This file contains header of all available functions of this API. More...
Functions | |
| KINOVAAPIUSBCOMMANDLAYER_API int | InitAPI (void) |
| This function initialises the API. It is the first function you call if you want the rest of the library. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | CloseAPI (void) |
| This function must called when your application stop using the API. It closes the USB link and the library properly. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetCodeVersion (std::vector< int > &Response) |
| This function returns the code version of the robotical arm's firmware. The elements of the vector or ordered as: | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetAPIVersion (std::vector< int > &Response) |
| This function returns the API's version(major.minor.version). Basically, it returns COMMAND_LAYER_VERSION. The vector contains 3 values. The first one is the version, the second one is the major and the last one is the minor. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetCartesianPosition (CartesianPosition &Response) |
| This function returns the cartesian position of the robotical arm's end effector. The orientation is defined by Euler angles(Convention XYZ). | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetAngularPosition (AngularPosition &Response) |
| This function returns the angular position of the robotical arm's end effector. Unit is degree. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetCartesianForce (CartesianPosition &Response) |
| This function returns the cartesian force at the robotical arm's end effector. Translation unit is N and orientation unit is N * m . | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetAngularForce (AngularPosition &Response) |
| This function returns the torque of each actuator. Unit is Newton * meter. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetAngularCurrent (AngularPosition &Response) |
| This function returns the current that each actuator consume on the main supply. Unit are A. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetActualTrajectoryInfo (TrajectoryPoint &Response) |
| This function returns information about the actual trajectory point. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetGlobalTrajectoryInfo (TrajectoryFIFO &Response) |
| This function returns informations about the trajectories FIFO stored inside the robotical arm. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetSensorsInfo (SensorsInfo &Response) |
| This function returns information about the robotical arm's sensors. (Voltage, Total current, Temperature, acceleration) | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetSingularityVector (SingularityVector &Response) |
| ONLY AVAILABLE WITH FIRMWARE 4.2.9 AND BELOW. This function gets informations about the nearest singularities. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetAngularControl () |
| This function sets the robotical arm in angular control mode. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetCartesianControl () |
| This function sets the robotical arm in cartesian control mode if this is possible. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | StartControlAPI () |
| This function tells the robotical arm that from now on, the API will control the robotical arm. It must been call before sending trajectories or joystick command. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | StopControlAPI () |
| This function tells the robotical arm the from now on the API is not controlling the robotical arm. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | RestoreFactoryDefault () |
| This function restores the factory default settings of the robotical arm. WARNING: this will erase all your configuration, all your protection zones and all your mapping modification. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SendJoystickCommand (JoystickCommand joystickCommand) |
| This function sends a virtual joystick command to the robotical arm. the behaviour of the robotical arm is determined by the the control mapping associated with the API. (index 2) In the example, we assume that the robotical arm use the default mapping of the API and that it is in mode B0(Joystick translation). Assuming that, the robotical arm should move along the Z axis. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SendAdvanceTrajectory (TrajectoryPoint trajectory) |
| This function sends trajectory point(With limitation) that will be added in the robotical arm's FIFO. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SendBasicTrajectory (TrajectoryPoint trajectory) |
| This function sends trajectory point(Without limitation) that will be added in the robotical arm's FIFO. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetClientConfigurations (ClientConfigurations &config) |
| This function gets the client confgurations of the robotical arm. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetClientConfigurations (ClientConfigurations config) |
| This function set the client configurations of the robotical arm. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | EraseAllTrajectories () |
| This function erases all the trajectories inside the robotical arm's FIFO. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetPositionCurrentActuators (std::vector< float > &Response) |
| This function get the position and the current of all actuators. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetActuatorPID (unsigned int address, float P, float I, float D) |
| This function set the PID of a specific actuator. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetAngularCommand (AngularPosition &Response) |
| This function get the angular command of all actuators. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetCartesianCommand (CartesianPosition &Response) |
| This function get the cartesian command of the end effector. The orientation is defined by Euler angles(Convention XYZ). | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetAngularCurrentMotor (AngularPosition &Response) |
| This function get motor's current of each actuator. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetAngularVelocity (AngularPosition &Response) |
| This function get the velocity of each actuator. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetControlType (int &Response) |
| This function get the actual control type. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | StartForceControl () |
| This function activates the force control. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | StopForceControl () |
| This function stops the force control. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | StartCurrentLimitation () |
| This function activates the current limitation. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | StopCurrentLimitation () |
| This function stops the current limitation. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetSystemErrorCount (unsigned int &Response) |
| This function gets the error count of the robotical arm's error's log. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetSystemError (unsigned int indexError, SystemError &Response) |
| This function gets a specific error from the robotical arm's error log. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | ClearErrorLog () |
| This function clears the robotical arm's error log. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | EraseAllProtectionZones () |
| This function erases all protection zones. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetSerialNumber (char Command[STRING_LENGTH]) |
| This function sets a new serial number to the robotical arm. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetControlMapping (ControlMappingCharts &Response) |
| This function gets the control mapping charts. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetProtectionZone (ZoneList &Response) |
| This function gets the list of all protection zones. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetProtectionZone (ZoneList Command) |
| This function sets a new list of protection zones. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetGripperStatus (Gripper &Response) |
| BETA version - This function gets informations about the robotical arm's gripper. Some information may be missing, it is still in development. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetQuickStatus (QuickStatus &Response) |
| This function gets information regarding some status flag of the robotical arm. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetForcesInfo (ForcesInfo &Response) |
| This function gets information regarding all forces. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetControlMapping (ControlMappingCharts Command) |
| This function sets a new control mapping charts to the robotical arm. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | ProgramFlash (char *filename) |
| This function program a new version of the robotical arm's firmware. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetJointZero (int ActuatorAdress) |
| This function sets the current position of a specific actuator as a zero. Mainly used for calibration. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetTorqueZero (int ActuatorAdress) |
| This function sets the current position of a specific actuator as a torque zero. Mainly used for calibration. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetTorqueGain (int ActuatorAdress, int Gain) |
| This function sets the gain value of a torque sensor on a specific actuator. Mainly used for calibration. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetActuatorPIDFilter (int ActuatorAdress, float filterP, float filterI, float filterD) |
| This function sets a PID filter value on a specific actuator. Mainly used for calibration. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetActuatorAddress (int ActuatorAdress, int newAddress) |
| This function sets a new address to a specific actuator. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetGeneralInformations (GeneralInformations &Response) |
| This function gets general informations about the robotical arm. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetFrameType (int frameType) |
| This function sets the frame type of the robotical arm. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetCartesianForceMinMax (CartesianInfo min, CartesianInfo max) |
| This function set the Cartesian force's maximum and minimum values. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetCartesianInertiaDamping (CartesianInfo inertia, CartesianInfo damping) |
| This function set the Cartesian inertia and damping value. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetAngularTorqueMinMax (AngularInfo min, AngularInfo max) |
| This function set the angular torque's maximum and minimum values. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetAngularInertiaDamping (AngularInfo inertia, AngularInfo damping) |
| This function set the angular inertia and damping value. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | SetSpasmFilterValues (std::vector< float > Response, int activationStatus) |
| This function set the active spasm filter values from the robotical arm. This function is only used by the rehab client. Normal application should not use it. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetSpasmFilterValues (std::vector< float > &Response, int &activationStatus) |
| This function get the active spasm filter values from the robotical arm. This function is only used by the rehab client. Normal application should not use it. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | MoveHome () |
| This Moce the robot to the HOME position also known as READY position. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetAngularForceGravityFree (AngularPosition &Response) |
| This function returns the torque without gravity of each actuator. Unit is Newton * meter. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | GetActuatorAcceleration (AngularAcceleration &Response) |
| This function get the acceleration values of each actuator. Units are G. | |
| KINOVAAPIUSBCOMMANDLAYER_API int | InitFingers () |
| This function initializes the fingers of the robotical arm. After the initialization, the robotical arm is in angular control mode. If you want to use the cartesian control mode, use the function SetCartesianControl(). | |
This file contains header of all available functions of this API.