Kinova API Documentation
KINOVAAPIUSBCOMMANDLAYER_API int GetClientConfigurations ( ClientConfigurations response)

This function gets the client confgurations of the robotical arm.

Parameters:
clientConfigurationsA struct that will contains the client configurations from the robotical arm.
#include <iostream>
#include <dlfcn.h> //Ubuntu
#include <vector>
#include "KinovaTypes.h"
//Note that under windows, you may/will have to perform other #include

using namespace std;

int main()
{
        int result;

        cout << "GetClientConfigurations function example" << endl;

        //Handle for the library's command layer.
        void * commandLayer_handle;

        //Function pointers to the functions we need
        int (*MyInitAPI)();
        int (*MyCloseAPI)();
        int (*MyGetClientConfigurations)(ClientConfigurations &command);

        //We load the library (Under Windows, use the function LoadLibrary)
        commandLayer_handle = dlopen("Kinova.API.USBCommandLayerUbuntu.so",RTLD_NOW|RTLD_GLOBAL);

        //We load the functions from the library (Under Windows, use GetProcAddress)
        MyInitAPI = (int (*)()) dlsym(commandLayer_handle,"InitAPI");
        MyCloseAPI = (int (*)()) dlsym(commandLayer_handle,"CloseAPI");
        MyGetClientConfigurations = (int (*)(ClientConfigurations &)) dlsym(commandLayer_handle,"GetClientConfigurations");

        //If the was loaded correctly
        if((MyInitAPI == NULL) || (MyCloseAPI == NULL) || (MyGetClientConfigurations == NULL))
        {
                cout << "Unable to initialize the command layer." << endl;
        }
        else
        {
                cout << "The command has been initialized correctly." << endl << endl;

                cout << "Calling the method InitAPI()" << endl;
                result = (*MyInitAPI)();
                cout << "result of InitAPI() = " << result << endl << endl;

                ClientConfigurations data;

                cout << "Getting the client configurations the robotic arm." << endl;
                (*MyGetClientConfigurations)(data);

                cout << "                                    Client ID = " << data.ClientID << endl;
                cout << "                                  Client name = " << data.ClientName << endl;
                cout << "                       retract mode is active = " << data.ComplexRetractActive << endl;
                cout << "GOTO position are deleted at RETRACT position = " << data.DeletePreProgrammedPositionsAtRetract << endl;
                cout << "                            Drinking distance = " << data.DrinkingDistance << endl;
                cout << "                              Drinking height = " << data.DrinkingHeight << endl;
                cout << "                              Drinking lenght = " << data.DrinkingLenght << endl;
                cout << "                          EnableFlashErrorLog = " << data.EnableFlashErrorLog << endl;
                cout << "                       EnableFlashPositionLog = " << data.EnableFlashPositionLog << endl;
                cout << "                         Fingers2and3Inverted = " << data.Fingers2and3Inverted << endl;
                cout << "                                   Laterality = " << data.Laterality << endl;
                cout << "                   MaxOrientationAcceleration = " << data.MaxOrientationAcceleration << endl;
                cout << "                       MaxOrientationVelocity = " << data.MaxOrientationVelocity << endl;
                cout << "                                     MaxForce = " << data.MaxForce << endl;
                cout << "                   MaxTranslationAcceleration = " << data.MaxTranslationAcceleration << endl;
                cout << "                       MaxTranslationVelocity = " << data.MaxTranslationVelocity << endl;
                cout << "                                        Model = " << data.Model << endl;
                cout << "                                 Organization = " << data.Organization << endl;
                cout << "                       RetractedPositionCount = " << data.RetractedPositionCount << endl;
                cout << "                       RetractedPositionAngle = " << data.RetractedPositionAngle << endl;

                cout << endl << "Calling the method CloseAPI()" << endl;
                result = (*MyCloseAPI)();
                cout << "result of CloseAPI() = " << result << endl;
        }

        return 0;
}
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