API C#
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Class Hierarchy
This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 123]
oCKinova.DLL.Data.Util.CAngularInfoThis class represents a generic cartesian information bloc of the robot.
oCKinova.DLL.Data.Jaco.Config.CButtonsEventsThis class encapsulate and represent informations about a Button event. From that class, you can configure a button's set of functionnality. The actual version cover all those action: a click, a double click, holding for 1 second, holding for 2 seconds, holding for 3 seconds, holding for 4 seconds and holding the button down.
oCKinova.DLL.Data.Jaco.Diagnostic.CCaptorsInfoThis class contains data related to the captors of Jaco
oCKinova.DLL.Data.Util.CCartesianInfoThis class represents a generic cartesian information bloc of the robot.
oCKinova.DLL.Data.Jaco.Config.CClientConfigurationsThis 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.
oCKinova.DLL.Data.Jaco.Config.CControlMappingThis class represents a controlmapping. A controlmapping basically have 2 lists of control modemap and a mode.
oCKinova.DLL.Data.Jaco.Config.CControlMappingChartsThis class encapsulate and represent informations about a Control mapping charts. This class is the root class of the control mapping system. Basically, the CControlMappingCharts is a list of 6 distinctive mapping.
oCKinova.DLL.Data.Jaco.Config.CControlsModeMapThis serializable class encapsulate and represent informations about the control modemap. Basically, the CControlsModeMap have a list of functionnality for the button events and another list of functionnality for the stick events.
oCKinova.DLL.Data.Jaco.Diagnostic.CErrorThis class represents an error occur in Jaco.
oCKinova.DLL.Data.Jaco.Control.CInfoFIFOTrajectoryA class that represents all data about the trajectory FIFO of the robotic arm Jaco.
oCKinova.API.Jaco.CJacoArmThis class is the root class of this API, it represents a Jaco robot arm. This is the entry point if you want to communicate with a Jaco robot. Note that to declare and initialize a CJacoArm object, you need to specify a valid password provided by kinova. Once the object is declared and initialized, you can access the API freely.
oCKinova.API.Jaco.Configurations.CJacoConfigurationManagerThis class represents all configurations inside JACO. It is devides in three section : General configuration, Client configuration and Protection zones configuration.
oCKinova.API.Jaco.Control.CJacoControlManagerThis class represent all method needed to move and control JACO from a computer via USB protocol.
oCKinova.API.Jaco.Diagnostic.CJacoDiagnosticDataManagerThis class represents all the method you need to access diagnostic data from JACO. From this class you can access and manage errors stored in JACO and all information from the class CPosition.
oCKinova.API.Jaco.Diagnostic.CJacoDiagnosticManagerThis class represents an access to the diagnostic interface of JACO. The diagnostic interface's methods are separated in 3 group: test, data and tools.
oCKinova.DLL.Data.Jaco.Control.CJacoFingerThis class represents a finger of the Jaco's hand.
oCKinova.DLL.Data.Jaco.Control.CJacoGripperThis class represents the hand of the robotic arm Jaco.
oCKinova.DLL.Data.Jaco.CJacoStructuresThis 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.
oCKinova.API.Jaco.Maintenance.CJacoToolManagerThis class represents all the diagnostic tools method of JACO. Now, there is only method and it is the one to reprogram the main board.
oCKinova.DLL.Data.Jaco.CJoystickValueThis class represents the value contained in a 6-axis joystick. It contains value of all buttons and the value of every position of the "controlstick".
oCKinova.DLL.Data.Jaco.CPeripheralInformationThis class represents all informations about every peripheric that interacts with Jaco.
oCKinova.DLL.Data.Jaco.CPoint3dThis class encapsulate and represent informations about a point in space.
oCKinova.DLL.Data.Jaco.Diagnostic.CPositionThis class represent a snapshot of JACO information at a specific moment. It encapsulate time information
oCKinova.DLL.Data.Jaco.Control.CQuickStatus
oCKinova.DLL.Data.Jaco.Control.CSingularityVectorA vector that lead to a singularity.
oCKinova.DLL.Data.Jaco.Control.CSpasmFilterThis class represents a generic cartesian information bloc of the robot.
oCKinova.DLL.Data.Jaco.Config.CStickEventsThis class encapsulate and represent informations about a stick event.
oCKinova.DLL.Data.Util.CStringCheck
oCKinova.DLL.Data.Jaco.Config.CSystemStatusThis class encapsulate and represent informations about the system's status.
oCKinova.DLL.Data.Jaco.CThresholdClass that contains constant field representing client configurations's threshold.
oCKinova.DLL.Data.Jaco.Control.CTrajectoryInfoThis serializable class encapsulate and represent informations about the info of a trajetory.
oCKinova.DLL.Data.Jaco.Config.CUserPositionThis serializable class encapsulate and represent informations about a Jaco's hand position.
oCKinova.DLL.Data.Util.CVectorAngleThis class represents a vector of 6 angles. Mainly, this class is used to represent the 6 joints of Jaco. This kind of vector should be used in an angular control context.
oCKinova.DLL.Data.Util.CVectorEulerA vector represented by 3 coordinates and 3 angles. The coordinates gives a space position of the hand of JACO. The angles gives the orientation of the hand. This kind of vector should be used in a cartesian control context.
oCKinova.DLL.Data.Jaco.Config.CZoneThis class represents a 3D zone with some limitation.
oCKinova.DLL.Data.Jaco.Config.CZoneLimitationThis serializable class encapsulate and represent informations about the limitation of a zone. Note that in angular mode, some member of the class change. LinearSpeed = Speed of the first 3 joints, AngularSpeed = Speed of the 3 last joints, linear force = force of the 3 first joints and Anglar force = force of the 3 last joints. Acceleration is not yet supported
oCKinova.DLL.Data.Jaco.Config.CZoneListThis serializable class encapsulate and represent informations about a list of zone.
oCKinova.DLL.Data.Jaco.Config.CZoneShapeThis serializable class encapsulate and represent informations about the shape of a zone.
oCException
|oCKinova.API.Jaco.ValidationTools.Exceptions.CAPIExceptionBase class exception of this API
||oCKinova.API.Jaco.ValidationTools.Exceptions.CAccessDeniedExceptionNormally, you got this exception when you did not provided a valid password at the declaration of an object.
||oCKinova.API.Jaco.ValidationTools.Exceptions.CInvalidFunctionalityArgumentExceptionA custom exception that indicates that the arguments sent are invalid.
||oCKinova.API.Jaco.ValidationTools.Exceptions.CJACOOfflineExceptionThis exception occur when JACO is not connected to USB port or the USB connection is broken.
||oCKinova.API.Jaco.ValidationTools.Exceptions.CTCPCommandErrorException
||\CKinova.API.Jaco.ValidationTools.Exceptions.CXMLSerializationExceptionException that indicates a problem with the XML serialization/deserialization. If you are deserializing, check if the file exist and if it is not corrupted. If you are serializing an object that implement some interface, make sure that they can be serialized.
|\CKinova.DLL.Data.Jaco.Exceptions.CJACOInvalidArgumentExceptionThis class represents an exception that occur when there a invalid argument is passed to Jaco
oCKinova.DLL.Data.Jaco.Control.ITrajectory
|oCKinova.DLL.Data.Jaco.Control.CMathTrajectory
|\CKinova.DLL.Data.Jaco.Control.CPointsTrajectory
\CKinova.DLL.Data.Jaco.Control.CMathTrajectory.UnitVector