation(X, Y and Z) velocity of the robot's end effector.
float MaxOrientationVelocity
 This is the max orientation(ThetaX, ThetaY and ThetaZ) velocity of the robot's end effector.
float MaxTranslationAcceleration
 This is the max translation acceleration of the robot's end effector.
float MaxOrientationAcceleration
 This is the max orientation acceleration of the robot's end effector.
float MaxForce
 Not used for now.
float Sensibility
 This is the sensibility of the controller. The value is a % of the command received by the controller. Higher is the value and higher is the sensibility. Higher is the sensibility, quicker the end effector will reach the desired velocity for the same joystick command.
float DrinkingHeight
 This value is used only when the drinking mode is active. This add a an offset to the translation Y value. It is the height of a glass when you drink.
int ComplexRetractActive
 That flag tells you if the advance retract feature is active. (0 = not active, 1 = active) The advance retract mode let you decide the trajectory between the READY(home) position and the retracted position.
float RetractedPositionAngle
 This value is the angle between the second carbon link(between actuator 2 and 3) and the X-Y plane.
int RetractedPositionCount
 This tells you how many positions there is in the advance retract trajectory.
float DrinkingDistance
 This value is used only when the drinking mode is active. This add a an offset to the translation X axis based on the end effector frame. It is the diameter of a glass when you drink.
int Fingers2and3Inverted
 This is a flag to invert finger 2 and 3. It is mostly used in rehab for left handed robot.(0 = normal, 1 = inverted)
float DrinkingLenght
 This value is used only when the drinking mode is active. This add a an offset to the translation Z axis based on the end effector frame. It is the distance between the end effector and the glass when you drink.
int DeletePreProgrammedPositionsAtRetract
 It is a flag that indicates if the GOTO(pre programmed) position are deleted when the robot goes in READY position.
int EnableFlashErrorLog
 Not used for now.
int EnableFlashPositionLog
 Not used for now.
int Expansion [198]
 Not used for now.

Detailed Description

This structure holds informations relative to the client. It is mostly used for rehab clients. As an example, if you need to modify the max velocity or the retract position, it will be done here. The easiest way to modify the client configuration is to get the current one by calling the function GetClientConfigurations, modify all the parameters you need and send the structure back to the robot by calling the function SetClientConfigurations(). Note that some of the parameters are read only. That means that even if you modify them and send the structure to the robot, they will not be modified.

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