|
API C#
|
This class contains all data and enum used in the library. Also, every structure in this class possess a sister class that should be use instead of those struct. Normally, developper should not use those struct. More...
Public Types | |
| enum | JacoLibDefinitions { JacoStringSize = 20, ERROR = 25000 } |
| More... | |
| enum | RetractMode { Mode_Normal_To_Ready = 0, Mode_Ready_Standby = 1, Mode_Ready_To_Retract = 2, Mode_Retract_Standby = 3, Mode_Retract_To_Ready = 4, Mode_Normal = 5, Mode_NoInit_To_Ready = 6, ERROR = 25000 } |
| Indicate the Retrac mode. More... | |
| enum | IDCommand { SetClientConfig = 0, GetClientConfig = 1, SetArmConfig = 2, GetArmConfig = 3, AddPreDefinedPosition = 4, ModifyPredefinedPosition = 5, GetPredefinedPosition = 6, SetJoystickPosition = 7, SetMove = 8, SetControlMode = 9, GetControlMode = 10, SetOperator = 11, ProgramFlash = 12, EraseFlash = 13, SetJointZero = 14, GetJointPositions = 15, GetModularAxeValue = 16, GetParamFromJaco = 17, GetJointConfig = 19, SetJointConfig = 20, GetErrorLog = 21, GetLogPosition = 22, GetLogErrorQuantity = 23, GetLogPositionQuantity = 24, DeleteLogError = 25, SetJoystickDefaultFunctionnalityMappingChart = 26, GetJoystickDefaultFunctionnalityMappingChart = 27, SetJoystickCustomFunctionnalityMappingChart = 28, GetJoystickCustomFunctionnalityMappingChart = 29, SetActivatedJoystickFunctionnalityMappingChart = 30, GetActivatedJoystickFunctionnalityMappingChart = 31, SetAnglePositionRetracted = 32, GetAnglePositionRetracted = 33, SetArmLaterality = 34, GetArmLaterality = 35, GetCodeVersion = 36, DeleteProtectionZoneList = 37, SetProtectionZoneList = 38, GetProtectionZoneList = 39, SetControlMappingCharts = 40, GetControlMappingCharts = 41, GetArmPosition = 44, RestoreFactorySettings = 45, SetArmAngularControl = 47, ObtenirControlMapping = 48, SetArmCartesianControl = 49, LoadError = 50, LoadPosition = 51, SetActuatorAddress = 52, SetActuatorPID = 53, SetPIDFilter = 54, SetZeroTorqueSensor = 55, SetGainTorqueSensor = 56, StartForceControl = 57, StopForceControl = 58, StartCurrentLimitation = 59, StopCurrentLimitation = 60, SetSerialNumber = 61, SetFrameType = 64, GetQuickStatus = 62, ReadValuesInterface = 100, GetPeripheralInformations = 101, GetSystemStatusInformation = 102, GetGripperStatusInformation = 103, GetPositioningCartesianInfo = 104, GetPositioningAngularInfo = 105, GetCommandCartesianInfo = 106, GetCommandAngularInfo = 107, GetForceCartesianInfo = 108, GetForceAngularInfo = 109, GetCurrentAngularInfo = 110, GetCaptorsInfo = 111, GetPositionCurrentActuators = 112, GetRealTimePositions = 200, WriteTrajectory = 300, EraseTrajectory = 301, StartControlAPI = 302, StopControlAPI = 303, GetInfoFIFOTrajectory = 304, ExecuteJoystickFunctionnalities = 305, GetControlOperator = 306, GetActualTrajectoryInfo = 307, WriteBasicTrajectory = 308, GetSingularityVector = 310, ExecuteJacoTest = 400, GetJacoTestStatus = 401, StopExecutionOfJacoTest = 402, SetSpasmFilter = 504, GetSpasmFilter = 505, ERROR = 25000, INIT = 26000 } |
