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.
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| | CClientConfigurations () |
| | Initializes a new instance of the CClientConfigurations, Initialize all communication and call the CClientConfigurations.Init method. More...
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| void | Init () |
| | Initialize this instance and put a valid value in all its fields; More...
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void | InitRetract () |
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| 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...
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| 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...
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| string | ClientNo [get, set] |
| | Gets or sets the client no. More...
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| string | ClientName [get, set] |
| | Gets or sets the name of the client. More...
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| string | Organization [get, set] |
| | Gets or sets the organization. More...
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| string | ModelNo [get, set] |
| | Gets or sets the model no. More...
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| string | SerialNo [get, set] |
| | Gets or sets the serial no. More...
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| 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...
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| 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...
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| float | MaxAngularSpeed [get, set] |
| | Gets or sets the angular's max speed in meter per second. Must be between 0 and 0.6. More...
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| 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...
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| float | MaxAngularAcceleration [get, set] |
| | Gets or sets the angular's max acceleration in meter per second squared.(Not activated in the actual version) More...
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| 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...
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| float | Sensibility [get, set] |
| | Gets or sets the sensibility's rate (percentage). More...
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| 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...
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| 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...
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| int | ComplexRetractActive [get, set] |
| | Gets or sets the complex retract active. More...
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| float | AngleRetractedPosition [get, set] |
| | Gets or sets the angle retracted position. More...
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| List< CUserPosition > | RetractPositions [get, set] |
| | Gets or sets the retract positions. More...
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| int | Fingers2and3inverted [get, set] |
| | Gets or sets the retract positions. More...
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| 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...
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| int | DeletePreProgrammedPositionsAtRetract [get, set] |
| | Gets or sets the DeletePreProgrammedPositionsAtRetract flag. More...
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| float[] | Expansion [get, set] |
| | Gets or sets the expansion. More...
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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.
| bool Kinova.DLL.Data.Jaco.Config.CClientConfigurations.IsEqual |
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CClientConfigurations |
OtherConfigurations | ) |
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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
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| OtherConfigurations | The other configurations to be compared. |
- Returns
true if the specified other configurations is equal; otherwise, false.
| bool Kinova.DLL.Data.Jaco.Config.CClientConfigurations.IsValid |
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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. }