Kinova_API  v5.02.00
ROS communication with Kinova API
Public Attributes | List of all members
kinova::KinovaAPI Class Reference

Public Attributes

int(* initAPI )(void)
 
int(* closeAPI )(void)
 
int(* startControlAPI )()
 
int(* stopControlAPI )()
 
int(* startForceControl )()
 
int(* stopForceControl )()
 
int(* restoreFactoryDefault )()
 
int(* sendJoystickCommand )(JoystickCommand)
 
int(* getJoystickValue )(JoystickCommand &)
 
int(* getCodeVersion )(int[CODE_VERSION_COUNT])
 
int(* getAPIVersion )(int[API_VERSION_COUNT])
 
int(* getDeviceCount )(int &)
 
int(* getDevices )(KinovaDevice[MAX_KINOVA_DEVICE], int &)
 
int(* setActiveDevice )(KinovaDevice)
 
int(* refresDevicesList )(void)
 
int(* getControlType )(int &)
 
int(* getClientConfigurations )(ClientConfigurations &)
 
int(* setClientConfigurations )(ClientConfigurations)
 
int(* setFrameType )(int)
 
int(* startCurrentLimitation )()
 
int(* stopCurrentLimitation )()
 
int(* getGeneralInformations )(GeneralInformations &)
 
int(* getQuickStatus )(QuickStatus &)
 
int(* getForcesInfo )(ForcesInfo &)
 
int(* getSensorsInfo )(SensorsInfo &)
 
int(* getGripperStatus )(Gripper &)
 
int(* getCommandVelocity )(float[CARTESIAN_SIZE], float[MAX_ACTUATORS])
 
int(* setAngularControl )()
 
int(* getAngularCommand )(AngularPosition &)
 
int(* getAngularPosition )(AngularPosition &)
 
int(* getAngularVelocity )(AngularPosition &)
 
int(* getAngularAcceleration )(AngularAcceleration &)
 
int(* getAngularForce )(AngularPosition &)
 
int(* setAngularTorqueMinMax )(AngularInfo, AngularInfo)
 
int(* getAngularCurrent )(AngularPosition &)
 
int(* getAngularCurrentMotor )(AngularPosition &)
 
int(* getPositionCurrentActuators )(float[POSITION_CURRENT_COUNT])
 
int(* setActuatorPID )(unsigned int, float, float, float)
 
int(* setCartesianControl )()
 
int(* getCartesianCommand )(CartesianPosition &)
 
int(* getCartesianPosition )(CartesianPosition &)
 
int(* getCartesianForce )(CartesianPosition &)
 
int(* setCartesianForceMinMax )(CartesianInfo, CartesianInfo)
 
int(* setCartesianInertiaDamping )(CartesianInfo, CartesianInfo)
 
int(* getEndEffectorOffset )(unsigned int &, float &, float &, float &)
 
int(* setEndEffectorOffset )(unsigned int, float, float, float)
 
int(* getActualTrajectoryInfo )(TrajectoryPoint &)
 
int(* getGlobalTrajectoryInfo )(TrajectoryFIFO &)
 
int(* sendAdvanceTrajectory )(TrajectoryPoint)
 
int(* sendBasicTrajectory )(TrajectoryPoint)
 
int(* eraseAllTrajectories )()
 
int(* eraseAllProtectionZones )()
 
int(* getProtectionZone )(ZoneList &)
 
int(* setProtectionZone )(ZoneList)
 
int(* moveHome )()
 
int(* initFingers )()
 
int(* setControlMapping )(ControlMappingCharts)
 
int(* getControlMapping )(ControlMappingCharts &)
 
int(* getSingularityVector )(SingularityVector &)
 
int(* setActuatorMaxVelocity )(float[COMMAND_SIZE])
 
int(* setTorqueControlType )(TORQUECONTROL_TYPE)
 
int(* setActuatorPIDFilter )(int, float, float, float)
 
int(* setAngularInertiaDamping )(AngularInfo, AngularInfo)
 
int(* getAngularForceGravityFree )(AngularPosition &)
 
int(* sendAngularTorqueCommand )(float[COMMAND_SIZE])
 
int(* getAngularTorqueCommand )(float[COMMAND_SIZE])
 
int(* getAngularTorqueGravityEstimation )(float[COMMAND_SIZE])
 
int(* setTorqueActuatorGain )(float[COMMAND_SIZE])
 
int(* setTorqueActuatorDamping )(float[COMMAND_SIZE])
 
int(* setTorqueCommandMax )(float[COMMAND_SIZE])
 
int(* setTorqueSafetyFactor )(float)
 
int(* setTorqueRateLimiter )(float[COMMAND_SIZE])
 
int(* setTorqueFeedCurrent )(float[COMMAND_SIZE])
 
int(* setTorqueFeedVelocity )(float[COMMAND_SIZE])
 
int(* setTorquePositionLimitDampingGain )(float[COMMAND_SIZE])
 
int(* setTorquePositionLimitDampingMax )(float[COMMAND_SIZE])
 
int(* setTorquePositionLimitRepulsGain )(float[COMMAND_SIZE])
 
int(* setTorquePositionLimitRepulsMax )(float[COMMAND_SIZE])
 
int(* setTorqueFilterVelocity )(float[COMMAND_SIZE])
 
int(* setTorqueFilterMeasuredTorque )(float[COMMAND_SIZE])
 
int(* setTorqueFilterError )(float[COMMAND_SIZE])
 
int(* setTorqueFilterControlEffort )(float[COMMAND_SIZE])
 
int(* sendCartesianForceCommand )(float[COMMAND_SIZE])
 
int(* setGravityVector )(float[GRAVITY_VECTOR_SIZE])
 
int(* setGravityOptimalZParam )(float[GRAVITY_PARAM_SIZE])
 
int(* setGravityManualInputParam )(float[GRAVITY_PARAM_SIZE])
 
int(* setGravityType )(GRAVITY_TYPE)
 
int(* switchTrajectoryTorque )(GENERALCONTROL_TYPE)
 
int(* setSwitchThreshold )(float[COMMAND_SIZE])
 
int(* setPositionLimitDistance )(float[COMMAND_SIZE])
 
int(* setGravityPayload )(float[GRAVITY_PAYLOAD_SIZE])
 
int(* setTorqueVibrationController )(float)
 
int(* setTorqueRobotProtection )(int)
 
int(* runGravityZEstimationSequence )(ROBOT_TYPE, double[OPTIMAL_Z_PARAM_SIZE])
 
int(* getTrajectoryTorqueMode )(int &)
 
int(* setTorqueInactivityType )(int)