| ID of a USB Command. More... | |
| enum | IDError : uint { NoError = 1000, USBConnectionError = 1001, ERROR = 25000 } |
| Identify an error. More... | |
| enum | HandMode { NoMovements = 0, PositionMode = 1, SpeedMode = 2, NoFingers = 3, OneFinger = 4, TwoFingers = 5, ThreeFingers = 6, ERROR = 25000 } |
| The hand's mode. More... | |
| enum | PositionType { PositionNoMovements = 0, CartesianPosition = 1, AngularPosition = 2, RetractedPosition = 3, PreDefinedPosition1 = 4, PreDefinedPosition2 = 5, PreDefinedPosition3 = 6, CartesianSpeed = 7, AngularSpeed = 8, PreDefinedPosition4 = 9, PreDefinedPosition5 = 10, PositionAnyTrajectory = 11, TimeDelay = 12, ERROR = 25000 } |
| Type of the position More... | |
| enum | LateralityControlMode { ControlModeRight = 0, ControlModeLeft = 1, ERROR = 25000 } |
| The laterality control mode. More... | |
| enum | ControlMode { Hand = 0, Wrist = 1, Arm = 2, ArmXY = 3, ArmXZ = 4, WristXY = 5, ERROR = 25000 } |
| The control mode. More... | |
| enum | ArmLaterality { RightHandedness = 0, LeftHandedness = 1, ERROR = 25000 } |
| The Jaco arm laterality. More... | |
| enum | ControlOperator { ExternalJoystick3Axis = 0, ExternalJoystick2Axis = 1, GUI = 2, ExpansionCardEasyRider = 3, UniversalAdapter = 4, NewControl2 = 5, ERROR = 25000 } |
| The type of control operator. More... | |
| enum | ControlButtonsValues { BUTTON_1 = 0, BUTTON_2 = 1, BUTTON_3 = 2, BUTTON_4 = 3, BUTTON_5 = 4, BUTTON_6 = 5, BUTTON_7 = 6, BUTTON_8 = 7, BUTTON_9 = 8, BUTTON_10 = 9, BUTTON_11 = 10, BUTTON_12 = 11, BUTTON_13 = 12, BUTTON_14 = 13, BUTTON_15 = 14, BUTTON_16 = 15, BUTTON_A = 16, BUTTON_B = 17, BUTTON_C = 18, BUTTON_D = 19, BUTTON_E = 20, BUTTON_F = 21, BUTTON_G = 22, BUTTON_H = 23, BUTTON_I = 24, BUTTON_J = 25, ERROR = 25000 } |
| Every button of a joystick. More... | |
| enum | ControlStickValues { InclineLR = 0, InclineFB = 1, Rotation = 2, MoveLR = 3, MoveFB = 4, PushPull = 5, ERROR = 25000 } |
| Every possible value of the stick More... | |
| enum | ControlMappingMode { OneAxis = 0, TwoAxis = 1, ThreeAxis = 2, SixAxis = 3, EasyRider = 4, Interface = 5, ERROR = 25000 } |
| enum | ControlFunctionnalityValues : byte { NoFunctionality = 0, Disable_EnableJoystick = 1, Retract_ReadyToUse = 2, Change_TwoAxis_ThreeAxis = 3, Change_DrinkingMode = 4, ChangeModeA = 5, ChangeModeB = 6, DecreaseSpeed = 7, IncreaseSpeed = 8, Goto_Position1 = 9, Goto_Position2 = 10, Goto_Position3 = 11, Goto_Position4 = 12, Goto_Position5 = 13, RecordPosition1 = 14, RecordPosition2 = 15, RecordPosition3 = 16, RecordPosition4 = 17, RecordPosition5 = 18, X_Plus = 19, X_Minus = 20, Y_Plus = 21, Y_Minus = 22, Z_Plus = 23, Z_Minus = 24, Xtheta_Plus = 25, Xtheta_Minus = 26, Ytheta_Plus = 27, Ytheta_Minus = 28, Ztheta_Plus = 29, Ztheta_Minus = 30, OpenHandOneFingers = 31, CloseHandOneFingers = 32, OpenHandTwoFingers = 33, CloseHandTwoFingers = 34, OpenHandThreeFingers = 35, CloseHandThreeFingers = 36, Trajectory = 39, AutomaticOrientationXPlus = 40, AutomaticOrientationXMinus = 41, AutomaticOrientationYPlus = 42, AutomaticOrientationYMinus = 43, AutomaticOrientationZPlus = 44, AutomaticOrientationZMinus = 45, AdvanceGOTO_1 = 46, AdvanceGOTO_Clear_1 = 47, AdvanceGOTO_add_1 = 48, AdvanceGOTO_2 = 49, AdvanceGOTO_3 = 50, AdvanceGOTO_4 = 51, AdvanceGOTO_5 = 52, AdvanceGOTO_Clear_2 = 53, AdvanceGOTO_Clear_3 = 54, AdvanceGOTO_Clear_4 = 55, AdvanceGOTO_Clear_5 = 56, AdvanceGOTO_add_2 = 57, AdvanceGOTO_add_3 = 58, AdvanceGOTO_add_4 = 59, AdvanceGOTO_add_5 = 60, IncreaseSpamsLevel = 61, DecreaseSpasmLevel = 62, ERROR = 250 } |
| A functionnality that a control value can take. More... | |
| enum | ShapeType { PrismSquareBase_X = 0, PrismSquareBase_Y = 1, PrismSquareBase_Z = 2, PrismTriangularBase_X = 3, PrismTriangularBase_Y = 4, PrismTriangularBase_Z = 5, Pyramid = 6, ERROR = 25000 } |
| More... | |
| enum | FunctionalityType { UnknownFunctionality, GetClientConfiguration, SetClientConfiguration, SerializeClientConfiguration, DeserializeClientConfiguration, GetControlMappingCharts, SetControlMappingCharts, SerializeControlMappingCharts, DeserializeControlMappingCharts, GetProtectionZones, SetProtectionZones, SerializeProtectionZones, DeserializeProtectionZones, DeleteAllProtectionZones, GetHandPosition, GetCodeVersion, GetJointPositions, SetAngularControl, RestoreFactorySettings, CreateProfileBackup, LoadProfileBackup, GetAPIVersion, JacoIsReady, CloseConnection, BreakConnection, StartAPIControl, StopAPIControl, SendJoystickFunctionality, IsAPIInControl, GetErrorsCount, GetPositionsCount, DeleteErrors, GetErrors, GetPositionLive, GetPositions, GetPositionsGroup, GetErrorsGroup, GetPeripheralInformations, GetRealSpeedTest, ReprogramJaco, SetJointZero, ExecuteAutomaticTest, SendTrajectoryFunctionality, GetActualTrajectoryInfo, GetInfoFIFOTrajectory, EraseTrajectories, GetSystemStatusInformation, GetGripperStatusInformation, GetPositioningCartesianInfo, GetPositioningAngularInfo, GetCommandCartesianInfo, GetCommandAngularInfo, GetForceCartesianInfo, GetForceAngularInfo, GetCurrentAngularInfo, GetCaptorsInfo, WriteBasicTrajectory, GetSingularityVector, SetActuatorPID, GetPositionCurrentActuators, SetZeroTorqueSensors, SetGainTorqueSensors, SetPIDFilter, SetActuatorAddress, SetFrameType, GetQuickStatus, StartForceControl, StopForceControl, StartCurrentLimitation, StopCurrentLimitation, SetSerialNumber, SetSpasmFilter, GetSpasmFilter } |
Static Public Member Functions | |
| static string | StringFormat (string str) |
| Format a string with the Jaco standard. More... | |
This class contains all data and enum used in the library. Also, every structure in this class possess a sister class that should be use instead of those struct. Normally, developper should not use those struct.
The Jaco arm laterality.
| Enumerator | |
|---|---|
| RightHandedness |
Righthanded. |
| LeftHandedness |
Lefthanded. |
| ERROR |
This value indicate an error. Most of the time, it is because you received a value that is not part of the enum. |
Every button of a joystick.
A functionnality that a control value can take.
| Enumerator | |
|---|---|
| NoFunctionality |
No functionnality at all, mainly for initialization purpose. Also used when you don't want to use that control value. |
| Disable_EnableJoystick |
Basically to turn ON or OFF the joystick. |
| Retract_ReadyToUse |
Put the arm in retracted mode and be in READY state. |
| Change_TwoAxis_ThreeAxis |
Change the control mode between 2 axis and 3 axis. |
| Change_DrinkingMode |
Set Jaco in the drinking mode. |
| ChangeModeA |
Iterate in the ControlMode list A. |
| ChangeModeB |
Iterate in the ControlMode list B. |
| DecreaseSpeed |
Decrease the speed. |
| IncreaseSpeed |
Increase the speed. |
| Goto_Position1 |
Go to the predefined position # 1. |
| Goto_Position2 |
Go to the predefined position # 2. |
| Goto_Position3 |
Go to the predefined position # 3. |
| Goto_Position4 |
Go to the predefined position # 4. |
| Goto_Position5 |
Go to the predefined position # 5. |
| RecordPosition1 |
Record the current position into the predefined position # 1. |
| RecordPosition2 |
Record the current position into the predefined position # 2. |
| RecordPosition3 |
Record the current position into the predefined position # 3. |
| RecordPosition4 |
Record the current position into the predefined position # 4. |
| RecordPosition5 |
Record the current position into the predefined position # 5. |
| X_Plus |
Increments on the X axis. |
| X_Minus |
Decrements on the X axis. |
| Y_Plus |
Increments on the Y axis. |
| Y_Minus |
Decrements on the Y axis. |
| Z_Plus |
Increments on the Z axis. |
| Z_Minus |
Decrements on the Z axis. |
| Xtheta_Plus |
Increments the angle around the X axis. |
| Xtheta_Minus |
Decrements the angle around the X axis. |
| Ytheta_Plus |
Increments the angle on the Y axis. |
| Ytheta_Minus |
Decrements the angle on the Y axis. |
| Ztheta_Plus |
Increments the angle on the Z axis. |
| Ztheta_Minus |
Decrements the angle on the Z axis. |
| OpenHandOneFingers |
Open the hand in one finger mode. |
| CloseHandOneFingers |
Close the hand in one finger mode. |
| OpenHandTwoFingers |
Open the hand in two finger mode. |
| CloseHandTwoFingers |
Close the hand in two finger mode. |
| OpenHandThreeFingers |
Open the hand in three finger mode. |
| CloseHandThreeFingers |
Close the hand in three finger mode. |
| ERROR |
This value indicate an error. Most of the time, it is because you received a value that is not part of the enum. |
The control mode.
The type of control operator.
The hand's mode.
ID of a USB Command.
| Enumerator | |
|---|---|
| SetClientConfig |
That command send a new CClientConfiguration to Jaco. |
| GetClientConfig |
That command ask to get the current CCLientConfiguration in Jaco. |
| SetArmConfig |
That command send a new arm configuration to Jaco. |
| GetArmConfig |
That command ask to get the current arm configuration in Jaco. |
| AddPreDefinedPosition |
That command add a pre-defined position to Jaco. |
| ModifyPredefinedPosition |
That command modify a pre-defined position. |
| GetPredefinedPosition |
That command ask to get a pre-defined position. |
| SetJoystickPosition |
That command send a new joystick position to Jaco. |
| SetMove | |
| SetControlMode |
That command send a new control mode to Jaco. |
| GetControlMode |
That command ask to get the current control mode in Jaco |
| SetOperator |
That command send a new operator to Jaco |
| ProgramFlash |
That command program the Jaco's flash memory. |
| EraseFlash |
That command erase the Jaco's flash memory. |
| SetJointZero | |
| GetJointPositions |
That command ask to get the position from all Joints in Jaco. |
| GetModularAxeValue | |
| GetParamFromJaco | |
| GetJointConfig |
That command ask to get the joint configuration. |
| SetJointConfig |
That command send a new joitn configuration. |
| GetErrorLog |
That command ask to get the error log in Jaco. |
| GetLogPosition |
That command ask to get the position log in Jaco. |
| GetLogErrorQuantity |
That command ask to get the quantity of error in the error log. |
| GetLogPositionQuantity |
That command ask to get the quantity of position in the position log. |
| DeleteLogError |
That command delete the error log. |
| SetJoystickDefaultFunctionnalityMappingChart |
That command set the default joystick mapping chart. |
| GetJoystickDefaultFunctionnalityMappingChart |
That command ask to get the joystick default mapping chart. |
| SetJoystickCustomFunctionnalityMappingChart |
That command send a new joystick custom configuration to Jaco. |
| GetJoystickCustomFunctionnalityMappingChart |
That command ask to get a joystick custom configuration. |
| SetActivatedJoystickFunctionnalityMappingChart |
That command activate a joystick funtionnality mapping chart in Jaco. |
| GetActivatedJoystickFunctionnalityMappingChart |
That command ask to get the activation status from a joystick functionnality mapping chart in Jaco. |
| SetAnglePositionRetracted |
That command set the retracted position's angle in Jaco. |
| GetAnglePositionRetracted |
That command ask to get the retracted position's angle |
| SetArmLaterality |
That command set the Jaco's laterality. |
| GetArmLaterality |
That command ask to get the Jaco's laterality. |
| GetCodeVersion |
That command ask to get the DSP's code version. |
| DeleteProtectionZoneList |
That command delete the protection zone list. |
| SetProtectionZoneList |
That command set the protection zone list. |
| GetProtectionZoneList |
That command ask to get the protection zone list. |
| SetControlMappingCharts |
That command send a new mapping chart to jaco |
| GetControlMappingCharts |
That command ask to get the current mapping chart in Jaco. |
| GetArmPosition |
That command ask to get the current arm position. |
| RestoreFactorySettings |
That command restore the factory default configuration of Jaco. |
| SetArmAngularControl |
That command set the control mode to ANGULAR. |
| ObtenirControlMapping |
That command ask to get a specified control mapping inside the actual control mapping chart. |
| SetArmCartesianControl |
That command set the control mode to Cartesian. |
| ERROR |
This value indicate an error. Most of the time, it is because you received a value that is not part of the enum. |
| INIT |
This value indicate that your commandID is initialized but contains no real command. |
| enum Kinova.DLL.Data.Jaco.CJacoStructures.IDError : uint |
Type of the position
| Enumerator | |
|---|---|
| PositionNoMovements |
No movement |
| CartesianPosition |
A cartesian position. That type of positionning need a cartesian position and every joint adapt themself to get the hand to that position. |
| AngularPosition |
An angular position. In the angular positioning mode, you need to specify every angle of all joint. |
| RetractedPosition |
A retracted position. |
| PreDefinedPosition1 |
A predefined position. |
| PreDefinedPosition2 |
A predefined position. |
| PreDefinedPosition3 |
A predefined position. |
| CartesianSpeed |
Cartesian speed. |
| AngularSpeed |
Angular speed. |
| PreDefinedPosition4 |
A predefined position. |
| PreDefinedPosition5 |
A predefined position. |
| PositionAnyTrajectory |
Flag indicating that Jaco is in trajectory mode (intern use only) |
| TimeDelay |
A waiting position |
| ERROR |
This value indicate an error. Most of the time, it is because you received a value that is not part of the enum. |
Indicate the Retrac mode.
| Enumerator | |
|---|---|
| Mode_Normal_To_Ready |
Transition mode indicating that Jaco is in NORMAL state and waiting to go in READY state. |
| Mode_Ready_Standby |
Transition mode indicating that Jaco is in READY state and waiting to go in STANDBY state. |
| Mode_Ready_To_Retract |
Transition mode indicating that Jaco is in READY state and waiting to go in RETRACTED state. |
| Mode_Retract_Standby |
Transition mode indicating that Jaco is in RETRACT state and waiting to go in STANDBY state. |
| Mode_Retract_To_Ready |
Transition mode indicating that Jaco is in RETRACT state and waiting to go in READY state. |
| Mode_Normal |
Transition mode indicating that Jaco is in NORMAL state. |
| Mode_NoInit_To_Ready |
Transition mode indicating that Jaco is in NO INIT state and waiting to go in READY state. |
| ERROR |
This value indicate an error. Most of the time, it is because you received a value that is not part of the enum. |
|
static |