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Kinova.DLL.Data.Jaco.CJacoStructures Class Reference

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...
 

Detailed Description

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.

Member Enumeration Documentation

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.

Enumerator
BUTTON_1 

B1 button.

BUTTON_2 

B2 button.

BUTTON_3 

B3 button.

BUTTON_4 

B4 button.

BUTTON_5 

B5 button.

BUTTON_6 

B6 button.

BUTTON_7 

B7 button.

BUTTON_8 

B8 button.

BUTTON_9 

B9 button.

BUTTON_10 

B10 button.

BUTTON_11 

B11 button.

BUTTON_12 

B12 button.

BUTTON_13 

B13 button.

BUTTON_14 

B14 button.

BUTTON_15 

B15 button.

BUTTON_16 

B16 button.

BUTTON_A 

A button.

BUTTON_B 

B button.

BUTTON_C 

C button.

BUTTON_D 

D button.

BUTTON_E 

E button.

BUTTON_F 

F button.

BUTTON_G 

G button.

BUTTON_H 

H button.

BUTTON_I 

I button.

BUTTON_J 

J button.

ERROR 

This value indicate an error. Most of the time, it is because you received a value that is not part of the enum.

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.

Enumerator
OneAxis 

ONE axis mode.

TwoAxis 

TWO axis mode.

ThreeAxis 

THREE axis mode.

SixAxis 

SIX axis mode.

EasyRider 

EASYRIDER

Interface 

INTERFACE

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.

Enumerator
Hand 

Controlling the hand.

Wrist 

Controlling the wrist.

Arm 

Controlling the arm.

ArmXY 

Controlling the arm in a 2 axis(XY) way.

ArmXZ 

Controlling the arm in a 2 axis(XZ) way.

WristXY 

Controlling the wrist in a 2 axis(XY) way.

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 type of control operator.

Enumerator
ExternalJoystick3Axis 

An external joystick that control 3 axis.

ExternalJoystick2Axis 

An external joystick that control 2 axis.

GUI 

A Graphical User Interface (GUI).

ExpansionCardEasyRider 

The easy rider.

UniversalAdapter 

Not used right now, but will be in the future.

NewControl2 

Not used right now, but will be in the future.

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 possible value of the stick

Enumerator
InclineLR 
InclineFB 
Rotation 
MoveLR 
MoveFB 
PushPull 
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 hand's mode.

Enumerator
NoMovements 

No movement

PositionMode 

Position mode

SpeedMode 

Speed mode

NoFingers 

The hand control no finger.

OneFinger 

The hand control one finger.

TwoFingers 

The hand control two finger.

ThreeFingers 

The hand control three finger.

ERROR 

This value indicate an error. Most of the time, it is because you received a value that is not part of the enum.

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.

Identify an error.

Enumerator
NoError 

There is no error at all.

USBConnectionError 

A problem with the USB connection.

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 laterality control mode.

Enumerator
ControlModeRight 

Righthanded.

ControlModeLeft 

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.

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.

Enumerator
PrismSquareBase_X 
PrismSquareBase_Y 
PrismSquareBase_Z 
PrismTriangularBase_X 
PrismTriangularBase_Y 
PrismTriangularBase_Z 
Pyramid 
ERROR 

This value indicate an error. Most of the time, it is because you received a value that is not part of the enum.

Member Function Documentation

static string Kinova.DLL.Data.Jaco.CJacoStructures.StringFormat ( string  str)
static

Format a string with the Jaco standard.

Parameters
strThe string to be formatted.
Returns

The documentation for this class was generated from the following file: