From a9c78fcd6f1b7789af3368da815c3454621dddf6 Mon Sep 17 00:00:00 2001 From: Alexandre Vannobel <41082816+alexvannobel@users.noreply.github.com> Date: Tue, 13 Aug 2019 08:05:02 -0400 Subject: [PATCH] New content for release 2.0.0 * Update main readme and linked_md * Update C++ documentation * Update Python documentation * Updated the source code for the C++ examples * Update other files in C++ examples * Updated the source code for Python examples * Updated other files in the Python examples * Update download links in the documentation * Updated more links * Remove python script --- .../enums/ActuatorConfig/CommandMode.md | 10 +- .../ActuatorConfig/ControlLoopSelection.md | 10 +- .../enums/ActuatorConfig/ControlMode.md | 17 + .../ActuatorConfig/CustomDataIndex.md} | 14 +- .../ActuatorConfig/SafetyIdentifierBankA.md} | 14 +- .../enums/ActuatorConfig/SafetyLimitType.md | 13 + .../enums/ActuatorConfig/ServiceVersion.md | 13 + .../ActuatorCyclic/CommandFlags.md} | 10 +- .../enums/ActuatorCyclic/ServiceVersion.md | 13 + .../ActuatorCyclic/StatusFlags.md} | 10 +- .../doc/markdown/enums/Api/ErrorCodes.md | 10 +- .../doc/markdown/enums/Api/SubErrorCodes.md | 16 +- .../doc/markdown/enums/Base/ActionEvent.md | 22 + api_cpp/doc/markdown/enums/Base/ActionType.md | 31 + .../Base/AdmittanceMode.md} | 10 +- .../Base/BackupEvent.md} | 10 +- .../doc/markdown/enums/Base/BridgeStatus.md | 18 + api_cpp/doc/markdown/enums/Base/BridgeType.md | 14 + .../doc/markdown/enums/Base/CapSenseMode.md | 17 + .../Base/ConfigurationNotificationEvent.md | 10 +- .../doc/markdown/enums/Base/ControlMode.md | 12 +- .../markdown/enums/Base/ControllerBehavior.md | 10 +- .../enums/Base/ControllerElementEventType.md | 10 +- .../enums/Base/ControllerEventType.md | 10 +- .../enums/Base/ControllerInputType.md | 10 +- .../doc/markdown/enums/Base/ControllerType.md | 15 + .../Base/EventIdSequenceInfoNotification.md | 10 +- .../doc/markdown/enums/Base/FactoryEvent.md | 12 +- .../Base/GpioState.md} | 10 +- .../doc/markdown/enums/Base/GripperMode.md | 15 + .../enums/Base/JointNavigationDirection.md | 10 +- .../Base/JointTrajectoryConstraintType.md | 14 + .../Base/LedState.md} | 10 +- .../doc/markdown/enums/Base/LimitationType.md | 16 + .../enums/Base/NavigationDirection.md | 16 + .../Base/NetworkEvent.md} | 10 +- .../Base/NetworkType.md} | 10 +- .../Base/OperatingMode.md} | 10 +- .../enums/Base/ProtectionZoneEvent.md | 10 +- api_cpp/doc/markdown/enums/Base/RobotEvent.md | 16 + .../Base/SafetyIdentifier.md} | 38 +- .../doc/markdown/enums/Base/ServiceVersion.md | 13 + .../doc/markdown/enums/Base/ServoingMode.md | 11 +- .../doc/markdown/enums/Base/ShapeType.md | 10 +- .../Base/SignalQuality.md} | 10 +- .../doc/markdown/enums/Base/SoundType.md | 10 +- .../enums/Base/TrajectoryContinuityMode.md | 15 + .../enums/Base/TrajectoryErrorIdentifier.md | 17 + .../enums/Base/TrajectoryErrorType.md | 31 + api_cpp/doc/markdown/enums/Base/UserEvent.md | 14 + .../markdown/enums/Base/WifiEncryptionType.md | 15 + .../markdown/enums/Base/WifiSecurityType.md | 16 + api_cpp/doc/markdown/enums/Base/WrenchMode.md | 14 + .../Base/Xbox360AnalogInputIdentifier.md | 10 +- .../Base/Xbox360DigitalInputIdentifier.md | 10 +- .../enums/BaseCyclic/ServiceVersion.md | 13 + .../doc/markdown/enums/Common/ArmState.md | 10 +- .../enums/Common/CartesianReferenceFrame.md | 15 + .../enums/Common/CountryCodeIdentifier.md | 124 ++++ .../doc/markdown/enums/Common/DeviceTypes.md | 14 +- .../markdown/enums/Common/NotificationType.md | 14 +- .../doc/markdown/enums/Common/Permission.md | 10 +- .../enums/Common/SafetyStatusValue.md | 10 +- .../doc/markdown/enums/Common/UARTParity.md | 15 + .../doc/markdown/enums/Common/UARTSpeed.md | 27 + .../doc/markdown/enums/Common/UARTStopBits.md | 16 + .../markdown/enums/Common/UARTWordLength.md | 15 + .../doc/markdown/enums/Common/Unit.md | 10 +- .../ControlConfigurationEvent.md | 26 + .../enums/ControlConfig/ServiceVersion.md | 13 + .../enums/DeviceConfig/CalibrationItem.md | 16 + .../enums/DeviceConfig/CalibrationStatus.md | 16 + .../enums/DeviceConfig/CapSenseMode.md | 17 + .../markdown/enums/DeviceConfig/RunModes.md | 16 + .../enums/DeviceConfig/SafetyLimitType.md | 12 +- .../enums/DeviceConfig/ServiceVersion.md | 13 + .../enums/DeviceManager/ServiceVersion.md | 13 + .../RobotiqGripperStatusFlags.md | 16 + .../enums/GripperConfig/SafetyIdentifier.md | 21 + .../enums/GripperCyclic/ServiceVersion.md | 13 + .../InterconnectConfig/EthernetDevice.md | 13 + .../InterconnectConfig/EthernetDuplex.md | 14 + .../enums/InterconnectConfig/EthernetSpeed.md | 14 + .../InterconnectConfig/GPIOIdentifier.md | 16 + .../enums/InterconnectConfig/GPIOMode.md | 15 + .../enums/InterconnectConfig/GPIOPull.md | 15 + .../enums/InterconnectConfig/GPIOValue.md | 14 + .../enums/InterconnectConfig/I2CDevice.md | 13 + .../InterconnectConfig/I2CDeviceAddressing.md | 14 + .../enums/InterconnectConfig/I2CMode.md | 15 + .../I2CRegisterAddressSize.md | 14 + .../InterconnectConfig/SafetyIdentifier.md | 12 +- .../InterconnectConfig/ServiceVersion.md | 13 + .../enums/InterconnectConfig/UARTPortId.md | 13 + .../InterconnectCyclic/ServiceVersion.md | 13 + .../ProductConfiguration/ArmLaterality.md | 15 + .../enums/ProductConfiguration/BaseType.md | 15 + .../ProductConfiguration/EndEffectorType.md | 15 + .../InterfaceModuleType.md | 15 + .../enums/ProductConfiguration/ModelId.md | 15 + .../ProductConfiguration/VisionModuleType.md | 16 + .../enums/ProductConfiguration/WristType.md | 15 + .../markdown/enums/Session/ServiceVersion.md | 13 + .../markdown/enums/VisionConfig/BitRate.md | 10 +- .../VisionConfig/FocusAction.md} | 12 +- .../markdown/enums/VisionConfig/FrameRate.md | 10 +- .../doc/markdown/enums/VisionConfig/Option.md | 10 +- .../markdown/enums/VisionConfig/Resolution.md | 10 +- .../doc/markdown/enums/VisionConfig/Sensor.md | 10 +- .../enums/VisionConfig/ServiceVersion.md | 13 + .../VisionConfig/VisionEvent.md} | 10 +- api_cpp/doc/markdown/index.md | 685 ++++++++++-------- .../ActuatorConfig/AxisOffsets.md} | 26 +- .../messages/ActuatorConfig/AxisPosition.md | 18 + .../ActuatorConfig/CommandModeInformation.md | 18 + .../ActuatorConfig/ControlLoop.md} | 22 +- .../ActuatorConfig/ControlLoopParameters.md} | 36 +- .../ActuatorConfig/ControlModeInformation.md | 18 + .../ActuatorConfig/CustomDataSelection.md | 16 + .../EncoderDerivativeParameters.md} | 22 +- .../ActuatorConfig/FrequencyResponse.md} | 28 +- .../messages/ActuatorConfig/LoopSelection.md | 18 + .../ActuatorConfig/PositionCommand.md} | 28 +- .../ActuatorConfig/RampResponse.md} | 28 +- .../messages/ActuatorConfig/Servoing.md | 18 + .../ActuatorConfig/StepResponse.md} | 28 +- .../ActuatorConfig/TorqueCalibration.md} | 26 +- .../messages/ActuatorConfig/TorqueOffset.md | 18 + .../ActuatorConfig/VectorDriveParameters.md} | 22 +- .../messages/ActuatorCyclic/Command.md | 41 ++ .../ActuatorCyclic/CustomData.md} | 32 +- .../ActuatorCyclic/Feedback.md} | 34 +- .../ActuatorCyclic/MessageId.md} | 22 +- api_cpp/doc/markdown/messages/Base/Action.md | 163 +++++ .../messages/Base/ActionExecutionState.md | 25 + .../Base/ActionHandle.md} | 28 +- .../doc/markdown/messages/Base/ActionList.md | 22 + .../messages/Base/ActionNotification.md | 50 ++ .../messages/Base/ActionNotificationList.md | 22 + .../messages/Base/ActivateMapHandle.md | 35 + .../messages/Base/ActuatorInformation.md | 18 + .../doc/markdown/messages/Base/Admittance.md | 18 + .../messages/Base/AdvancedSequenceHandle.md | 25 + .../messages/Base/AppendActionInformation.md | 28 + .../messages/Base/ArmStateInformation.md | 25 + .../messages/Base/ArmStateNotification.md | 32 + .../markdown/messages/Base/BridgeConfig.md | 36 + .../messages/Base/BridgeIdentifier.md | 18 + .../doc/markdown/messages/Base/BridgeList.md | 22 + .../messages/Base/BridgePortConfig.md | 22 + .../markdown/messages/Base/BridgeResult.md | 25 + .../markdown/messages/Base/CapSenseConfig.md | 38 + .../Base/CartesianLimitation.md} | 28 +- .../messages/Base/CartesianLimitationList.md | 22 + .../Base/CartesianSpeed.md} | 22 +- .../Base/CartesianTrajectoryConstraint.md | 25 + .../messages/Base/ChangeJointSpeeds.md | 21 + .../Base/ChangeTwist.md} | 22 +- .../markdown/messages/Base/ChangeWrench.md | 22 + .../CommunicationInterfaceConfiguration.md | 22 + .../Base/ConfigurationChangeNotification.md | 109 +++ .../ConfigurationChangeNotificationList.md | 22 + .../messages/Base/ConstrainedJointAngle.md | 29 + .../messages/Base/ConstrainedJointAngles.md | 28 + .../messages/Base/ConstrainedOrientation.md | 28 + .../markdown/messages/Base/ConstrainedPose.md | 28 + .../messages/Base/ConstrainedPosition.md | 28 + .../messages/Base/ControlModeInformation.md | 18 + .../messages/Base/ControlModeNotification.md | 39 + .../Base/ControlModeNotificationList.md | 22 + .../messages/Base/ControllerElementHandle.md | 29 + .../messages/Base/ControllerElementState.md | 29 + .../markdown/messages/Base/ControllerEvent.md | 26 + .../messages/Base/ControllerHandle.md | 22 + .../markdown/messages/Base/ControllerList.md | 22 + .../messages/Base/ControllerNotification.md | 49 ++ .../Base/ControllerNotificationList.md | 22 + .../markdown/messages/Base/ControllerState.md | 25 + api_cpp/doc/markdown/messages/Base/Delay.md | 18 + .../markdown/messages/Base/EmergencyStop.md | 4 + .../messages/Base/FactoryNotification.md | 39 + api_cpp/doc/markdown/messages/Base/Faults.md | 4 + .../Base/Finger.md} | 24 +- .../messages/Base/FullIPv4Configuration.md | 28 + .../markdown/messages/Base/FullUserProfile.md | 30 + .../doc/markdown/messages/Base/GpioEvent.md | 22 + api_cpp/doc/markdown/messages/Base/Gripper.md | 22 + .../markdown/messages/Base/GripperCommand.md | 29 + .../markdown/messages/Base/GripperRequest.md | 18 + .../Base/IPv4Configuration.md} | 22 +- .../Base/IPv4Information.md} | 22 +- .../Base/JointAngle.md} | 22 +- .../doc/markdown/messages/Base/JointAngles.md | 22 + .../markdown/messages/Base/JointLimitation.md | 26 + .../Base/JointSpeed.md} | 24 +- .../doc/markdown/messages/Base/JointSpeeds.md | 26 + .../doc/markdown/messages/Base/JointTorque.md | 26 + .../markdown/messages/Base/JointTorques.md | 26 + .../Base/JointTrajectoryConstraint.md | 22 + .../messages/Base/JointsLimitationsList.md | 22 + api_cpp/doc/markdown/messages/Base/Map.md | 38 + .../doc/markdown/messages/Base/MapElement.md | 28 + .../doc/markdown/messages/Base/MapEvent.md | 44 ++ .../doc/markdown/messages/Base/MapGroup.md | 69 ++ .../Base/MapGroupHandle.md} | 22 +- .../markdown/messages/Base/MapGroupList.md | 22 + .../Base/MapHandle.md} | 22 +- api_cpp/doc/markdown/messages/Base/MapList.md | 22 + api_cpp/doc/markdown/messages/Base/Mapping.md | 73 ++ .../Base/MappingHandle.md} | 22 +- .../messages/Base/MappingInfoNotification.md | 46 ++ .../Base/MappingInfoNotificationList.md | 22 + .../doc/markdown/messages/Base/MappingList.md | 22 + .../markdown/messages/Base/NetworkHandle.md | 18 + .../messages/Base/NetworkNotification.md | 39 + .../messages/Base/NetworkNotificationList.md | 22 + .../messages/Base/OperatingModeInformation.md | 25 + .../Base/OperatingModeNotification.md | 46 ++ .../Base/OperatingModeNotificationList.md | 22 + .../Base/Orientation.md} | 22 +- .../Base/PasswordChange.md} | 32 +- .../Base/Point.md} | 22 +- .../Base/Pose.md} | 22 +- .../Base/Position.md} | 22 +- .../Base/PreComputedJointTrajectory.md | 26 + .../Base/PreComputedJointTrajectoryElement.md | 42 ++ .../markdown/messages/Base/ProtectionZone.md | 66 ++ .../Base/ProtectionZoneHandle.md} | 22 +- .../Base/ProtectionZoneInformation.md | 18 + .../messages/Base/ProtectionZoneList.md | 22 + .../Base/ProtectionZoneNotification.md | 46 ++ .../Base/ProtectionZoneNotificationList.md | 22 + api_cpp/doc/markdown/messages/Base/Query.md | 37 + .../messages/Base/RequestedActionType.md | 18 + .../messages/Base/RobotEventNotification.md | 46 ++ .../Base/RobotEventNotificationList.md | 22 + .../markdown/messages/Base/RotationMatrix.md | 35 + .../Base/RotationMatrixRow.md} | 22 +- .../doc/markdown/messages/Base/SafetyEvent.md | 21 + .../messages/Base/SafetyNotificationList.md | 22 + .../Base/Sequence.md} | 44 +- .../Base/SequenceHandle.md} | 22 +- .../messages/Base/SequenceInfoNotification.md | 58 ++ .../Base/SequenceInfoNotificationList.md | 22 + .../Base/SequenceInformation.md} | 28 +- .../markdown/messages/Base/SequenceList.md | 22 + .../Base/SequenceTask.md} | 32 +- .../messages/Base/SequenceTaskHandle.md | 25 + .../messages/Base/ServoingModeInformation.md | 18 + .../messages/Base/ServoingModeNotification.md | 39 + .../Base/ServoingModeNotificationList.md | 22 + .../Base/Ssid.md} | 22 +- api_cpp/doc/markdown/messages/Base/Stop.md | 4 + .../messages/Base/SwitchControlMapping.md | 32 + .../Base/SystemTime.md} | 22 +- api_cpp/doc/markdown/messages/Base/Timeout.md | 18 + .../messages/Base/TrajectoryErrorElement.md | 47 ++ .../messages/Base/TrajectoryErrorReport.md | 22 + .../messages/Base/TransformationMatrix.md | 42 ++ .../Base/TransformationRow.md} | 22 +- .../Base/Twist.md} | 34 +- .../markdown/messages/Base/TwistCommand.md | 29 + .../markdown/messages/Base/TwistLimitation.md | 22 + .../doc/markdown/messages/Base/UserList.md | 22 + .../messages/Base/UserNotification.md | 46 ++ .../messages/Base/UserNotificationList.md | 22 + .../Base/UserProfile.md} | 32 +- .../markdown/messages/Base/UserProfileList.md | 22 + .../Base/WifiConfiguration.md} | 32 +- .../messages/Base/WifiConfigurationList.md | 22 + .../Base/WifiInformation.md} | 38 +- .../messages/Base/WifiInformationList.md | 22 + api_cpp/doc/markdown/messages/Base/Wrench.md | 38 + .../markdown/messages/Base/WrenchCommand.md | 33 + .../messages/Base/WrenchLimitation.md | 22 + .../doc/markdown/messages/Base/ZoneShape.md | 44 ++ .../BaseCyclic/ActuatorCommand.md} | 22 +- .../BaseCyclic/ActuatorCustomData.md} | 22 +- .../BaseCyclic/ActuatorFeedback.md} | 22 +- .../BaseCyclic/BaseFeedback.md} | 92 ++- .../markdown/messages/BaseCyclic/Command.md | 33 + .../messages/BaseCyclic/CustomData.md | 65 ++ .../markdown/messages/BaseCyclic/Feedback.md | 40 + .../Common/Connection.md} | 32 +- .../markdown/messages/Common/CountryCode.md | 18 + .../Common/DeviceHandle.md} | 28 +- api_cpp/doc/markdown/messages/Common/Empty.md | 4 + .../messages/Common/NotificationHandle.md | 18 + .../Common/NotificationOptions.md} | 28 +- .../markdown/messages/Common/SafetyHandle.md | 18 + .../messages/Common/SafetyNotification.md | 46 ++ .../Common/Timestamp.md} | 22 +- .../messages/Common/UARTConfiguration.md | 38 + .../Common/UARTDeviceIdentification.md | 18 + .../Common/UserProfileHandle.md} | 22 +- .../CartesianReferenceFrameInfo.md | 18 + .../ControlConfig/CartesianTransform.md | 38 + .../ControlConfigurationNotification.md | 39 + .../messages/ControlConfig/GravityVector.md | 26 + .../ControlConfig/PayloadInformation.md | 25 + .../messages/ControlConfig/Position.md | 26 + .../ControlConfig/ToolConfiguration.md | 32 + .../DeviceConfig/BootloaderVersion.md | 18 + .../messages/DeviceConfig/Calibration.md | 26 + .../DeviceConfig/CalibrationElement.md | 18 + .../DeviceConfig/CalibrationParameter.md | 30 + .../DeviceConfig/CalibrationResult.md | 22 + .../messages/DeviceConfig/CapSenseConfig.md | 26 + .../messages/DeviceConfig/CapSenseRegister.md | 22 + .../messages/DeviceConfig/DeviceType.md | 18 + .../messages/DeviceConfig/FirmwareVersion.md | 18 + .../DeviceConfig/IPv4Settings.md} | 22 +- .../DeviceConfig/MACAddress.md} | 22 +- .../DeviceConfig/ModelNumber.md} | 22 +- .../DeviceConfig/PartNumber.md} | 22 +- .../DeviceConfig/PartNumberRevision.md} | 22 +- .../DeviceConfig/PowerOnSelfTestResult.md} | 22 +- .../messages/DeviceConfig/RebootRqst.md | 18 + .../markdown/messages/DeviceConfig/RunMode.md | 18 + .../DeviceConfig/SafetyConfiguration.md | 36 + .../DeviceConfig/SafetyConfigurationList.md | 22 + .../messages/DeviceConfig/SafetyEnable.md | 25 + .../DeviceConfig/SafetyInformation.md} | 50 +- .../DeviceConfig/SafetyInformationList.md | 22 + .../messages/DeviceConfig/SafetyStatus.md | 18 + .../messages/DeviceConfig/SafetyThreshold.md | 25 + .../DeviceConfig/SerialNumber.md} | 22 +- .../messages/DeviceManager/DeviceHandles.md | 22 + .../messages/GripperCyclic/Command.md | 33 + .../messages/GripperCyclic/CustomData.md | 36 + .../GripperCyclic/CustomDataUnit.md} | 26 +- .../messages/GripperCyclic/Feedback.md | 49 ++ .../messages/GripperCyclic/MessageId.md | 18 + .../messages/GripperCyclic/MotorCommand.md | 30 + .../messages/GripperCyclic/MotorFeedback.md | 38 + .../EthernetConfiguration.md | 30 + .../EthernetDeviceIdentification.md | 18 + .../InterconnectConfig/GPIOConfiguration.md | 30 + .../InterconnectConfig/GPIOIdentification.md | 18 + .../messages/InterconnectConfig/GPIOState.md | 22 + .../InterconnectConfig/I2CConfiguration.md | 30 + .../messages/InterconnectConfig/I2CData.md | 27 + .../I2CDeviceIdentification.md | 18 + .../InterconnectConfig/I2CReadParameter.md | 30 + .../I2CReadRegisterParameter.md | 38 + .../InterconnectConfig/I2CWriteParameter.md | 33 + .../I2CWriteRegisterParameter.md | 41 ++ .../messages/InterconnectCyclic/Command.md | 32 + .../InterconnectCyclic/CustomData.md} | 39 +- .../InterconnectCyclic/Feedback.md} | 65 +- .../messages/InterconnectCyclic/MessageId.md | 18 + .../CompleteProductConfiguration.md | 80 ++ .../ProductConfigurationBaseType.md | 18 + .../ProductConfigurationDegreeOfFreedom.md | 18 + .../ProductConfigurationEndEffectorType.md | 18 + ...ProductConfigurationInterfaceModuleType.md | 18 + .../ProductConfigurationLaterality.md | 18 + .../ProductConfigurationVisionModuleType.md | 18 + .../ProductConfigurationWristType.md | 18 + .../messages/Session/ConnectionList.md | 22 + .../Session/CreateSessionInfo.md} | 26 +- .../VisionConfig/DistortionCoefficients.md | 34 + .../VisionConfig/ExtrinsicParameters.md | 28 + .../messages/VisionConfig/FocusPoint.md | 22 + .../VisionConfig/IntrinsicParameters.md | 45 ++ .../IntrinsicProfileIdentifier.md | 22 + .../messages/VisionConfig/ManualFocus.md | 18 + .../messages/VisionConfig/OptionIdentifier.md | 22 + .../VisionConfig/OptionInformation.md} | 34 +- .../messages/VisionConfig/OptionValue.md | 26 + .../messages/VisionConfig/RotationMatrix.md | 35 + .../VisionConfig/RotationMatrixRow.md | 26 + .../VisionConfig/SensorFocusAction.md | 36 + .../messages/VisionConfig/SensorIdentifier.md | 18 + .../messages/VisionConfig/SensorSettings.md | 30 + .../VisionConfig/TranslationVector.md | 26 + .../VisionConfig/VisionNotification.md | 26 + .../enm_ActuatorConfig_ControlMode.md | 21 - .../enm_ActuatorConfig_SafetyLimitType.md | 17 - .../enm_ActuatorConfig_ServiceVersion.md | 17 - .../enm_ActuatorCyclic_ServiceVersion.md | 17 - .../enm_BaseCyclic_ServiceVersion.md | 17 - .../references/enm_Base_ActionEvent.md | 20 - .../references/enm_Base_ActionType.md | 32 - .../enm_Base_CartesianReferenceFrame.md | 18 - .../references/enm_Base_ControllerType.md | 18 - .../enm_Base_CountryCodeIdentifier.md | 128 ---- .../references/enm_Base_GripperMode.md | 19 - .../references/enm_Base_LimitationType.md | 19 - .../enm_Base_NavigationDirection.md | 20 - .../references/enm_Base_RobotEvent.md | 20 - .../references/enm_Base_ServiceVersion.md | 17 - .../markdown/references/enm_Base_TwistMode.md | 19 - .../references/enm_Base_WifiEncryptionType.md | 19 - .../references/enm_DeviceConfig_RunModes.md | 20 - .../enm_DeviceConfig_ServiceVersion.md | 17 - .../enm_DeviceManager_ServiceVersion.md | 17 - .../enm_InterconnectConfig_ServiceVersion.md | 17 - .../enm_InterconnectCyclic_ServiceVersion.md | 17 - .../references/enm_Session_ServiceVersion.md | 17 - .../enm_VisionConfig_ServiceVersion.md | 17 - .../msg_ActuatorConfig_AxisPosition.md | 28 - ...g_ActuatorConfig_CommandModeInformation.md | 28 - ...g_ActuatorConfig_ControlModeInformation.md | 28 - .../msg_ActuatorConfig_CustomDataSelection.md | 26 - .../msg_ActuatorConfig_LoopSelection.md | 28 - .../references/msg_ActuatorConfig_Servoing.md | 28 - .../msg_ActuatorConfig_TorqueOffset.md | 28 - .../references/msg_ActuatorCyclic_Command.md | 51 -- .../references/msg_BaseCyclic_Command.md | 43 -- .../references/msg_BaseCyclic_CustomData.md | 75 -- .../references/msg_BaseCyclic_Feedback.md | 50 -- .../msg_BaseCyclic_InterconnectCommand.md | 44 -- .../msg_BaseCyclic_InterconnectFeedback.md | 96 --- .../markdown/references/msg_Base_Action.md | 152 ---- .../msg_Base_ActionExecutionState.md | 35 - .../references/msg_Base_ActionList.md | 32 - .../references/msg_Base_ActionNotification.md | 60 -- .../msg_Base_ActionNotificationList.md | 32 - .../references/msg_Base_ActivateMapHandle.md | 45 -- .../msg_Base_ActuatorInformation.md | 28 - .../references/msg_Base_Admittance.md | 28 - .../msg_Base_AdvancedSequenceHandle.md | 35 - .../msg_Base_AppendActionInformation.md | 38 - .../msg_Base_ArmStateInformation.md | 35 - .../msg_Base_ArmStateNotification.md | 42 -- .../msg_Base_CartesianLimitationList.md | 32 - ...msg_Base_CartesianReferenceFrameRequest.md | 28 - .../msg_Base_CartesianTrajectoryConstraint.md | 35 - .../references/msg_Base_ChangeJointSpeeds.md | 31 - ...ase_CommunicationInterfaceConfiguration.md | 32 - ...sg_Base_ConfigurationChangeNotification.md | 119 --- ...ase_ConfigurationChangeNotificationList.md | 32 - .../msg_Base_ConstrainedJointAngle.md | 39 - .../msg_Base_ConstrainedJointAngles.md | 38 - .../msg_Base_ConstrainedOrientation.md | 38 - .../references/msg_Base_ConstrainedPose.md | 38 - .../msg_Base_ConstrainedPosition.md | 38 - .../msg_Base_ControlModeInformation.md | 28 - .../msg_Base_ControlModeNotification.md | 49 -- .../msg_Base_ControlModeNotificationList.md | 32 - .../msg_Base_ControllerElementHandle.md | 39 - .../msg_Base_ControllerElementState.md | 39 - .../references/msg_Base_ControllerEvent.md | 36 - .../references/msg_Base_ControllerHandle.md | 32 - .../references/msg_Base_ControllerList.md | 32 - .../msg_Base_ControllerNotification.md | 59 -- .../msg_Base_ControllerNotificationList.md | 32 - .../references/msg_Base_ControllerState.md | 35 - .../references/msg_Base_CountryCode.md | 28 - .../doc/markdown/references/msg_Base_Delay.md | 28 - .../references/msg_Base_EmergencyStop.md | 10 - .../msg_Base_FactoryNotification.md | 49 -- .../markdown/references/msg_Base_Faults.md | 10 - .../msg_Base_FullIPv4Configuration.md | 38 - .../references/msg_Base_FullUserProfile.md | 40 - .../markdown/references/msg_Base_GpioEvent.md | 32 - .../markdown/references/msg_Base_Gripper.md | 32 - .../references/msg_Base_GripperCommand.md | 39 - .../references/msg_Base_GripperRequest.md | 28 - .../references/msg_Base_JointAngles.md | 32 - .../references/msg_Base_JointLimitation.md | 35 - .../msg_Base_JointLimitationTypeIdentifier.md | 32 - .../msg_Base_JointLimitationValue.md | 32 - .../msg_Base_JointLimitationValueList.md | 32 - .../references/msg_Base_JointSpeeds.md | 36 - .../msg_Base_JointTrajectoryConstraint.md | 32 - .../msg_Base_LimitationTypeIdentifier.md | 28 - .../doc/markdown/references/msg_Base_Map.md | 48 -- .../references/msg_Base_MapElement.md | 38 - .../markdown/references/msg_Base_MapEvent.md | 54 -- .../markdown/references/msg_Base_MapGroup.md | 79 -- .../references/msg_Base_MapGroupList.md | 32 - .../markdown/references/msg_Base_MapList.md | 32 - .../markdown/references/msg_Base_Mapping.md | 83 --- .../msg_Base_MappingInfoNotification.md | 56 -- .../msg_Base_MappingInfoNotificationList.md | 32 - .../references/msg_Base_MappingList.md | 32 - .../references/msg_Base_NetworkHandle.md | 28 - .../msg_Base_NetworkNotification.md | 49 -- .../msg_Base_NetworkNotificationList.md | 32 - .../msg_Base_OperatingModeInformation.md | 35 - .../msg_Base_OperatingModeNotification.md | 56 -- .../msg_Base_OperatingModeNotificationList.md | 32 - .../references/msg_Base_ProtectionZone.md | 76 -- .../msg_Base_ProtectionZoneInformation.md | 28 - .../references/msg_Base_ProtectionZoneList.md | 32 - .../msg_Base_ProtectionZoneNotification.md | 56 -- ...msg_Base_ProtectionZoneNotificationList.md | 32 - .../doc/markdown/references/msg_Base_Query.md | 47 -- .../msg_Base_RequestedActionType.md | 28 - .../msg_Base_RobotEventNotification.md | 56 -- .../msg_Base_RobotEventNotificationList.md | 32 - .../references/msg_Base_RotationMatrix.md | 45 -- .../references/msg_Base_SafetyEvent.md | 31 - .../msg_Base_SafetyNotificationList.md | 32 - .../msg_Base_SequenceInfoNotification.md | 68 -- .../msg_Base_SequenceInfoNotificationList.md | 32 - .../references/msg_Base_SequenceList.md | 32 - .../references/msg_Base_SequenceTaskHandle.md | 35 - .../msg_Base_ServoingModeInformation.md | 28 - .../msg_Base_ServoingModeNotification.md | 49 -- .../msg_Base_ServoingModeNotificationList.md | 32 - .../doc/markdown/references/msg_Base_Stop.md | 10 - .../msg_Base_SwitchControlMapping.md | 42 -- .../markdown/references/msg_Base_Timeout.md | 28 - .../msg_Base_TransformationMatrix.md | 52 -- .../references/msg_Base_TwistCommand.md | 39 - .../markdown/references/msg_Base_UserList.md | 32 - .../references/msg_Base_UserNotification.md | 56 -- .../msg_Base_UserNotificationList.md | 32 - .../references/msg_Base_UserProfileList.md | 32 - .../msg_Base_WifiConfigurationList.md | 32 - .../msg_Base_WifiInformationList.md | 32 - .../markdown/references/msg_Base_ZoneShape.md | 54 -- .../markdown/references/msg_Common_Empty.md | 10 - .../msg_Common_NotificationHandle.md | 28 - .../references/msg_Common_SafetyHandle.md | 28 - .../msg_Common_SafetyNotification.md | 56 -- .../msg_DeviceConfig_BootloaderVersion.md | 28 - .../references/msg_DeviceConfig_DeviceType.md | 28 - .../msg_DeviceConfig_FirmwareVersion.md | 28 - .../references/msg_DeviceConfig_RebootRqst.md | 28 - .../references/msg_DeviceConfig_RunMode.md | 28 - .../msg_DeviceConfig_SafetyConfiguration.md | 46 -- ...sg_DeviceConfig_SafetyConfigurationList.md | 32 - .../msg_DeviceConfig_SafetyEnable.md | 35 - .../msg_DeviceConfig_SafetyInformationList.md | 32 - .../msg_DeviceConfig_SafetyStatus.md | 28 - .../msg_DeviceConfig_SafetyThreshold.md | 35 - .../msg_DeviceManager_DeviceHandles.md | 32 - .../msg_InterconnectCyclic_Command.md | 47 -- .../msg_InterconnectCyclic_MessageId.md | 28 - .../references/msg_Session_ConnectionList.md | 32 - .../msg_VisionConfig_IntrinsicParameters.md | 48 -- .../msg_VisionConfig_OptionIdentifier.md | 32 - .../msg_VisionConfig_OptionValue.md | 36 - .../msg_VisionConfig_SensorFocusAction.md | 32 - .../msg_VisionConfig_SensorIdentifier.md | 28 - .../msg_VisionConfig_SensorSettings.md | 40 - .../msg_VisionConfig_VisionNotification.md | 36 - .../references/summary_ActuatorConfig.md | 93 --- .../references/summary_ActuatorCyclic.md | 50 -- .../doc/markdown/references/summary_Api.md | 21 - .../doc/markdown/references/summary_Base.md | 324 --------- .../markdown/references/summary_BaseCyclic.md | 54 -- .../doc/markdown/references/summary_Common.md | 39 - .../references/summary_DeviceConfig.md | 94 --- .../references/summary_DeviceManager.md | 42 -- .../references/summary_InterconnectConfig.md | 21 - .../references/summary_InterconnectCyclic.md | 48 -- .../markdown/references/summary_Session.md | 46 -- .../references/summary_VisionConfig.md | 63 -- .../markdown/summary_pages/ActuatorConfig.md | 79 ++ .../markdown/summary_pages/ActuatorCyclic.md | 36 + api_cpp/doc/markdown/summary_pages/Api.md | 15 + api_cpp/doc/markdown/summary_pages/Base.md | 340 +++++++++ .../doc/markdown/summary_pages/BaseCyclic.md | 37 + api_cpp/doc/markdown/summary_pages/Common.md | 42 ++ .../markdown/summary_pages/ControlConfig.md | 44 ++ .../markdown/summary_pages/DeviceConfig.md | 90 +++ .../markdown/summary_pages/DeviceManager.md | 28 + .../markdown/summary_pages/GripperConfig.md | 15 + .../markdown/summary_pages/GripperCyclic.md | 37 + .../summary_pages/InterconnectConfig.md | 65 ++ .../summary_pages/InterconnectCyclic.md | 34 + .../summary_pages/ProductConfiguration.md | 33 + api_cpp/doc/markdown/summary_pages/Session.md | 32 + .../markdown/summary_pages/VisionConfig.md | 61 ++ .../000-Getting_started/01-api_creation.cpp | 51 +- .../02-protobuf_object_manipulation.cpp | 91 +-- .../000-Getting_started/03-api_mechanism.cpp | 146 ++-- .../04-error_management.cpp | 74 +- .../000-Getting_started/05-notification.cpp | 95 +-- .../000-Getting_started/CMakeLists.txt | 78 -- .../01-devices_routing.cpp | 116 +-- .../100-BaseGen3_overview/CMakeLists.txt | 78 -- .../01-move_angular_and_cartesian.cpp | 198 ++--- .../102-BaseGen3_ctrl/02-sequence.cpp | 154 ++-- .../102-BaseGen3_ctrl/03-twist_command.cpp | 136 ++-- .../102-BaseGen3_ctrl/04-send_joint_speed.cpp | 129 ---- .../04-send_joint_speeds.cpp | 133 ++++ .../examples/102-BaseGen3_ctrl/CMakeLists.txt | 78 -- .../01-uart_bridge.cpp | 375 ++++++++++ .../01-gpio_bridge.cpp | 286 ++++++++ .../arduino_gpio_example_firmware.ino | 56 ++ .../105-BaseGen3_i2c_bridge/01-i2c_bridge.cpp | 293 ++++++++ .../01-gripper_command.cpp | 187 +++++ .../01-gripper_low_level_command.cpp | 344 +++++++++ .../01-torque_control_cyclic.cpp | 350 +++++++++ .../01-ethernet_bridge_configuration.cpp | 156 ++++ .../configure_route_to_device.bash | 24 + .../configure_route_to_device.bat | 30 + .../109-BaseGen3_ethernet_bridge/readme.md | 65 ++ ...01-actuator_low_level_velocity_control.cpp | 262 +++++++ .../01-low_level_cyclic.cpp | 263 ------- .../CMakeLists.txt | 78 -- .../CMakeLists.txt | 78 -- api_cpp/examples/500-Vision/01-vision.cpp | 94 --- .../500-Vision/01_vision_intrinsics.cpp | 307 ++++++++ .../500-Vision/02_vision_extrinsics.cpp | 189 +++++ .../03_vision_sensor_focus_action.cpp | 249 +++++++ .../500-Vision/04_vision_sensor_options.cpp | 538 ++++++++++++++ api_cpp/examples/500-Vision/CMakeLists.txt | 78 -- api_cpp/examples/CMakeLists.txt | 148 +++- api_cpp/examples/kortex_api/readme.md | 2 + api_cpp/examples/readme.md | 281 ++++--- .../examples/scripts/download_kortex_api.bat | 34 + .../enums/ActuatorConfig/CommandMode.md | 8 +- .../ActuatorConfig/ControlLoopSelection.md | 8 +- .../ActuatorConfig/ControlMode.md} | 8 +- .../ActuatorConfig/CustomDataIndex.md} | 12 +- .../ActuatorConfig/SafetyIdentifierBankA.md} | 14 +- .../enums/ActuatorConfig/SafetyLimitType.md | 13 + .../enums/ActuatorConfig/ServiceVersion.md | 13 + .../ActuatorCyclic/CommandFlags.md} | 8 +- .../enums/ActuatorCyclic/ServiceVersion.md | 13 + .../ActuatorCyclic/StatusFlags.md} | 8 +- .../doc/markdown/enums/Api/ErrorCodes.md | 8 +- .../doc/markdown/enums/Api/SubErrorCodes.md | 14 +- .../doc/markdown/enums/Base/ActionEvent.md | 22 + .../doc/markdown/enums/Base/ActionType.md | 31 + .../Base/AdmittanceMode.md} | 8 +- .../Base/BackupEvent.md} | 8 +- .../doc/markdown/enums/Base/BridgeStatus.md | 18 + 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+- .../doc/markdown/enums/Base/RobotEvent.md | 16 + .../Base/SafetyIdentifier.md} | 36 +- .../doc/markdown/enums/Base/ServiceVersion.md | 13 + .../doc/markdown/enums/Base/ServoingMode.md | 9 +- .../doc/markdown/enums/Base/ShapeType.md | 8 +- .../Base/SignalQuality.md} | 8 +- .../doc/markdown/enums/Base/SoundType.md | 8 +- .../enums/Base/TrajectoryContinuityMode.md | 15 + .../enums/Base/TrajectoryErrorIdentifier.md | 17 + .../enums/Base/TrajectoryErrorType.md | 31 + .../doc/markdown/enums/Base/UserEvent.md | 8 +- .../markdown/enums/Base/WifiEncryptionType.md | 15 + .../markdown/enums/Base/WifiSecurityType.md | 10 +- .../doc/markdown/enums/Base/WrenchMode.md | 14 + .../Base/Xbox360AnalogInputIdentifier.md | 8 +- .../Base/Xbox360DigitalInputIdentifier.md | 8 +- .../enums/BaseCyclic/ServiceVersion.md | 13 + .../doc/markdown/enums/Common/ArmState.md | 8 +- .../enums/Common/CartesianReferenceFrame.md | 15 + .../enums/Common/CountryCodeIdentifier.md | 124 ++++ .../doc/markdown/enums/Common/DeviceTypes.md | 12 +- .../markdown/enums/Common/NotificationType.md | 12 +- .../doc/markdown/enums/Common/Permission.md | 8 +- .../enums/Common/SafetyStatusValue.md | 8 +- .../doc/markdown/enums/Common/UARTParity.md | 15 + .../doc/markdown/enums/Common/UARTSpeed.md | 27 + .../doc/markdown/enums/Common/UARTStopBits.md | 16 + .../markdown/enums/Common/UARTWordLength.md | 15 + .../doc/markdown/enums/Common/Unit.md | 8 +- .../ControlConfigurationEvent.md | 26 + .../enums/ControlConfig/ServiceVersion.md | 13 + .../enums/DeviceConfig/CalibrationItem.md | 16 + .../enums/DeviceConfig/CalibrationStatus.md | 16 + .../enums/DeviceConfig/CapSenseMode.md | 17 + .../DeviceConfig/RunModes.md} | 10 +- .../enums/DeviceConfig/SafetyLimitType.md | 10 +- .../enums/DeviceConfig/ServiceVersion.md | 13 + .../enums/DeviceManager/ServiceVersion.md | 13 + .../RobotiqGripperStatusFlags.md | 16 + .../enums/GripperConfig/SafetyIdentifier.md | 21 + 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| 15 + .../ProductConfiguration/VisionModuleType.md | 16 + .../enums/ProductConfiguration/WristType.md | 15 + .../markdown/enums/Session/ServiceVersion.md | 13 + .../markdown/enums/VisionConfig/BitRate.md | 8 +- .../VisionConfig/FocusAction.md} | 10 +- .../markdown/enums/VisionConfig/FrameRate.md | 8 +- .../doc/markdown/enums/VisionConfig/Option.md | 8 +- .../markdown/enums/VisionConfig/Resolution.md | 8 +- .../doc/markdown/enums/VisionConfig/Sensor.md | 8 +- .../enums/VisionConfig/ServiceVersion.md | 13 + .../VisionConfig/VisionEvent.md} | 8 +- api_python/doc/markdown/index.md | 685 ++++++++++-------- .../messages/ActuatorConfig/AxisOffsets.md | 11 + .../messages/ActuatorConfig/AxisPosition.md | 10 + .../ActuatorConfig/CommandModeInformation.md | 10 + .../messages/ActuatorConfig/ControlLoop.md | 10 + .../ActuatorConfig/ControlLoopParameters.md | 15 + .../ActuatorConfig/ControlModeInformation.md | 10 + .../ActuatorConfig/CustomDataSelection.md | 10 + .../EncoderDerivativeParameters.md | 11 + .../ActuatorConfig/FrequencyResponse.md | 14 + .../messages/ActuatorConfig/LoopSelection.md | 10 + .../ActuatorConfig/PositionCommand.md | 12 + .../messages/ActuatorConfig/RampResponse.md | 13 + .../messages/ActuatorConfig/Servoing.md | 10 + .../messages/ActuatorConfig/StepResponse.md | 13 + .../ActuatorConfig/TorqueCalibration.md | 13 + .../messages/ActuatorConfig/TorqueOffset.md | 10 + .../ActuatorConfig/VectorDriveParameters.md | 13 + .../messages/ActuatorCyclic/Command.md | 15 + .../messages/ActuatorCyclic/CustomData.md | 26 + .../messages/ActuatorCyclic/Feedback.md | 23 + .../messages/ActuatorCyclic/MessageId.md | 10 + .../doc/markdown/messages/Base/Action.md | 31 + .../messages/Base/ActionExecutionState.md | 11 + .../markdown/messages/Base/ActionHandle.md | 12 + .../doc/markdown/messages/Base/ActionList.md | 10 + .../messages/Base/ActionNotification.md | 15 + .../messages/Base/ActionNotificationList.md | 10 + .../messages/Base/ActivateMapHandle.md | 12 + 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4 + .../messages/Base/FactoryNotification.md | 13 + .../doc/markdown/messages/Base/Faults.md | 4 + .../doc/markdown/messages/Base/Finger.md | 11 + .../messages/Base/FullIPv4Configuration.md | 11 + .../markdown/messages/Base/FullUserProfile.md | 11 + .../doc/markdown/messages/Base/GpioEvent.md | 11 + .../doc/markdown/messages/Base/Gripper.md | 10 + .../markdown/messages/Base/GripperCommand.md | 12 + .../markdown/messages/Base/GripperRequest.md | 10 + .../messages/Base/IPv4Configuration.md | 13 + .../markdown/messages/Base/IPv4Information.md | 12 + .../doc/markdown/messages/Base/JointAngle.md | 11 + .../doc/markdown/messages/Base/JointAngles.md | 10 + .../markdown/messages/Base/JointLimitation.md | 12 + .../doc/markdown/messages/Base/JointSpeed.md | 12 + .../doc/markdown/messages/Base/JointSpeeds.md | 11 + .../doc/markdown/messages/Base/JointTorque.md | 12 + .../markdown/messages/Base/JointTorques.md | 11 + .../Base/JointTrajectoryConstraint.md | 11 + .../messages/Base/JointsLimitationsList.md | 10 + api_python/doc/markdown/messages/Base/Map.md | 12 + .../doc/markdown/messages/Base/MapElement.md | 11 + .../doc/markdown/messages/Base/MapEvent.md | 13 + .../doc/markdown/messages/Base/MapGroup.md | 16 + .../markdown/messages/Base/MapGroupHandle.md | 11 + .../markdown/messages/Base/MapGroupList.md | 10 + .../doc/markdown/messages/Base/MapHandle.md | 11 + .../doc/markdown/messages/Base/MapList.md | 10 + .../doc/markdown/messages/Base/Mapping.md | 17 + .../markdown/messages/Base/MappingHandle.md | 11 + .../messages/Base/MappingInfoNotification.md | 14 + .../Base/MappingInfoNotificationList.md | 10 + .../doc/markdown/messages/Base/MappingList.md | 10 + .../markdown/messages/Base/NetworkHandle.md | 10 + .../messages/Base/NetworkNotification.md | 13 + .../messages/Base/NetworkNotificationList.md | 10 + .../messages/Base/OperatingModeInformation.md | 11 + .../Base/OperatingModeNotification.md | 14 + .../Base/OperatingModeNotificationList.md | 10 + .../doc/markdown/messages/Base/Orientation.md | 12 + .../markdown/messages/Base/PasswordChange.md | 12 + .../doc/markdown/messages/Base/Point.md | 12 + api_python/doc/markdown/messages/Base/Pose.md | 15 + .../doc/markdown/messages/Base/Position.md | 12 + .../Base/PreComputedJointTrajectory.md | 11 + .../Base/PreComputedJointTrajectoryElement.md | 13 + .../markdown/messages/Base/ProtectionZone.md | 16 + .../messages/Base/ProtectionZoneHandle.md | 11 + .../Base/ProtectionZoneInformation.md | 10 + .../messages/Base/ProtectionZoneList.md | 10 + .../Base/ProtectionZoneNotification.md | 14 + .../Base/ProtectionZoneNotificationList.md | 10 + .../doc/markdown/messages/Base/Query.md | 12 + .../messages/Base/RequestedActionType.md | 10 + .../messages/Base/RobotEventNotification.md | 14 + .../Base/RobotEventNotificationList.md | 10 + .../markdown/messages/Base/RotationMatrix.md | 12 + .../messages/Base/RotationMatrixRow.md | 12 + .../doc/markdown/messages/Base/SafetyEvent.md | 10 + .../messages/Base/SafetyNotificationList.md | 10 + .../doc/markdown/messages/Base/Sequence.md | 13 + .../markdown/messages/Base/SequenceHandle.md | 11 + .../messages/Base/SequenceInfoNotification.md | 17 + .../Base/SequenceInfoNotificationList.md | 10 + .../messages/Base/SequenceInformation.md | 12 + .../markdown/messages/Base/SequenceList.md | 10 + .../markdown/messages/Base/SequenceTask.md | 12 + .../messages/Base/SequenceTaskHandle.md | 11 + .../messages/Base/ServoingModeInformation.md | 10 + .../messages/Base/ServoingModeNotification.md | 13 + .../Base/ServoingModeNotificationList.md | 10 + api_python/doc/markdown/messages/Base/Ssid.md | 10 + api_python/doc/markdown/messages/Base/Stop.md | 4 + .../messages/Base/SwitchControlMapping.md | 12 + .../doc/markdown/messages/Base/SystemTime.md | 15 + .../doc/markdown/messages/Base/Timeout.md | 10 + .../messages/Base/TrajectoryErrorElement.md | 16 + .../messages/Base/TrajectoryErrorReport.md | 10 + .../messages/Base/TransformationMatrix.md | 13 + .../messages/Base/TransformationRow.md | 13 + .../doc/markdown/messages/Base/Twist.md | 15 + .../markdown/messages/Base/TwistCommand.md | 12 + .../markdown/messages/Base/TwistLimitation.md | 11 + .../doc/markdown/messages/Base/UserList.md | 10 + .../messages/Base/UserNotification.md | 14 + .../messages/Base/UserNotificationList.md | 10 + .../doc/markdown/messages/Base/UserProfile.md | 14 + .../markdown/messages/Base/UserProfileList.md | 10 + .../messages/Base/WifiConfiguration.md | 12 + .../messages/Base/WifiConfigurationList.md | 10 + .../markdown/messages/Base/WifiInformation.md | 16 + .../messages/Base/WifiInformationList.md | 10 + .../doc/markdown/messages/Base/Wrench.md | 15 + .../markdown/messages/Base/WrenchCommand.md | 13 + .../messages/Base/WrenchLimitation.md | 11 + .../doc/markdown/messages/Base/ZoneShape.md | 14 + .../messages/BaseCyclic/ActuatorCommand.md | 15 + .../messages/BaseCyclic/ActuatorCustomData.md | 26 + .../messages/BaseCyclic/ActuatorFeedback.md | 23 + 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.../102-BaseGen3_ctrl/03-twist_command.py | 106 ++- .../102-BaseGen3_ctrl/04-send_joint_speed.py | 109 --- .../102-BaseGen3_ctrl/04-send_joint_speeds.py | 102 +++ .../01-uart_bridge.py | 204 ++++++ .../01-gpio_bridge.py | 216 ++++++ .../arduino_gpio_example_firmware.ino | 92 +++ .../105-BaseGen3_i2c_bridge/01-i2c_bridge.py | 234 ++++++ .../01-gripper_command.py | 100 +++ .../01-gripper_low_level_command.py | 263 +++++++ .../107-BaseGen3_gripper_low_level/kbhit.py | 130 ++++ .../01-torque_control_cyclic.py | 327 +++++++++ .../01-ethernet_bridge_configuration.py | 79 ++ .../configure_route_to_device.bash | 24 + .../configure_route_to_device.bat | 30 + .../109-BaseGen3_ethernet_bridge/readme.md | 65 ++ api_python/examples/500-Vision/01-vision.py | 85 --- .../500-Vision/01-vision_intrinsics.py | 221 ++++++ .../500-Vision/02-vision_extrinsics.py | 132 ++++ .../03-vision_sensor_focus_action.py | 198 +++++ .../500-Vision/04-vision_sensor_options.py | 315 ++++++++ api_python/examples/readme.md | 45 +- api_python/examples/utilities.py | 76 ++ linked_md/add_cmake_to_path.PNG | Bin 0 -> 17398 bytes linked_md/cpp_api_mechanism.md | 93 +-- linked_md/cpp_device_routing.md | 119 +-- linked_md/cpp_error_management.md | 81 ++- linked_md/cpp_servoing_modes.md | 155 +--- .../cpp_transport_router_session_notif.md | 81 ++- linked_md/py_device_routing.md | 132 ---- .../py_transport_router_session_notif.md | 118 --- linked_md/python_api_mechanism.md | 21 +- linked_md/python_device_routing.md | 149 ++++ linked_md/python_error_management.md | 21 +- linked_md/python_quick_start.md | 58 +- linked_md/python_servoing_modes.md | 20 +- .../python_transport_router_session_notif.md | 135 ++++ readme.md | 51 +- run_example.py | 74 -- 1289 files changed, 23274 insertions(+), 17875 deletions(-) rename api_python/doc/markdown/references/enm_ActuatorConfig_CommandMode.md => api_cpp/doc/markdown/enums/ActuatorConfig/CommandMode.md (66%) rename 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api_python/doc/markdown/references/enm_Base_ProtectionZoneEvent.md => api_cpp/doc/markdown/enums/Base/ProtectionZoneEvent.md (56%) create mode 100644 api_cpp/doc/markdown/enums/Base/RobotEvent.md rename api_cpp/doc/markdown/{references/enm_Base_SafetyIdentifier.md => enums/Base/SafetyIdentifier.md} (59%) create mode 100644 api_cpp/doc/markdown/enums/Base/ServiceVersion.md rename api_python/doc/markdown/references/enm_Base_ServoingMode.md => api_cpp/doc/markdown/enums/Base/ServoingMode.md (51%) rename api_python/doc/markdown/references/enm_Base_ShapeType.md => api_cpp/doc/markdown/enums/Base/ShapeType.md (53%) rename api_cpp/doc/markdown/{references/enm_Base_SignalQuality.md => enums/Base/SignalQuality.md} (57%) rename api_python/doc/markdown/references/enm_Base_SoundType.md => api_cpp/doc/markdown/enums/Base/SoundType.md (50%) create mode 100644 api_cpp/doc/markdown/enums/Base/TrajectoryContinuityMode.md create mode 100644 api_cpp/doc/markdown/enums/Base/TrajectoryErrorIdentifier.md create mode 100644 api_cpp/doc/markdown/enums/Base/TrajectoryErrorType.md create mode 100644 api_cpp/doc/markdown/enums/Base/UserEvent.md create mode 100644 api_cpp/doc/markdown/enums/Base/WifiEncryptionType.md create mode 100644 api_cpp/doc/markdown/enums/Base/WifiSecurityType.md create mode 100644 api_cpp/doc/markdown/enums/Base/WrenchMode.md rename api_python/doc/markdown/references/enm_Base_Xbox360AnalogInputIdentifier.md => api_cpp/doc/markdown/enums/Base/Xbox360AnalogInputIdentifier.md (63%) rename api_python/doc/markdown/references/enm_Base_Xbox360DigitalInputIdentifier.md => api_cpp/doc/markdown/enums/Base/Xbox360DigitalInputIdentifier.md (75%) create mode 100644 api_cpp/doc/markdown/enums/BaseCyclic/ServiceVersion.md rename api_python/doc/markdown/references/enm_Common_ArmState.md => api_cpp/doc/markdown/enums/Common/ArmState.md (81%) create mode 100644 api_cpp/doc/markdown/enums/Common/CartesianReferenceFrame.md create mode 100644 api_cpp/doc/markdown/enums/Common/CountryCodeIdentifier.md rename api_python/doc/markdown/references/enm_Common_DeviceTypes.md => api_cpp/doc/markdown/enums/Common/DeviceTypes.md (54%) rename api_python/doc/markdown/references/enm_Common_NotificationType.md => api_cpp/doc/markdown/enums/Common/NotificationType.md (52%) rename api_python/doc/markdown/references/enm_Common_Permission.md => api_cpp/doc/markdown/enums/Common/Permission.md (61%) rename api_python/doc/markdown/references/enm_Common_SafetyStatusValue.md => api_cpp/doc/markdown/enums/Common/SafetyStatusValue.md (55%) create mode 100644 api_cpp/doc/markdown/enums/Common/UARTParity.md create mode 100644 api_cpp/doc/markdown/enums/Common/UARTSpeed.md create mode 100644 api_cpp/doc/markdown/enums/Common/UARTStopBits.md create mode 100644 api_cpp/doc/markdown/enums/Common/UARTWordLength.md rename api_python/doc/markdown/references/enm_Common_Unit.md => api_cpp/doc/markdown/enums/Common/Unit.md (70%) create mode 100644 api_cpp/doc/markdown/enums/ControlConfig/ControlConfigurationEvent.md create mode 100644 api_cpp/doc/markdown/enums/ControlConfig/ServiceVersion.md create mode 100644 api_cpp/doc/markdown/enums/DeviceConfig/CalibrationItem.md create mode 100644 api_cpp/doc/markdown/enums/DeviceConfig/CalibrationStatus.md create mode 100644 api_cpp/doc/markdown/enums/DeviceConfig/CapSenseMode.md create mode 100644 api_cpp/doc/markdown/enums/DeviceConfig/RunModes.md rename api_python/doc/markdown/references/enm_DeviceConfig_SafetyLimitType.md => api_cpp/doc/markdown/enums/DeviceConfig/SafetyLimitType.md (60%) create mode 100644 api_cpp/doc/markdown/enums/DeviceConfig/ServiceVersion.md create mode 100644 api_cpp/doc/markdown/enums/DeviceManager/ServiceVersion.md create mode 100644 api_cpp/doc/markdown/enums/GripperConfig/RobotiqGripperStatusFlags.md create mode 100644 api_cpp/doc/markdown/enums/GripperConfig/SafetyIdentifier.md create mode 100644 api_cpp/doc/markdown/enums/GripperCyclic/ServiceVersion.md create mode 100644 api_cpp/doc/markdown/enums/InterconnectConfig/EthernetDevice.md create mode 100644 api_cpp/doc/markdown/enums/InterconnectConfig/EthernetDuplex.md create mode 100644 api_cpp/doc/markdown/enums/InterconnectConfig/EthernetSpeed.md create mode 100644 api_cpp/doc/markdown/enums/InterconnectConfig/GPIOIdentifier.md create mode 100644 api_cpp/doc/markdown/enums/InterconnectConfig/GPIOMode.md create mode 100644 api_cpp/doc/markdown/enums/InterconnectConfig/GPIOPull.md create mode 100644 api_cpp/doc/markdown/enums/InterconnectConfig/GPIOValue.md create mode 100644 api_cpp/doc/markdown/enums/InterconnectConfig/I2CDevice.md create mode 100644 api_cpp/doc/markdown/enums/InterconnectConfig/I2CDeviceAddressing.md create mode 100644 api_cpp/doc/markdown/enums/InterconnectConfig/I2CMode.md create mode 100644 api_cpp/doc/markdown/enums/InterconnectConfig/I2CRegisterAddressSize.md rename api_python/doc/markdown/references/enm_InterconnectConfig_SafetyIdentifier.md => api_cpp/doc/markdown/enums/InterconnectConfig/SafetyIdentifier.md (63%) create mode 100644 api_cpp/doc/markdown/enums/InterconnectConfig/ServiceVersion.md create mode 100644 api_cpp/doc/markdown/enums/InterconnectConfig/UARTPortId.md create mode 100644 api_cpp/doc/markdown/enums/InterconnectCyclic/ServiceVersion.md create mode 100644 api_cpp/doc/markdown/enums/ProductConfiguration/ArmLaterality.md create mode 100644 api_cpp/doc/markdown/enums/ProductConfiguration/BaseType.md create mode 100644 api_cpp/doc/markdown/enums/ProductConfiguration/EndEffectorType.md create mode 100644 api_cpp/doc/markdown/enums/ProductConfiguration/InterfaceModuleType.md create mode 100644 api_cpp/doc/markdown/enums/ProductConfiguration/ModelId.md create mode 100644 api_cpp/doc/markdown/enums/ProductConfiguration/VisionModuleType.md create mode 100644 api_cpp/doc/markdown/enums/ProductConfiguration/WristType.md create mode 100644 api_cpp/doc/markdown/enums/Session/ServiceVersion.md rename api_python/doc/markdown/references/enm_VisionConfig_BitRate.md => api_cpp/doc/markdown/enums/VisionConfig/BitRate.md (67%) rename api_cpp/doc/markdown/{references/enm_VisionConfig_FocusAction.md => enums/VisionConfig/FocusAction.md} (54%) rename api_python/doc/markdown/references/enm_VisionConfig_FrameRate.md => api_cpp/doc/markdown/enums/VisionConfig/FrameRate.md (57%) rename api_python/doc/markdown/references/enm_VisionConfig_Option.md => api_cpp/doc/markdown/enums/VisionConfig/Option.md (95%) rename api_python/doc/markdown/references/enm_VisionConfig_Resolution.md => api_cpp/doc/markdown/enums/VisionConfig/Resolution.md (73%) rename api_python/doc/markdown/references/enm_VisionConfig_Sensor.md => api_cpp/doc/markdown/enums/VisionConfig/Sensor.md (50%) create mode 100644 api_cpp/doc/markdown/enums/VisionConfig/ServiceVersion.md rename api_cpp/doc/markdown/{references/enm_VisionConfig_VisionEvent.md => enums/VisionConfig/VisionEvent.md} (51%) rename api_cpp/doc/markdown/{references/msg_ActuatorConfig_AxisOffsets.md => messages/ActuatorConfig/AxisOffsets.md} (58%) create mode 100644 api_cpp/doc/markdown/messages/ActuatorConfig/AxisPosition.md create mode 100644 api_cpp/doc/markdown/messages/ActuatorConfig/CommandModeInformation.md rename api_cpp/doc/markdown/{references/msg_ActuatorConfig_ControlLoop.md => messages/ActuatorConfig/ControlLoop.md} (50%) rename api_cpp/doc/markdown/{references/msg_ActuatorConfig_ControlLoopParameters.md => messages/ActuatorConfig/ControlLoopParameters.md} (71%) create mode 100644 api_cpp/doc/markdown/messages/ActuatorConfig/ControlModeInformation.md create mode 100644 api_cpp/doc/markdown/messages/ActuatorConfig/CustomDataSelection.md rename api_cpp/doc/markdown/{references/msg_ActuatorConfig_EncoderDerivativeParameters.md => messages/ActuatorConfig/EncoderDerivativeParameters.md} (65%) rename api_cpp/doc/markdown/{references/msg_ActuatorConfig_FrequencyResponse.md => messages/ActuatorConfig/FrequencyResponse.md} (64%) create mode 100644 api_cpp/doc/markdown/messages/ActuatorConfig/LoopSelection.md rename api_cpp/doc/markdown/{references/msg_ActuatorConfig_PositionCommand.md => messages/ActuatorConfig/PositionCommand.md} (63%) rename api_cpp/doc/markdown/{references/msg_ActuatorConfig_RampResponse.md => messages/ActuatorConfig/RampResponse.md} (56%) create mode 100644 api_cpp/doc/markdown/messages/ActuatorConfig/Servoing.md rename api_cpp/doc/markdown/{references/msg_ActuatorConfig_StepResponse.md => messages/ActuatorConfig/StepResponse.md} (57%) rename api_cpp/doc/markdown/{references/msg_ActuatorConfig_TorqueCalibration.md => messages/ActuatorConfig/TorqueCalibration.md} (81%) create mode 100644 api_cpp/doc/markdown/messages/ActuatorConfig/TorqueOffset.md rename api_cpp/doc/markdown/{references/msg_ActuatorConfig_VectorDriveParameters.md => messages/ActuatorConfig/VectorDriveParameters.md} (71%) create mode 100644 api_cpp/doc/markdown/messages/ActuatorCyclic/Command.md rename api_cpp/doc/markdown/{references/msg_ActuatorCyclic_CustomData.md => messages/ActuatorCyclic/CustomData.md} (74%) rename api_cpp/doc/markdown/{references/msg_ActuatorCyclic_Feedback.md => messages/ActuatorCyclic/Feedback.md} (70%) rename api_cpp/doc/markdown/{references/msg_ActuatorCyclic_MessageId.md => messages/ActuatorCyclic/MessageId.md} (51%) create mode 100644 api_cpp/doc/markdown/messages/Base/Action.md create mode 100644 api_cpp/doc/markdown/messages/Base/ActionExecutionState.md rename api_cpp/doc/markdown/{references/msg_Base_ActionHandle.md => messages/Base/ActionHandle.md} (55%) create mode 100644 api_cpp/doc/markdown/messages/Base/ActionList.md create mode 100644 api_cpp/doc/markdown/messages/Base/ActionNotification.md create mode 100644 api_cpp/doc/markdown/messages/Base/ActionNotificationList.md create mode 100644 api_cpp/doc/markdown/messages/Base/ActivateMapHandle.md create mode 100644 api_cpp/doc/markdown/messages/Base/ActuatorInformation.md create mode 100644 api_cpp/doc/markdown/messages/Base/Admittance.md create mode 100644 api_cpp/doc/markdown/messages/Base/AdvancedSequenceHandle.md create mode 100644 api_cpp/doc/markdown/messages/Base/AppendActionInformation.md create mode 100644 api_cpp/doc/markdown/messages/Base/ArmStateInformation.md create mode 100644 api_cpp/doc/markdown/messages/Base/ArmStateNotification.md create mode 100644 api_cpp/doc/markdown/messages/Base/BridgeConfig.md create mode 100644 api_cpp/doc/markdown/messages/Base/BridgeIdentifier.md create mode 100644 api_cpp/doc/markdown/messages/Base/BridgeList.md create mode 100644 api_cpp/doc/markdown/messages/Base/BridgePortConfig.md create mode 100644 api_cpp/doc/markdown/messages/Base/BridgeResult.md create mode 100644 api_cpp/doc/markdown/messages/Base/CapSenseConfig.md rename api_cpp/doc/markdown/{references/msg_Base_CartesianLimitation.md => messages/Base/CartesianLimitation.md} (53%) create mode 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api_cpp/doc/markdown/messages/Base/ConstrainedOrientation.md create mode 100644 api_cpp/doc/markdown/messages/Base/ConstrainedPose.md create mode 100644 api_cpp/doc/markdown/messages/Base/ConstrainedPosition.md create mode 100644 api_cpp/doc/markdown/messages/Base/ControlModeInformation.md create mode 100644 api_cpp/doc/markdown/messages/Base/ControlModeNotification.md create mode 100644 api_cpp/doc/markdown/messages/Base/ControlModeNotificationList.md create mode 100644 api_cpp/doc/markdown/messages/Base/ControllerElementHandle.md create mode 100644 api_cpp/doc/markdown/messages/Base/ControllerElementState.md create mode 100644 api_cpp/doc/markdown/messages/Base/ControllerEvent.md create mode 100644 api_cpp/doc/markdown/messages/Base/ControllerHandle.md create mode 100644 api_cpp/doc/markdown/messages/Base/ControllerList.md create mode 100644 api_cpp/doc/markdown/messages/Base/ControllerNotification.md create mode 100644 api_cpp/doc/markdown/messages/Base/ControllerNotificationList.md create mode 100644 api_cpp/doc/markdown/messages/Base/ControllerState.md create mode 100644 api_cpp/doc/markdown/messages/Base/Delay.md create mode 100644 api_cpp/doc/markdown/messages/Base/EmergencyStop.md create mode 100644 api_cpp/doc/markdown/messages/Base/FactoryNotification.md create mode 100644 api_cpp/doc/markdown/messages/Base/Faults.md rename api_cpp/doc/markdown/{references/msg_Base_Finger.md => messages/Base/Finger.md} (52%) create mode 100644 api_cpp/doc/markdown/messages/Base/FullIPv4Configuration.md create mode 100644 api_cpp/doc/markdown/messages/Base/FullUserProfile.md create mode 100644 api_cpp/doc/markdown/messages/Base/GpioEvent.md create mode 100644 api_cpp/doc/markdown/messages/Base/Gripper.md create mode 100644 api_cpp/doc/markdown/messages/Base/GripperCommand.md create mode 100644 api_cpp/doc/markdown/messages/Base/GripperRequest.md rename api_cpp/doc/markdown/{references/msg_Base_IPv4Configuration.md => messages/Base/IPv4Configuration.md} (78%) rename api_cpp/doc/markdown/{references/msg_Base_IPv4Information.md => messages/Base/IPv4Information.md} (71%) rename api_cpp/doc/markdown/{references/msg_Base_JointAngle.md => messages/Base/JointAngle.md} (64%) create mode 100644 api_cpp/doc/markdown/messages/Base/JointAngles.md create mode 100644 api_cpp/doc/markdown/messages/Base/JointLimitation.md rename api_cpp/doc/markdown/{references/msg_Base_JointSpeed.md => messages/Base/JointSpeed.md} (69%) create mode 100644 api_cpp/doc/markdown/messages/Base/JointSpeeds.md create mode 100644 api_cpp/doc/markdown/messages/Base/JointTorque.md create mode 100644 api_cpp/doc/markdown/messages/Base/JointTorques.md create mode 100644 api_cpp/doc/markdown/messages/Base/JointTrajectoryConstraint.md create mode 100644 api_cpp/doc/markdown/messages/Base/JointsLimitationsList.md create mode 100644 api_cpp/doc/markdown/messages/Base/Map.md create mode 100644 api_cpp/doc/markdown/messages/Base/MapElement.md create mode 100644 api_cpp/doc/markdown/messages/Base/MapEvent.md create mode 100644 api_cpp/doc/markdown/messages/Base/MapGroup.md rename api_cpp/doc/markdown/{references/msg_Base_MapGroupHandle.md => messages/Base/MapGroupHandle.md} (64%) create mode 100644 api_cpp/doc/markdown/messages/Base/MapGroupList.md rename api_cpp/doc/markdown/{references/msg_Base_MapHandle.md => messages/Base/MapHandle.md} (65%) create mode 100644 api_cpp/doc/markdown/messages/Base/MapList.md create mode 100644 api_cpp/doc/markdown/messages/Base/Mapping.md rename api_cpp/doc/markdown/{references/msg_Base_MappingHandle.md => messages/Base/MappingHandle.md} (65%) create mode 100644 api_cpp/doc/markdown/messages/Base/MappingInfoNotification.md create mode 100644 api_cpp/doc/markdown/messages/Base/MappingInfoNotificationList.md create mode 100644 api_cpp/doc/markdown/messages/Base/MappingList.md create mode 100644 api_cpp/doc/markdown/messages/Base/NetworkHandle.md create mode 100644 api_cpp/doc/markdown/messages/Base/NetworkNotification.md create mode 100644 api_cpp/doc/markdown/messages/Base/NetworkNotificationList.md create mode 100644 api_cpp/doc/markdown/messages/Base/OperatingModeInformation.md create mode 100644 api_cpp/doc/markdown/messages/Base/OperatingModeNotification.md create mode 100644 api_cpp/doc/markdown/messages/Base/OperatingModeNotificationList.md rename api_cpp/doc/markdown/{references/msg_Base_Orientation.md => messages/Base/Orientation.md} (71%) rename api_cpp/doc/markdown/{references/msg_Base_PasswordChange.md => messages/Base/PasswordChange.md} (61%) rename api_cpp/doc/markdown/{references/msg_Base_Point.md => messages/Base/Point.md} (66%) rename api_cpp/doc/markdown/{references/msg_Base_Pose.md => messages/Base/Pose.md} (81%) rename api_cpp/doc/markdown/{references/msg_Base_Position.md => messages/Base/Position.md} (67%) create mode 100644 api_cpp/doc/markdown/messages/Base/PreComputedJointTrajectory.md create mode 100644 api_cpp/doc/markdown/messages/Base/PreComputedJointTrajectoryElement.md create mode 100644 api_cpp/doc/markdown/messages/Base/ProtectionZone.md rename api_cpp/doc/markdown/{references/msg_Base_ProtectionZoneHandle.md => messages/Base/ProtectionZoneHandle.md} (64%) create mode 100644 api_cpp/doc/markdown/messages/Base/ProtectionZoneInformation.md create mode 100644 api_cpp/doc/markdown/messages/Base/ProtectionZoneList.md create mode 100644 api_cpp/doc/markdown/messages/Base/ProtectionZoneNotification.md create mode 100644 api_cpp/doc/markdown/messages/Base/ProtectionZoneNotificationList.md create mode 100644 api_cpp/doc/markdown/messages/Base/Query.md create mode 100644 api_cpp/doc/markdown/messages/Base/RequestedActionType.md create mode 100644 api_cpp/doc/markdown/messages/Base/RobotEventNotification.md create mode 100644 api_cpp/doc/markdown/messages/Base/RobotEventNotificationList.md create mode 100644 api_cpp/doc/markdown/messages/Base/RotationMatrix.md rename api_cpp/doc/markdown/{references/msg_Base_RotationMatrixRow.md => messages/Base/RotationMatrixRow.md} (68%) create mode 100644 api_cpp/doc/markdown/messages/Base/SafetyEvent.md create mode 100644 api_cpp/doc/markdown/messages/Base/SafetyNotificationList.md rename api_cpp/doc/markdown/{references/msg_Base_Sequence.md => messages/Base/Sequence.md} (52%) rename api_cpp/doc/markdown/{references/msg_Base_SequenceHandle.md => messages/Base/SequenceHandle.md} (64%) create mode 100644 api_cpp/doc/markdown/messages/Base/SequenceInfoNotification.md create mode 100644 api_cpp/doc/markdown/messages/Base/SequenceInfoNotificationList.md rename api_cpp/doc/markdown/{references/msg_Base_SequenceInformation.md => messages/Base/SequenceInformation.md} (50%) create mode 100644 api_cpp/doc/markdown/messages/Base/SequenceList.md rename api_cpp/doc/markdown/{references/msg_Base_SequenceTask.md => messages/Base/SequenceTask.md} (56%) create mode 100644 api_cpp/doc/markdown/messages/Base/SequenceTaskHandle.md create mode 100644 api_cpp/doc/markdown/messages/Base/ServoingModeInformation.md create mode 100644 api_cpp/doc/markdown/messages/Base/ServoingModeNotification.md create mode 100644 api_cpp/doc/markdown/messages/Base/ServoingModeNotificationList.md rename api_cpp/doc/markdown/{references/msg_Base_Ssid.md => messages/Base/Ssid.md} (80%) create mode 100644 api_cpp/doc/markdown/messages/Base/Stop.md create mode 100644 api_cpp/doc/markdown/messages/Base/SwitchControlMapping.md rename api_cpp/doc/markdown/{references/msg_Base_SystemTime.md => messages/Base/SystemTime.md} (80%) create mode 100644 api_cpp/doc/markdown/messages/Base/Timeout.md create mode 100644 api_cpp/doc/markdown/messages/Base/TrajectoryErrorElement.md create mode 100644 api_cpp/doc/markdown/messages/Base/TrajectoryErrorReport.md create mode 100644 api_cpp/doc/markdown/messages/Base/TransformationMatrix.md rename api_cpp/doc/markdown/{references/msg_Base_TransformationRow.md => messages/Base/TransformationRow.md} (71%) rename api_cpp/doc/markdown/{references/msg_Base_Twist.md => messages/Base/Twist.md} (71%) create mode 100644 api_cpp/doc/markdown/messages/Base/TwistCommand.md create mode 100644 api_cpp/doc/markdown/messages/Base/TwistLimitation.md create mode 100644 api_cpp/doc/markdown/messages/Base/UserList.md create mode 100644 api_cpp/doc/markdown/messages/Base/UserNotification.md create mode 100644 api_cpp/doc/markdown/messages/Base/UserNotificationList.md rename api_cpp/doc/markdown/{references/msg_Base_UserProfile.md => messages/Base/UserProfile.md} (75%) create mode 100644 api_cpp/doc/markdown/messages/Base/UserProfileList.md rename api_cpp/doc/markdown/{references/msg_Base_WifiConfiguration.md => messages/Base/WifiConfiguration.md} (58%) create mode 100644 api_cpp/doc/markdown/messages/Base/WifiConfigurationList.md rename api_cpp/doc/markdown/{references/msg_Base_WifiInformation.md => messages/Base/WifiInformation.md} (50%) create mode 100644 api_cpp/doc/markdown/messages/Base/WifiInformationList.md create mode 100644 api_cpp/doc/markdown/messages/Base/Wrench.md create mode 100644 api_cpp/doc/markdown/messages/Base/WrenchCommand.md create mode 100644 api_cpp/doc/markdown/messages/Base/WrenchLimitation.md create mode 100644 api_cpp/doc/markdown/messages/Base/ZoneShape.md rename api_cpp/doc/markdown/{references/msg_BaseCyclic_ActuatorCommand.md => messages/BaseCyclic/ActuatorCommand.md} (82%) rename api_cpp/doc/markdown/{references/msg_BaseCyclic_ActuatorCustomData.md => messages/BaseCyclic/ActuatorCustomData.md} (92%) rename api_cpp/doc/markdown/{references/msg_BaseCyclic_ActuatorFeedback.md => messages/BaseCyclic/ActuatorFeedback.md} (91%) rename api_cpp/doc/markdown/{references/msg_BaseCyclic_BaseFeedback.md => messages/BaseCyclic/BaseFeedback.md} (76%) create mode 100644 api_cpp/doc/markdown/messages/BaseCyclic/Command.md create mode 100644 api_cpp/doc/markdown/messages/BaseCyclic/CustomData.md create mode 100644 api_cpp/doc/markdown/messages/BaseCyclic/Feedback.md rename api_cpp/doc/markdown/{references/msg_Common_Connection.md => messages/Common/Connection.md} (54%) create mode 100644 api_cpp/doc/markdown/messages/Common/CountryCode.md rename api_cpp/doc/markdown/{references/msg_Common_DeviceHandle.md => messages/Common/DeviceHandle.md} (56%) create mode 100644 api_cpp/doc/markdown/messages/Common/Empty.md create mode 100644 api_cpp/doc/markdown/messages/Common/NotificationHandle.md rename api_cpp/doc/markdown/{references/msg_Common_NotificationOptions.md => messages/Common/NotificationOptions.md} (54%) create mode 100644 api_cpp/doc/markdown/messages/Common/SafetyHandle.md create mode 100644 api_cpp/doc/markdown/messages/Common/SafetyNotification.md rename api_cpp/doc/markdown/{references/msg_Common_Timestamp.md => messages/Common/Timestamp.md} (60%) create mode 100644 api_cpp/doc/markdown/messages/Common/UARTConfiguration.md create mode 100644 api_cpp/doc/markdown/messages/Common/UARTDeviceIdentification.md rename api_cpp/doc/markdown/{references/msg_Common_UserProfileHandle.md => messages/Common/UserProfileHandle.md} (63%) create mode 100644 api_cpp/doc/markdown/messages/ControlConfig/CartesianReferenceFrameInfo.md create mode 100644 api_cpp/doc/markdown/messages/ControlConfig/CartesianTransform.md create mode 100644 api_cpp/doc/markdown/messages/ControlConfig/ControlConfigurationNotification.md create mode 100644 api_cpp/doc/markdown/messages/ControlConfig/GravityVector.md create mode 100644 api_cpp/doc/markdown/messages/ControlConfig/PayloadInformation.md create mode 100644 api_cpp/doc/markdown/messages/ControlConfig/Position.md create mode 100644 api_cpp/doc/markdown/messages/ControlConfig/ToolConfiguration.md create mode 100644 api_cpp/doc/markdown/messages/DeviceConfig/BootloaderVersion.md create mode 100644 api_cpp/doc/markdown/messages/DeviceConfig/Calibration.md create mode 100644 api_cpp/doc/markdown/messages/DeviceConfig/CalibrationElement.md create mode 100644 api_cpp/doc/markdown/messages/DeviceConfig/CalibrationParameter.md create mode 100644 api_cpp/doc/markdown/messages/DeviceConfig/CalibrationResult.md create mode 100644 api_cpp/doc/markdown/messages/DeviceConfig/CapSenseConfig.md create mode 100644 api_cpp/doc/markdown/messages/DeviceConfig/CapSenseRegister.md create mode 100644 api_cpp/doc/markdown/messages/DeviceConfig/DeviceType.md create mode 100644 api_cpp/doc/markdown/messages/DeviceConfig/FirmwareVersion.md rename api_cpp/doc/markdown/{references/msg_DeviceConfig_IPv4Settings.md => messages/DeviceConfig/IPv4Settings.md} (70%) rename api_cpp/doc/markdown/{references/msg_DeviceConfig_MACAddress.md => messages/DeviceConfig/MACAddress.md} (79%) rename api_cpp/doc/markdown/{references/msg_DeviceConfig_ModelNumber.md => messages/DeviceConfig/ModelNumber.md} (78%) rename api_cpp/doc/markdown/{references/msg_DeviceConfig_PartNumber.md => 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api_python/doc/markdown/enums/Base/JointNavigationDirection.md (56%) rename api_cpp/doc/markdown/references/enm_Base_JointTrajectoryConstraintType.md => api_python/doc/markdown/enums/Base/JointTrajectoryConstraintType.md (52%) rename api_python/doc/markdown/{references/enm_Base_LedState.md => enums/Base/LedState.md} (55%) create mode 100644 api_python/doc/markdown/enums/Base/LimitationType.md create mode 100644 api_python/doc/markdown/enums/Base/NavigationDirection.md rename api_python/doc/markdown/{references/enm_Base_NetworkEvent.md => enums/Base/NetworkEvent.md} (78%) rename api_python/doc/markdown/{references/enm_Base_NetworkType.md => enums/Base/NetworkType.md} (55%) rename api_python/doc/markdown/{references/enm_Base_OperatingMode.md => enums/Base/OperatingMode.md} (68%) rename api_cpp/doc/markdown/references/enm_Base_ProtectionZoneEvent.md => api_python/doc/markdown/enums/Base/ProtectionZoneEvent.md (61%) create mode 100644 api_python/doc/markdown/enums/Base/RobotEvent.md rename api_python/doc/markdown/{references/enm_Base_SafetyIdentifier.md => enums/Base/SafetyIdentifier.md} (60%) create mode 100644 api_python/doc/markdown/enums/Base/ServiceVersion.md rename api_cpp/doc/markdown/references/enm_Base_ServoingMode.md => api_python/doc/markdown/enums/Base/ServoingMode.md (55%) rename api_cpp/doc/markdown/references/enm_Base_ShapeType.md => api_python/doc/markdown/enums/Base/ShapeType.md (57%) rename api_python/doc/markdown/{references/enm_Base_SignalQuality.md => enums/Base/SignalQuality.md} (61%) rename api_cpp/doc/markdown/references/enm_Base_SoundType.md => api_python/doc/markdown/enums/Base/SoundType.md (54%) create mode 100644 api_python/doc/markdown/enums/Base/TrajectoryContinuityMode.md create mode 100644 api_python/doc/markdown/enums/Base/TrajectoryErrorIdentifier.md create mode 100644 api_python/doc/markdown/enums/Base/TrajectoryErrorType.md rename api_cpp/doc/markdown/references/enm_Base_UserEvent.md => api_python/doc/markdown/enums/Base/UserEvent.md (53%) create mode 100644 api_python/doc/markdown/enums/Base/WifiEncryptionType.md rename api_cpp/doc/markdown/references/enm_Base_WifiSecurityType.md => api_python/doc/markdown/enums/Base/WifiSecurityType.md (54%) create mode 100644 api_python/doc/markdown/enums/Base/WrenchMode.md rename api_cpp/doc/markdown/references/enm_Base_Xbox360AnalogInputIdentifier.md => api_python/doc/markdown/enums/Base/Xbox360AnalogInputIdentifier.md (68%) rename api_cpp/doc/markdown/references/enm_Base_Xbox360DigitalInputIdentifier.md => api_python/doc/markdown/enums/Base/Xbox360DigitalInputIdentifier.md (79%) create mode 100644 api_python/doc/markdown/enums/BaseCyclic/ServiceVersion.md rename api_cpp/doc/markdown/references/enm_Common_ArmState.md => api_python/doc/markdown/enums/Common/ArmState.md (83%) create mode 100644 api_python/doc/markdown/enums/Common/CartesianReferenceFrame.md create mode 100644 api_python/doc/markdown/enums/Common/CountryCodeIdentifier.md rename api_cpp/doc/markdown/references/enm_Common_DeviceTypes.md => api_python/doc/markdown/enums/Common/DeviceTypes.md (57%) rename api_cpp/doc/markdown/references/enm_Common_NotificationType.md => api_python/doc/markdown/enums/Common/NotificationType.md (55%) rename api_cpp/doc/markdown/references/enm_Common_Permission.md => api_python/doc/markdown/enums/Common/Permission.md (64%) rename api_cpp/doc/markdown/references/enm_Common_SafetyStatusValue.md => api_python/doc/markdown/enums/Common/SafetyStatusValue.md (60%) create mode 100644 api_python/doc/markdown/enums/Common/UARTParity.md create mode 100644 api_python/doc/markdown/enums/Common/UARTSpeed.md create mode 100644 api_python/doc/markdown/enums/Common/UARTStopBits.md create mode 100644 api_python/doc/markdown/enums/Common/UARTWordLength.md rename api_cpp/doc/markdown/references/enm_Common_Unit.md => api_python/doc/markdown/enums/Common/Unit.md (72%) create mode 100644 api_python/doc/markdown/enums/ControlConfig/ControlConfigurationEvent.md create mode 100644 api_python/doc/markdown/enums/ControlConfig/ServiceVersion.md create mode 100644 api_python/doc/markdown/enums/DeviceConfig/CalibrationItem.md create mode 100644 api_python/doc/markdown/enums/DeviceConfig/CalibrationStatus.md create mode 100644 api_python/doc/markdown/enums/DeviceConfig/CapSenseMode.md rename api_python/doc/markdown/{references/enm_DeviceConfig_RunModes.md => enums/DeviceConfig/RunModes.md} (51%) rename api_cpp/doc/markdown/references/enm_DeviceConfig_SafetyLimitType.md => api_python/doc/markdown/enums/DeviceConfig/SafetyLimitType.md (63%) create mode 100644 api_python/doc/markdown/enums/DeviceConfig/ServiceVersion.md create mode 100644 api_python/doc/markdown/enums/DeviceManager/ServiceVersion.md create mode 100644 api_python/doc/markdown/enums/GripperConfig/RobotiqGripperStatusFlags.md create mode 100644 api_python/doc/markdown/enums/GripperConfig/SafetyIdentifier.md create 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api_python/doc/markdown/enums/InterconnectConfig/I2CRegisterAddressSize.md rename api_cpp/doc/markdown/references/enm_InterconnectConfig_SafetyIdentifier.md => api_python/doc/markdown/enums/InterconnectConfig/SafetyIdentifier.md (65%) create mode 100644 api_python/doc/markdown/enums/InterconnectConfig/ServiceVersion.md create mode 100644 api_python/doc/markdown/enums/InterconnectConfig/UARTPortId.md create mode 100644 api_python/doc/markdown/enums/InterconnectCyclic/ServiceVersion.md create mode 100644 api_python/doc/markdown/enums/ProductConfiguration/ArmLaterality.md create mode 100644 api_python/doc/markdown/enums/ProductConfiguration/BaseType.md create mode 100644 api_python/doc/markdown/enums/ProductConfiguration/EndEffectorType.md create mode 100644 api_python/doc/markdown/enums/ProductConfiguration/InterfaceModuleType.md create mode 100644 api_python/doc/markdown/enums/ProductConfiguration/ModelId.md create mode 100644 api_python/doc/markdown/enums/ProductConfiguration/VisionModuleType.md create mode 100644 api_python/doc/markdown/enums/ProductConfiguration/WristType.md create mode 100644 api_python/doc/markdown/enums/Session/ServiceVersion.md rename api_cpp/doc/markdown/references/enm_VisionConfig_BitRate.md => api_python/doc/markdown/enums/VisionConfig/BitRate.md (69%) rename api_python/doc/markdown/{references/enm_VisionConfig_FocusAction.md => enums/VisionConfig/FocusAction.md} (56%) rename api_cpp/doc/markdown/references/enm_VisionConfig_FrameRate.md => api_python/doc/markdown/enums/VisionConfig/FrameRate.md (60%) rename api_cpp/doc/markdown/references/enm_VisionConfig_Option.md => api_python/doc/markdown/enums/VisionConfig/Option.md (95%) rename api_cpp/doc/markdown/references/enm_VisionConfig_Resolution.md => api_python/doc/markdown/enums/VisionConfig/Resolution.md (75%) rename api_cpp/doc/markdown/references/enm_VisionConfig_Sensor.md => api_python/doc/markdown/enums/VisionConfig/Sensor.md 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api_python/examples/109-BaseGen3_ethernet_bridge/readme.md delete mode 100644 api_python/examples/500-Vision/01-vision.py create mode 100644 api_python/examples/500-Vision/01-vision_intrinsics.py create mode 100644 api_python/examples/500-Vision/02-vision_extrinsics.py create mode 100644 api_python/examples/500-Vision/03-vision_sensor_focus_action.py create mode 100644 api_python/examples/500-Vision/04-vision_sensor_options.py create mode 100644 api_python/examples/utilities.py create mode 100644 linked_md/add_cmake_to_path.PNG delete mode 100644 linked_md/py_device_routing.md delete mode 100644 linked_md/py_transport_router_session_notif.md create mode 100644 linked_md/python_device_routing.md create mode 100644 linked_md/python_transport_router_session_notif.md delete mode 100644 run_example.py diff --git a/api_python/doc/markdown/references/enm_ActuatorConfig_CommandMode.md b/api_cpp/doc/markdown/enums/ActuatorConfig/CommandMode.md similarity index 66% rename from api_python/doc/markdown/references/enm_ActuatorConfig_CommandMode.md rename to api_cpp/doc/markdown/enums/ActuatorConfig/CommandMode.md index 5b4cfec5..d6db5527 100644 --- a/api_python/doc/markdown/references/enm_ActuatorConfig_CommandMode.md +++ b/api_cpp/doc/markdown/enums/ActuatorConfig/CommandMode.md @@ -1,12 +1,8 @@ -# Enum CommandMode - -This page describes the Python Kinova.Api.ActuatorConfig.CommandMode enumeration. +# enum CommandMode ## Overview / Purpose -List of admissible command modes - -## Enumeration definition +Enumeration CommandMode |Enumerator|Value|Description| |----------|-----|-----------| @@ -17,5 +13,5 @@ List of admissible command modes |CYCLIC\_JITTERCOMPENSATED\_VELOCITY|4|Smoothing using position and velocity inputs| |CYCLIC\_JITTERCOMPENSATED\_ACCELERATION|5|Smoothing using position, velocity and acceleration inputs \(not supported\)| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_python/doc/markdown/references/enm_ActuatorConfig_ControlLoopSelection.md b/api_cpp/doc/markdown/enums/ActuatorConfig/ControlLoopSelection.md similarity index 63% rename from api_python/doc/markdown/references/enm_ActuatorConfig_ControlLoopSelection.md rename to api_cpp/doc/markdown/enums/ActuatorConfig/ControlLoopSelection.md index fd1e0318..a0b0bd1b 100644 --- a/api_python/doc/markdown/references/enm_ActuatorConfig_ControlLoopSelection.md +++ b/api_cpp/doc/markdown/enums/ActuatorConfig/ControlLoopSelection.md @@ -1,12 +1,8 @@ -# Enum ControlLoopSelection - -This page describes the Python Kinova.Api.ActuatorConfig.ControlLoopSelection enumeration. +# enum ControlLoopSelection ## Overview / Purpose -List of admissible control loop selections - -## Enumeration definition +Enumeration ControlLoopSelection |Enumerator|Value|Description| |----------|-----|-----------| @@ -18,5 +14,5 @@ List of admissible control loop selections |JOINT\_TORQUE|16|0x10 - Joint torque control| |MOTOR\_CURRENT|32|0x20 - Motor current control| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_cpp/doc/markdown/enums/ActuatorConfig/ControlMode.md b/api_cpp/doc/markdown/enums/ActuatorConfig/ControlMode.md new file mode 100644 index 00000000..9069bea7 --- /dev/null +++ b/api_cpp/doc/markdown/enums/ActuatorConfig/ControlMode.md @@ -0,0 +1,17 @@ +# enum ControlMode + +## Overview / Purpose + +Enumeration ControlMode + +|Enumerator|Value|Description| +|----------|-----|-----------| +|NONE|0|None| +|POSITION|1|Position mode| +|VELOCITY|2|Velocity mode| +|TORQUE|3|Torque mode| +|CURRENT|4|Current mode| +|CUSTOM|5|Custom mode| + +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_cpp/doc/markdown/references/enm_ActuatorConfig_CustomDataIndex.md b/api_cpp/doc/markdown/enums/ActuatorConfig/CustomDataIndex.md similarity index 90% rename from api_cpp/doc/markdown/references/enm_ActuatorConfig_CustomDataIndex.md rename to api_cpp/doc/markdown/enums/ActuatorConfig/CustomDataIndex.md index 0a14684d..c3ec772f 100644 --- a/api_cpp/doc/markdown/references/enm_ActuatorConfig_CustomDataIndex.md +++ b/api_cpp/doc/markdown/enums/ActuatorConfig/CustomDataIndex.md @@ -1,10 +1,8 @@ -# Enum CustomDataIndex - -This page describes the C++ Kinova::Api::ActuatorConfig::CustomDataIndex enumeration. +# enum CustomDataIndex ## Overview / Purpose -## Enumeration definition +Enumeration CustomDataIndex |Enumerator|Value|Description| |----------|-----|-----------| @@ -26,7 +24,8 @@ This page describes the C++ Kinova::Api::ActuatorConfig::CustomDataIndex enumera |UINT32\_MOTOR\_ENCODER\_RAW\_LATCH\_ON\_INDEX\_RISING|15|Rotor optical encoder incremental value at last index signal rising edge \(raw\)| |UINT32\_JOINT\_ENCODER\_RAW\_LATCH\_ON\_INDEX\_RISING|16|Joint optical encoder incremental value at last index signal rising edge \(raw\)| |UINT32\_ABSOLUTE\_POSITION\_SENSOR\_RAW|17|Absolute position sensor integer value \(raw\)| -|FLOAT\_ABSOLUTE\_POSITION\_SENSOR|18|Absolute position sensor converted value \(degrees\) FLOAT\_CONTROL\_POSITION\_JOINT\_REQUESTED = 19; // Last axis position command received via Ethernet| +|FLOAT\_ABSOLUTE\_POSITION\_SENSOR|18|Absolute position sensor converted value \(degrees\)| +|FLOAT\_CONTROL\_POSITION\_JOINT\_REQUESTED|19|Last axis position command received via Ethernet| |UINT32\_JIG\_FLAGS|20|Jig status flags \(internal use\)| |UINT32\_TICK\_MOTOR\_CONTROL|21|Rotor optical encoder incremental value corrected for counter overflow \(raw\)| |UINT32\_TICK\_JOINT\_CONTROL|22|Joint optical encoder incremental value corrected for counter overflow \(raw\)| @@ -60,6 +59,9 @@ This page describes the C++ Kinova::Api::ActuatorConfig::CustomDataIndex enumera |FLOAT\_PHASE\_PWM\_1|50|Pulse width modulation duty cycle applied to motor phase 1 \(percentage\)| |FLOAT\_PHASE\_PWM\_2|51|Pulse width modulation duty cycle applied to motor phase 2 \(percentage\)| |FLOAT\_MOTOR\_ELECTRICAL\_ANGLE|52|Motor electrical angle \(degrees\)| +|FLOAT\_CURRENT\_MOTOR\_CMD|53|Motor current command sent to motor drive \(Amperes\)| +|FLOAT\_TORQUE\_JOINT\_CMD|54|Axis torque command sent to joint torque control loop \(Newton-meters\)| +|FLOAT\_POSITION\_UNWRAPPED|55|Actuator position unwrapped \(degrees\)| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_cpp/doc/markdown/references/enm_ActuatorConfig_SafetyIdentifier.md b/api_cpp/doc/markdown/enums/ActuatorConfig/SafetyIdentifierBankA.md similarity index 78% rename from api_cpp/doc/markdown/references/enm_ActuatorConfig_SafetyIdentifier.md rename to api_cpp/doc/markdown/enums/ActuatorConfig/SafetyIdentifierBankA.md index f5398f3d..56755e5f 100644 --- a/api_cpp/doc/markdown/references/enm_ActuatorConfig_SafetyIdentifier.md +++ b/api_cpp/doc/markdown/enums/ActuatorConfig/SafetyIdentifierBankA.md @@ -1,16 +1,12 @@ -# Enum SafetyIdentifier - -This page describes the C++ Kinova::Api::ActuatorConfig::SafetyIdentifier enumeration. +# enum SafetyIdentifierBankA ## Overview / Purpose -List of admissible actuator safeties - -## Enumeration definition +Enumeration SafetyIdentifierBankA |Enumerator|Value|Description| |----------|-----|-----------| -|UNSPECIFIED\_ACTUATOR\_SAFETY\_IDENTIFIER|0|0x0 - Unspecified actuator safety| +|UNSPECIFIED\_ACTUATOR\_SAFETY\_IDENTIFIER\_BANK\_A|0|0x0 - Unspecified actuator safety| |FOLLOWING\_ERROR|1|0x1 - Following error| |MAXIMUM\_VELOCITY|2|0x2 - Maximum velocity| |JOINT\_LIMIT\_HIGH|4|0x4 - Joint position limit high| @@ -35,6 +31,8 @@ List of admissible actuator safeties |EMERGENCY\_LINE\_ASSERTED|2097152|0x200000 - Emergency line asserted| |COMMUNICATION\_TICK\_LOST|4194304|0x400000 - Communication tick lost| |WATCHDOG\_TRIGGERED|8388608|0x800000 - Watchdog triggered| +|UNRELIABLE\_CAPACITIVE\_SENSOR|16777216|0x1000000 - Capacitive sensor is unreliable| +|UNEXPECTED\_GEAR\_RATIO|33554432|0x2000000 - Incorrect gear ratio for detected configuration| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_cpp/doc/markdown/enums/ActuatorConfig/SafetyLimitType.md b/api_cpp/doc/markdown/enums/ActuatorConfig/SafetyLimitType.md new file mode 100644 index 00000000..81352685 --- /dev/null +++ b/api_cpp/doc/markdown/enums/ActuatorConfig/SafetyLimitType.md @@ -0,0 +1,13 @@ +# enum SafetyLimitType + +## Overview / Purpose + +Enumeration SafetyLimitType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|MAXIMAL\_LIMIT|0|Maximal limit| +|MINIMAL\_LIMIT|1|Minimal limit| + +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_cpp/doc/markdown/enums/ActuatorConfig/ServiceVersion.md b/api_cpp/doc/markdown/enums/ActuatorConfig/ServiceVersion.md new file mode 100644 index 00000000..c728b395 --- /dev/null +++ b/api_cpp/doc/markdown/enums/ActuatorConfig/ServiceVersion.md @@ -0,0 +1,13 @@ +# enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_cpp/doc/markdown/references/enm_ActuatorCyclic_CommandFlags.md b/api_cpp/doc/markdown/enums/ActuatorCyclic/CommandFlags.md similarity index 75% rename from api_cpp/doc/markdown/references/enm_ActuatorCyclic_CommandFlags.md rename to api_cpp/doc/markdown/enums/ActuatorCyclic/CommandFlags.md index 46539758..83d5b260 100644 --- a/api_cpp/doc/markdown/references/enm_ActuatorCyclic_CommandFlags.md +++ b/api_cpp/doc/markdown/enums/ActuatorCyclic/CommandFlags.md @@ -1,12 +1,8 @@ -# Enum CommandFlags - -This page describes the C++ Kinova::Api::ActuatorCyclic::CommandFlags enumeration. +# enum CommandFlags ## Overview / Purpose -Enumeration used to identify actuator commands - -## Enumeration definition +Enumeration CommandFlags |Enumerator|Value|Description| |----------|-----|-----------| @@ -22,5 +18,5 @@ Enumeration used to identify actuator commands |LED\_0|256|0x100 Activate LED 0 \(interface module buttons 0\)| |LED\_1|512|0x200 Activate LED 1 \(interface module buttons 1\)| -**Parent topic:** [ActuatorCyclic](../references/summary_ActuatorCyclic.md) +**Parent topic:** [ActuatorCyclic \(C++\)](../../summary_pages/ActuatorCyclic.md) diff --git a/api_cpp/doc/markdown/enums/ActuatorCyclic/ServiceVersion.md b/api_cpp/doc/markdown/enums/ActuatorCyclic/ServiceVersion.md new file mode 100644 index 00000000..4357e250 --- /dev/null +++ b/api_cpp/doc/markdown/enums/ActuatorCyclic/ServiceVersion.md @@ -0,0 +1,13 @@ +# enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [ActuatorCyclic \(C++\)](../../summary_pages/ActuatorCyclic.md) + diff --git a/api_cpp/doc/markdown/references/enm_ActuatorCyclic_StatusFlags.md b/api_cpp/doc/markdown/enums/ActuatorCyclic/StatusFlags.md similarity index 84% rename from api_cpp/doc/markdown/references/enm_ActuatorCyclic_StatusFlags.md rename to api_cpp/doc/markdown/enums/ActuatorCyclic/StatusFlags.md index c1fdc1ea..ec7c64f5 100644 --- a/api_cpp/doc/markdown/references/enm_ActuatorCyclic_StatusFlags.md +++ b/api_cpp/doc/markdown/enums/ActuatorCyclic/StatusFlags.md @@ -1,12 +1,8 @@ -# Enum StatusFlags - -This page describes the C++ Kinova::Api::ActuatorCyclic::StatusFlags enumeration. +# enum StatusFlags ## Overview / Purpose -Enumeration used to identify actuator status - -## Enumeration definition +Enumeration StatusFlags |Enumerator|Value|Description| |----------|-----|-----------| @@ -36,5 +32,5 @@ Enumeration used to identify actuator status |SW0\_ACTIVE|67108864|0x4000000 Status of interface module buttons 0| |SW1\_ACTIVE|134217728|0x8000000 Status of interface module buttons 1| -**Parent topic:** [ActuatorCyclic](../references/summary_ActuatorCyclic.md) +**Parent topic:** [ActuatorCyclic \(C++\)](../../summary_pages/ActuatorCyclic.md) diff --git a/api_python/doc/markdown/references/enm_Api_ErrorCodes.md b/api_cpp/doc/markdown/enums/Api/ErrorCodes.md similarity index 58% rename from api_python/doc/markdown/references/enm_Api_ErrorCodes.md rename to api_cpp/doc/markdown/enums/Api/ErrorCodes.md index 7f91ac57..4fbd25bf 100644 --- a/api_python/doc/markdown/references/enm_Api_ErrorCodes.md +++ b/api_cpp/doc/markdown/enums/Api/ErrorCodes.md @@ -1,12 +1,8 @@ -# Enum ErrorCodes - -This page describes the Python Kinova.Api.ErrorCodes enumeration. +# enum ErrorCodes ## Overview / Purpose -List of possible error codes - -## Enumeration definition +Enumeration ErrorCodes |Enumerator|Value|Description| |----------|-----|-----------| @@ -16,5 +12,5 @@ List of possible error codes |ERROR\_DEVICE|3|Device error| |ERROR\_INTERNAL|4|Internal error| -**Parent topic:** [Api](../references/summary_Api.md) +**Parent topic:** [Api \(C++\)](../../summary_pages/Api.md) diff --git a/api_python/doc/markdown/references/enm_Api_SubErrorCodes.md b/api_cpp/doc/markdown/enums/Api/SubErrorCodes.md similarity index 91% rename from api_python/doc/markdown/references/enm_Api_SubErrorCodes.md rename to api_cpp/doc/markdown/enums/Api/SubErrorCodes.md index 805750d8..7ab0db92 100644 --- a/api_python/doc/markdown/references/enm_Api_SubErrorCodes.md +++ b/api_cpp/doc/markdown/enums/Api/SubErrorCodes.md @@ -1,12 +1,8 @@ -# Enum SubErrorCodes - -This page describes the Python Kinova.Api.SubErrorCodes enumeration. +# enum SubErrorCodes ## Overview / Purpose -List of possible sub errror codes - -## Enumeration definition +Enumeration SubErrorCodes |Enumerator|Value|Description| |----------|-----|-----------| @@ -86,6 +82,7 @@ List of possible sub errror codes |CONTROL\_NO\_ACTION|73|Action does not exist| |CONTROL\_UNDEFINED|74|Undefined error| |WRONG\_SERVOING\_MODE|75|Robot is in not in the right servoing mode| +|CONTROL\_WRONG\_STARTING\_SPEED|76|Robot is not at the right speed when starting a new trajectory.| |USERNAME\_LENGTH\_EXCEEDED|100|User profile username length exceeds maximum allowed length| |FIRSTNAME\_LENGTH\_EXCEEDED|101|User profile first name length exceeds maximum allowed length| |LASTNAME\_LENGTH\_EXCEEDED|102|User profile last name length exceeds maximum allowed length| @@ -96,6 +93,11 @@ List of possible sub errror codes |MAXIMUM\_USER\_PROFILES\_USED|107|Maximum number of user profiles in use| |ROUTER\_UNVAILABLE|108|The client router is currently unavailable. This can happen if an API method is called after the router has been deactivated via the method SetActivationStatus.| |ADDRESS\_NOT\_IN\_VALID\_RANGE|120|IP Address not valid against netmask| +|SESSION\_NOT\_IN\_CONTROL|130|Trying to perform command from a non-controlling session in single-level mode| +|METHOD\_TIMEOUT|131|Timeout occured during method execution| +|UNSUPPORTED\_ROBOT\_CONFIGURATION|132|Product Configuration setter method failed because changing this parameter is unsupported on your robot model| +|NVRAM\_READ\_FAIL|133|Failed to read in NVRAM.| +|NVRAM\_WRITE\_FAIL|134|Failed to write in NVRAM.| -**Parent topic:** [Api](../references/summary_Api.md) +**Parent topic:** [Api \(C++\)](../../summary_pages/Api.md) diff --git a/api_cpp/doc/markdown/enums/Base/ActionEvent.md b/api_cpp/doc/markdown/enums/Base/ActionEvent.md new file mode 100644 index 00000000..57dbdd99 --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/ActionEvent.md @@ -0,0 +1,22 @@ +# enum ActionEvent + +## Overview / Purpose + +Enumeration ActionEvent + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_ACTION\_EVENT|0|Unspecified action event| +|ACTION\_END|1|Action execution end reached| +|ACTION\_ABORT|2|Action execution aborted| +|ACTION\_PAUSE|3|Action execution paused| +|ACTION\_START|4|Action execution started| +|ACTION\_PREPROCESS\_START|5|Action pre-process started| +|ACTION\_PREPROCESS\_ABORT|6|Action pre-process aborted| +|ACTION\_PREPROCESS\_END|7|Action pre-process ended| +|ACTION\_POSTPROCESS\_START|8|Action post-process started| +|ACTION\_POSTPROCESS\_ABORT|9|Action post-process aborted| +|ACTION\_POSTPROCESS\_END|10|Action post-process ended| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/enums/Base/ActionType.md b/api_cpp/doc/markdown/enums/Base/ActionType.md new file mode 100644 index 00000000..48e3ee3a --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/ActionType.md @@ -0,0 +1,31 @@ +# enum ActionType + +## Overview / Purpose + +Enumeration ActionType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_ACTION|0|Unspecified action type| +|SEND\_TWIST\_COMMAND|1|Control the robot in Cartesian velocity| +|SEND\_WRENCH\_COMMAND|2|Control the robot in force| +|SEND\_JOINT\_SPEEDS|4|Control each joint speed| +|REACH\_POSE|6|Reach a pose| +|REACH\_JOINT\_ANGLES|7|Reach a series of joint angles| +|TOGGLE\_ADMITTANCE\_MODE|13|Enable or disable the admittance mode| +|SWITCH\_CONTROL\_MAPPING|16|Switch the active controller map| +|NAVIGATE\_JOINTS|17|Select the next actuator to control from control mapping| +|NAVIGATE\_MAPPINGS|18|Select a different map| +|CHANGE\_TWIST|22|Change the twist| +|CHANGE\_JOINT\_SPEEDS|23|Change the joint speeds individually| +|CHANGE\_WRENCH|25|Change the Cartesian force| +|APPLY\_EMERGENCY\_STOP|28|Apply robot emergency stop| +|CLEAR\_FAULTS|29|Clear faults. Robot will be able to move if there is no more fault \(see BaseCyclic.BaseFeedback.\[fault\_bank\_a | fault\_bank\_b\]\)| +|TIME\_DELAY|31|Apply a delay| +|EXECUTE\_ACTION|32|Execute an existing action| +|SEND\_GRIPPER\_COMMAND|33|Send a gripper command| +|STOP\_ACTION|35|Stop robot movement| +|PLAY\_PRE\_COMPUTED\_TRAJECTORY|39|Play a pre-computed trajectory| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/enm_Base_AdmittanceMode.md b/api_cpp/doc/markdown/enums/Base/AdmittanceMode.md similarity index 57% rename from api_cpp/doc/markdown/references/enm_Base_AdmittanceMode.md rename to api_cpp/doc/markdown/enums/Base/AdmittanceMode.md index 4e196664..db307def 100644 --- a/api_cpp/doc/markdown/references/enm_Base_AdmittanceMode.md +++ b/api_cpp/doc/markdown/enums/Base/AdmittanceMode.md @@ -1,12 +1,8 @@ -# Enum AdmittanceMode - -This page describes the C++ Kinova::Api::Base::AdmittanceMode enumeration. +# enum AdmittanceMode ## Overview / Purpose -List of admissible admittance modes - -## Enumeration definition +Enumeration AdmittanceMode |Enumerator|Value|Description| |----------|-----|-----------| @@ -16,5 +12,5 @@ List of admissible admittance modes |NULL\_SPACE|3|Null space admittance mode| |DISABLED|4|No admittance| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/enm_Base_BackupEvent.md b/api_cpp/doc/markdown/enums/Base/BackupEvent.md similarity index 53% rename from api_cpp/doc/markdown/references/enm_Base_BackupEvent.md rename to api_cpp/doc/markdown/enums/Base/BackupEvent.md index 42542961..343c0d47 100644 --- a/api_cpp/doc/markdown/references/enm_Base_BackupEvent.md +++ b/api_cpp/doc/markdown/enums/Base/BackupEvent.md @@ -1,12 +1,8 @@ -# Enum BackupEvent - -This page describes the C++ Kinova::Api::Base::BackupEvent enumeration. +# enum BackupEvent ## Overview / Purpose -List of admissible backup events \(future\) - -## Enumeration definition +Enumeration BackupEvent |Enumerator|Value|Description| |----------|-----|-----------| @@ -14,5 +10,5 @@ List of admissible backup events \(future\) |BACKUP\_RESTORED|1|Configuration backup restored| |BACKUP\_UPLOADED|2|Configuration backup uploaded on robot| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/enums/Base/BridgeStatus.md b/api_cpp/doc/markdown/enums/Base/BridgeStatus.md new file mode 100644 index 00000000..701d5a55 --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/BridgeStatus.md @@ -0,0 +1,18 @@ +# enum BridgeStatus + +## Overview / Purpose + +Enumeration BridgeStatus + +|Enumerator|Value|Description| +|----------|-----|-----------| +|BRIDGE\_STATUS\_OK|0|No error encountered.| +|BRIDGE\_STATUS\_OUTP\_UNAVAILABLE|1|Requested output port unavailable.| +|BRIDGE\_STATUS\_UNKNOWN\_DEVID|2|Given device identifier is unknown \(no device associated with it\).| +|BRIDGE\_STATUS\_UNKNOWN\_BRIDGE\_TYPE|3|Unknown bridge type used.| +|BRIDGE\_STATUS\_NOT\_FOUND|4|Requested bridge not found.| +|BRIDGE\_STATUS\_NOT\_INITIALIZED|5|Bridge manager not initialized.| +|BRIDGE\_STATUS\_UNKNOWN|6|Unknown error.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/enums/Base/BridgeType.md b/api_cpp/doc/markdown/enums/Base/BridgeType.md new file mode 100644 index 00000000..175046ee --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/BridgeType.md @@ -0,0 +1,14 @@ +# enum BridgeType + +## Overview / Purpose + +Enumeration BridgeType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|BRIDGE\_TYPE\_UNSPECIFIED|0|Unspecified Type \(custom bridge\)| +|BRIDGE\_TYPE\_UART|1|Bridge to uart bridge TCP port.| +|BRIDGE\_TYPE\_TELNET|2|Bridge to telnet port| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/enums/Base/CapSenseMode.md b/api_cpp/doc/markdown/enums/Base/CapSenseMode.md new file mode 100644 index 00000000..12c36f20 --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/CapSenseMode.md @@ -0,0 +1,17 @@ +# enum CapSenseMode + +## Overview / Purpose + +Enumeration CapSenseMode + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED|0|Reserved, do not use| +|INACTIVE|1|Cap sensor is inactive| +|ACTIVE\_AUTO\_THRESHOLD|2|Cap sensor is active in automatic threshold mode| +|ACTIVE\_NOISE\_ATT|4|Cap sensor is active with noise mitigation enabled| +|ACTIVE\_NORMAL|5|Cap sensor is active in normal mode| +|CONFIGURATION|6|Configuration mode| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/references/enm_Base_ConfigurationNotificationEvent.md b/api_cpp/doc/markdown/enums/Base/ConfigurationNotificationEvent.md similarity index 59% rename from api_python/doc/markdown/references/enm_Base_ConfigurationNotificationEvent.md rename to api_cpp/doc/markdown/enums/Base/ConfigurationNotificationEvent.md index 1644fce0..0e8e98a7 100644 --- a/api_python/doc/markdown/references/enm_Base_ConfigurationNotificationEvent.md +++ b/api_cpp/doc/markdown/enums/Base/ConfigurationNotificationEvent.md @@ -1,12 +1,8 @@ -# Enum ConfigurationNotificationEvent - -This page describes the Python Kinova.Api.Base.ConfigurationNotificationEvent enumeration. +# enum ConfigurationNotificationEvent ## Overview / Purpose -List of admissible configuration events - -## Enumeration definition +Enumeration ConfigurationNotificationEvent |Enumerator|Value|Description| |----------|-----|-----------| @@ -16,5 +12,5 @@ List of admissible configuration events |CONFIGURATION\_DELETED\_ALL|3|All configurations deleted| |CONFIGURATION\_CREATED|4|Configuration created| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/references/enm_Base_ControlMode.md b/api_cpp/doc/markdown/enums/Base/ControlMode.md similarity index 70% rename from api_python/doc/markdown/references/enm_Base_ControlMode.md rename to api_cpp/doc/markdown/enums/Base/ControlMode.md index d2823e53..0ff950cc 100644 --- a/api_python/doc/markdown/references/enm_Base_ControlMode.md +++ b/api_cpp/doc/markdown/enums/Base/ControlMode.md @@ -1,12 +1,8 @@ -# Enum ControlMode - -This page describes the Python Kinova.Api.Base.ControlMode enumeration. +# enum ControlMode ## Overview / Purpose -List of admissible robot control modes - -## Enumeration definition +Enumeration ControlMode |Enumerator|Value|Description| |----------|-----|-----------| @@ -19,7 +15,9 @@ List of admissible robot control modes |CARTESIAN\_ADMITTANCE|6|Cartesian admittance mode| |JOINT\_ADMITTANCE|7|Joint admittance mode| |NULL\_SPACE\_ADMITTANCE|8|Null space mode| +|FORCE\_CONTROL|10|Force control mode| +|FORCE\_CONTROL\_MOTION\_RESTRICTED|11|Force control motion restricted mode| |IDLE|13|Idle| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/references/enm_Base_ControllerBehavior.md b/api_cpp/doc/markdown/enums/Base/ControllerBehavior.md similarity index 64% rename from api_python/doc/markdown/references/enm_Base_ControllerBehavior.md rename to api_cpp/doc/markdown/enums/Base/ControllerBehavior.md index d5195257..a66111ca 100644 --- a/api_python/doc/markdown/references/enm_Base_ControllerBehavior.md +++ b/api_cpp/doc/markdown/enums/Base/ControllerBehavior.md @@ -1,12 +1,8 @@ -# Enum ControllerBehavior - -This page describes the Python Kinova.Api.Base.ControllerBehavior enumeration. +# enum ControllerBehavior ## Overview / Purpose -List of admissible controller input behaviors - -## Enumeration definition +Enumeration ControllerBehavior |Enumerator|Value|Description| |----------|-----|-----------| @@ -17,5 +13,5 @@ List of admissible controller input behaviors |CONTROLLER\_AXIS\_NEGATIVE|4|Negative axis movement| |CONTROLLER\_BUTTON\_CLICK|5|Button down and up within X msec| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/references/enm_Base_ControllerElementEventType.md b/api_cpp/doc/markdown/enums/Base/ControllerElementEventType.md similarity index 53% rename from api_python/doc/markdown/references/enm_Base_ControllerElementEventType.md rename to api_cpp/doc/markdown/enums/Base/ControllerElementEventType.md index d3e6358b..c8b20303 100644 --- a/api_python/doc/markdown/references/enm_Base_ControllerElementEventType.md +++ b/api_cpp/doc/markdown/enums/Base/ControllerElementEventType.md @@ -1,12 +1,8 @@ -# Enum ControllerElementEventType - -This page describes the Python Kinova.Api.Base.ControllerElementEventType enumeration. +# enum ControllerElementEventType ## Overview / Purpose -List of admissible controller element event types - -## Enumeration definition +Enumeration ControllerElementEventType |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,5 +11,5 @@ List of admissible controller element event types |BUTTON\_DOWN|2|Controller button pressed| |BUTTON\_UP|3|Controller button released| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/references/enm_Base_ControllerEventType.md b/api_cpp/doc/markdown/enums/Base/ControllerEventType.md similarity index 52% rename from api_python/doc/markdown/references/enm_Base_ControllerEventType.md rename to api_cpp/doc/markdown/enums/Base/ControllerEventType.md index 1971e8bb..10a4b326 100644 --- a/api_python/doc/markdown/references/enm_Base_ControllerEventType.md +++ b/api_cpp/doc/markdown/enums/Base/ControllerEventType.md @@ -1,12 +1,8 @@ -# Enum ControllerEventType - -This page describes the Python Kinova.Api.Base.ControllerEventType enumeration. +# enum ControllerEventType ## Overview / Purpose -List of admissible controller event types - -## Enumeration definition +Enumeration ControllerEventType |Enumerator|Value|Description| |----------|-----|-----------| @@ -14,5 +10,5 @@ List of admissible controller event types |CONTROLLER\_DISCONNECTED|1|Controller is disconnected| |CONTROLLER\_CONNECTED|2|Controller is connected| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/references/enm_Base_ControllerInputType.md b/api_cpp/doc/markdown/enums/Base/ControllerInputType.md similarity index 51% rename from api_python/doc/markdown/references/enm_Base_ControllerInputType.md rename to api_cpp/doc/markdown/enums/Base/ControllerInputType.md index 7f9a0ee3..bdc3f220 100644 --- a/api_python/doc/markdown/references/enm_Base_ControllerInputType.md +++ b/api_cpp/doc/markdown/enums/Base/ControllerInputType.md @@ -1,12 +1,8 @@ -# Enum ControllerInputType - -This page describes the Python Kinova.Api.Base.ControllerInputType enumeration. +# enum ControllerInputType ## Overview / Purpose -List of admissible controller input types - -## Enumeration definition +Enumeration ControllerInputType |Enumerator|Value|Description| |----------|-----|-----------| @@ -14,5 +10,5 @@ List of admissible controller input types |ANALOG|1|Analog controller input type| |DIGITAL|2|Digital controller input type| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/enums/Base/ControllerType.md b/api_cpp/doc/markdown/enums/Base/ControllerType.md new file mode 100644 index 00000000..d4af8a7e --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/ControllerType.md @@ -0,0 +1,15 @@ +# enum ControllerType + +## Overview / Purpose + +Enumeration ControllerType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_CONTROLLER\_TYPE|0|Unspecified controller device type| +|XBOX\_CONTROLLER|1|Xbox gamepad| +|WRIST\_CONTROLLER|2|Wrist buttons| +|GPIO\_JOYSTICK|3|GPIO joystick connected to Kinova robot base| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/references/enm_Base_EventIdSequenceInfoNotification.md b/api_cpp/doc/markdown/enums/Base/EventIdSequenceInfoNotification.md similarity index 62% rename from api_python/doc/markdown/references/enm_Base_EventIdSequenceInfoNotification.md rename to api_cpp/doc/markdown/enums/Base/EventIdSequenceInfoNotification.md index 3a850b95..3abec5dd 100644 --- a/api_python/doc/markdown/references/enm_Base_EventIdSequenceInfoNotification.md +++ b/api_cpp/doc/markdown/enums/Base/EventIdSequenceInfoNotification.md @@ -1,12 +1,8 @@ -# Enum EventIdSequenceInfoNotification - -This page describes the Python Kinova.Api.Base.EventIdSequenceInfoNotification enumeration. +# enum EventIdSequenceInfoNotification ## Overview / Purpose -List of admissible sequence event types - -## Enumeration definition +Enumeration EventIdSequenceInfoNotification |Enumerator|Value|Description| |----------|-----|-----------| @@ -18,5 +14,5 @@ List of admissible sequence event types |SEQUENCE\_TASK\_COMPLETED|5|Sequence task completed| |SEQUENCE\_STARTED|6|Sequence started| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/references/enm_Base_FactoryEvent.md b/api_cpp/doc/markdown/enums/Base/FactoryEvent.md similarity index 53% rename from api_python/doc/markdown/references/enm_Base_FactoryEvent.md rename to api_cpp/doc/markdown/enums/Base/FactoryEvent.md index e7dd5a2e..9f170c3a 100644 --- a/api_python/doc/markdown/references/enm_Base_FactoryEvent.md +++ b/api_cpp/doc/markdown/enums/Base/FactoryEvent.md @@ -1,18 +1,14 @@ -# Enum FactoryEvent - -This page describes the Python Kinova.Api.Base.FactoryEvent enumeration. +# enum FactoryEvent ## Overview / Purpose -List of admissible factory events - -## Enumeration definition +Enumeration FactoryEvent |Enumerator|Value|Description| |----------|-----|-----------| |UNSPECIFIED\_FACTORY\_EVENT|0|Unspecified factory event| |FACTORY\_DEFAULT\_RESTORED|1|Factory defaults restored on robot| -|NETWORK\_FACTORY\_DEFAULT\_RESTORED|2|Network factory defaults restored on robot \(future\)| +|NETWORK\_FACTORY\_DEFAULT\_RESTORED|2|Network factory defaults restored on robot \(not implemented yet\)| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/enm_Base_GpioState.md b/api_cpp/doc/markdown/enums/Base/GpioState.md similarity index 51% rename from api_cpp/doc/markdown/references/enm_Base_GpioState.md rename to api_cpp/doc/markdown/enums/Base/GpioState.md index aea378f3..fa1f7a04 100644 --- a/api_cpp/doc/markdown/references/enm_Base_GpioState.md +++ b/api_cpp/doc/markdown/enums/Base/GpioState.md @@ -1,12 +1,8 @@ -# Enum GpioState - -This page describes the C++ Kinova::Api::Base::GpioState enumeration. +# enum GpioState ## Overview / Purpose -List of admissible GPIO states \(future\) - -## Enumeration definition +Enumeration GpioState |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,5 +11,5 @@ List of admissible GPIO states \(future\) |GPIO\_PULSE|2|GPIO is in pulse state| |GPIO\_ON|3|GPIO is on| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/enums/Base/GripperMode.md b/api_cpp/doc/markdown/enums/Base/GripperMode.md new file mode 100644 index 00000000..aa018633 --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/GripperMode.md @@ -0,0 +1,15 @@ +# enum GripperMode + +## Overview / Purpose + +Enumeration GripperMode + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_GRIPPER\_MODE|0|Unspecified gripper mode| +|GRIPPER\_FORCE|1|Force control \(in Newton\) \(not implemented yet\)| +|GRIPPER\_SPEED|2|Speed control \(in meters per second\)| +|GRIPPER\_POSITION|3|Position control \(in meters\)| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/references/enm_Base_JointNavigationDirection.md b/api_cpp/doc/markdown/enums/Base/JointNavigationDirection.md similarity index 50% rename from api_python/doc/markdown/references/enm_Base_JointNavigationDirection.md rename to api_cpp/doc/markdown/enums/Base/JointNavigationDirection.md index a6f108c4..96695381 100644 --- a/api_python/doc/markdown/references/enm_Base_JointNavigationDirection.md +++ b/api_cpp/doc/markdown/enums/Base/JointNavigationDirection.md @@ -1,12 +1,8 @@ -# Enum JointNavigationDirection - -This page describes the Python Kinova.Api.Base.JointNavigationDirection enumeration. +# enum JointNavigationDirection ## Overview / Purpose -List of admissible joint navigation directions - -## Enumeration definition +Enumeration JointNavigationDirection |Enumerator|Value|Description| |----------|-----|-----------| @@ -14,5 +10,5 @@ List of admissible joint navigation directions |JOINT\_NEXT|1|Go to next joint| |JOINT\_PREVIOUS|2|Go to previous joint| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/enums/Base/JointTrajectoryConstraintType.md b/api_cpp/doc/markdown/enums/Base/JointTrajectoryConstraintType.md new file mode 100644 index 00000000..fa99205a --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/JointTrajectoryConstraintType.md @@ -0,0 +1,14 @@ +# enum JointTrajectoryConstraintType + +## Overview / Purpose + +Enumeration JointTrajectoryConstraintType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_JOINT\_CONSTRAINT|0|Unspecified joint constraint| +|JOINT\_CONSTRAINT\_DURATION|1|Duration constraint \(in second\)| +|JOINT\_CONSTRAINT\_SPEED|2|Speed constraint \(in meters per second\) \(not implemented yet\)| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/enm_Base_LedState.md b/api_cpp/doc/markdown/enums/Base/LedState.md similarity index 51% rename from api_cpp/doc/markdown/references/enm_Base_LedState.md rename to api_cpp/doc/markdown/enums/Base/LedState.md index 3379b50a..9465ddb1 100644 --- a/api_cpp/doc/markdown/references/enm_Base_LedState.md +++ b/api_cpp/doc/markdown/enums/Base/LedState.md @@ -1,12 +1,8 @@ -# Enum LedState - -This page describes the C++ Kinova::Api::Base::LedState enumeration. +# enum LedState ## Overview / Purpose -List of admissible LED states \(future\) - -## Enumeration definition +Enumeration LedState |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,5 +11,5 @@ List of admissible LED states \(future\) |LED\_PULSE|2|LED is in pulse state| |LED\_ON|3|LED is one| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/enums/Base/LimitationType.md b/api_cpp/doc/markdown/enums/Base/LimitationType.md new file mode 100644 index 00000000..cdbda6af --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/LimitationType.md @@ -0,0 +1,16 @@ +# enum LimitationType + +## Overview / Purpose + +Enumeration LimitationType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_LIMITATION|0|Unspecified limitation| +|FORCE\_LIMITATION|1|Force limitation \(not implemented yet\)| +|ACCELERATION\_LIMITATION|2|Acceleration limitation \(not implemented yet\)| +|VELOCITY\_LIMITATION|3|Velocity limitation| +|TORQUE\_LIMITATION|4|Torque limitation| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/enums/Base/NavigationDirection.md b/api_cpp/doc/markdown/enums/Base/NavigationDirection.md new file mode 100644 index 00000000..c13f1f63 --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/NavigationDirection.md @@ -0,0 +1,16 @@ +# enum NavigationDirection + +## Overview / Purpose + +Enumeration NavigationDirection + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_NAVIGATION\_DIRECTION|0|Unspecified navigation direction| +|NEXT|1|Go to next map| +|UP|2|Go to parent map group \(not implemented yet\)| +|DOWN|3|Go to children map group \(not implemented yet\)| +|PREVIOUS|4|Go to previous map| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/enm_Base_NetworkEvent.md b/api_cpp/doc/markdown/enums/Base/NetworkEvent.md similarity index 75% rename from api_cpp/doc/markdown/references/enm_Base_NetworkEvent.md rename to api_cpp/doc/markdown/enums/Base/NetworkEvent.md index 04203d79..a3379593 100644 --- a/api_cpp/doc/markdown/references/enm_Base_NetworkEvent.md +++ b/api_cpp/doc/markdown/enums/Base/NetworkEvent.md @@ -1,12 +1,8 @@ -# Enum NetworkEvent - -This page describes the C++ Kinova::Api::Base::NetworkEvent enumeration. +# enum NetworkEvent ## Overview / Purpose -List of admissible network events - -## Enumeration definition +Enumeration NetworkEvent |Enumerator|Value|Description| |----------|-----|-----------| @@ -22,5 +18,5 @@ List of admissible network events |WIFI\_AUTH\_CONN\_FAILED|9|Wi-Fi connection failure during auth| |WIFI\_AUTH\_FAILED|10|Wi-Fi authentication failure| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/enm_Base_NetworkType.md b/api_cpp/doc/markdown/enums/Base/NetworkType.md similarity index 50% rename from api_cpp/doc/markdown/references/enm_Base_NetworkType.md rename to api_cpp/doc/markdown/enums/Base/NetworkType.md index eb3fd308..ab636941 100644 --- a/api_cpp/doc/markdown/references/enm_Base_NetworkType.md +++ b/api_cpp/doc/markdown/enums/Base/NetworkType.md @@ -1,12 +1,8 @@ -# Enum NetworkType - -This page describes the C++ Kinova::Api::Base::NetworkType enumeration. +# enum NetworkType ## Overview / Purpose -List of admissible network types - -## Enumeration definition +Enumeration NetworkType |Enumerator|Value|Description| |----------|-----|-----------| @@ -14,5 +10,5 @@ List of admissible network types |WIFI|1|Wi-Fi network| |WIRED\_ETHERNET|2|Wired Ethernet network| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/enm_Base_OperatingMode.md b/api_cpp/doc/markdown/enums/Base/OperatingMode.md similarity index 65% rename from api_cpp/doc/markdown/references/enm_Base_OperatingMode.md rename to api_cpp/doc/markdown/enums/Base/OperatingMode.md index 74d11a9e..a128e74c 100644 --- a/api_cpp/doc/markdown/references/enm_Base_OperatingMode.md +++ b/api_cpp/doc/markdown/enums/Base/OperatingMode.md @@ -1,12 +1,8 @@ -# Enum OperatingMode - -This page describes the C++ Kinova::Api::Base::OperatingMode enumeration. +# enum OperatingMode ## Overview / Purpose -List of admissible robot operating modes \(used to report robot firmware upgrade current state\) - -## Enumeration definition +Enumeration OperatingMode |Enumerator|Value|Description| |----------|-----|-----------| @@ -19,5 +15,5 @@ List of admissible robot operating modes \(used to report robot firmware upgrade |RUN\_MODE|6|Robot properly running \(or normal operation mode\)| |UPDATING\_DEVICE\_MODE|7|Robot updating device| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/references/enm_Base_ProtectionZoneEvent.md b/api_cpp/doc/markdown/enums/Base/ProtectionZoneEvent.md similarity index 56% rename from api_python/doc/markdown/references/enm_Base_ProtectionZoneEvent.md rename to api_cpp/doc/markdown/enums/Base/ProtectionZoneEvent.md index 643f24d0..ca842480 100644 --- a/api_python/doc/markdown/references/enm_Base_ProtectionZoneEvent.md +++ b/api_cpp/doc/markdown/enums/Base/ProtectionZoneEvent.md @@ -1,12 +1,8 @@ -# Enum ProtectionZoneEvent - -This page describes the Python Kinova.Api.Base.ProtectionZoneEvent enumeration. +# enum ProtectionZoneEvent ## Overview / Purpose -List of admissible protection zone events - -## Enumeration definition +Enumeration ProtectionZoneEvent |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,5 +11,5 @@ List of admissible protection zone events |ENTERED|2|Protection zone limit is entered| |EXITED|3|Protection zone limit is exited| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/enums/Base/RobotEvent.md b/api_cpp/doc/markdown/enums/Base/RobotEvent.md new file mode 100644 index 00000000..fe08108a --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/RobotEvent.md @@ -0,0 +1,16 @@ +# enum RobotEvent + +## Overview / Purpose + +Enumeration RobotEvent + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_ROBOT\_EVENT|0|Unspecified robot event| +|ARM\_CONNECTED|1|Robot arm is connected| +|ARM\_DISCONNECTED|2|Robot arm is disconnected| +|TOOL\_CONNECTED|5|Tool is connected to the interface module \(not implemented yet\)| +|TOOL\_DISCONNECTED|6|Tool is disconnected from the interface module \(not implemented yet\)| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/enm_Base_SafetyIdentifier.md b/api_cpp/doc/markdown/enums/Base/SafetyIdentifier.md similarity index 59% rename from api_cpp/doc/markdown/references/enm_Base_SafetyIdentifier.md rename to api_cpp/doc/markdown/enums/Base/SafetyIdentifier.md index b81abdbd..cf446f34 100644 --- a/api_cpp/doc/markdown/references/enm_Base_SafetyIdentifier.md +++ b/api_cpp/doc/markdown/enums/Base/SafetyIdentifier.md @@ -1,45 +1,43 @@ -# Enum SafetyIdentifier - -This page describes the C++ Kinova::Api::Base::SafetyIdentifier enumeration. +# enum SafetyIdentifier ## Overview / Purpose -List of admissible Base safeties. Used with BaseCyclic.BaseFeedback.\[fault\_bank\_a | fault\_bank\_b | warning\_bank\_a | warning\_bank\_b\] - -## Enumeration definition +Enumeration SafetyIdentifier |Enumerator|Value|Description| |----------|-----|-----------| |UNSPECIFIED\_BASE\_SAFETY\_IDENTIFIER|0|0x0 - Unspecified base safety| |FIRMWARE\_UPDATE\_FAILURE|1|0x1 - Firmware update failure| -|EXTERNAL\_COMMUNICATION\_ERROR|2|0x2 - External communication error \(future\)| +|EXTERNAL\_COMMUNICATION\_ERROR|2|0x2 - External communication error \(not implemented yet\)| |MAXIMUM\_AMBIENT\_TEMPERATURE|4|0x4 - Maximum ambient temperature reached| |MAXIMUM\_CORE\_TEMPERATURE|8|0x8 - Maximum core temperature reached| |JOINT\_FAULT|16|0x10 - Joint fault| -|CYCLIC\_DATA\_JITTER|32|0x20 - Cyclic data jitter \(future\)| -|REACHED\_MAXIMUM\_EVENT\_LOGS|64|0x40 - Reached Maximum number of event log entries \(future\)| -|NO\_KINEMATICS\_SUPPORT|128|0x80 - No kinematics support \(future\)| +|CYCLIC\_DATA\_JITTER|32|0x20 - Cyclic data jitter \(not implemented yet\)| +|REACHED\_MAXIMUM\_EVENT\_LOGS|64|0x40 - Reached Maximum number of event log entries \(not implemented yet\)| +|NO\_KINEMATICS\_SUPPORT|128|0x80 - No kinematics support \(not implemented yet\)| |ABOVE\_MAXIMUM\_DOF|256|0x100 - Above maximum DoF| -|NETWORK\_ERROR|512|0x200 - Network error \(future\)| +|NETWORK\_ERROR|512|0x200 - Network error \(not implemented yet\)| |UNABLE\_TO\_REACH\_POSE|1024|0x400 - Unable to reach pose| |JOINT\_DETECTION\_ERROR|2048|0x800 - Joint detection error| |NETWORK\_INITIALIZATION\_ERROR|4096|0x1000 - Network initialization error| |MAXIMUM\_CURRENT|8192|0x2000 - Maximum current reached| |MAXIMUM\_VOLTAGE|16384|0x4000 - Maximum voltage reached| |MINIMUM\_VOLTAGE|32768|0x8000 - Minimum voltage reached| -|MAXIMUM\_END\_EFFECTOR\_TRANSLATION\_VELOCITY|65536|0x10000 - Maximum end effector translation velocity reached \(future\)| -|MAXIMUM\_END\_EFFECTOR\_ORIENTATION\_VELOCITY|131072|0x20000 - Maximum end effector orientation velocity reached \(future\)| -|MAXIMUM\_END\_EFFECTOR\_TRANSLATION\_ACCELERATION|262144|0x40000 - Maximum end effector translation acceleration reached \(future\)| -|MAXIMUM\_END\_EFFECTOR\_ORIENTATION\_ACCELERATION|524288|0x80000 - Maximum end effector orientation acceleration reached \(future\)| -|MAXIMUM\_END\_EFFECTOR\_TRANSLATION\_FORCE|1048576|0x100000 - Maximum end effector translation force reached \(future\)| -|MAXIMUM\_END\_EFFECTOR\_ORIENTATION\_FORCE|2097152|0x200000 - Maximum end effector orientation force reached \(future\)| -|MAXIMUM\_END\_EFFECTOR\_PAYLOAD|4194304|0x400000 - Maximum end effector payload reached \(future\)| +|MAXIMUM\_END\_EFFECTOR\_TRANSLATION\_VELOCITY|65536|0x10000 - Maximum tool translation velocity reached \(not implemented yet\)| +|MAXIMUM\_END\_EFFECTOR\_ORIENTATION\_VELOCITY|131072|0x20000 - Maximum tool orientation velocity reached \(not implemented yet\)| +|MAXIMUM\_END\_EFFECTOR\_TRANSLATION\_ACCELERATION|262144|0x40000 - Maximum tool translation acceleration reached \(not implemented yet\)| +|MAXIMUM\_END\_EFFECTOR\_ORIENTATION\_ACCELERATION|524288|0x80000 - Maximum tool orientation acceleration reached \(not implemented yet\)| +|MAXIMUM\_END\_EFFECTOR\_TRANSLATION\_FORCE|1048576|0x100000 - Maximum tool translation force reached \(not implemented yet\)| +|MAXIMUM\_END\_EFFECTOR\_ORIENTATION\_FORCE|2097152|0x200000 - Maximum tool orientation force reached \(not implemented yet\)| +|MAXIMUM\_END\_EFFECTOR\_PAYLOAD|4194304|0x400000 - Maximum tool payload reached \(not implemented yet\)| |EMERGENCY\_STOP\_ACTIVATED|8388608|0x800000 - Emergency stop activated| |EMERGENCY\_LINE\_ACTIVATED|16777216|0x1000000 - Emergency line activated| |INRUSH\_CURRENT\_LIMITER\_FAULT|33554432|0x2000000 - In rush current limiter fault| -|NVRAM\_CORRUPTED|67108864|0x4000000 - NVRAM corrupted \(future\)| +|NVRAM\_CORRUPTED|67108864|0x4000000 - NVRAM corrupted \(not implemented yet\)| |INCOMPATIBLE\_FIRMWARE\_VERSION|134217728|0x8000000 - Incompatible firmware version| |POWERON\_SELF\_TEST\_FAILURE|268435456|0x10000000 - Power on seflt test failure| +|DISCRETE\_INPUT\_STUCK\_ACTIVE|536870912|0x20000000 - Discrete Input stuck active| +|ARM\_INTO\_ILLEGAL\_POSITION|1073741824|0x40000000 - Arm is in an illegal position \(sigularity\)| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/enums/Base/ServiceVersion.md b/api_cpp/doc/markdown/enums/Base/ServiceVersion.md new file mode 100644 index 00000000..63866c50 --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/ServiceVersion.md @@ -0,0 +1,13 @@ +# enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/references/enm_Base_ServoingMode.md b/api_cpp/doc/markdown/enums/Base/ServoingMode.md similarity index 51% rename from api_python/doc/markdown/references/enm_Base_ServoingMode.md rename to api_cpp/doc/markdown/enums/Base/ServoingMode.md index f51308f6..f30a76b2 100644 --- a/api_python/doc/markdown/references/enm_Base_ServoingMode.md +++ b/api_cpp/doc/markdown/enums/Base/ServoingMode.md @@ -1,20 +1,15 @@ -# Enum ServoingMode - -This page describes the Python Kinova.Api.Base.ServoingMode enumeration. +# enum ServoingMode ## Overview / Purpose -List of admissible servoing modes - -## Enumeration definition +Enumeration ServoingMode |Enumerator|Value|Description| |----------|-----|-----------| |UNSPECIFIED\_SERVOING\_MODE|0|Unspecified servoing mode| -|MULTI\_LEVEL\_SERVOING|1|Multi-level servoing| |SINGLE\_LEVEL\_SERVOING|2|Single-level servoing| |LOW\_LEVEL\_SERVOING|3|Low-level servoing| |BYPASS\_SERVOING|4|Bypass mode| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/references/enm_Base_ShapeType.md b/api_cpp/doc/markdown/enums/Base/ShapeType.md similarity index 53% rename from api_python/doc/markdown/references/enm_Base_ShapeType.md rename to api_cpp/doc/markdown/enums/Base/ShapeType.md index 65bc1f69..7d6d52c9 100644 --- a/api_python/doc/markdown/references/enm_Base_ShapeType.md +++ b/api_cpp/doc/markdown/enums/Base/ShapeType.md @@ -1,12 +1,8 @@ -# Enum ShapeType - -This page describes the Python Kinova.Api.Base.ShapeType enumeration. +# enum ShapeType ## Overview / Purpose -List of admissible protection zone shape types - -## Enumeration definition +Enumeration ShapeType |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,5 +11,5 @@ List of admissible protection zone shape types |SPHERE|2|Sphere shape type| |RECTANGULAR\_PRISM|3|Rectangular prism shape type| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/enm_Base_SignalQuality.md b/api_cpp/doc/markdown/enums/Base/SignalQuality.md similarity index 57% rename from api_cpp/doc/markdown/references/enm_Base_SignalQuality.md rename to api_cpp/doc/markdown/enums/Base/SignalQuality.md index 3670615c..3545fc4b 100644 --- a/api_cpp/doc/markdown/references/enm_Base_SignalQuality.md +++ b/api_cpp/doc/markdown/enums/Base/SignalQuality.md @@ -1,12 +1,8 @@ -# Enum SignalQuality - -This page describes the C++ Kinova::Api::Base::SignalQuality enumeration. +# enum SignalQuality ## Overview / Purpose -List of admissible signal quality values - -## Enumeration definition +Enumeration SignalQuality |Enumerator|Value|Description| |----------|-----|-----------| @@ -17,5 +13,5 @@ List of admissible signal quality values |EXCELLENT|4|Excellent signal quality| |NONE|5|No signal| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/references/enm_Base_SoundType.md b/api_cpp/doc/markdown/enums/Base/SoundType.md similarity index 50% rename from api_python/doc/markdown/references/enm_Base_SoundType.md rename to api_cpp/doc/markdown/enums/Base/SoundType.md index 2adb7cb7..61ec5dd8 100644 --- a/api_python/doc/markdown/references/enm_Base_SoundType.md +++ b/api_cpp/doc/markdown/enums/Base/SoundType.md @@ -1,12 +1,8 @@ -# Enum SoundType - -This page describes the Python Kinova.Api.Base.SoundType enumeration. +# enum SoundType ## Overview / Purpose -List of admissible sound types \(future\) - -## Enumeration definition +Enumeration SoundType |Enumerator|Value|Description| |----------|-----|-----------| @@ -14,5 +10,5 @@ List of admissible sound types \(future\) |BIP\_SERIES|1|Bip series sound type| |SINGLE\_BIP|2|Single bin sound type| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/enums/Base/TrajectoryContinuityMode.md b/api_cpp/doc/markdown/enums/Base/TrajectoryContinuityMode.md new file mode 100644 index 00000000..06873587 --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/TrajectoryContinuityMode.md @@ -0,0 +1,15 @@ +# enum TrajectoryContinuityMode + +## Overview / Purpose + +Enumeration TrajectoryContinuityMode + +|Enumerator|Value|Description| +|----------|-----|-----------| +|TRAJECTORY\_CONTINUITY\_MODE\_UNSPECIFIED|0|Unspecified continuity| +|TRAJECTORY\_CONTINUITY\_MODE\_POSITION|1|Position continuity only| +|TRAJECTORY\_CONTINUITY\_MODE\_SPEED|2|Position and speed continuity| +|TRAJECTORY\_CONTINUITY\_MODE\_ACCELERATION|3|Position, speed and acceleration continuity| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/enums/Base/TrajectoryErrorIdentifier.md b/api_cpp/doc/markdown/enums/Base/TrajectoryErrorIdentifier.md new file mode 100644 index 00000000..d98feac2 --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/TrajectoryErrorIdentifier.md @@ -0,0 +1,17 @@ +# enum TrajectoryErrorIdentifier + +## Overview / Purpose + +Enumeration TrajectoryErrorIdentifier + +|Enumerator|Value|Description| +|----------|-----|-----------| +|TRAJECTORY\_ERROR\_IDENTIFIER\_UNSPECIFIED|0|Unspecified error identifier| +|TRAJECTORY\_ERROR\_IDENTIFIER\_UNAPPLICABLE|1|No identifier required for this error| +|TRAJECTORY\_ERROR\_IDENTIFIER\_TIME|2|Time validation failed| +|TRAJECTORY\_ERROR\_IDENTIFIER\_POSITION|3|Position validation failed| +|TRAJECTORY\_ERROR\_IDENTIFIER\_VELOCITY|4|Velocity validation failed| +|TRAJECTORY\_ERROR\_IDENTIFIER\_ACCELERATION|5|Acceleration validation failed| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/enums/Base/TrajectoryErrorType.md b/api_cpp/doc/markdown/enums/Base/TrajectoryErrorType.md new file mode 100644 index 00000000..b5882b5b --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/TrajectoryErrorType.md @@ -0,0 +1,31 @@ +# enum TrajectoryErrorType + +## Overview / Purpose + +Enumeration TrajectoryErrorType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|TRAJECTORY\_ERROR\_TYPE\_UNSPECIFIED|0|Unspecified error type| +|TRAJECTORY\_ERROR\_TYPE\_OUTSIDE\_WORKSPACE|1|The trajectory point is outside robot workspace| +|TRAJECTORY\_ERROR\_TYPE\_ACTUATOR\_COUNT\_MISMATCH|2|There is an actuator count mismatch with the robot| +|TRAJECTORY\_ERROR\_TYPE\_INVALID\_DURATION|3|The trajectory has an invalid duration| +|TRAJECTORY\_ERROR\_TYPE\_ZERO\_DISTANCE|4|The trajectory does not move the robot because the delta is either zero or too small| +|TRAJECTORY\_ERROR\_TYPE\_INVALID\_SPEED|5|The speed for a trajectory point for an actuator is invalid| +|TRAJECTORY\_ERROR\_TYPE\_LARGE\_SPEED|6|The speed for a trajectory point for an actuator exceeds its limit| +|TRAJECTORY\_ERROR\_TYPE\_INVALID\_ACCELERATION|7|The acceleration for a trajectory point for an actuator is invalid| +|TRAJECTORY\_ERROR\_TYPE\_INVALID\_TIME\_STEP|8|The time step for a trajectory point is invalid| +|TRAJECTORY\_ERROR\_TYPE\_LARGE\_SIZE|9|The trajectory is too large| +|TRAJECTORY\_ERROR\_TYPE\_WRONG\_MODE|10|The robot is not currently in Trajectory Control mode| +|TRAJECTORY\_ERROR\_TYPE\_JOINT\_POSITION\_LIMIT|11|The position limit for a trajectory point for an actuator is exceeded| +|TRAJECTORY\_ERROR\_TYPE\_FILE\_ERROR|12|An internal file error was encountered| +|TRAJECTORY\_ERROR\_TYPE\_NO\_FILE\_IN\_MEMORY|13|An internal file memory error was encountered| +|TRAJECTORY\_ERROR\_TYPE\_INDEX\_OUT\_OF\_TRAJ|14|The index for a trajectory point is invalid| +|TRAJECTORY\_ERROR\_TYPE\_ALREADY\_RUNNING|15|A trajectory is already running| +|TRAJECTORY\_ERROR\_TYPE\_WRONG\_STARTING\_POINT|16|The difference between the trajectory's starting point and the current position is too large| +|TRAJECTORY\_ERROR\_TYPE\_CARTESIAN\_CANNOT\_START|17|The cartesian trajectory is not able to start| +|TRAJECTORY\_ERROR\_TYPE\_WRONG\_STARTING\_SPEED|18|The difference between the trajectory's starting speed and the current speed is too large| +|TRAJECTORY\_ERROR\_TYPE\_INVALID\_POSITION|19|The position for a trajectory point for an actuator is invalid| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/enums/Base/UserEvent.md b/api_cpp/doc/markdown/enums/Base/UserEvent.md new file mode 100644 index 00000000..06b79f17 --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/UserEvent.md @@ -0,0 +1,14 @@ +# enum UserEvent + +## Overview / Purpose + +Enumeration UserEvent + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_USER\_EVENT|0|Unspecified user event| +|LOGGED\_OUT|1|User logged out| +|LOGGED\_IN|2|User logged in| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/enums/Base/WifiEncryptionType.md b/api_cpp/doc/markdown/enums/Base/WifiEncryptionType.md new file mode 100644 index 00000000..9ec420fa --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/WifiEncryptionType.md @@ -0,0 +1,15 @@ +# enum WifiEncryptionType + +## Overview / Purpose + +Enumeration WifiEncryptionType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_ENCRYPTION|0|Unspecified Wi-Fi encryption type| +|AES\_ENCRYPTION|1|AES encryption| +|TKIP\_ENCRYPTION|2|TKIP encryption| +|WEP\_ENCRYPTION|4|WEP encryption| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/enums/Base/WifiSecurityType.md b/api_cpp/doc/markdown/enums/Base/WifiSecurityType.md new file mode 100644 index 00000000..1dced3c2 --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/WifiSecurityType.md @@ -0,0 +1,16 @@ +# enum WifiSecurityType + +## Overview / Purpose + +Enumeration WifiSecurityType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_AUTHENTICATION|0|Unspecified Wi-Fi security type| +|WEP|1|WEP authentication required| +|WPA2\_PERSONAL|2|WPA2 Personal authentication required| +|WPA\_PERSONAL|4|WPA Personal authentication required| +|NO\_AUTHENTICATION|8|No authentication required| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/enums/Base/WrenchMode.md b/api_cpp/doc/markdown/enums/Base/WrenchMode.md new file mode 100644 index 00000000..8e2cd8b7 --- /dev/null +++ b/api_cpp/doc/markdown/enums/Base/WrenchMode.md @@ -0,0 +1,14 @@ +# enum WrenchMode + +## Overview / Purpose + +Enumeration WrenchMode + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_WRENCH\_MODE|0|Unspecified wrench mode| +|WRENCH\_RESTRICTED|1|Wrench restricted mode \(tool motion is authorized only in the direction of the wrench command\)| +|WRENCH\_NORMAL|2|Wrench normal mode \(tool motion is authorized in any direction\)| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/references/enm_Base_Xbox360AnalogInputIdentifier.md b/api_cpp/doc/markdown/enums/Base/Xbox360AnalogInputIdentifier.md similarity index 63% rename from api_python/doc/markdown/references/enm_Base_Xbox360AnalogInputIdentifier.md rename to api_cpp/doc/markdown/enums/Base/Xbox360AnalogInputIdentifier.md index 68d1d2b7..febbe6ad 100644 --- a/api_python/doc/markdown/references/enm_Base_Xbox360AnalogInputIdentifier.md +++ b/api_cpp/doc/markdown/enums/Base/Xbox360AnalogInputIdentifier.md @@ -1,12 +1,8 @@ -# Enum Xbox360AnalogInputIdentifier - -This page describes the Python Kinova.Api.Base.Xbox360AnalogInputIdentifier enumeration. +# enum Xbox360AnalogInputIdentifier ## Overview / Purpose -List of admissible XBOX360 analog inputs - -## Enumeration definition +Enumeration Xbox360AnalogInputIdentifier |Enumerator|Value|Description| |----------|-----|-----------| @@ -18,5 +14,5 @@ List of admissible XBOX360 analog inputs |XBOX360\_TRIGGER\_LEFT|5|Trigger left input| |XBOX360\_TRIGGER\_RIGHT|6|Trigger right input| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/references/enm_Base_Xbox360DigitalInputIdentifier.md b/api_cpp/doc/markdown/enums/Base/Xbox360DigitalInputIdentifier.md similarity index 75% rename from api_python/doc/markdown/references/enm_Base_Xbox360DigitalInputIdentifier.md rename to api_cpp/doc/markdown/enums/Base/Xbox360DigitalInputIdentifier.md index dca6f997..4f42eec8 100644 --- a/api_python/doc/markdown/references/enm_Base_Xbox360DigitalInputIdentifier.md +++ b/api_cpp/doc/markdown/enums/Base/Xbox360DigitalInputIdentifier.md @@ -1,12 +1,8 @@ -# Enum Xbox360DigitalInputIdentifier - -This page describes the Python Kinova.Api.Base.Xbox360DigitalInputIdentifier enumeration. +# enum Xbox360DigitalInputIdentifier ## Overview / Purpose -List of admissible XBOX360 digital inputs - -## Enumeration definition +Enumeration Xbox360DigitalInputIdentifier |Enumerator|Value|Description| |----------|-----|-----------| @@ -26,5 +22,5 @@ List of admissible XBOX360 digital inputs |XBOX360\_BUTTON\_X|15|Button X input| |XBOX360\_BUTTON\_Y|16|Button Y input| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/enums/BaseCyclic/ServiceVersion.md b/api_cpp/doc/markdown/enums/BaseCyclic/ServiceVersion.md new file mode 100644 index 00000000..ebf04c8e --- /dev/null +++ b/api_cpp/doc/markdown/enums/BaseCyclic/ServiceVersion.md @@ -0,0 +1,13 @@ +# enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [BaseCyclic \(C++\)](../../summary_pages/BaseCyclic.md) + diff --git a/api_python/doc/markdown/references/enm_Common_ArmState.md b/api_cpp/doc/markdown/enums/Common/ArmState.md similarity index 81% rename from api_python/doc/markdown/references/enm_Common_ArmState.md rename to api_cpp/doc/markdown/enums/Common/ArmState.md index 7fbf7956..1d80a5e0 100644 --- a/api_python/doc/markdown/references/enm_Common_ArmState.md +++ b/api_cpp/doc/markdown/enums/Common/ArmState.md @@ -1,12 +1,8 @@ -# Enum ArmState - -This page describes the Python Kinova.Api.Common.ArmState enumeration. +# enum ArmState ## Overview / Purpose -List of admissible arm states - -## Enumeration definition +Enumeration ArmState |Enumerator|Value|Description| |----------|-----|-----------| @@ -22,5 +18,5 @@ List of admissible arm states |ARMSTATE\_SERVOING\_MANUALLY\_CONTROLLED|9|Arm is currently being controlled manually| |ARMSTATE\_RESERVED|255|For debugging, this state must never be reported outside the base. this means that a state is not mapped correctly| -**Parent topic:** [Common](../references/summary_Common.md) +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) diff --git a/api_cpp/doc/markdown/enums/Common/CartesianReferenceFrame.md b/api_cpp/doc/markdown/enums/Common/CartesianReferenceFrame.md new file mode 100644 index 00000000..d484d04e --- /dev/null +++ b/api_cpp/doc/markdown/enums/Common/CartesianReferenceFrame.md @@ -0,0 +1,15 @@ +# enum CartesianReferenceFrame + +## Overview / Purpose + +Enumeration CartesianReferenceFrame + +|Enumerator|Value|Description| +|----------|-----|-----------| +|CARTESIAN\_REFERENCE\_FRAME\_UNSPECIFIED|0|Unspecified Cartesian reference frame| +|CARTESIAN\_REFERENCE\_FRAME\_MIXED|1|Mixed reference frame where translation reference = base and orientation reference = tool| +|CARTESIAN\_REFERENCE\_FRAME\_TOOL|2|Tool reference frame where translation reference = tool and orientation reference = tool| +|CARTESIAN\_REFERENCE\_FRAME\_BASE|3|Base reference frame where the translation reference = base and orientation reference = base| + +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) + diff --git a/api_cpp/doc/markdown/enums/Common/CountryCodeIdentifier.md b/api_cpp/doc/markdown/enums/Common/CountryCodeIdentifier.md new file mode 100644 index 00000000..6aff7b6c --- /dev/null +++ b/api_cpp/doc/markdown/enums/Common/CountryCodeIdentifier.md @@ -0,0 +1,124 @@ +# enum CountryCodeIdentifier + +## Overview / Purpose + +Enumeration CountryCodeIdentifier + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_COUNTRY\_CODE|0| | +|UNITED\_ARAB\_EMIRATES\_AE|1| | +|ANTIGUA\_AND\_BARBUDA\_AG|2| | +|ANGUILLA\_AI|3| | +|ALBANIA\_AL|4| | +|AMERICAN\_SAMOA\_AS|5| | +|AUSTRIA\_AT|6| | +|AUSTRALIA\_AU|7| | +|ARUBA\_AW|8| | +|AZERBAIJAN\_AZ|9| | +|BOSNIA\_AND\_HERZEGOVINA\_BA|10| | +|BANGLADESH\_BD|11| | +|BELGIUM\_BE|12| | +|BULGARIA\_BG|13| | +|BAHRAIN\_BH|14| | +|BERMUDA\_BM|15| | +|BRUNEI\_DARUSSALAM\_BN|16| | +|BRAZIL\_BR|17| | +|BAHAMAS\_BS|18| | +|BELARUS\_BY|19| | +|SWITZERLAND\_CH|20| | +|CANADA\_CA|21| | +|CHINA\_CN|22| | +|COLOMBIA\_CO|23| | +|COSTA\_RICA\_CR|24| | +|CYPRUS\_CY|25| | +|CZECH\_REPUBLIC\_CZ|26| | +|GERMANY\_DE|27| | +|DENMARK\_DK|28| | +|ECUADOR\_EC|29| | +|ESTONIA\_EE|30| | +|EGYPT\_EG|31| | +|SPAIN\_ES|32| | +|ETHIOPIA\_ET|33| | +|FINLAND\_FI|34| | +|FRANCE\_FR|35| | +|UNITED\_KINGDOM\_GB|36| | +|GRENADA\_GD|37| | +|FRENCH\_GUIANA\_GF|38| | +|GUADELOUPE\_GP|39| | +|GREECE\_GR|40| | +|GUATEMALA\_GT|41| | +|GUAM\_GU|42| | +|HONG\_KONG\_HK|43| | +|CROATIA\_HR|44| | +|HUNGARY\_HU|45| | +|INDIA\_IN|46| | +|INDONESIA\_ID|47| | +|IRELAND\_IE|48| | +|ISRAEL\_IL|49| | +|ICELAND\_IS|50| | +|ITALY\_IT|51| | +|JORDAN\_JO|52| | +|JAPAN\_JP|53| | +|CAMBODIA\_KH|54| | +|REPUBLIC\_OF\_KOREA\_KR|55| | +|KUWAIT\_KW|56| | +|CAYMAN\_ISLANDS\_KY|57| | +|LAO\_PDR\_LA|58| | +|LEBANON\_LB|59| | +|LIECHTENSTEIN\_LI|60| | +|SRI\_LANKA\_LK|61| | +|LESOTHO\_LS|62| | +|LITHUANIA\_LT|63| | +|LUXEMBOURG\_LU|64| | +|LATVIA\_LV|65| | +|MOROCCO\_MA|66| | +|MONACO\_MC|67| | +|MOLDOVA\_MD|68| | +|MONTENEGRO\_ME|69| | +|REPUBLIC\_OF\_MACEDONIA\_MK|70| | +|MONGOLIA\_MN|71| | +|MARTINIQUE\_MQ|72| | +|MAURITANIA\_MR|73| | +|MALTA\_MT|74| | +|MAURITIUS\_MU|75| | +|MALDIVES\_MV|76| | +|MALAWI\_MW|77| | +|MEXICO\_MX|78| | +|MALAYSIA\_MY|79| | +|NICARAGUA\_NI|80| | +|NETHERLANDS\_NL|81| | +|NORWAY\_NO|82| | +|NEW\_ZEALAND\_NZ|83| | +|OMAN\_OM|84| | +|PANAMA\_PA|85| | +|PERU\_PE|86| | +|PHILIPPINES\_PH|87| | +|POLAND\_PL|88| | +|PUERTO\_RICO\_PR|89| | +|PORTUGAL\_PT|90| | +|PARAGUAY\_PY|91| | +|REUNION\_RE|92| | +|ROMANIA\_RO|93| | +|SERBIA\_RS|94| | +|RUSSIAN\_FEDERATION\_RU|95| | +|SWEDEN\_SE|96| | +|SINGAPORE\_SI|97| | +|SLOVAKIA\_SK|98| | +|EL\_SALVADOR\_SV|99| | +|THAILAND\_TH|100| | +|TUNISIA\_TN|101| | +|TURKEY\_TR|102| | +|TRINIDAD\_AND\_TOBAGO\_TT|103| | +|TAIWAN\_PROVINCE\_OF\_CHINA\_TW|104| | +|UKRAINE\_UA|105| | +|UNITED\_STATES\_US|106| | +|HOLY\_SEE\_VATICAN\_CITY\_STATE\_VA|107| | +|BOLIVARIAN\_REPUBLIC\_OF\_VENEZUELA\_VE|108| | +|BRITISH\_VIRGIN\_ISLANDS\_VG|109| | +|VIETNAM\_VN|110| | +|MAYOTTE\_YT|111| | +|SOUTH\_AFRICA\_ZA|112| | + +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/references/enm_Common_DeviceTypes.md b/api_cpp/doc/markdown/enums/Common/DeviceTypes.md similarity index 54% rename from api_python/doc/markdown/references/enm_Common_DeviceTypes.md rename to api_cpp/doc/markdown/enums/Common/DeviceTypes.md index 67884080..7807ffc6 100644 --- a/api_python/doc/markdown/references/enm_Common_DeviceTypes.md +++ b/api_cpp/doc/markdown/enums/Common/DeviceTypes.md @@ -1,12 +1,8 @@ -# Enum DeviceTypes - -This page describes the Python Kinova.Api.Common.DeviceTypes enumeration. +# enum DeviceTypes ## Overview / Purpose -List of admissible device types - -## Enumeration definition +Enumeration DeviceTypes |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,8 +11,10 @@ List of admissible device types |VISION|2|Vision module| |BIG\_ACTUATOR|3|Big actuator module| |SMALL\_ACTUATOR|4|Small actuator module| -|INTERCONNECT|5|Interconnect module| +|INTERCONNECT|5|Interface module| |GRIPPER|6|Gripper module| +|MEDIUM\_ACTUATOR|7|Medium actuator module| +|XBIG\_ACTUATOR|8|XBig actuator module| -**Parent topic:** [Common](../references/summary_Common.md) +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) diff --git a/api_python/doc/markdown/references/enm_Common_NotificationType.md b/api_cpp/doc/markdown/enums/Common/NotificationType.md similarity index 52% rename from api_python/doc/markdown/references/enm_Common_NotificationType.md rename to api_cpp/doc/markdown/enums/Common/NotificationType.md index ed3144f4..528b2912 100644 --- a/api_python/doc/markdown/references/enm_Common_NotificationType.md +++ b/api_cpp/doc/markdown/enums/Common/NotificationType.md @@ -1,19 +1,15 @@ -# Enum NotificationType - -This page describes the Python Kinova.Api.Common.NotificationType enumeration. +# enum NotificationType ## Overview / Purpose -List of admissible notification types - -## Enumeration definition +Enumeration NotificationType |Enumerator|Value|Description| |----------|-----|-----------| |NOTIFICATION\_TYPE\_UNSPECIFIED|0|Unspecified notification| -|NOTIFICATION\_TYPE\_THRESHOLD|1|Threshold notification. Refers to a notification sent beyond a specific threshold \(future\)| -|NOTIFICATION\_TYPE\_FIX\_RATE|2|Fix rate notification. Refers to a notification sent at a predetermined fix rate \(future\)| +|NOTIFICATION\_TYPE\_THRESHOLD|1|Threshold notification. Refers to a notification sent beyond a specific threshold \(not implemented yet\)| +|NOTIFICATION\_TYPE\_FIX\_RATE|2|Fix rate notification. Refers to a notification sent at a predetermined fix rate \(not implemented yet\)| |NOTIFICATION\_TYPE\_EVENT|3|Event type notification. Refers to a notification sent in response to an event| -**Parent topic:** [Common](../references/summary_Common.md) +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) diff --git a/api_python/doc/markdown/references/enm_Common_Permission.md b/api_cpp/doc/markdown/enums/Common/Permission.md similarity index 61% rename from api_python/doc/markdown/references/enm_Common_Permission.md rename to api_cpp/doc/markdown/enums/Common/Permission.md index 83f3e864..59fb2646 100644 --- a/api_python/doc/markdown/references/enm_Common_Permission.md +++ b/api_cpp/doc/markdown/enums/Common/Permission.md @@ -1,12 +1,8 @@ -# Enum Permission - -This page describes the Python Kinova.Api.Common.Permission enumeration. +# enum Permission ## Overview / Purpose -List of admissible permissions. Used as bitfields - -## Enumeration definition +Enumeration Permission |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,5 +11,5 @@ List of admissible permissions. Used as bitfields |UPDATE\_PERMISSION|2|Update permission. Refers to an entity that can be modified| |DELETE\_PERMISSION|4|Delete permission. Refers to an entity that can be deleted| -**Parent topic:** [Common](../references/summary_Common.md) +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) diff --git a/api_python/doc/markdown/references/enm_Common_SafetyStatusValue.md b/api_cpp/doc/markdown/enums/Common/SafetyStatusValue.md similarity index 55% rename from api_python/doc/markdown/references/enm_Common_SafetyStatusValue.md rename to api_cpp/doc/markdown/enums/Common/SafetyStatusValue.md index 1d9dda1e..819ffcf5 100644 --- a/api_python/doc/markdown/references/enm_Common_SafetyStatusValue.md +++ b/api_cpp/doc/markdown/enums/Common/SafetyStatusValue.md @@ -1,12 +1,8 @@ -# Enum SafetyStatusValue - -This page describes the Python Kinova.Api.Common.SafetyStatusValue enumeration. +# enum SafetyStatusValue ## Overview / Purpose -List of admissible safety statuses - -## Enumeration definition +Enumeration SafetyStatusValue |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,5 +11,5 @@ List of admissible safety statuses |SAFETY\_STATUS\_ERROR|2|Error safety reached| |SAFETY\_STATUS\_NORMAL|3|Safety is off| -**Parent topic:** [Common](../references/summary_Common.md) +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) diff --git a/api_cpp/doc/markdown/enums/Common/UARTParity.md b/api_cpp/doc/markdown/enums/Common/UARTParity.md new file mode 100644 index 00000000..c3f4a8e9 --- /dev/null +++ b/api_cpp/doc/markdown/enums/Common/UARTParity.md @@ -0,0 +1,15 @@ +# enum UARTParity + +## Overview / Purpose + +Enumeration UARTParity + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UART\_PARITY\_UNSPECIFIED|0|Unspecified UART parity| +|UART\_PARITY\_NONE|1|No parity| +|UART\_PARITY\_ODD|2|Odd parity| +|UART\_PARITY\_EVEN|3|Even parity| + +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) + diff --git a/api_cpp/doc/markdown/enums/Common/UARTSpeed.md b/api_cpp/doc/markdown/enums/Common/UARTSpeed.md new file mode 100644 index 00000000..4ebceb5f --- /dev/null +++ b/api_cpp/doc/markdown/enums/Common/UARTSpeed.md @@ -0,0 +1,27 @@ +# enum UARTSpeed + +## Overview / Purpose + +Enumeration UARTSpeed + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UART\_SPEED\_UNSPECIFIED|0|Unspecified UART speed| +|UART\_SPEED\_4800|1|4800 bps| +|UART\_SPEED\_9600|2|9600 bps| +|UART\_SPEED\_19200|3|19200 bps| +|UART\_SPEED\_38400|4|38400 bps| +|UART\_SPEED\_57600|5|57600 bps| +|UART\_SPEED\_115200|6|115200 bps| +|UART\_SPEED\_230400|7|230400 bps| +|UART\_SPEED\_460800|8|460800 bps| +|UART\_SPEED\_921600|9|921600 bps| +|UART\_SPEED\_1382400|10|1382400 bps| +|UART\_SPEED\_1612800|11|1612800 bps| +|UART\_SPEED\_1843200|12|1843200 bps| +|UART\_SPEED\_2073600|13|2073600 bps| +|UART\_SPEED\_2188800|14|2188800 bps| +|UART\_SPEED\_2246400|15|2246400 bps| + +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) + diff --git a/api_cpp/doc/markdown/enums/Common/UARTStopBits.md b/api_cpp/doc/markdown/enums/Common/UARTStopBits.md new file mode 100644 index 00000000..493745ec --- /dev/null +++ b/api_cpp/doc/markdown/enums/Common/UARTStopBits.md @@ -0,0 +1,16 @@ +# enum UARTStopBits + +## Overview / Purpose + +Enumeration UARTStopBits + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UART\_STOP\_BITS\_UNSPECIFIED|0|Unspecified UART stop bits| +|UART\_STOP\_BITS\_0\_5|1|0.5 stop bit| +|UART\_STOP\_BITS\_1|2|1 stop bit| +|UART\_STOP\_BITS\_1\_5|3|1.5 stop bits| +|UART\_STOP\_BITS\_2|4|2 stop bits| + +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) + diff --git a/api_cpp/doc/markdown/enums/Common/UARTWordLength.md b/api_cpp/doc/markdown/enums/Common/UARTWordLength.md new file mode 100644 index 00000000..9dc9b861 --- /dev/null +++ b/api_cpp/doc/markdown/enums/Common/UARTWordLength.md @@ -0,0 +1,15 @@ +# enum UARTWordLength + +## Overview / Purpose + +Enumeration UARTWordLength + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UART\_WORD\_LENGTH\_UNSPECIFIED|0|Unspecified UART word length| +|UART\_WORD\_LENGTH\_7|1|7 bits| +|UART\_WORD\_LENGTH\_8|2|8 bits| +|UART\_WORD\_LENGTH\_9|3|9 bits| + +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/references/enm_Common_Unit.md b/api_cpp/doc/markdown/enums/Common/Unit.md similarity index 70% rename from api_python/doc/markdown/references/enm_Common_Unit.md rename to api_cpp/doc/markdown/enums/Common/Unit.md index 1bf12223..45d4031d 100644 --- a/api_python/doc/markdown/references/enm_Common_Unit.md +++ b/api_cpp/doc/markdown/enums/Common/Unit.md @@ -1,12 +1,8 @@ -# Enum Unit - -This page describes the Python Kinova.Api.Common.Unit enumeration. +# enum Unit ## Overview / Purpose -List of admissible units used throughout API methods - -## Enumeration definition +Enumeration Unit |Enumerator|Value|Description| |----------|-----|-----------| @@ -25,5 +21,5 @@ List of admissible units used throughout API methods |TICK|12|Tick| |DEGREE\_PER\_MILLISECOND|13|Degre per millisecond| -**Parent topic:** [Common](../references/summary_Common.md) +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) diff --git a/api_cpp/doc/markdown/enums/ControlConfig/ControlConfigurationEvent.md b/api_cpp/doc/markdown/enums/ControlConfig/ControlConfigurationEvent.md new file mode 100644 index 00000000..21f1cb03 --- /dev/null +++ b/api_cpp/doc/markdown/enums/ControlConfig/ControlConfigurationEvent.md @@ -0,0 +1,26 @@ +# enum ControlConfigurationEvent + +## Overview / Purpose + +Enumeration ControlConfigurationEvent + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_CONTROL\_CONFIGURATION\_EVENT|0|Unspecified control configuration event| +|ANGLE\_UNIT\_CHANGED|1|Angle unit changed event| +|GRAVITY\_VECTOR\_CHANGED|2|Gravity vector changed event| +|VISION\_JOYSTICK\_CONFIGURATION\_CHANGED|3|Vision joystick configuration changed event| +|JOINT\_ADMITTANCE\_CONFIGURATION\_CHANGED|4|Joint admittance configuration changed event| +|NULL\_ADMITTANCE\_CONFIGURATION\_CHANGED|5|Null admittance configuration changed event| +|CARTESIAN\_ADMITTANCE\_CONFIGURATION\_CHANGED|6|Cartesian admittance configuration changed event| +|JOINT\_TORQUE\_HYBRID\_CONFIGURATION\_CHANGED|7|Joint torque hybrid configuraiton changed event| +|WRENCH\_COMMAND\_NORMAL\_CONFIGURATION\_CHANGED|8|Wrench commmand normal configuration changed event| +|WRENCH\_COMMAND\_RESTRICTED\_CONFIGURATION\_CHANGED|9|Wrench command restricted configuration changed event| +|CONTROL\_CONFIGURATION\_FACTORY\_RESTORED|10|Control configuration factory restored event| +|TOOL\_CONFIGURATION\_CHANGED|11|Tool configuration event| +|PAYLOAD\_CONFIGURATION\_CHANGED|12|Payload configuration event| +|CARTESIAN\_REFERENCE\_CHANGED|13|Cartesian reference event| +|CHANGE\_CONTROL\_MODE\_FAILED|14|Control mode change fail event| + +**Parent topic:** [ControlConfig \(C++\)](../../summary_pages/ControlConfig.md) + diff --git a/api_cpp/doc/markdown/enums/ControlConfig/ServiceVersion.md b/api_cpp/doc/markdown/enums/ControlConfig/ServiceVersion.md new file mode 100644 index 00000000..09d3f686 --- /dev/null +++ b/api_cpp/doc/markdown/enums/ControlConfig/ServiceVersion.md @@ -0,0 +1,13 @@ +# enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [ControlConfig \(C++\)](../../summary_pages/ControlConfig.md) + diff --git a/api_cpp/doc/markdown/enums/DeviceConfig/CalibrationItem.md b/api_cpp/doc/markdown/enums/DeviceConfig/CalibrationItem.md new file mode 100644 index 00000000..79ab3db7 --- /dev/null +++ b/api_cpp/doc/markdown/enums/DeviceConfig/CalibrationItem.md @@ -0,0 +1,16 @@ +# enum CalibrationItem + +## Overview / Purpose + +Enumeration CalibrationItem + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_CALIBRATION\_ITEM|0|Unspecified calibration item| +|COGGING|1|Cogging calibration| +|MAGNETIC|2|Magnetic sensors calibration| +|MOTOR|3|Motor calibration| +|POSITION\_RANGE|4|Position range calibration| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/enums/DeviceConfig/CalibrationStatus.md b/api_cpp/doc/markdown/enums/DeviceConfig/CalibrationStatus.md new file mode 100644 index 00000000..6b4d6b94 --- /dev/null +++ b/api_cpp/doc/markdown/enums/DeviceConfig/CalibrationStatus.md @@ -0,0 +1,16 @@ +# enum CalibrationStatus + +## Overview / Purpose + +Enumeration CalibrationStatus + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_CALIBRATION\_STATUS|0|Unspecified calibration status| +|NOT\_CALIBRATED|1|Calibration is not done| +|IN\_PROGRESS|2|Calibration is in progress| +|CALIBRATED|3|Calibration was successfully completed| +|IN\_FAULT|4|Calibration failed| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/enums/DeviceConfig/CapSenseMode.md b/api_cpp/doc/markdown/enums/DeviceConfig/CapSenseMode.md new file mode 100644 index 00000000..6f101516 --- /dev/null +++ b/api_cpp/doc/markdown/enums/DeviceConfig/CapSenseMode.md @@ -0,0 +1,17 @@ +# enum CapSenseMode + +## Overview / Purpose + +Enumeration CapSenseMode + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED|0|Reserved, do not use.| +|INACTIVE|1|Cap sensor is inactive.| +|ACTIVE\_AUTO\_THRESHOLD|2|Cap sensor is active in automatic threshold mode.| +|ACTIVE\_NOISE\_ATT|4|Cap sensor is active with noise mitigation enabled.| +|ACTIVE\_NORMAL|5|Cap sensor is active in normal mode.| +|CONFIGURATION|6|Configuration mode.| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/enums/DeviceConfig/RunModes.md b/api_cpp/doc/markdown/enums/DeviceConfig/RunModes.md new file mode 100644 index 00000000..f1b38513 --- /dev/null +++ b/api_cpp/doc/markdown/enums/DeviceConfig/RunModes.md @@ -0,0 +1,16 @@ +# enum RunModes + +## Overview / Purpose + +Enumeration RunModes + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RUN\_MODE|0| | +|CALIBRATION\_MODE|1|calibration mode| +|CONFIGURATION\_MODE|2|configuration mode| +|DEBUG\_MODE|3|debug mode| +|TUNING\_MODE|4|tuning mode| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/references/enm_DeviceConfig_SafetyLimitType.md b/api_cpp/doc/markdown/enums/DeviceConfig/SafetyLimitType.md similarity index 60% rename from api_python/doc/markdown/references/enm_DeviceConfig_SafetyLimitType.md rename to api_cpp/doc/markdown/enums/DeviceConfig/SafetyLimitType.md index b6d0890c..da67e87e 100644 --- a/api_python/doc/markdown/references/enm_DeviceConfig_SafetyLimitType.md +++ b/api_cpp/doc/markdown/enums/DeviceConfig/SafetyLimitType.md @@ -1,19 +1,15 @@ -# Enum SafetyLimitType - -This page describes the Python Kinova.Api.DeviceConfig.SafetyLimitType enumeration. +# enum SafetyLimitType ## Overview / Purpose -Types of safeties limits - -## Enumeration definition +Enumeration SafetyLimitType |Enumerator|Value|Description| |----------|-----|-----------| -|UNSPECIFIED\_SAFETY\_LIMIT\_TYPE|0| | +|UNSPECIFIED\_SAFETY\_LIMIT\_TYPE|0| | |MINIMAL\_LIMIT|1|Safety that will kick in below a certain Minimum threshold \(e.g. Minimum temperature safety\)| |MAXIMAL\_LIMIT|2|Safety that will kick in above a certain Maximum threshold \(e.g. Maximum voltage safety\)| |EVENT\_LIMIT|3|Safety that will kick in in reaction to a specific event \(e.g. motor drive fault\)| -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) diff --git a/api_cpp/doc/markdown/enums/DeviceConfig/ServiceVersion.md b/api_cpp/doc/markdown/enums/DeviceConfig/ServiceVersion.md new file mode 100644 index 00000000..a062566b --- /dev/null +++ b/api_cpp/doc/markdown/enums/DeviceConfig/ServiceVersion.md @@ -0,0 +1,13 @@ +# enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/enums/DeviceManager/ServiceVersion.md b/api_cpp/doc/markdown/enums/DeviceManager/ServiceVersion.md new file mode 100644 index 00000000..07c4a9ef --- /dev/null +++ b/api_cpp/doc/markdown/enums/DeviceManager/ServiceVersion.md @@ -0,0 +1,13 @@ +# enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [DeviceManager \(C++\)](../../summary_pages/DeviceManager.md) + diff --git a/api_cpp/doc/markdown/enums/GripperConfig/RobotiqGripperStatusFlags.md b/api_cpp/doc/markdown/enums/GripperConfig/RobotiqGripperStatusFlags.md new file mode 100644 index 00000000..476489f9 --- /dev/null +++ b/api_cpp/doc/markdown/enums/GripperConfig/RobotiqGripperStatusFlags.md @@ -0,0 +1,16 @@ +# enum RobotiqGripperStatusFlags + +## Overview / Purpose + +Enumeration RobotiqGripperStatusFlags + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_ROBOTIQ\_STATUS|0|0x0| +|ROBOTIQ\_STAT\_INITIALIZED|1|0x01| +|ROBOTIQ\_STAT\_OBJECT\_DETECTED|2|0x02| +|ROBOTIQ\_STAT\_POS\_REACHED|4|0x04| +|ROBOTIQ\_STAT\_STOPPED|8|0x08| + +**Parent topic:** [GripperConfig \(C++\)](../../summary_pages/GripperConfig.md) + diff --git a/api_cpp/doc/markdown/enums/GripperConfig/SafetyIdentifier.md b/api_cpp/doc/markdown/enums/GripperConfig/SafetyIdentifier.md new file mode 100644 index 00000000..c16b62c0 --- /dev/null +++ b/api_cpp/doc/markdown/enums/GripperConfig/SafetyIdentifier.md @@ -0,0 +1,21 @@ +# enum SafetyIdentifier + +## Overview / Purpose + +Enumeration SafetyIdentifier + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_ACTUATOR\_SAFETY\_IDENTIFIER|0|0x0| +|MAXIMUM\_MOTOR\_CURRENT|1|0x1| +|MAXIMUM\_VOLTAGE|2|0x2| +|MINIMUM\_VOLTAGE|4|0x4| +|MAXIMUM\_MOTOR\_TEMPERATURE|8|0x8| +|MAXIMUM\_CORE\_TEMPERATURE|16|0x10| +|NON\_VOLATILE\_MEMORY\_CORRUPTED|32|0x20| +|EMERGENCY\_LINE\_ASSERTED|64|0x40| +|COMMUNICATION\_TICK\_LOST|128|0x80| +|WATCHDOG\_TRIGGERED|256|0x100| + +**Parent topic:** [GripperConfig \(C++\)](../../summary_pages/GripperConfig.md) + diff --git a/api_cpp/doc/markdown/enums/GripperCyclic/ServiceVersion.md b/api_cpp/doc/markdown/enums/GripperCyclic/ServiceVersion.md new file mode 100644 index 00000000..8b1586db --- /dev/null +++ b/api_cpp/doc/markdown/enums/GripperCyclic/ServiceVersion.md @@ -0,0 +1,13 @@ +# enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0| | +|CURRENT\_VERSION|1|Current Version| + +**Parent topic:** [GripperCyclic \(C++\)](../../summary_pages/GripperCyclic.md) + diff --git a/api_cpp/doc/markdown/enums/InterconnectConfig/EthernetDevice.md b/api_cpp/doc/markdown/enums/InterconnectConfig/EthernetDevice.md new file mode 100644 index 00000000..30c00701 --- /dev/null +++ b/api_cpp/doc/markdown/enums/InterconnectConfig/EthernetDevice.md @@ -0,0 +1,13 @@ +# enum EthernetDevice + +## Overview / Purpose + +Enumeration EthernetDevice + +|Enumerator|Value|Description| +|----------|-----|-----------| +|ETHERNET\_DEVICE\_UNSPECIFIED|0|Unspecified ethernet device| +|ETHERNET\_DEVICE\_EXPANSION|1|Ethernet port located on the expansion connector| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/enums/InterconnectConfig/EthernetDuplex.md b/api_cpp/doc/markdown/enums/InterconnectConfig/EthernetDuplex.md new file mode 100644 index 00000000..86c957c8 --- /dev/null +++ b/api_cpp/doc/markdown/enums/InterconnectConfig/EthernetDuplex.md @@ -0,0 +1,14 @@ +# enum EthernetDuplex + +## Overview / Purpose + +Enumeration EthernetDuplex + +|Enumerator|Value|Description| +|----------|-----|-----------| +|ETHERNET\_DUPLEX\_UNSPECIFIED|0|Unspecified ethernet duplex| +|ETHERNET\_DUPLEX\_HALF|1|Half duplex| +|ETHERNET\_DUPLEX\_FULL|2|Full duplex| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/enums/InterconnectConfig/EthernetSpeed.md b/api_cpp/doc/markdown/enums/InterconnectConfig/EthernetSpeed.md new file mode 100644 index 00000000..68d4044b --- /dev/null +++ b/api_cpp/doc/markdown/enums/InterconnectConfig/EthernetSpeed.md @@ -0,0 +1,14 @@ +# enum EthernetSpeed + +## Overview / Purpose + +Enumeration EthernetSpeed + +|Enumerator|Value|Description| +|----------|-----|-----------| +|ETHERNET\_SPEED\_UNSPECIFIED|0|Unspecified ethernet speed| +|ETHERNET\_SPEED\_10M|1|10 Mbps| +|ETHERNET\_SPEED\_100M|2|100 Mbps| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/enums/InterconnectConfig/GPIOIdentifier.md b/api_cpp/doc/markdown/enums/InterconnectConfig/GPIOIdentifier.md new file mode 100644 index 00000000..c422ac5c --- /dev/null +++ b/api_cpp/doc/markdown/enums/InterconnectConfig/GPIOIdentifier.md @@ -0,0 +1,16 @@ +# enum GPIOIdentifier + +## Overview / Purpose + +Enumeration GPIOIdentifier + +|Enumerator|Value|Description| +|----------|-----|-----------| +|GPIO\_IDENTIFIER\_UNSPECIFIED|0|Unspecified GPIO identifier| +|GPIO\_IDENTIFIER\_1|1|GPIO identifier 1| +|GPIO\_IDENTIFIER\_2|2|GPIO identifier 2| +|GPIO\_IDENTIFIER\_3|3|GPIO identifier 3| +|GPIO\_IDENTIFIER\_4|4|GPIO identifier 4| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/enums/InterconnectConfig/GPIOMode.md b/api_cpp/doc/markdown/enums/InterconnectConfig/GPIOMode.md new file mode 100644 index 00000000..d1085cbd --- /dev/null +++ b/api_cpp/doc/markdown/enums/InterconnectConfig/GPIOMode.md @@ -0,0 +1,15 @@ +# enum GPIOMode + +## Overview / Purpose + +Enumeration GPIOMode + +|Enumerator|Value|Description| +|----------|-----|-----------| +|GPIO\_MODE\_UNSPECIFIED|0|Unspecified GPIO mode| +|GPIO\_MODE\_INPUT\_FLOATING|1|Input floating| +|GPIO\_MODE\_OUTPUT\_PUSH\_PULL|2|Output push-pull| +|GPIO\_MODE\_OUTPUT\_OPEN\_DRAIN|3|Output open drain| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/enums/InterconnectConfig/GPIOPull.md b/api_cpp/doc/markdown/enums/InterconnectConfig/GPIOPull.md new file mode 100644 index 00000000..fe35a373 --- /dev/null +++ b/api_cpp/doc/markdown/enums/InterconnectConfig/GPIOPull.md @@ -0,0 +1,15 @@ +# enum GPIOPull + +## Overview / Purpose + +Enumeration GPIOPull + +|Enumerator|Value|Description| +|----------|-----|-----------| +|GPIO\_PULL\_UNSPECIFIED|0|Unspecified GPIO pull| +|GPIO\_PULL\_NONE|1|Pull none| +|GPIO\_PULL\_UP|2|Pull up| +|GPIO\_PULL\_DOWN|3|Pull down| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/enums/InterconnectConfig/GPIOValue.md b/api_cpp/doc/markdown/enums/InterconnectConfig/GPIOValue.md new file mode 100644 index 00000000..2f2c5a21 --- /dev/null +++ b/api_cpp/doc/markdown/enums/InterconnectConfig/GPIOValue.md @@ -0,0 +1,14 @@ +# enum GPIOValue + +## Overview / Purpose + +Enumeration GPIOValue + +|Enumerator|Value|Description| +|----------|-----|-----------| +|GPIO\_VALUE\_UNSPECIFIED|0|Unspecified GPIO value| +|GPIO\_VALUE\_LOW|1|Low| +|GPIO\_VALUE\_HIGH|2|High| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/enums/InterconnectConfig/I2CDevice.md b/api_cpp/doc/markdown/enums/InterconnectConfig/I2CDevice.md new file mode 100644 index 00000000..f609f5fb --- /dev/null +++ b/api_cpp/doc/markdown/enums/InterconnectConfig/I2CDevice.md @@ -0,0 +1,13 @@ +# enum I2CDevice + +## Overview / Purpose + +Enumeration I2CDevice + +|Enumerator|Value|Description| +|----------|-----|-----------| +|I2C\_DEVICE\_UNSPECIFIED|0|Unspecified I2C device| +|I2C\_DEVICE\_EXPANSION|1|I2C device located on the expansion connector| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/enums/InterconnectConfig/I2CDeviceAddressing.md b/api_cpp/doc/markdown/enums/InterconnectConfig/I2CDeviceAddressing.md new file mode 100644 index 00000000..793b7956 --- /dev/null +++ b/api_cpp/doc/markdown/enums/InterconnectConfig/I2CDeviceAddressing.md @@ -0,0 +1,14 @@ +# enum I2CDeviceAddressing + +## Overview / Purpose + +Enumeration I2CDeviceAddressing + +|Enumerator|Value|Description| +|----------|-----|-----------| +|I2C\_DEVICE\_ADDRESSING\_UNSPECIFIED|0|Unspecified device addressing| +|I2C\_DEVICE\_ADDRESSING\_7\_BITS|1|7 bits device addressing| +|I2C\_DEVICE\_ADDRESSING\_10\_BITS|2|10 bits device addressing| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/enums/InterconnectConfig/I2CMode.md b/api_cpp/doc/markdown/enums/InterconnectConfig/I2CMode.md new file mode 100644 index 00000000..4229f033 --- /dev/null +++ b/api_cpp/doc/markdown/enums/InterconnectConfig/I2CMode.md @@ -0,0 +1,15 @@ +# enum I2CMode + +## Overview / Purpose + +Enumeration I2CMode + +|Enumerator|Value|Description| +|----------|-----|-----------| +|I2C\_MODE\_UNSPECIFIED|0|Unspecified I2C mode| +|I2C\_MODE\_STANDARD|1|Standard mode| +|I2C\_MODE\_FAST|2|Fast mode| +|I2C\_MODE\_FAST\_PLUS|3|Fast plus mode| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/enums/InterconnectConfig/I2CRegisterAddressSize.md b/api_cpp/doc/markdown/enums/InterconnectConfig/I2CRegisterAddressSize.md new file mode 100644 index 00000000..8157953b --- /dev/null +++ b/api_cpp/doc/markdown/enums/InterconnectConfig/I2CRegisterAddressSize.md @@ -0,0 +1,14 @@ +# enum I2CRegisterAddressSize + +## Overview / Purpose + +Enumeration I2CRegisterAddressSize + +|Enumerator|Value|Description| +|----------|-----|-----------| +|I2C\_REGISTER\_ADDRESS\_SIZE\_UNSPECIFIED|0|Unspecified I2C register address size| +|I2C\_REGISTER\_ADDRESS\_SIZE\_8\_BITS|1|8 bits register address size| +|I2C\_REGISTER\_ADDRESS\_SIZE\_16\_BITS|2|16 bits register address size| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/references/enm_InterconnectConfig_SafetyIdentifier.md b/api_cpp/doc/markdown/enums/InterconnectConfig/SafetyIdentifier.md similarity index 63% rename from api_python/doc/markdown/references/enm_InterconnectConfig_SafetyIdentifier.md rename to api_cpp/doc/markdown/enums/InterconnectConfig/SafetyIdentifier.md index 855f717e..8004c8b7 100644 --- a/api_python/doc/markdown/references/enm_InterconnectConfig_SafetyIdentifier.md +++ b/api_cpp/doc/markdown/enums/InterconnectConfig/SafetyIdentifier.md @@ -1,16 +1,12 @@ -# Enum SafetyIdentifier - -This page describes the Python Kinova.Api.InterconnectConfig.SafetyIdentifier enumeration. +# enum SafetyIdentifier ## Overview / Purpose -List of admissible interconnect module safeties - -## Enumeration definition +Enumeration SafetyIdentifier |Enumerator|Value|Description| |----------|-----|-----------| -|UNSPECIFIED\_ACTUATOR\_SAFETY\_IDENTIFIER|0|0x0 - Unspecified actuator safety| +|UNSPECIFIED\_INTERCONNECT\_SAFETY\_IDENTIFIER|0|0x0 - Unspecified actuator safety| |MAXIMUM\_MOTOR\_CURRENT|1|0x1 - Maximum motor current| |MAXIMUM\_VOLTAGE|2|0x2 - Maximum voltage| |MINIMUM\_VOLTAGE|4|0x4 - Minimum voltage| @@ -21,5 +17,5 @@ List of admissible interconnect module safeties |COMMUNICATION\_TICK\_LOST|128|0x80 - Communication tick lost| |WATCHDOG\_TRIGGERED|256|0x100 - Watchdog triggered| -**Parent topic:** [InterconnectConfig](../references/summary_InterconnectConfig.md) +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) diff --git a/api_cpp/doc/markdown/enums/InterconnectConfig/ServiceVersion.md b/api_cpp/doc/markdown/enums/InterconnectConfig/ServiceVersion.md new file mode 100644 index 00000000..8f946863 --- /dev/null +++ b/api_cpp/doc/markdown/enums/InterconnectConfig/ServiceVersion.md @@ -0,0 +1,13 @@ +# enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/enums/InterconnectConfig/UARTPortId.md b/api_cpp/doc/markdown/enums/InterconnectConfig/UARTPortId.md new file mode 100644 index 00000000..e1ad404c --- /dev/null +++ b/api_cpp/doc/markdown/enums/InterconnectConfig/UARTPortId.md @@ -0,0 +1,13 @@ +# enum UARTPortId + +## Overview / Purpose + +Enumeration UARTPortId + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UART\_PORT\_UNSPECIFIED|0|Unspecified UART port| +|UART\_PORT\_EXPANSION|1|UART port located on the expansion connector| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/enums/InterconnectCyclic/ServiceVersion.md b/api_cpp/doc/markdown/enums/InterconnectCyclic/ServiceVersion.md new file mode 100644 index 00000000..36d283d4 --- /dev/null +++ b/api_cpp/doc/markdown/enums/InterconnectCyclic/ServiceVersion.md @@ -0,0 +1,13 @@ +# enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [InterconnectCyclic \(C++\)](../../summary_pages/InterconnectCyclic.md) + diff --git a/api_cpp/doc/markdown/enums/ProductConfiguration/ArmLaterality.md b/api_cpp/doc/markdown/enums/ProductConfiguration/ArmLaterality.md new file mode 100644 index 00000000..8de6d542 --- /dev/null +++ b/api_cpp/doc/markdown/enums/ProductConfiguration/ArmLaterality.md @@ -0,0 +1,15 @@ +# enum ArmLaterality + +## Overview / Purpose + +Enumeration ArmLaterality + +|Enumerator|Value|Description| +|----------|-----|-----------| +|ARM\_LATERALITY\_UNSPECIFIED|0|Unspecified arm laterality| +|ARM\_LATERALITY\_NOT\_APPLICABLE|1|Not Applicable| +|ARM\_LATERALITY\_LEFT|2|Left Laterality| +|ARM\_LATERALITY\_RIGHT|3|Right Laterality| + +**Parent topic:** [ProductConfiguration \(C++\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_cpp/doc/markdown/enums/ProductConfiguration/BaseType.md b/api_cpp/doc/markdown/enums/ProductConfiguration/BaseType.md new file mode 100644 index 00000000..980854fc --- /dev/null +++ b/api_cpp/doc/markdown/enums/ProductConfiguration/BaseType.md @@ -0,0 +1,15 @@ +# enum BaseType + +## Overview / Purpose + +Enumeration BaseType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|BASE\_TYPE\_UNSPECIFIED|0|Unspecified base type| +|BASE\_TYPE\_L53\_QUICK\_CONNECT|1|L53 \(Gen3\) Quick Connect Base| +|BASE\_TYPE\_L31\_FIXED|3|L31 \(PICO\) Fixed Base| +|BASE\_TYPE\_HDK\_FIXED|4|HDK Fixed Base| + +**Parent topic:** [ProductConfiguration \(C++\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_cpp/doc/markdown/enums/ProductConfiguration/EndEffectorType.md b/api_cpp/doc/markdown/enums/ProductConfiguration/EndEffectorType.md new file mode 100644 index 00000000..2b581a0f --- /dev/null +++ b/api_cpp/doc/markdown/enums/ProductConfiguration/EndEffectorType.md @@ -0,0 +1,15 @@ +# enum EndEffectorType + +## Overview / Purpose + +Enumeration EndEffectorType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|END\_EFFECTOR\_TYPE\_UNSPECIFIED|0|Unspecified end-effector type| +|END\_EFFECTOR\_TYPE\_NOT\_INSTALLED|1|No gripper installed| +|END\_EFFECTOR\_TYPE\_L31\_GRIPPER\_2F|2|L31 \(PICO\) gripper, 2 fingers| +|END\_EFFECTOR\_TYPE\_ROBOTIQ\_2F\_85|3|Robotiq 2F-85 gripper, 2 fingers| + +**Parent topic:** [ProductConfiguration \(C++\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_cpp/doc/markdown/enums/ProductConfiguration/InterfaceModuleType.md b/api_cpp/doc/markdown/enums/ProductConfiguration/InterfaceModuleType.md new file mode 100644 index 00000000..8c4ed619 --- /dev/null +++ b/api_cpp/doc/markdown/enums/ProductConfiguration/InterfaceModuleType.md @@ -0,0 +1,15 @@ +# enum InterfaceModuleType + +## Overview / Purpose + +Enumeration InterfaceModuleType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|INTERFACE\_MODULE\_TYPE\_UNSPECIFIED|0|Unspecified interface module type| +|INTERFACE\_MODULE\_TYPE\_NOT\_INSTALLED|1|Not Applicable / Not Installed| +|INTERFACE\_MODULE\_TYPE\_L53|2|L53 \(Gen3\) Interface Module| +|INTERFACE\_MODULE\_TYPE\_L31|3|L31 \(PICO\) Interface Module| + +**Parent topic:** [ProductConfiguration \(C++\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_cpp/doc/markdown/enums/ProductConfiguration/ModelId.md b/api_cpp/doc/markdown/enums/ProductConfiguration/ModelId.md new file mode 100644 index 00000000..6f0c8ee7 --- /dev/null +++ b/api_cpp/doc/markdown/enums/ProductConfiguration/ModelId.md @@ -0,0 +1,15 @@ +# enum ModelId + +## Overview / Purpose + +Enumeration ModelId + +|Enumerator|Value|Description| +|----------|-----|-----------| +|MODEL\_ID\_UNSPECIFIED|0|Unspecified Model identification| +|MODEL\_ID\_L53|1|Gen3 Ultra Lightweight Robot| +|MODEL\_ID\_L31|2|PICO| +|MODEL\_ID\_HDK|3|Hardware Development Kit| + +**Parent topic:** [ProductConfiguration \(C++\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_cpp/doc/markdown/enums/ProductConfiguration/VisionModuleType.md b/api_cpp/doc/markdown/enums/ProductConfiguration/VisionModuleType.md new file mode 100644 index 00000000..1120a5e2 --- /dev/null +++ b/api_cpp/doc/markdown/enums/ProductConfiguration/VisionModuleType.md @@ -0,0 +1,16 @@ +# enum VisionModuleType + +## Overview / Purpose + +Enumeration VisionModuleType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|VISION\_MODULE\_TYPE\_UNSPECIFIED|0|Unspecified vision module type| +|VISION\_MODULE\_TYPE\_NOT\_INSTALLED|1|Not Applicable / Not Installed| +|VISION\_MODULE\_TYPE\_L53\_2D3D|2|L53 \(Gen3\) Vision Module| +|VISION\_MODULE\_TYPE\_L53\_2D|3|L53 \(Gen3\) Vision Module without 3D sensor| +|VISION\_MODULE\_TYPE\_EOD|4|EOD Vision Module| + +**Parent topic:** [ProductConfiguration \(C++\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_cpp/doc/markdown/enums/ProductConfiguration/WristType.md b/api_cpp/doc/markdown/enums/ProductConfiguration/WristType.md new file mode 100644 index 00000000..35d931cf --- /dev/null +++ b/api_cpp/doc/markdown/enums/ProductConfiguration/WristType.md @@ -0,0 +1,15 @@ +# enum WristType + +## Overview / Purpose + +Enumeration WristType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|WRIST\_TYPE\_UNSPECIFIED|0|Unspecified wrist type| +|WRIST\_TYPE\_NOT\_APPLICABLE|1|Not Applicable| +|WRIST\_TYPE\_SPHERICAL|2|Spherical Wrist| +|WRIST\_TYPE\_CURVED|3|Curved Wrist| + +**Parent topic:** [ProductConfiguration \(C++\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_cpp/doc/markdown/enums/Session/ServiceVersion.md b/api_cpp/doc/markdown/enums/Session/ServiceVersion.md new file mode 100644 index 00000000..f595a585 --- /dev/null +++ b/api_cpp/doc/markdown/enums/Session/ServiceVersion.md @@ -0,0 +1,13 @@ +# enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [Session \(C++\)](../../summary_pages/Session.md) + diff --git a/api_python/doc/markdown/references/enm_VisionConfig_BitRate.md b/api_cpp/doc/markdown/enums/VisionConfig/BitRate.md similarity index 67% rename from api_python/doc/markdown/references/enm_VisionConfig_BitRate.md rename to api_cpp/doc/markdown/enums/VisionConfig/BitRate.md index c504bd0f..4612f365 100644 --- a/api_python/doc/markdown/references/enm_VisionConfig_BitRate.md +++ b/api_cpp/doc/markdown/enums/VisionConfig/BitRate.md @@ -1,12 +1,8 @@ -# Enum BitRate - -This page describes the Python Kinova.Api.VisionConfig.BitRate enumeration. +# enum BitRate ## Overview / Purpose -Select the maximum encoded bit rate, in Mbps. - -## Enumeration definition +Enumeration BitRate |Enumerator|Value|Description| |----------|-----|-----------| @@ -16,5 +12,5 @@ Select the maximum encoded bit rate, in Mbps. |BITRATE\_20\_MBPS|3|20 Mbps maximum bit rate \(supported on color sensor only\)| |BITRATE\_25\_MBPS|4|25 Mbps maximum bit rate \(supported on color sensor only\)| -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) diff --git a/api_cpp/doc/markdown/references/enm_VisionConfig_FocusAction.md b/api_cpp/doc/markdown/enums/VisionConfig/FocusAction.md similarity index 54% rename from api_cpp/doc/markdown/references/enm_VisionConfig_FocusAction.md rename to api_cpp/doc/markdown/enums/VisionConfig/FocusAction.md index 696fcc50..d4e2d605 100644 --- a/api_cpp/doc/markdown/references/enm_VisionConfig_FocusAction.md +++ b/api_cpp/doc/markdown/enums/VisionConfig/FocusAction.md @@ -1,12 +1,8 @@ -# Enum FocusAction - -This page describes the C++ Kinova::Api::VisionConfig::FocusAction enumeration. +# enum FocusAction ## Overview / Purpose -Select the focus action to perform \(start/pause continuous, focus now, disable\). Supported only with Color sensor. - -## Enumeration definition +Enumeration FocusAction |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,6 +11,8 @@ Select the focus action to perform \(start/pause continuous, focus now, disable\ |FOCUSACTION\_PAUSE\_CONTINUOUS\_FOCUS|2|Pause continuous focus| |FOCUSACTION\_FOCUS\_NOW|3|Focus now \(single-shot\)| |FOCUSACTION\_DISABLE\_FOCUS|4|Disable focus| +|FOCUSACTION\_SET\_FOCUS\_POINT|5|Set a focus point| +|FOCUSACTION\_SET\_MANUAL\_FOCUS|6|Set the manual focus distance| -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) diff --git a/api_python/doc/markdown/references/enm_VisionConfig_FrameRate.md b/api_cpp/doc/markdown/enums/VisionConfig/FrameRate.md similarity index 57% rename from api_python/doc/markdown/references/enm_VisionConfig_FrameRate.md rename to api_cpp/doc/markdown/enums/VisionConfig/FrameRate.md index 4e55eff0..76885ece 100644 --- a/api_python/doc/markdown/references/enm_VisionConfig_FrameRate.md +++ b/api_cpp/doc/markdown/enums/VisionConfig/FrameRate.md @@ -1,12 +1,8 @@ -# Enum FrameRate - -This page describes the Python Kinova.Api.VisionConfig.FrameRate enumeration. +# enum FrameRate ## Overview / Purpose -Select the camera frame rate. - -## Enumeration definition +Enumeration FrameRate |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,5 +11,5 @@ Select the camera frame rate. |FRAMERATE\_15\_FPS|2|15 frames per second| |FRAMERATE\_30\_FPS|3|30 frame per second| -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) diff --git a/api_python/doc/markdown/references/enm_VisionConfig_Option.md b/api_cpp/doc/markdown/enums/VisionConfig/Option.md similarity index 95% rename from api_python/doc/markdown/references/enm_VisionConfig_Option.md rename to api_cpp/doc/markdown/enums/VisionConfig/Option.md index 076af49f..7ec2146e 100644 --- a/api_python/doc/markdown/references/enm_VisionConfig_Option.md +++ b/api_cpp/doc/markdown/enums/VisionConfig/Option.md @@ -1,12 +1,8 @@ -# Enum Option - -This page describes the Python Kinova.Api.VisionConfig.Option enumeration. +# enum Option ## Overview / Purpose -List of admissible Vision module options. !!!!! - -## Enumeration definition +Enumeration Option |Enumerator|Value|Description| |----------|-----|-----------| @@ -54,5 +50,5 @@ List of admissible Vision module options. !!!!! |OPTION\_STEREO\_BASELINE|41|The distance in mm between the first and the second imagers in stereo-based depth cameras \(supported on depth sensor only: 55.241055 to 55.241055, step 0.0\)| |OPTION\_AUTO\_EXPOSURE\_CONVERGE\_STEP|42|Allows dynamically ajust the converge step value of the target exposure in Auto-Exposure algorithm \(unsupported\)| -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) diff --git a/api_python/doc/markdown/references/enm_VisionConfig_Resolution.md b/api_cpp/doc/markdown/enums/VisionConfig/Resolution.md similarity index 73% rename from api_python/doc/markdown/references/enm_VisionConfig_Resolution.md rename to api_cpp/doc/markdown/enums/VisionConfig/Resolution.md index 4922698c..6ecc2a87 100644 --- a/api_python/doc/markdown/references/enm_VisionConfig_Resolution.md +++ b/api_cpp/doc/markdown/enums/VisionConfig/Resolution.md @@ -1,12 +1,8 @@ -# Enum Resolution - -This page describes the Python Kinova.Api.VisionConfig.Resolution enumeration. +# enum Resolution ## Overview / Purpose -Select the camera resolution. - -## Enumeration definition +Enumeration Resolution |Enumerator|Value|Description| |----------|-----|-----------| @@ -18,5 +14,5 @@ Select the camera resolution. |RESOLUTION\_1280x720|5|1280 x 720 pixels \(HD\) \(supported on color sensor only\)| |RESOLUTION\_1920x1080|6|1920 x 1080 pixels \(full HD\) \(supported on color sensor only\)| -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) diff --git a/api_python/doc/markdown/references/enm_VisionConfig_Sensor.md b/api_cpp/doc/markdown/enums/VisionConfig/Sensor.md similarity index 50% rename from api_python/doc/markdown/references/enm_VisionConfig_Sensor.md rename to api_cpp/doc/markdown/enums/VisionConfig/Sensor.md index 892dcdb8..55e640c6 100644 --- a/api_python/doc/markdown/references/enm_VisionConfig_Sensor.md +++ b/api_cpp/doc/markdown/enums/VisionConfig/Sensor.md @@ -1,12 +1,8 @@ -# Enum Sensor - -This page describes the Python Kinova.Api.VisionConfig.Sensor enumeration. +# enum Sensor ## Overview / Purpose -Select the Vision module camera sensor to configure. - -## Enumeration definition +Enumeration Sensor |Enumerator|Value|Description| |----------|-----|-----------| @@ -14,5 +10,5 @@ Select the Vision module camera sensor to configure. |SENSOR\_COLOR|1|Select the Vision module color sensor| |SENSOR\_DEPTH|2|Select the Vision module depth sensor| -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) diff --git a/api_cpp/doc/markdown/enums/VisionConfig/ServiceVersion.md b/api_cpp/doc/markdown/enums/VisionConfig/ServiceVersion.md new file mode 100644 index 00000000..1ec1d685 --- /dev/null +++ b/api_cpp/doc/markdown/enums/VisionConfig/ServiceVersion.md @@ -0,0 +1,13 @@ +# enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) + diff --git a/api_cpp/doc/markdown/references/enm_VisionConfig_VisionEvent.md b/api_cpp/doc/markdown/enums/VisionConfig/VisionEvent.md similarity index 51% rename from api_cpp/doc/markdown/references/enm_VisionConfig_VisionEvent.md rename to api_cpp/doc/markdown/enums/VisionConfig/VisionEvent.md index ad038954..d5f6e1c2 100644 --- a/api_cpp/doc/markdown/references/enm_VisionConfig_VisionEvent.md +++ b/api_cpp/doc/markdown/enums/VisionConfig/VisionEvent.md @@ -1,12 +1,8 @@ -# Enum VisionEvent - -This page describes the C++ Kinova::Api::VisionConfig::VisionEvent enumeration. +# enum VisionEvent ## Overview / Purpose -List of admissible Vision module events. - -## Enumeration definition +Enumeration VisionEvent |Enumerator|Value|Description| |----------|-----|-----------| @@ -14,5 +10,5 @@ List of admissible Vision module events. |SENSOR\_SETTINGS\_CHANGED|1|Sensor setting changed event| |OPTION\_VALUE\_CHANGED|2|Option value changed event| -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) diff --git a/api_cpp/doc/markdown/index.md b/api_cpp/doc/markdown/index.md index 1d10e994..b9cedb33 100644 --- a/api_cpp/doc/markdown/index.md +++ b/api_cpp/doc/markdown/index.md @@ -1,294 +1,395 @@ -# KINOVA® KORTEX™ C++ API Reference +# Kortex Api Reference -- [ActuatorConfig](references/summary_ActuatorConfig.md) - - [Message AxisOffsets](references/msg_ActuatorConfig_AxisOffsets.md) - - [Message AxisPosition](references/msg_ActuatorConfig_AxisPosition.md) - - [Message CommandModeInformation](references/msg_ActuatorConfig_CommandModeInformation.md) - - [Message ControlLoop](references/msg_ActuatorConfig_ControlLoop.md) - - [Message ControlLoopParameters](references/msg_ActuatorConfig_ControlLoopParameters.md) - - [Message ControlModeInformation](references/msg_ActuatorConfig_ControlModeInformation.md) - - [Message CustomDataSelection](references/msg_ActuatorConfig_CustomDataSelection.md) - - [Message EncoderDerivativeParameters](references/msg_ActuatorConfig_EncoderDerivativeParameters.md) - - [Message FrequencyResponse](references/msg_ActuatorConfig_FrequencyResponse.md) - - [Message LoopSelection](references/msg_ActuatorConfig_LoopSelection.md) - - [Message PositionCommand](references/msg_ActuatorConfig_PositionCommand.md) - - [Message RampResponse](references/msg_ActuatorConfig_RampResponse.md) - - [Message Servoing](references/msg_ActuatorConfig_Servoing.md) - - [Message StepResponse](references/msg_ActuatorConfig_StepResponse.md) - - [Message TorqueCalibration](references/msg_ActuatorConfig_TorqueCalibration.md) - - [Message TorqueOffset](references/msg_ActuatorConfig_TorqueOffset.md) - - [Message VectorDriveParameters](references/msg_ActuatorConfig_VectorDriveParameters.md) - - [Enum CommandMode](references/enm_ActuatorConfig_CommandMode.md) - - [Enum ControlLoopSelection](references/enm_ActuatorConfig_ControlLoopSelection.md) - - [Enum ControlMode](references/enm_ActuatorConfig_ControlMode.md) - - [Enum CustomDataIndex](references/enm_ActuatorConfig_CustomDataIndex.md) - - [Enum SafetyIdentifier](references/enm_ActuatorConfig_SafetyIdentifier.md) - - [Enum SafetyLimitType](references/enm_ActuatorConfig_SafetyLimitType.md) - - [Enum ServiceVersion](references/enm_ActuatorConfig_ServiceVersion.md) -- [ActuatorCyclic](references/summary_ActuatorCyclic.md) - - [Message Command](references/msg_ActuatorCyclic_Command.md) - - [Message CustomData](references/msg_ActuatorCyclic_CustomData.md) - - [Message Feedback](references/msg_ActuatorCyclic_Feedback.md) - - [Message MessageId](references/msg_ActuatorCyclic_MessageId.md) - - [Enum CommandFlags](references/enm_ActuatorCyclic_CommandFlags.md) - - [Enum ServiceVersion](references/enm_ActuatorCyclic_ServiceVersion.md) - - [Enum StatusFlags](references/enm_ActuatorCyclic_StatusFlags.md) -- [Api](references/summary_Api.md) - - [Enum ErrorCodes](references/enm_Api_ErrorCodes.md) - - [Enum SubErrorCodes](references/enm_Api_SubErrorCodes.md) -- [Base](references/summary_Base.md) - - [Message Action](references/msg_Base_Action.md) - - [Message ActionExecutionState](references/msg_Base_ActionExecutionState.md) - - [Message ActionHandle](references/msg_Base_ActionHandle.md) - - [Message ActionList](references/msg_Base_ActionList.md) - - [Message ActionNotification](references/msg_Base_ActionNotification.md) - - [Message ActionNotificationList](references/msg_Base_ActionNotificationList.md) - - [Message ActivateMapHandle](references/msg_Base_ActivateMapHandle.md) - - [Message ActuatorInformation](references/msg_Base_ActuatorInformation.md) - - [Message Admittance](references/msg_Base_Admittance.md) - - [Message AdvancedSequenceHandle](references/msg_Base_AdvancedSequenceHandle.md) - - [Message AppendActionInformation](references/msg_Base_AppendActionInformation.md) - - [Message ArmStateInformation](references/msg_Base_ArmStateInformation.md) - - [Message ArmStateNotification](references/msg_Base_ArmStateNotification.md) - - [Message CartesianLimitation](references/msg_Base_CartesianLimitation.md) - - [Message CartesianLimitationList](references/msg_Base_CartesianLimitationList.md) - - [Message CartesianReferenceFrameRequest](references/msg_Base_CartesianReferenceFrameRequest.md) - - [Message CartesianSpeed](references/msg_Base_CartesianSpeed.md) - - [Message CartesianTrajectoryConstraint](references/msg_Base_CartesianTrajectoryConstraint.md) - - [Message ChangeJointSpeeds](references/msg_Base_ChangeJointSpeeds.md) - - [Message ChangeTwist](references/msg_Base_ChangeTwist.md) - - [Message CommunicationInterfaceConfiguration](references/msg_Base_CommunicationInterfaceConfiguration.md) - - [Message ConfigurationChangeNotification](references/msg_Base_ConfigurationChangeNotification.md) - - [Message ConfigurationChangeNotificationList](references/msg_Base_ConfigurationChangeNotificationList.md) - - [Message ConstrainedJointAngle](references/msg_Base_ConstrainedJointAngle.md) - - [Message ConstrainedJointAngles](references/msg_Base_ConstrainedJointAngles.md) - - [Message ConstrainedOrientation](references/msg_Base_ConstrainedOrientation.md) - - [Message ConstrainedPose](references/msg_Base_ConstrainedPose.md) - - [Message ConstrainedPosition](references/msg_Base_ConstrainedPosition.md) - - [Message ControlModeInformation](references/msg_Base_ControlModeInformation.md) - - [Message ControlModeNotification](references/msg_Base_ControlModeNotification.md) - - [Message ControlModeNotificationList](references/msg_Base_ControlModeNotificationList.md) - - [Message ControllerElementHandle](references/msg_Base_ControllerElementHandle.md) - - [Message ControllerElementState](references/msg_Base_ControllerElementState.md) - - [Message ControllerEvent](references/msg_Base_ControllerEvent.md) - - [Message ControllerHandle](references/msg_Base_ControllerHandle.md) - - [Message ControllerList](references/msg_Base_ControllerList.md) - - [Message ControllerNotification](references/msg_Base_ControllerNotification.md) - - [Message ControllerNotificationList](references/msg_Base_ControllerNotificationList.md) - - [Message ControllerState](references/msg_Base_ControllerState.md) - - [Message CountryCode](references/msg_Base_CountryCode.md) - - [Message Delay](references/msg_Base_Delay.md) - - [Message EmergencyStop](references/msg_Base_EmergencyStop.md) - - [Message FactoryNotification](references/msg_Base_FactoryNotification.md) - - [Message Faults](references/msg_Base_Faults.md) - - [Message Finger](references/msg_Base_Finger.md) - - [Message FullIPv4Configuration](references/msg_Base_FullIPv4Configuration.md) - - [Message FullUserProfile](references/msg_Base_FullUserProfile.md) - - [Message GpioEvent](references/msg_Base_GpioEvent.md) - - [Message Gripper](references/msg_Base_Gripper.md) - - [Message GripperCommand](references/msg_Base_GripperCommand.md) - - [Message GripperRequest](references/msg_Base_GripperRequest.md) - - [Message IPv4Configuration](references/msg_Base_IPv4Configuration.md) - - [Message IPv4Information](references/msg_Base_IPv4Information.md) - - [Message JointAngle](references/msg_Base_JointAngle.md) - - [Message JointAngles](references/msg_Base_JointAngles.md) - - [Message JointLimitation](references/msg_Base_JointLimitation.md) - - [Message JointLimitationTypeIdentifier](references/msg_Base_JointLimitationTypeIdentifier.md) - - [Message JointLimitationValue](references/msg_Base_JointLimitationValue.md) - - [Message JointLimitationValueList](references/msg_Base_JointLimitationValueList.md) - - [Message JointSpeed](references/msg_Base_JointSpeed.md) - - [Message JointSpeeds](references/msg_Base_JointSpeeds.md) - - [Message JointTrajectoryConstraint](references/msg_Base_JointTrajectoryConstraint.md) - - [Message LimitationTypeIdentifier](references/msg_Base_LimitationTypeIdentifier.md) - - [Message Map](references/msg_Base_Map.md) - - [Message MapElement](references/msg_Base_MapElement.md) - - [Message MapEvent](references/msg_Base_MapEvent.md) - - [Message MapGroup](references/msg_Base_MapGroup.md) - - [Message MapGroupHandle](references/msg_Base_MapGroupHandle.md) - - [Message MapGroupList](references/msg_Base_MapGroupList.md) - - [Message MapHandle](references/msg_Base_MapHandle.md) - - [Message MapList](references/msg_Base_MapList.md) - - [Message Mapping](references/msg_Base_Mapping.md) - - [Message MappingHandle](references/msg_Base_MappingHandle.md) - - [Message MappingInfoNotification](references/msg_Base_MappingInfoNotification.md) - - [Message MappingInfoNotificationList](references/msg_Base_MappingInfoNotificationList.md) - - [Message MappingList](references/msg_Base_MappingList.md) - - [Message NetworkHandle](references/msg_Base_NetworkHandle.md) - - [Message NetworkNotification](references/msg_Base_NetworkNotification.md) - - [Message NetworkNotificationList](references/msg_Base_NetworkNotificationList.md) - - [Message OperatingModeInformation](references/msg_Base_OperatingModeInformation.md) - - [Message OperatingModeNotification](references/msg_Base_OperatingModeNotification.md) - - [Message OperatingModeNotificationList](references/msg_Base_OperatingModeNotificationList.md) - - [Message Orientation](references/msg_Base_Orientation.md) - - [Message PasswordChange](references/msg_Base_PasswordChange.md) - - [Message Point](references/msg_Base_Point.md) - - [Message Pose](references/msg_Base_Pose.md) - - [Message Position](references/msg_Base_Position.md) - - [Message ProtectionZone](references/msg_Base_ProtectionZone.md) - - [Message ProtectionZoneHandle](references/msg_Base_ProtectionZoneHandle.md) - - [Message ProtectionZoneInformation](references/msg_Base_ProtectionZoneInformation.md) - - [Message ProtectionZoneList](references/msg_Base_ProtectionZoneList.md) - - [Message ProtectionZoneNotification](references/msg_Base_ProtectionZoneNotification.md) - - [Message ProtectionZoneNotificationList](references/msg_Base_ProtectionZoneNotificationList.md) - - [Message Query](references/msg_Base_Query.md) - - [Message RequestedActionType](references/msg_Base_RequestedActionType.md) - - [Message RobotEventNotification](references/msg_Base_RobotEventNotification.md) - - [Message RobotEventNotificationList](references/msg_Base_RobotEventNotificationList.md) - - [Message RotationMatrix](references/msg_Base_RotationMatrix.md) - - [Message RotationMatrixRow](references/msg_Base_RotationMatrixRow.md) - - [Message SafetyEvent](references/msg_Base_SafetyEvent.md) - - [Message SafetyNotificationList](references/msg_Base_SafetyNotificationList.md) - - [Message Sequence](references/msg_Base_Sequence.md) - - [Message SequenceHandle](references/msg_Base_SequenceHandle.md) - - [Message SequenceInfoNotification](references/msg_Base_SequenceInfoNotification.md) - - [Message SequenceInfoNotificationList](references/msg_Base_SequenceInfoNotificationList.md) - - [Message SequenceInformation](references/msg_Base_SequenceInformation.md) - - [Message SequenceList](references/msg_Base_SequenceList.md) - - [Message SequenceTask](references/msg_Base_SequenceTask.md) - - [Message SequenceTaskHandle](references/msg_Base_SequenceTaskHandle.md) - - [Message ServoingModeInformation](references/msg_Base_ServoingModeInformation.md) - - [Message ServoingModeNotification](references/msg_Base_ServoingModeNotification.md) - - [Message ServoingModeNotificationList](references/msg_Base_ServoingModeNotificationList.md) - - [Message Ssid](references/msg_Base_Ssid.md) - - [Message Stop](references/msg_Base_Stop.md) - - [Message SwitchControlMapping](references/msg_Base_SwitchControlMapping.md) - - [Message SystemTime](references/msg_Base_SystemTime.md) - - [Message Timeout](references/msg_Base_Timeout.md) - - [Message TransformationMatrix](references/msg_Base_TransformationMatrix.md) - - [Message TransformationRow](references/msg_Base_TransformationRow.md) - - [Message Twist](references/msg_Base_Twist.md) - - [Message TwistCommand](references/msg_Base_TwistCommand.md) - - [Message UserList](references/msg_Base_UserList.md) - - [Message UserNotification](references/msg_Base_UserNotification.md) - - [Message UserNotificationList](references/msg_Base_UserNotificationList.md) - - [Message UserProfile](references/msg_Base_UserProfile.md) - - [Message UserProfileList](references/msg_Base_UserProfileList.md) - - [Message WifiConfiguration](references/msg_Base_WifiConfiguration.md) - - [Message WifiConfigurationList](references/msg_Base_WifiConfigurationList.md) - - [Message WifiInformation](references/msg_Base_WifiInformation.md) - - [Message WifiInformationList](references/msg_Base_WifiInformationList.md) - - [Message ZoneShape](references/msg_Base_ZoneShape.md) - - [Enum ActionEvent](references/enm_Base_ActionEvent.md) - - [Enum ActionType](references/enm_Base_ActionType.md) - - [Enum AdmittanceMode](references/enm_Base_AdmittanceMode.md) - - [Enum BackupEvent](references/enm_Base_BackupEvent.md) - - [Enum CartesianReferenceFrame](references/enm_Base_CartesianReferenceFrame.md) - - [Enum ConfigurationNotificationEvent](references/enm_Base_ConfigurationNotificationEvent.md) - - [Enum ControlMode](references/enm_Base_ControlMode.md) - - [Enum ControllerBehavior](references/enm_Base_ControllerBehavior.md) - - [Enum ControllerElementEventType](references/enm_Base_ControllerElementEventType.md) - - [Enum ControllerEventType](references/enm_Base_ControllerEventType.md) - - [Enum ControllerInputType](references/enm_Base_ControllerInputType.md) - - [Enum ControllerType](references/enm_Base_ControllerType.md) - - [Enum CountryCodeIdentifier](references/enm_Base_CountryCodeIdentifier.md) - - [Enum EventIdSequenceInfoNotification](references/enm_Base_EventIdSequenceInfoNotification.md) - - [Enum FactoryEvent](references/enm_Base_FactoryEvent.md) - - [Enum GpioState](references/enm_Base_GpioState.md) - - [Enum GripperMode](references/enm_Base_GripperMode.md) - - [Enum JointNavigationDirection](references/enm_Base_JointNavigationDirection.md) - - [Enum JointTrajectoryConstraintType](references/enm_Base_JointTrajectoryConstraintType.md) - - [Enum LedState](references/enm_Base_LedState.md) - - [Enum LimitationType](references/enm_Base_LimitationType.md) - - [Enum NavigationDirection](references/enm_Base_NavigationDirection.md) - - [Enum NetworkEvent](references/enm_Base_NetworkEvent.md) - - [Enum NetworkType](references/enm_Base_NetworkType.md) - - [Enum OperatingMode](references/enm_Base_OperatingMode.md) - - [Enum ProtectionZoneEvent](references/enm_Base_ProtectionZoneEvent.md) - - [Enum RobotEvent](references/enm_Base_RobotEvent.md) - - [Enum SafetyIdentifier](references/enm_Base_SafetyIdentifier.md) - - [Enum ServiceVersion](references/enm_Base_ServiceVersion.md) - - [Enum ServoingMode](references/enm_Base_ServoingMode.md) - - [Enum ShapeType](references/enm_Base_ShapeType.md) - - [Enum SignalQuality](references/enm_Base_SignalQuality.md) - - [Enum SoundType](references/enm_Base_SoundType.md) - - [Enum TwistMode](references/enm_Base_TwistMode.md) - - [Enum UserEvent](references/enm_Base_UserEvent.md) - - [Enum WifiEncryptionType](references/enm_Base_WifiEncryptionType.md) - - [Enum WifiSecurityType](references/enm_Base_WifiSecurityType.md) - - [Enum Xbox360AnalogInputIdentifier](references/enm_Base_Xbox360AnalogInputIdentifier.md) - - [Enum Xbox360DigitalInputIdentifier](references/enm_Base_Xbox360DigitalInputIdentifier.md) -- [BaseCyclic](references/summary_BaseCyclic.md) - - [Message ActuatorCommand](references/msg_BaseCyclic_ActuatorCommand.md) - - [Message ActuatorCustomData](references/msg_BaseCyclic_ActuatorCustomData.md) - - [Message ActuatorFeedback](references/msg_BaseCyclic_ActuatorFeedback.md) - - [Message BaseFeedback](references/msg_BaseCyclic_BaseFeedback.md) - - [Message Command](references/msg_BaseCyclic_Command.md) - - [Message CustomData](references/msg_BaseCyclic_CustomData.md) - - [Message Feedback](references/msg_BaseCyclic_Feedback.md) - - [Message InterconnectCommand](references/msg_BaseCyclic_InterconnectCommand.md) - - [Message InterconnectCustomData](references/msg_BaseCyclic_InterconnectCustomData.md) - - [Message InterconnectFeedback](references/msg_BaseCyclic_InterconnectFeedback.md) - - [Enum ServiceVersion](references/enm_BaseCyclic_ServiceVersion.md) -- [Common](references/summary_Common.md) - - [Message Connection](references/msg_Common_Connection.md) - - [Message DeviceHandle](references/msg_Common_DeviceHandle.md) - - [Message Empty](references/msg_Common_Empty.md) - - [Message NotificationHandle](references/msg_Common_NotificationHandle.md) - - [Message NotificationOptions](references/msg_Common_NotificationOptions.md) - - [Message SafetyHandle](references/msg_Common_SafetyHandle.md) - - [Message SafetyNotification](references/msg_Common_SafetyNotification.md) - - [Message Timestamp](references/msg_Common_Timestamp.md) - - [Message UserProfileHandle](references/msg_Common_UserProfileHandle.md) - - [Enum ArmState](references/enm_Common_ArmState.md) - - [Enum DeviceTypes](references/enm_Common_DeviceTypes.md) - - [Enum NotificationType](references/enm_Common_NotificationType.md) - - [Enum Permission](references/enm_Common_Permission.md) - - [Enum SafetyStatusValue](references/enm_Common_SafetyStatusValue.md) - - [Enum Unit](references/enm_Common_Unit.md) -- [DeviceConfig](references/summary_DeviceConfig.md) - - [Message BootloaderVersion](references/msg_DeviceConfig_BootloaderVersion.md) - - [Message DeviceType](references/msg_DeviceConfig_DeviceType.md) - - [Message FirmwareVersion](references/msg_DeviceConfig_FirmwareVersion.md) - - [Message IPv4Settings](references/msg_DeviceConfig_IPv4Settings.md) - - [Message MACAddress](references/msg_DeviceConfig_MACAddress.md) - - [Message ModelNumber](references/msg_DeviceConfig_ModelNumber.md) - - [Message PartNumber](references/msg_DeviceConfig_PartNumber.md) - - [Message PartNumberRevision](references/msg_DeviceConfig_PartNumberRevision.md) - - [Message PowerOnSelfTestResult](references/msg_DeviceConfig_PowerOnSelfTestResult.md) - - [Message RebootRqst](references/msg_DeviceConfig_RebootRqst.md) - - [Message RunMode](references/msg_DeviceConfig_RunMode.md) - - [Message SafetyConfiguration](references/msg_DeviceConfig_SafetyConfiguration.md) - - [Message SafetyConfigurationList](references/msg_DeviceConfig_SafetyConfigurationList.md) - - [Message SafetyEnable](references/msg_DeviceConfig_SafetyEnable.md) - - [Message SafetyInformation](references/msg_DeviceConfig_SafetyInformation.md) - - [Message SafetyInformationList](references/msg_DeviceConfig_SafetyInformationList.md) - - [Message SafetyStatus](references/msg_DeviceConfig_SafetyStatus.md) - - [Message SafetyThreshold](references/msg_DeviceConfig_SafetyThreshold.md) - - [Message SerialNumber](references/msg_DeviceConfig_SerialNumber.md) - - [Enum RunModes](references/enm_DeviceConfig_RunModes.md) - - [Enum SafetyLimitType](references/enm_DeviceConfig_SafetyLimitType.md) - - [Enum ServiceVersion](references/enm_DeviceConfig_ServiceVersion.md) -- [DeviceManager](references/summary_DeviceManager.md) - - [Message DeviceHandles](references/msg_DeviceManager_DeviceHandles.md) - - [Enum ServiceVersion](references/enm_DeviceManager_ServiceVersion.md) -- [InterconnectConfig](references/summary_InterconnectConfig.md) - - [Enum SafetyIdentifier](references/enm_InterconnectConfig_SafetyIdentifier.md) - - [Enum ServiceVersion](references/enm_InterconnectConfig_ServiceVersion.md) -- [InterconnectCyclic](references/summary_InterconnectCyclic.md) - - [Message Command](references/msg_InterconnectCyclic_Command.md) - - [Message CustomData](references/msg_InterconnectCyclic_CustomData.md) - - [Message Feedback](references/msg_InterconnectCyclic_Feedback.md) - - [Message MessageId](references/msg_InterconnectCyclic_MessageId.md) - - [Enum ServiceVersion](references/enm_InterconnectCyclic_ServiceVersion.md) -- [Session](references/summary_Session.md) - - [Message ConnectionList](references/msg_Session_ConnectionList.md) - - [Message CreateSessionInfo](references/msg_Session_CreateSessionInfo.md) - - [Enum ServiceVersion](references/enm_Session_ServiceVersion.md) -- [VisionConfig](references/summary_VisionConfig.md) - - [Message IntrinsicParameters](references/msg_VisionConfig_IntrinsicParameters.md) - - [Message OptionIdentifier](references/msg_VisionConfig_OptionIdentifier.md) - - [Message OptionInformation](references/msg_VisionConfig_OptionInformation.md) - - [Message OptionValue](references/msg_VisionConfig_OptionValue.md) - - [Message SensorFocusAction](references/msg_VisionConfig_SensorFocusAction.md) - - [Message SensorIdentifier](references/msg_VisionConfig_SensorIdentifier.md) - - [Message SensorSettings](references/msg_VisionConfig_SensorSettings.md) - - [Message VisionNotification](references/msg_VisionConfig_VisionNotification.md) - - [Enum BitRate](references/enm_VisionConfig_BitRate.md) - - [Enum FocusAction](references/enm_VisionConfig_FocusAction.md) - - [Enum FrameRate](references/enm_VisionConfig_FrameRate.md) - - [Enum Option](references/enm_VisionConfig_Option.md) - - [Enum Resolution](references/enm_VisionConfig_Resolution.md) - - [Enum Sensor](references/enm_VisionConfig_Sensor.md) - - [Enum ServiceVersion](references/enm_VisionConfig_ServiceVersion.md) - - [Enum VisionEvent](references/enm_VisionConfig_VisionEvent.md) +- [ActuatorConfig \(C++\)](summary_pages/ActuatorConfig.md) + - [class AxisOffsets](messages/ActuatorConfig/AxisOffsets.md) + - [class AxisPosition](messages/ActuatorConfig/AxisPosition.md) + - [class CommandModeInformation](messages/ActuatorConfig/CommandModeInformation.md) + - [class ControlLoop](messages/ActuatorConfig/ControlLoop.md) + - [class ControlLoopParameters](messages/ActuatorConfig/ControlLoopParameters.md) + - [class ControlModeInformation](messages/ActuatorConfig/ControlModeInformation.md) + - [class CustomDataSelection](messages/ActuatorConfig/CustomDataSelection.md) + - [class EncoderDerivativeParameters](messages/ActuatorConfig/EncoderDerivativeParameters.md) + - [class FrequencyResponse](messages/ActuatorConfig/FrequencyResponse.md) + - [class LoopSelection](messages/ActuatorConfig/LoopSelection.md) + - [class PositionCommand](messages/ActuatorConfig/PositionCommand.md) + - [class RampResponse](messages/ActuatorConfig/RampResponse.md) + - [class Servoing](messages/ActuatorConfig/Servoing.md) + - [class StepResponse](messages/ActuatorConfig/StepResponse.md) + - [class TorqueCalibration](messages/ActuatorConfig/TorqueCalibration.md) + - [class TorqueOffset](messages/ActuatorConfig/TorqueOffset.md) + - [class VectorDriveParameters](messages/ActuatorConfig/VectorDriveParameters.md) + - [enum CommandMode](enums/ActuatorConfig/CommandMode.md) + - [enum ControlLoopSelection](enums/ActuatorConfig/ControlLoopSelection.md) + - [enum ControlMode](enums/ActuatorConfig/ControlMode.md) + - [enum CustomDataIndex](enums/ActuatorConfig/CustomDataIndex.md) + - [enum SafetyIdentifierBankA](enums/ActuatorConfig/SafetyIdentifierBankA.md) + - [enum SafetyLimitType](enums/ActuatorConfig/SafetyLimitType.md) + - [enum ServiceVersion](enums/ActuatorConfig/ServiceVersion.md) +- [ActuatorCyclic \(C++\)](summary_pages/ActuatorCyclic.md) + - [class Command](messages/ActuatorCyclic/Command.md) + - [class CustomData](messages/ActuatorCyclic/CustomData.md) + - [class Feedback](messages/ActuatorCyclic/Feedback.md) + - [class MessageId](messages/ActuatorCyclic/MessageId.md) + - [enum CommandFlags](enums/ActuatorCyclic/CommandFlags.md) + - [enum ServiceVersion](enums/ActuatorCyclic/ServiceVersion.md) + - [enum StatusFlags](enums/ActuatorCyclic/StatusFlags.md) +- [Api \(C++\)](summary_pages/Api.md) + - [enum ErrorCodes](enums/Api/ErrorCodes.md) + - [enum SubErrorCodes](enums/Api/SubErrorCodes.md) +- [Base \(C++\)](summary_pages/Base.md) + - [class Action](messages/Base/Action.md) + - [class ActionExecutionState](messages/Base/ActionExecutionState.md) + - [class ActionHandle](messages/Base/ActionHandle.md) + - [class ActionList](messages/Base/ActionList.md) + - [class ActionNotification](messages/Base/ActionNotification.md) + - [class ActionNotificationList](messages/Base/ActionNotificationList.md) + - [class ActivateMapHandle](messages/Base/ActivateMapHandle.md) + - [class ActuatorInformation](messages/Base/ActuatorInformation.md) + - [class Admittance](messages/Base/Admittance.md) + - [class AdvancedSequenceHandle](messages/Base/AdvancedSequenceHandle.md) + - [class AppendActionInformation](messages/Base/AppendActionInformation.md) + - [class ArmStateInformation](messages/Base/ArmStateInformation.md) + - [class ArmStateNotification](messages/Base/ArmStateNotification.md) + - [class BridgeConfig](messages/Base/BridgeConfig.md) + - [class BridgeIdentifier](messages/Base/BridgeIdentifier.md) + - [class BridgeList](messages/Base/BridgeList.md) + - [class BridgePortConfig](messages/Base/BridgePortConfig.md) + - [class BridgeResult](messages/Base/BridgeResult.md) + - [class CapSenseConfig](messages/Base/CapSenseConfig.md) + - [class CartesianLimitation](messages/Base/CartesianLimitation.md) + - [class CartesianLimitationList](messages/Base/CartesianLimitationList.md) + - [class CartesianSpeed](messages/Base/CartesianSpeed.md) + - [class CartesianTrajectoryConstraint](messages/Base/CartesianTrajectoryConstraint.md) + - [class ChangeJointSpeeds](messages/Base/ChangeJointSpeeds.md) + - [class ChangeTwist](messages/Base/ChangeTwist.md) + - [class ChangeWrench](messages/Base/ChangeWrench.md) + - [class CommunicationInterfaceConfiguration](messages/Base/CommunicationInterfaceConfiguration.md) + - [class ConfigurationChangeNotification](messages/Base/ConfigurationChangeNotification.md) + - [class ConfigurationChangeNotificationList](messages/Base/ConfigurationChangeNotificationList.md) + - [class ConstrainedJointAngle](messages/Base/ConstrainedJointAngle.md) + - [class ConstrainedJointAngles](messages/Base/ConstrainedJointAngles.md) + - [class ConstrainedOrientation](messages/Base/ConstrainedOrientation.md) + - [class ConstrainedPose](messages/Base/ConstrainedPose.md) + - [class ConstrainedPosition](messages/Base/ConstrainedPosition.md) + - [class ControlModeInformation](messages/Base/ControlModeInformation.md) + - [class ControlModeNotification](messages/Base/ControlModeNotification.md) + - [class ControlModeNotificationList](messages/Base/ControlModeNotificationList.md) + - [class ControllerElementHandle](messages/Base/ControllerElementHandle.md) + - [class ControllerElementState](messages/Base/ControllerElementState.md) + - [class ControllerEvent](messages/Base/ControllerEvent.md) + - [class ControllerHandle](messages/Base/ControllerHandle.md) + - [class ControllerList](messages/Base/ControllerList.md) + - [class ControllerNotification](messages/Base/ControllerNotification.md) + - [class ControllerNotificationList](messages/Base/ControllerNotificationList.md) + - [class ControllerState](messages/Base/ControllerState.md) + - [class Delay](messages/Base/Delay.md) + - [class EmergencyStop](messages/Base/EmergencyStop.md) + - [class FactoryNotification](messages/Base/FactoryNotification.md) + - [class Faults](messages/Base/Faults.md) + - [class Finger](messages/Base/Finger.md) + - [class FullIPv4Configuration](messages/Base/FullIPv4Configuration.md) + - [class FullUserProfile](messages/Base/FullUserProfile.md) + - [class GpioEvent](messages/Base/GpioEvent.md) + - [class Gripper](messages/Base/Gripper.md) + - [class GripperCommand](messages/Base/GripperCommand.md) + - [class GripperRequest](messages/Base/GripperRequest.md) + - [class IPv4Configuration](messages/Base/IPv4Configuration.md) + - [class IPv4Information](messages/Base/IPv4Information.md) + - [class JointAngle](messages/Base/JointAngle.md) + - [class JointAngles](messages/Base/JointAngles.md) + - [class JointLimitation](messages/Base/JointLimitation.md) + - [class JointSpeed](messages/Base/JointSpeed.md) + - [class JointSpeeds](messages/Base/JointSpeeds.md) + - [class JointTorque](messages/Base/JointTorque.md) + - [class JointTorques](messages/Base/JointTorques.md) + - [class JointTrajectoryConstraint](messages/Base/JointTrajectoryConstraint.md) + - [class JointsLimitationsList](messages/Base/JointsLimitationsList.md) + - [class Map](messages/Base/Map.md) + - [class MapElement](messages/Base/MapElement.md) + - [class MapEvent](messages/Base/MapEvent.md) + - [class MapGroup](messages/Base/MapGroup.md) + - [class MapGroupHandle](messages/Base/MapGroupHandle.md) + - [class MapGroupList](messages/Base/MapGroupList.md) + - [class MapHandle](messages/Base/MapHandle.md) + - [class MapList](messages/Base/MapList.md) + - [class Mapping](messages/Base/Mapping.md) + - [class MappingHandle](messages/Base/MappingHandle.md) + - [class MappingInfoNotification](messages/Base/MappingInfoNotification.md) + - [class MappingInfoNotificationList](messages/Base/MappingInfoNotificationList.md) + - [class MappingList](messages/Base/MappingList.md) + - [class NetworkHandle](messages/Base/NetworkHandle.md) + - [class NetworkNotification](messages/Base/NetworkNotification.md) + - [class NetworkNotificationList](messages/Base/NetworkNotificationList.md) + - [class OperatingModeInformation](messages/Base/OperatingModeInformation.md) + - [class OperatingModeNotification](messages/Base/OperatingModeNotification.md) + - [class OperatingModeNotificationList](messages/Base/OperatingModeNotificationList.md) + - [class Orientation](messages/Base/Orientation.md) + - [class PasswordChange](messages/Base/PasswordChange.md) + - [class Point](messages/Base/Point.md) + - [class Pose](messages/Base/Pose.md) + - [class Position](messages/Base/Position.md) + - [class PreComputedJointTrajectory](messages/Base/PreComputedJointTrajectory.md) + - [class PreComputedJointTrajectoryElement](messages/Base/PreComputedJointTrajectoryElement.md) + - [class ProtectionZone](messages/Base/ProtectionZone.md) + - [class ProtectionZoneHandle](messages/Base/ProtectionZoneHandle.md) + - [class ProtectionZoneInformation](messages/Base/ProtectionZoneInformation.md) + - [class ProtectionZoneList](messages/Base/ProtectionZoneList.md) + - [class ProtectionZoneNotification](messages/Base/ProtectionZoneNotification.md) + - [class ProtectionZoneNotificationList](messages/Base/ProtectionZoneNotificationList.md) + - [class Query](messages/Base/Query.md) + - [class RequestedActionType](messages/Base/RequestedActionType.md) + - [class RobotEventNotification](messages/Base/RobotEventNotification.md) + - [class RobotEventNotificationList](messages/Base/RobotEventNotificationList.md) + - [class RotationMatrix](messages/Base/RotationMatrix.md) + - [class RotationMatrixRow](messages/Base/RotationMatrixRow.md) + - [class SafetyEvent](messages/Base/SafetyEvent.md) + - [class SafetyNotificationList](messages/Base/SafetyNotificationList.md) + - [class Sequence](messages/Base/Sequence.md) + - [class SequenceHandle](messages/Base/SequenceHandle.md) + - [class SequenceInfoNotification](messages/Base/SequenceInfoNotification.md) + - [class SequenceInfoNotificationList](messages/Base/SequenceInfoNotificationList.md) + - [class SequenceInformation](messages/Base/SequenceInformation.md) + - [class SequenceList](messages/Base/SequenceList.md) + - [class SequenceTask](messages/Base/SequenceTask.md) + - [class SequenceTaskHandle](messages/Base/SequenceTaskHandle.md) + - [class ServoingModeInformation](messages/Base/ServoingModeInformation.md) + - [class ServoingModeNotification](messages/Base/ServoingModeNotification.md) + - [class ServoingModeNotificationList](messages/Base/ServoingModeNotificationList.md) + - [class Ssid](messages/Base/Ssid.md) + - [class Stop](messages/Base/Stop.md) + - [class SwitchControlMapping](messages/Base/SwitchControlMapping.md) + - [class SystemTime](messages/Base/SystemTime.md) + - [class Timeout](messages/Base/Timeout.md) + - [class TrajectoryErrorElement](messages/Base/TrajectoryErrorElement.md) + - [class TrajectoryErrorReport](messages/Base/TrajectoryErrorReport.md) + - [class TransformationMatrix](messages/Base/TransformationMatrix.md) + - [class TransformationRow](messages/Base/TransformationRow.md) + - [class Twist](messages/Base/Twist.md) + - [class TwistCommand](messages/Base/TwistCommand.md) + - [class TwistLimitation](messages/Base/TwistLimitation.md) + - [class UserList](messages/Base/UserList.md) + - [class UserNotification](messages/Base/UserNotification.md) + - [class UserNotificationList](messages/Base/UserNotificationList.md) + - [class UserProfile](messages/Base/UserProfile.md) + - [class UserProfileList](messages/Base/UserProfileList.md) + - [class WifiConfiguration](messages/Base/WifiConfiguration.md) + - [class WifiConfigurationList](messages/Base/WifiConfigurationList.md) + - [class WifiInformation](messages/Base/WifiInformation.md) + - [class WifiInformationList](messages/Base/WifiInformationList.md) + - [class Wrench](messages/Base/Wrench.md) + - [class WrenchCommand](messages/Base/WrenchCommand.md) + - [class WrenchLimitation](messages/Base/WrenchLimitation.md) + - [class ZoneShape](messages/Base/ZoneShape.md) + - [enum ActionEvent](enums/Base/ActionEvent.md) + - [enum ActionType](enums/Base/ActionType.md) + - [enum AdmittanceMode](enums/Base/AdmittanceMode.md) + - [enum BackupEvent](enums/Base/BackupEvent.md) + - [enum BridgeStatus](enums/Base/BridgeStatus.md) + - [enum BridgeType](enums/Base/BridgeType.md) + - [enum CapSenseMode](enums/Base/CapSenseMode.md) + - [enum ConfigurationNotificationEvent](enums/Base/ConfigurationNotificationEvent.md) + - [enum ControlMode](enums/Base/ControlMode.md) + - [enum ControllerBehavior](enums/Base/ControllerBehavior.md) + - [enum ControllerElementEventType](enums/Base/ControllerElementEventType.md) + - [enum ControllerEventType](enums/Base/ControllerEventType.md) + - [enum ControllerInputType](enums/Base/ControllerInputType.md) + - [enum ControllerType](enums/Base/ControllerType.md) + - [enum EventIdSequenceInfoNotification](enums/Base/EventIdSequenceInfoNotification.md) + - [enum FactoryEvent](enums/Base/FactoryEvent.md) + - [enum GpioState](enums/Base/GpioState.md) + - [enum GripperMode](enums/Base/GripperMode.md) + - [enum JointNavigationDirection](enums/Base/JointNavigationDirection.md) + - [enum JointTrajectoryConstraintType](enums/Base/JointTrajectoryConstraintType.md) + - [enum LedState](enums/Base/LedState.md) + - [enum LimitationType](enums/Base/LimitationType.md) + - [enum NavigationDirection](enums/Base/NavigationDirection.md) + - [enum NetworkEvent](enums/Base/NetworkEvent.md) + - [enum NetworkType](enums/Base/NetworkType.md) + - [enum OperatingMode](enums/Base/OperatingMode.md) + - [enum ProtectionZoneEvent](enums/Base/ProtectionZoneEvent.md) + - [enum RobotEvent](enums/Base/RobotEvent.md) + - [enum SafetyIdentifier](enums/Base/SafetyIdentifier.md) + - [enum ServiceVersion](enums/Base/ServiceVersion.md) + - [enum ServoingMode](enums/Base/ServoingMode.md) + - [enum ShapeType](enums/Base/ShapeType.md) + - [enum SignalQuality](enums/Base/SignalQuality.md) + - [enum SoundType](enums/Base/SoundType.md) + - [enum TrajectoryContinuityMode](enums/Base/TrajectoryContinuityMode.md) + - [enum TrajectoryErrorIdentifier](enums/Base/TrajectoryErrorIdentifier.md) + - [enum TrajectoryErrorType](enums/Base/TrajectoryErrorType.md) + - [enum UserEvent](enums/Base/UserEvent.md) + - [enum WifiEncryptionType](enums/Base/WifiEncryptionType.md) + - [enum WifiSecurityType](enums/Base/WifiSecurityType.md) + - [enum WrenchMode](enums/Base/WrenchMode.md) + - [enum Xbox360AnalogInputIdentifier](enums/Base/Xbox360AnalogInputIdentifier.md) + - [enum Xbox360DigitalInputIdentifier](enums/Base/Xbox360DigitalInputIdentifier.md) +- [BaseCyclic \(C++\)](summary_pages/BaseCyclic.md) + - [class ActuatorCommand](messages/BaseCyclic/ActuatorCommand.md) + - [class ActuatorCustomData](messages/BaseCyclic/ActuatorCustomData.md) + - [class ActuatorFeedback](messages/BaseCyclic/ActuatorFeedback.md) + - [class BaseFeedback](messages/BaseCyclic/BaseFeedback.md) + - [class Command](messages/BaseCyclic/Command.md) + - [class CustomData](messages/BaseCyclic/CustomData.md) + - [class Feedback](messages/BaseCyclic/Feedback.md) + - [enum ServiceVersion](enums/BaseCyclic/ServiceVersion.md) +- [Common \(C++\)](summary_pages/Common.md) + - [class Connection](messages/Common/Connection.md) + - [class CountryCode](messages/Common/CountryCode.md) + - [class DeviceHandle](messages/Common/DeviceHandle.md) + - [class Empty](messages/Common/Empty.md) + - [class NotificationHandle](messages/Common/NotificationHandle.md) + - [class NotificationOptions](messages/Common/NotificationOptions.md) + - [class SafetyHandle](messages/Common/SafetyHandle.md) + - [class SafetyNotification](messages/Common/SafetyNotification.md) + - [class Timestamp](messages/Common/Timestamp.md) + - [class UARTConfiguration](messages/Common/UARTConfiguration.md) + - [class UARTDeviceIdentification](messages/Common/UARTDeviceIdentification.md) + - [class UserProfileHandle](messages/Common/UserProfileHandle.md) + - [enum ArmState](enums/Common/ArmState.md) + - [enum CartesianReferenceFrame](enums/Common/CartesianReferenceFrame.md) + - [enum CountryCodeIdentifier](enums/Common/CountryCodeIdentifier.md) + - [enum DeviceTypes](enums/Common/DeviceTypes.md) + - [enum NotificationType](enums/Common/NotificationType.md) + - [enum Permission](enums/Common/Permission.md) + - [enum SafetyStatusValue](enums/Common/SafetyStatusValue.md) + - [enum UARTParity](enums/Common/UARTParity.md) + - [enum UARTSpeed](enums/Common/UARTSpeed.md) + - [enum UARTStopBits](enums/Common/UARTStopBits.md) + - [enum UARTWordLength](enums/Common/UARTWordLength.md) + - [enum Unit](enums/Common/Unit.md) +- [ControlConfig \(C++\)](summary_pages/ControlConfig.md) + - [class CartesianReferenceFrameInfo](messages/ControlConfig/CartesianReferenceFrameInfo.md) + - [class CartesianTransform](messages/ControlConfig/CartesianTransform.md) + - [class ControlConfigurationNotification](messages/ControlConfig/ControlConfigurationNotification.md) + - [class GravityVector](messages/ControlConfig/GravityVector.md) + - [class PayloadInformation](messages/ControlConfig/PayloadInformation.md) + - [class Position](messages/ControlConfig/Position.md) + - [class ToolConfiguration](messages/ControlConfig/ToolConfiguration.md) + - [enum ControlConfigurationEvent](enums/ControlConfig/ControlConfigurationEvent.md) + - [enum ServiceVersion](enums/ControlConfig/ServiceVersion.md) +- [DeviceConfig \(C++\)](summary_pages/DeviceConfig.md) + - [class BootloaderVersion](messages/DeviceConfig/BootloaderVersion.md) + - [class Calibration](messages/DeviceConfig/Calibration.md) + - [class CalibrationElement](messages/DeviceConfig/CalibrationElement.md) + - [class CalibrationParameter](messages/DeviceConfig/CalibrationParameter.md) + - [class CalibrationResult](messages/DeviceConfig/CalibrationResult.md) + - [class CapSenseConfig](messages/DeviceConfig/CapSenseConfig.md) + - [class CapSenseRegister](messages/DeviceConfig/CapSenseRegister.md) + - [class DeviceType](messages/DeviceConfig/DeviceType.md) + - [class FirmwareVersion](messages/DeviceConfig/FirmwareVersion.md) + - [class IPv4Settings](messages/DeviceConfig/IPv4Settings.md) + - [class MACAddress](messages/DeviceConfig/MACAddress.md) + - [class ModelNumber](messages/DeviceConfig/ModelNumber.md) + - [class PartNumber](messages/DeviceConfig/PartNumber.md) + - [class PartNumberRevision](messages/DeviceConfig/PartNumberRevision.md) + - [class PowerOnSelfTestResult](messages/DeviceConfig/PowerOnSelfTestResult.md) + - [class RebootRqst](messages/DeviceConfig/RebootRqst.md) + - [class RunMode](messages/DeviceConfig/RunMode.md) + - [class SafetyConfiguration](messages/DeviceConfig/SafetyConfiguration.md) + - [class SafetyConfigurationList](messages/DeviceConfig/SafetyConfigurationList.md) + - [class SafetyEnable](messages/DeviceConfig/SafetyEnable.md) + - [class SafetyInformation](messages/DeviceConfig/SafetyInformation.md) + - [class SafetyInformationList](messages/DeviceConfig/SafetyInformationList.md) + - [class SafetyStatus](messages/DeviceConfig/SafetyStatus.md) + - [class SafetyThreshold](messages/DeviceConfig/SafetyThreshold.md) + - [class SerialNumber](messages/DeviceConfig/SerialNumber.md) + - [enum CalibrationItem](enums/DeviceConfig/CalibrationItem.md) + - [enum CalibrationStatus](enums/DeviceConfig/CalibrationStatus.md) + - [enum CapSenseMode](enums/DeviceConfig/CapSenseMode.md) + - [enum RunModes](enums/DeviceConfig/RunModes.md) + - [enum SafetyLimitType](enums/DeviceConfig/SafetyLimitType.md) + - [enum ServiceVersion](enums/DeviceConfig/ServiceVersion.md) +- [DeviceManager \(C++\)](summary_pages/DeviceManager.md) + - [class DeviceHandles](messages/DeviceManager/DeviceHandles.md) + - [enum ServiceVersion](enums/DeviceManager/ServiceVersion.md) +- [GripperConfig \(C++\)](summary_pages/GripperConfig.md) + - [enum RobotiqGripperStatusFlags](enums/GripperConfig/RobotiqGripperStatusFlags.md) + - [enum SafetyIdentifier](enums/GripperConfig/SafetyIdentifier.md) +- [GripperCyclic \(C++\)](summary_pages/GripperCyclic.md) + - [class Command](messages/GripperCyclic/Command.md) + - [class CustomData](messages/GripperCyclic/CustomData.md) + - [class CustomDataUnit](messages/GripperCyclic/CustomDataUnit.md) + - [class Feedback](messages/GripperCyclic/Feedback.md) + - [class MessageId](messages/GripperCyclic/MessageId.md) + - [class MotorCommand](messages/GripperCyclic/MotorCommand.md) + - [class MotorFeedback](messages/GripperCyclic/MotorFeedback.md) + - [enum ServiceVersion](enums/GripperCyclic/ServiceVersion.md) +- [InterconnectConfig \(C++\)](summary_pages/InterconnectConfig.md) + - [class EthernetConfiguration](messages/InterconnectConfig/EthernetConfiguration.md) + - [class EthernetDeviceIdentification](messages/InterconnectConfig/EthernetDeviceIdentification.md) + - [class GPIOConfiguration](messages/InterconnectConfig/GPIOConfiguration.md) + - [class GPIOIdentification](messages/InterconnectConfig/GPIOIdentification.md) + - [class GPIOState](messages/InterconnectConfig/GPIOState.md) + - [class I2CConfiguration](messages/InterconnectConfig/I2CConfiguration.md) + - [class I2CData](messages/InterconnectConfig/I2CData.md) + - [class I2CDeviceIdentification](messages/InterconnectConfig/I2CDeviceIdentification.md) + - [class I2CReadParameter](messages/InterconnectConfig/I2CReadParameter.md) + - [class I2CReadRegisterParameter](messages/InterconnectConfig/I2CReadRegisterParameter.md) + - [class I2CWriteParameter](messages/InterconnectConfig/I2CWriteParameter.md) + - [class I2CWriteRegisterParameter](messages/InterconnectConfig/I2CWriteRegisterParameter.md) + - [enum EthernetDevice](enums/InterconnectConfig/EthernetDevice.md) + - [enum EthernetDuplex](enums/InterconnectConfig/EthernetDuplex.md) + - [enum EthernetSpeed](enums/InterconnectConfig/EthernetSpeed.md) + - [enum GPIOIdentifier](enums/InterconnectConfig/GPIOIdentifier.md) + - [enum GPIOMode](enums/InterconnectConfig/GPIOMode.md) + - [enum GPIOPull](enums/InterconnectConfig/GPIOPull.md) + - [enum GPIOValue](enums/InterconnectConfig/GPIOValue.md) + - [enum I2CDevice](enums/InterconnectConfig/I2CDevice.md) + - [enum I2CDeviceAddressing](enums/InterconnectConfig/I2CDeviceAddressing.md) + - [enum I2CMode](enums/InterconnectConfig/I2CMode.md) + - [enum I2CRegisterAddressSize](enums/InterconnectConfig/I2CRegisterAddressSize.md) + - [enum SafetyIdentifier](enums/InterconnectConfig/SafetyIdentifier.md) + - [enum ServiceVersion](enums/InterconnectConfig/ServiceVersion.md) + - [enum UARTPortId](enums/InterconnectConfig/UARTPortId.md) +- [InterconnectCyclic \(C++\)](summary_pages/InterconnectCyclic.md) + - [class Command](messages/InterconnectCyclic/Command.md) + - [class CustomData](messages/InterconnectCyclic/CustomData.md) + - [class Feedback](messages/InterconnectCyclic/Feedback.md) + - [class MessageId](messages/InterconnectCyclic/MessageId.md) + - [enum ServiceVersion](enums/InterconnectCyclic/ServiceVersion.md) +- [ProductConfiguration \(C++\)](summary_pages/ProductConfiguration.md) + - [class CompleteProductConfiguration](messages/ProductConfiguration/CompleteProductConfiguration.md) + - [class ProductConfigurationBaseType](messages/ProductConfiguration/ProductConfigurationBaseType.md) + - [class ProductConfigurationDegreeOfFreedom](messages/ProductConfiguration/ProductConfigurationDegreeOfFreedom.md) + - [class ProductConfigurationEndEffectorType](messages/ProductConfiguration/ProductConfigurationEndEffectorType.md) + - [class ProductConfigurationInterfaceModuleType](messages/ProductConfiguration/ProductConfigurationInterfaceModuleType.md) + - [class ProductConfigurationLaterality](messages/ProductConfiguration/ProductConfigurationLaterality.md) + - [class ProductConfigurationVisionModuleType](messages/ProductConfiguration/ProductConfigurationVisionModuleType.md) + - [class ProductConfigurationWristType](messages/ProductConfiguration/ProductConfigurationWristType.md) + - [enum ArmLaterality](enums/ProductConfiguration/ArmLaterality.md) + - [enum BaseType](enums/ProductConfiguration/BaseType.md) + - [enum EndEffectorType](enums/ProductConfiguration/EndEffectorType.md) + - [enum InterfaceModuleType](enums/ProductConfiguration/InterfaceModuleType.md) + - [enum ModelId](enums/ProductConfiguration/ModelId.md) + - [enum VisionModuleType](enums/ProductConfiguration/VisionModuleType.md) + - [enum WristType](enums/ProductConfiguration/WristType.md) +- [Session \(C++\)](summary_pages/Session.md) + - [class ConnectionList](messages/Session/ConnectionList.md) + - [class CreateSessionInfo](messages/Session/CreateSessionInfo.md) + - [enum ServiceVersion](enums/Session/ServiceVersion.md) +- [VisionConfig \(C++\)](summary_pages/VisionConfig.md) + - [class DistortionCoefficients](messages/VisionConfig/DistortionCoefficients.md) + - [class ExtrinsicParameters](messages/VisionConfig/ExtrinsicParameters.md) + - [class FocusPoint](messages/VisionConfig/FocusPoint.md) + - [class IntrinsicParameters](messages/VisionConfig/IntrinsicParameters.md) + - [class IntrinsicProfileIdentifier](messages/VisionConfig/IntrinsicProfileIdentifier.md) + - [class ManualFocus](messages/VisionConfig/ManualFocus.md) + - [class OptionIdentifier](messages/VisionConfig/OptionIdentifier.md) + - [class OptionInformation](messages/VisionConfig/OptionInformation.md) + - [class OptionValue](messages/VisionConfig/OptionValue.md) + - [class RotationMatrix](messages/VisionConfig/RotationMatrix.md) + - [class RotationMatrixRow](messages/VisionConfig/RotationMatrixRow.md) + - [class SensorFocusAction](messages/VisionConfig/SensorFocusAction.md) + - [class SensorIdentifier](messages/VisionConfig/SensorIdentifier.md) + - [class SensorSettings](messages/VisionConfig/SensorSettings.md) + - [class TranslationVector](messages/VisionConfig/TranslationVector.md) + - [class VisionNotification](messages/VisionConfig/VisionNotification.md) + - [enum BitRate](enums/VisionConfig/BitRate.md) + - [enum FocusAction](enums/VisionConfig/FocusAction.md) + - [enum FrameRate](enums/VisionConfig/FrameRate.md) + - [enum Option](enums/VisionConfig/Option.md) + - [enum Resolution](enums/VisionConfig/Resolution.md) + - [enum Sensor](enums/VisionConfig/Sensor.md) + - [enum ServiceVersion](enums/VisionConfig/ServiceVersion.md) + - [enum VisionEvent](enums/VisionConfig/VisionEvent.md) diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_AxisOffsets.md b/api_cpp/doc/markdown/messages/ActuatorConfig/AxisOffsets.md similarity index 58% rename from api_cpp/doc/markdown/references/msg_ActuatorConfig_AxisOffsets.md rename to api_cpp/doc/markdown/messages/ActuatorConfig/AxisOffsets.md index 6c904d73..9c1ac096 100644 --- a/api_cpp/doc/markdown/references/msg_ActuatorConfig_AxisOffsets.md +++ b/api_cpp/doc/markdown/messages/ActuatorConfig/AxisOffsets.md @@ -1,26 +1,16 @@ -# Message AxisOffsets +# class AxisOffsets -This page describes the C++ Kinova::Api::ActuatorConfig::AxisOffsets message. - -## Overview / Purpose - -Defines axis offsets - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|absolute\_offset|float32|Absolute offset value| -|relative\_offset|float32|Relative offset value| - - **Methods** +|absolute\_offset|float32|Absolute offset value \(meters\)| +|relative\_offset|float32|Relative offset value \(meters\)| -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |absolute\_offset\(\)|float32|void|Returns the current value of absolute\_offset. If the absolute\_offset is not set, returns 0.| |set\_absolute\_offset\(\)|void|float32|Sets the value of absolute\_offset. After calling this, absolute\_offset\(\) will return value.| |clear\_absolute\_offset\(\)|void|void|Clears the value of absolute\_offset. After calling this, absolute\_offset\(\) will return 0.| @@ -28,5 +18,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_relative\_offset\(\)|void|float32|Sets the value of relative\_offset. After calling this, relative\_offset\(\) will return value.| |clear\_relative\_offset\(\)|void|void|Clears the value of relative\_offset. After calling this, relative\_offset\(\) will return 0.| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_cpp/doc/markdown/messages/ActuatorConfig/AxisPosition.md b/api_cpp/doc/markdown/messages/ActuatorConfig/AxisPosition.md new file mode 100644 index 00000000..64bafe00 --- /dev/null +++ b/api_cpp/doc/markdown/messages/ActuatorConfig/AxisPosition.md @@ -0,0 +1,18 @@ +# class AxisPosition + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|position|float32|Axis position \(meters\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|position\(\)|float32|void|Returns the current value of position. If the position is not set, returns 0.| +|set\_position\(\)|void|float32|Sets the value of position. After calling this, position\(\) will return value.| +|clear\_position\(\)|void|void|Clears the value of position. After calling this, position\(\) will return 0.| + +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_cpp/doc/markdown/messages/ActuatorConfig/CommandModeInformation.md b/api_cpp/doc/markdown/messages/ActuatorConfig/CommandModeInformation.md new file mode 100644 index 00000000..cdf038fd --- /dev/null +++ b/api_cpp/doc/markdown/messages/ActuatorConfig/CommandModeInformation.md @@ -0,0 +1,18 @@ +# class CommandModeInformation + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|command\_mode|uint32|Command mode| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|command\_mode\(\) const|uint32|void|Returns the current value of command\_mode. If the command\_mode is not set, returns 0.| +|set\_command\_mode\(\)|void|uint32|Sets the value of command\_mode. After calling this, command\_mode\(\) will return value.| +|clear\_command\_mode\(\)|void|void|Clears the value of command\_mode. After calling this, command\_mode\(\) will return the empty string/empty bytes.| + +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_ControlLoop.md b/api_cpp/doc/markdown/messages/ActuatorConfig/ControlLoop.md similarity index 50% rename from api_cpp/doc/markdown/references/msg_ActuatorConfig_ControlLoop.md rename to api_cpp/doc/markdown/messages/ActuatorConfig/ControlLoop.md index 376d8dad..74e897ac 100644 --- a/api_cpp/doc/markdown/references/msg_ActuatorConfig_ControlLoop.md +++ b/api_cpp/doc/markdown/messages/ActuatorConfig/ControlLoop.md @@ -1,28 +1,18 @@ -# Message ControlLoop +# class ControlLoop -This page describes the C++ Kinova::Api::ActuatorConfig::ControlLoop message. - -## Overview / Purpose - -Defines the control loop - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |control\_loop|uint32|Use ControlLoopSelection enum values to form bitmask| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |control\_loop\(\)|uint32|void|Returns the current value of control\_loop. If the control\_loop is not set, returns 0.| |set\_control\_loop\(\)|void|uint32|Sets the value of control\_loop. After calling this, control\_loop\(\) will return value.| |clear\_control\_loop\(\)|void|void|Clears the value of control\_loop. After calling this, control\_loop\(\) will return 0.| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_ControlLoopParameters.md b/api_cpp/doc/markdown/messages/ActuatorConfig/ControlLoopParameters.md similarity index 71% rename from api_cpp/doc/markdown/references/msg_ActuatorConfig_ControlLoopParameters.md rename to api_cpp/doc/markdown/messages/ActuatorConfig/ControlLoopParameters.md index 7fe235c7..50944a14 100644 --- a/api_cpp/doc/markdown/references/msg_ActuatorConfig_ControlLoopParameters.md +++ b/api_cpp/doc/markdown/messages/ActuatorConfig/ControlLoopParameters.md @@ -1,31 +1,22 @@ -# Message ControlLoopParameters +# class ControlLoopParameters -This page describes the C++ Kinova::Api::ActuatorConfig::ControlLoopParameters message. - -## Overview / Purpose - -Defines control loop parameters \(discrete transfer function\) - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|loop\_selection| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|ControlLoopSelection enum| +|loop\_selection|uint32|ControlLoopSelection enum| |error\_saturation|float32|Error saturation value| |output\_saturation|float32|Output saturation value| -|kAz|Collection of float32|KAz \(index 0 to 4\): denominator gains A1 to A5| -|kBz|Collection of float32|KBz \(index 0 to 5\): numerator gains B0 to B5| - - **Methods** +|kAz|float32|KAz \(index 0 to 4\): denominator gains A1 to A5| +|kBz|float32|KBz \(index 0 to 5\): numerator gains B0 to B5| +|error\_dead\_band|float32|Error dead band value| -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|loop\_selection\(\) const| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|void|Returns the current value of loop\_selection. If the loop\_selection is not set, returns 0.| -|set\_loop\_selection\(\)|void| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|Sets the value of loop\_selection. After calling this, loop\_selection\(\) will return value.| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|loop\_selection\(\) const|uint32|void|Returns the current value of loop\_selection. If the loop\_selection is not set, returns 0.| +|set\_loop\_selection\(\)|void|uint32|Sets the value of loop\_selection. After calling this, loop\_selection\(\) will return value.| |clear\_loop\_selection\(\)|void|void|Clears the value of loop\_selection. After calling this, loop\_selection\(\) will return the empty string/empty bytes.| |error\_saturation\(\)|float32|void|Returns the current value of error\_saturation. If the error\_saturation is not set, returns 0.| |set\_error\_saturation\(\)|void|float32|Sets the value of error\_saturation. After calling this, error\_saturation\(\) will return value.| @@ -47,6 +38,9 @@ The methods listed below are some of the most commonly used. Please refer to Goo |clear\_kBz\(\)|void|void|Removes all elements from the field. After calling this, kBz\_size\(\) will return zero.| |kBz\(\) const|const RepeatedField&|void|Returns the underlying RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.| |mutable\_kBz\(\)|RepeatedField\*|void|Returns a pointer to the underlying mutable RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|error\_dead\_band\(\)|float32|void|Returns the current value of error\_dead\_band. If the error\_dead\_band is not set, returns 0.| +|set\_error\_dead\_band\(\)|void|float32|Sets the value of error\_dead\_band. After calling this, error\_dead\_band\(\) will return value.| +|clear\_error\_dead\_band\(\)|void|void|Clears the value of error\_dead\_band. After calling this, error\_dead\_band\(\) will return 0.| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_cpp/doc/markdown/messages/ActuatorConfig/ControlModeInformation.md b/api_cpp/doc/markdown/messages/ActuatorConfig/ControlModeInformation.md new file mode 100644 index 00000000..39dffad6 --- /dev/null +++ b/api_cpp/doc/markdown/messages/ActuatorConfig/ControlModeInformation.md @@ -0,0 +1,18 @@ +# class ControlModeInformation + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|control\_mode|uint32|Control mode| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|control\_mode\(\) const|uint32|void|Returns the current value of control\_mode. If the control\_mode is not set, returns 0.| +|set\_control\_mode\(\)|void|uint32|Sets the value of control\_mode. After calling this, control\_mode\(\) will return value.| +|clear\_control\_mode\(\)|void|void|Clears the value of control\_mode. After calling this, control\_mode\(\) will return the empty string/empty bytes.| + +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_cpp/doc/markdown/messages/ActuatorConfig/CustomDataSelection.md b/api_cpp/doc/markdown/messages/ActuatorConfig/CustomDataSelection.md new file mode 100644 index 00000000..9701fa98 --- /dev/null +++ b/api_cpp/doc/markdown/messages/ActuatorConfig/CustomDataSelection.md @@ -0,0 +1,16 @@ +# class CustomDataSelection + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|channel|uint32|16 channels maximum| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|UNKNOWN\_TO\_DOC: channel|UNKNOWN\_TO\_DOC: channel|UNKNOWN\_TO\_DOC: channel|The message documentation tool does not treat repeated enums.: 14| + +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_EncoderDerivativeParameters.md b/api_cpp/doc/markdown/messages/ActuatorConfig/EncoderDerivativeParameters.md similarity index 65% rename from api_cpp/doc/markdown/references/msg_ActuatorConfig_EncoderDerivativeParameters.md rename to api_cpp/doc/markdown/messages/ActuatorConfig/EncoderDerivativeParameters.md index 6b28641a..dbafccfb 100644 --- a/api_cpp/doc/markdown/references/msg_ActuatorConfig_EncoderDerivativeParameters.md +++ b/api_cpp/doc/markdown/messages/ActuatorConfig/EncoderDerivativeParameters.md @@ -1,26 +1,16 @@ -# Message EncoderDerivativeParameters +# class EncoderDerivativeParameters -This page describes the C++ Kinova::Api::ActuatorConfig::EncoderDerivativeParameters message. - -## Overview / Purpose - -Defines variable window derivative parameters - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |max\_window\_width|uint32|Maximum window width| |min\_encoder\_tick\_count|uint32|Minimum encoder tick count| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |max\_window\_width\(\)|uint32|void|Returns the current value of max\_window\_width. If the max\_window\_width is not set, returns 0.| |set\_max\_window\_width\(\)|void|uint32|Sets the value of max\_window\_width. After calling this, max\_window\_width\(\) will return value.| |clear\_max\_window\_width\(\)|void|void|Clears the value of max\_window\_width. After calling this, max\_window\_width\(\) will return 0.| @@ -28,5 +18,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_min\_encoder\_tick\_count\(\)|void|uint32|Sets the value of min\_encoder\_tick\_count. After calling this, min\_encoder\_tick\_count\(\) will return value.| |clear\_min\_encoder\_tick\_count\(\)|void|void|Clears the value of min\_encoder\_tick\_count. After calling this, min\_encoder\_tick\_count\(\) will return 0.| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_FrequencyResponse.md b/api_cpp/doc/markdown/messages/ActuatorConfig/FrequencyResponse.md similarity index 64% rename from api_cpp/doc/markdown/references/msg_ActuatorConfig_FrequencyResponse.md rename to api_cpp/doc/markdown/messages/ActuatorConfig/FrequencyResponse.md index cf3dffdc..4d5309c3 100644 --- a/api_cpp/doc/markdown/references/msg_ActuatorConfig_FrequencyResponse.md +++ b/api_cpp/doc/markdown/messages/ActuatorConfig/FrequencyResponse.md @@ -1,31 +1,21 @@ -# Message FrequencyResponse +# class FrequencyResponse -This page describes the C++ Kinova::Api::ActuatorConfig::FrequencyResponse message. - -## Overview / Purpose - -Defines frequency response - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|loop\_selection| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|ControlLoopSelection enum| +|loop\_selection|uint32|ControlLoopSelection enum| |min\_frequency|float32|Minimum frequency value| |max\_frequency|float32|Maximum frequency value| |amplitude|float32|Amplitude value| |duration|float32|Duration \(in seconds\)| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|loop\_selection\(\) const| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|void|Returns the current value of loop\_selection. If the loop\_selection is not set, returns 0.| -|set\_loop\_selection\(\)|void| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|Sets the value of loop\_selection. After calling this, loop\_selection\(\) will return value.| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|loop\_selection\(\) const|uint32|void|Returns the current value of loop\_selection. If the loop\_selection is not set, returns 0.| +|set\_loop\_selection\(\)|void|uint32|Sets the value of loop\_selection. After calling this, loop\_selection\(\) will return value.| |clear\_loop\_selection\(\)|void|void|Clears the value of loop\_selection. After calling this, loop\_selection\(\) will return the empty string/empty bytes.| |min\_frequency\(\)|float32|void|Returns the current value of min\_frequency. If the min\_frequency is not set, returns 0.| |set\_min\_frequency\(\)|void|float32|Sets the value of min\_frequency. After calling this, min\_frequency\(\) will return value.| @@ -40,5 +30,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_duration\(\)|void|float32|Sets the value of duration. After calling this, duration\(\) will return value.| |clear\_duration\(\)|void|void|Clears the value of duration. After calling this, duration\(\) will return 0.| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_cpp/doc/markdown/messages/ActuatorConfig/LoopSelection.md b/api_cpp/doc/markdown/messages/ActuatorConfig/LoopSelection.md new file mode 100644 index 00000000..e60beb61 --- /dev/null +++ b/api_cpp/doc/markdown/messages/ActuatorConfig/LoopSelection.md @@ -0,0 +1,18 @@ +# class LoopSelection + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|loop\_selection|uint32|ControlLoopSelection enum| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|loop\_selection\(\) const|uint32|void|Returns the current value of loop\_selection. If the loop\_selection is not set, returns 0.| +|set\_loop\_selection\(\)|void|uint32|Sets the value of loop\_selection. After calling this, loop\_selection\(\) will return value.| +|clear\_loop\_selection\(\)|void|void|Clears the value of loop\_selection. After calling this, loop\_selection\(\) will return the empty string/empty bytes.| + +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_PositionCommand.md b/api_cpp/doc/markdown/messages/ActuatorConfig/PositionCommand.md similarity index 63% rename from api_cpp/doc/markdown/references/msg_ActuatorConfig_PositionCommand.md rename to api_cpp/doc/markdown/messages/ActuatorConfig/PositionCommand.md index c929d5eb..118c689e 100644 --- a/api_cpp/doc/markdown/references/msg_ActuatorConfig_PositionCommand.md +++ b/api_cpp/doc/markdown/messages/ActuatorConfig/PositionCommand.md @@ -1,27 +1,17 @@ -# Message PositionCommand +# class PositionCommand -This page describes the C++ Kinova::Api::ActuatorConfig::PositionCommand message. - -## Overview / Purpose - -Defines a position command - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|position|float32|Position value| -|velocity|float32|Velocity value| -|acceleration|float32|Acceleration value| - - **Methods** +|position|float32|Position value \(degrees\)| +|velocity|float32|Velocity value \(degrees per second\)| +|acceleration|float32|Acceleration value \(degrees per second^squared\)| -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |position\(\)|float32|void|Returns the current value of position. If the position is not set, returns 0.| |set\_position\(\)|void|float32|Sets the value of position. After calling this, position\(\) will return value.| |clear\_position\(\)|void|void|Clears the value of position. After calling this, position\(\) will return 0.| @@ -32,5 +22,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_acceleration\(\)|void|float32|Sets the value of acceleration. After calling this, acceleration\(\) will return value.| |clear\_acceleration\(\)|void|void|Clears the value of acceleration. After calling this, acceleration\(\) will return 0.| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_RampResponse.md b/api_cpp/doc/markdown/messages/ActuatorConfig/RampResponse.md similarity index 56% rename from api_cpp/doc/markdown/references/msg_ActuatorConfig_RampResponse.md rename to api_cpp/doc/markdown/messages/ActuatorConfig/RampResponse.md index d48c575a..335cd8e2 100644 --- a/api_cpp/doc/markdown/references/msg_ActuatorConfig_RampResponse.md +++ b/api_cpp/doc/markdown/messages/ActuatorConfig/RampResponse.md @@ -1,30 +1,20 @@ -# Message RampResponse +# class RampResponse -This page describes the C++ Kinova::Api::ActuatorConfig::RampResponse message. - -## Overview / Purpose - -Defines ramp response - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|loop\_selection| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|ControlLoopSelection enum| +|loop\_selection|uint32|ControlLoopSelection enum| |slope|float32|Slope value| |ramp\_delay|float32|Ramp delay value| |duration|float32|Duration \(in seconds\)| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|loop\_selection\(\) const| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|void|Returns the current value of loop\_selection. If the loop\_selection is not set, returns 0.| -|set\_loop\_selection\(\)|void| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|Sets the value of loop\_selection. After calling this, loop\_selection\(\) will return value.| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|loop\_selection\(\) const|uint32|void|Returns the current value of loop\_selection. If the loop\_selection is not set, returns 0.| +|set\_loop\_selection\(\)|void|uint32|Sets the value of loop\_selection. After calling this, loop\_selection\(\) will return value.| |clear\_loop\_selection\(\)|void|void|Clears the value of loop\_selection. After calling this, loop\_selection\(\) will return the empty string/empty bytes.| |slope\(\)|float32|void|Returns the current value of slope. If the slope is not set, returns 0.| |set\_slope\(\)|void|float32|Sets the value of slope. After calling this, slope\(\) will return value.| @@ -36,5 +26,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_duration\(\)|void|float32|Sets the value of duration. After calling this, duration\(\) will return value.| |clear\_duration\(\)|void|void|Clears the value of duration. After calling this, duration\(\) will return 0.| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_cpp/doc/markdown/messages/ActuatorConfig/Servoing.md b/api_cpp/doc/markdown/messages/ActuatorConfig/Servoing.md new file mode 100644 index 00000000..d7819d37 --- /dev/null +++ b/api_cpp/doc/markdown/messages/ActuatorConfig/Servoing.md @@ -0,0 +1,18 @@ +# class Servoing + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|enabled|bool|Servoing enabled| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|enabled\(\)|bool|void|Returns the current value of enabled. If the enabled is not set, returns 0.| +|set\_enabled\(\)|void|bool|Sets the value of enabled. After calling this, enabled\(\) will return value.| +|clear\_enabled\(\)|void|void|Clears the value of enabled. After calling this, enabled\(\) will return 0.| + +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_StepResponse.md b/api_cpp/doc/markdown/messages/ActuatorConfig/StepResponse.md similarity index 57% rename from api_cpp/doc/markdown/references/msg_ActuatorConfig_StepResponse.md rename to api_cpp/doc/markdown/messages/ActuatorConfig/StepResponse.md index 5984d3a9..9cd14804 100644 --- a/api_cpp/doc/markdown/references/msg_ActuatorConfig_StepResponse.md +++ b/api_cpp/doc/markdown/messages/ActuatorConfig/StepResponse.md @@ -1,30 +1,20 @@ -# Message StepResponse +# class StepResponse -This page describes the C++ Kinova::Api::ActuatorConfig::StepResponse message. - -## Overview / Purpose - -Defines step response - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|loop\_selection| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|ControlLoopSelection enum| +|loop\_selection|uint32|ControlLoopSelection enum| |amplitude|float32|Amplitude value| |step\_delay|float32|Step delay value| |duration|float32|Duration \(in seconds\)| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|loop\_selection\(\) const| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|void|Returns the current value of loop\_selection. If the loop\_selection is not set, returns 0.| -|set\_loop\_selection\(\)|void| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|Sets the value of loop\_selection. After calling this, loop\_selection\(\) will return value.| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|loop\_selection\(\) const|uint32|void|Returns the current value of loop\_selection. If the loop\_selection is not set, returns 0.| +|set\_loop\_selection\(\)|void|uint32|Sets the value of loop\_selection. After calling this, loop\_selection\(\) will return value.| |clear\_loop\_selection\(\)|void|void|Clears the value of loop\_selection. After calling this, loop\_selection\(\) will return the empty string/empty bytes.| |amplitude\(\)|float32|void|Returns the current value of amplitude. If the amplitude is not set, returns 0.| |set\_amplitude\(\)|void|float32|Sets the value of amplitude. After calling this, amplitude\(\) will return value.| @@ -36,5 +26,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_duration\(\)|void|float32|Sets the value of duration. After calling this, duration\(\) will return value.| |clear\_duration\(\)|void|void|Clears the value of duration. After calling this, duration\(\) will return 0.| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_TorqueCalibration.md b/api_cpp/doc/markdown/messages/ActuatorConfig/TorqueCalibration.md similarity index 81% rename from api_cpp/doc/markdown/references/msg_ActuatorConfig_TorqueCalibration.md rename to api_cpp/doc/markdown/messages/ActuatorConfig/TorqueCalibration.md index 1d166c68..aa1bf60b 100644 --- a/api_cpp/doc/markdown/references/msg_ActuatorConfig_TorqueCalibration.md +++ b/api_cpp/doc/markdown/messages/ActuatorConfig/TorqueCalibration.md @@ -1,28 +1,18 @@ -# Message TorqueCalibration +# class TorqueCalibration -This page describes the C++ Kinova::Api::ActuatorConfig::TorqueCalibration message. - -## Overview / Purpose - -Defines torque calibration - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |global\_gain|float32|Global gain value| |global\_offset|float32|Global offset value| -|gain|Collection of float32|Gain \(index 0 to 3\)| -|offset|Collection of float32|Offset \(index 0 to 3\)| - - **Methods** +|gain|float32|Gain \(index 0 to 3\)| +|offset|float32|Offset \(index 0 to 3\)| -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |global\_gain\(\)|float32|void|Returns the current value of global\_gain. If the global\_gain is not set, returns 0.| |set\_global\_gain\(\)|void|float32|Sets the value of global\_gain. After calling this, global\_gain\(\) will return value.| |clear\_global\_gain\(\)|void|void|Clears the value of global\_gain. After calling this, global\_gain\(\) will return 0.| @@ -44,5 +34,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |offset\(\) const|const RepeatedField&|void|Returns the underlying RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.| |mutable\_offset\(\)|RepeatedField\*|void|Returns a pointer to the underlying mutable RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_cpp/doc/markdown/messages/ActuatorConfig/TorqueOffset.md b/api_cpp/doc/markdown/messages/ActuatorConfig/TorqueOffset.md new file mode 100644 index 00000000..ff06090b --- /dev/null +++ b/api_cpp/doc/markdown/messages/ActuatorConfig/TorqueOffset.md @@ -0,0 +1,18 @@ +# class TorqueOffset + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|torque\_offset|float32|Torque offset value| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|torque\_offset\(\)|float32|void|Returns the current value of torque\_offset. If the torque\_offset is not set, returns 0.| +|set\_torque\_offset\(\)|void|float32|Sets the value of torque\_offset. After calling this, torque\_offset\(\) will return value.| +|clear\_torque\_offset\(\)|void|void|Clears the value of torque\_offset. After calling this, torque\_offset\(\) will return 0.| + +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_VectorDriveParameters.md b/api_cpp/doc/markdown/messages/ActuatorConfig/VectorDriveParameters.md similarity index 71% rename from api_cpp/doc/markdown/references/msg_ActuatorConfig_VectorDriveParameters.md rename to api_cpp/doc/markdown/messages/ActuatorConfig/VectorDriveParameters.md index 96948e91..72be44a4 100644 --- a/api_cpp/doc/markdown/references/msg_ActuatorConfig_VectorDriveParameters.md +++ b/api_cpp/doc/markdown/messages/ActuatorConfig/VectorDriveParameters.md @@ -1,14 +1,6 @@ -# Message VectorDriveParameters +# class VectorDriveParameters -This page describes the C++ Kinova::Api::ActuatorConfig::VectorDriveParameters message. - -## Overview / Purpose - -Field-oriented control PI controller gain values - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| @@ -17,12 +9,10 @@ Field-oriented control PI controller gain values |kpd|float32|Direct axis current proportional gain| |kid|float32|Direct axis current integral gain| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |kpq\(\)|float32|void|Returns the current value of kpq. If the kpq is not set, returns 0.| |set\_kpq\(\)|void|float32|Sets the value of kpq. After calling this, kpq\(\) will return value.| |clear\_kpq\(\)|void|void|Clears the value of kpq. After calling this, kpq\(\) will return 0.| @@ -36,5 +26,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_kid\(\)|void|float32|Sets the value of kid. After calling this, kid\(\) will return value.| |clear\_kid\(\)|void|void|Clears the value of kid. After calling this, kid\(\) will return 0.| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_cpp/doc/markdown/messages/ActuatorCyclic/Command.md b/api_cpp/doc/markdown/messages/ActuatorCyclic/Command.md new file mode 100644 index 00000000..d93935d8 --- /dev/null +++ b/api_cpp/doc/markdown/messages/ActuatorCyclic/Command.md @@ -0,0 +1,41 @@ +# class Command + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|command\_id| [MessageId](MessageId.md#)|MessageId| +|flags|uint32|Command flags \(see enum CommandFlags\)| +|position|float32|Desired position of the actuator \(degrees\)| +|velocity|float32|Desired velocity of the actuator \(degrees per second\)| +|torque\_joint|float32|Desired torque of the actuator \(Newton-meters\)| +|current\_motor|float32|Desired current of the motor \(Amperes\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_command\_id\(\) const|bool|void|Returns true if command\_id is set.| +|command\_id\(\)|const [MessageId](MessageId.md#)&|void|Returns the current value of command\_id. If command\_id is not set, returns a [MessageId](MessageId.md#) with none of its fields set \(possibly command\_id::default\_instance\(\)\).| +|mutable\_command\_id\(\)| [MessageId](MessageId.md#) \*|void|Returns a pointer to the mutable [MessageId](MessageId.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MessageId](MessageId.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MessageId](MessageId.md#)\). After calling this, has\_command\_id\(\) will return true and command\_id\(\) will return a reference to the same instance of [MessageId](MessageId.md#).| +|clear\_command\_id\(\)|void|void|Clears the value of the field. After calling this, has\_command\_id\(\) will return false and command\_id\(\) will return the default value.| +|set\_allocated\_command\_id\(\)|void| [MessageId](MessageId.md#) \*|Sets the [MessageId](MessageId.md#) object to the field and frees the previous field value if it exists. If the [MessageId](MessageId.md#) pointer is not NULL, the message takes ownership of the allocated [MessageId](MessageId.md#) object and has\_ [MessageId](MessageId.md#)\(\) will return true. Otherwise, if the command\_id is NULL, the behavior is the same as calling clear\_command\_id\(\).| +|release\_command\_id\(\)| [MessageId](MessageId.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MessageId](MessageId.md#) object. After calling this, caller takes the ownership of the allocated [MessageId](MessageId.md#) object, has\_command\_id\(\) will return false, and command\_id\(\) will return the default value.| +|flags\(\)|uint32|void|Returns the current value of flags. If the flags is not set, returns 0.| +|set\_flags\(\)|void|uint32|Sets the value of flags. After calling this, flags\(\) will return value.| +|clear\_flags\(\)|void|void|Clears the value of flags. After calling this, flags\(\) will return 0.| +|position\(\)|float32|void|Returns the current value of position. If the position is not set, returns 0.| +|set\_position\(\)|void|float32|Sets the value of position. After calling this, position\(\) will return value.| +|clear\_position\(\)|void|void|Clears the value of position. After calling this, position\(\) will return 0.| +|velocity\(\)|float32|void|Returns the current value of velocity. If the velocity is not set, returns 0.| +|set\_velocity\(\)|void|float32|Sets the value of velocity. After calling this, velocity\(\) will return value.| +|clear\_velocity\(\)|void|void|Clears the value of velocity. After calling this, velocity\(\) will return 0.| +|torque\_joint\(\)|float32|void|Returns the current value of torque\_joint. If the torque\_joint is not set, returns 0.| +|set\_torque\_joint\(\)|void|float32|Sets the value of torque\_joint. After calling this, torque\_joint\(\) will return value.| +|clear\_torque\_joint\(\)|void|void|Clears the value of torque\_joint. After calling this, torque\_joint\(\) will return 0.| +|current\_motor\(\)|float32|void|Returns the current value of current\_motor. If the current\_motor is not set, returns 0.| +|set\_current\_motor\(\)|void|float32|Sets the value of current\_motor. After calling this, current\_motor\(\) will return value.| +|clear\_current\_motor\(\)|void|void|Clears the value of current\_motor. After calling this, current\_motor\(\) will return 0.| + +**Parent topic:** [ActuatorCyclic \(C++\)](../../summary_pages/ActuatorCyclic.md) + diff --git a/api_cpp/doc/markdown/references/msg_ActuatorCyclic_CustomData.md b/api_cpp/doc/markdown/messages/ActuatorCyclic/CustomData.md similarity index 74% rename from api_cpp/doc/markdown/references/msg_ActuatorCyclic_CustomData.md rename to api_cpp/doc/markdown/messages/ActuatorCyclic/CustomData.md index 55022bc4..b7bbde8b 100644 --- a/api_cpp/doc/markdown/references/msg_ActuatorCyclic_CustomData.md +++ b/api_cpp/doc/markdown/messages/ActuatorCyclic/CustomData.md @@ -1,18 +1,10 @@ -# Message CustomData +# class CustomData -This page describes the C++ Kinova::Api::ActuatorCyclic::CustomData message. - -## Overview / Purpose - -Custom development data, content varies according to debug needs - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|custom\_data\_id| [MessageId](msg_ActuatorCyclic_MessageId.md#)|MessageId| +|custom\_data\_id| [MessageId](MessageId.md#)|MessageId| |custom\_data\_0|uint32|Custom data word 0| |custom\_data\_1|uint32|Custom data word 1| |custom\_data\_2|uint32|Custom data word 2| @@ -30,18 +22,16 @@ Custom development data, content varies according to debug needs |custom\_data\_14|uint32|Custom data word 14| |custom\_data\_15|uint32|Custom data word 15| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |has\_custom\_data\_id\(\) const|bool|void|Returns true if custom\_data\_id is set.| -|custom\_data\_id\(\)|const [MessageId](msg_ActuatorCyclic_MessageId.md#)&|void|Returns the current value of custom\_data\_id. If custom\_data\_id is not set, returns a [MessageId](msg_ActuatorCyclic_MessageId.md#) with none of its fields set \(possibly custom\_data\_id::default\_instance\(\)\).| -|mutable\_custom\_data\_id\(\)| [MessageId](msg_ActuatorCyclic_MessageId.md#) \*|void|Returns a pointer to the mutable [MessageId](msg_ActuatorCyclic_MessageId.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MessageId](msg_ActuatorCyclic_MessageId.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MessageId](msg_ActuatorCyclic_MessageId.md#)\). After calling this, has\_custom\_data\_id\(\) will return true and custom\_data\_id\(\) will return a reference to the same instance of [MessageId](msg_ActuatorCyclic_MessageId.md#).| +|custom\_data\_id\(\)|const [MessageId](MessageId.md#)&|void|Returns the current value of custom\_data\_id. If custom\_data\_id is not set, returns a [MessageId](MessageId.md#) with none of its fields set \(possibly custom\_data\_id::default\_instance\(\)\).| +|mutable\_custom\_data\_id\(\)| [MessageId](MessageId.md#) \*|void|Returns a pointer to the mutable [MessageId](MessageId.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MessageId](MessageId.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MessageId](MessageId.md#)\). After calling this, has\_custom\_data\_id\(\) will return true and custom\_data\_id\(\) will return a reference to the same instance of [MessageId](MessageId.md#).| |clear\_custom\_data\_id\(\)|void|void|Clears the value of the field. After calling this, has\_custom\_data\_id\(\) will return false and custom\_data\_id\(\) will return the default value.| -|set\_allocated\_custom\_data\_id\(\)|void| [MessageId](msg_ActuatorCyclic_MessageId.md#) \*|Sets the [MessageId](msg_ActuatorCyclic_MessageId.md#) object to the field and frees the previous field value if it exists. If the [MessageId](msg_ActuatorCyclic_MessageId.md#) pointer is not NULL, the message takes ownership of the allocated [MessageId](msg_ActuatorCyclic_MessageId.md#) object and has\_ [MessageId](msg_ActuatorCyclic_MessageId.md#)\(\) will return true. Otherwise, if the custom\_data\_id is NULL, the behavior is the same as calling clear\_custom\_data\_id\(\).| -|release\_custom\_data\_id\(\)| [MessageId](msg_ActuatorCyclic_MessageId.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MessageId](msg_ActuatorCyclic_MessageId.md#) object. After calling this, caller takes the ownership of the allocated [MessageId](msg_ActuatorCyclic_MessageId.md#) object, has\_custom\_data\_id\(\) will return false, and custom\_data\_id\(\) will return the default value.| +|set\_allocated\_custom\_data\_id\(\)|void| [MessageId](MessageId.md#) \*|Sets the [MessageId](MessageId.md#) object to the field and frees the previous field value if it exists. If the [MessageId](MessageId.md#) pointer is not NULL, the message takes ownership of the allocated [MessageId](MessageId.md#) object and has\_ [MessageId](MessageId.md#)\(\) will return true. Otherwise, if the custom\_data\_id is NULL, the behavior is the same as calling clear\_custom\_data\_id\(\).| +|release\_custom\_data\_id\(\)| [MessageId](MessageId.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MessageId](MessageId.md#) object. After calling this, caller takes the ownership of the allocated [MessageId](MessageId.md#) object, has\_custom\_data\_id\(\) will return false, and custom\_data\_id\(\) will return the default value.| |custom\_data\_0\(\)|uint32|void|Returns the current value of custom\_data\_0. If the custom\_data\_0 is not set, returns 0.| |set\_custom\_data\_0\(\)|void|uint32|Sets the value of custom\_data\_0. After calling this, custom\_data\_0\(\) will return value.| |clear\_custom\_data\_0\(\)|void|void|Clears the value of custom\_data\_0. After calling this, custom\_data\_0\(\) will return 0.| @@ -91,5 +81,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_custom\_data\_15\(\)|void|uint32|Sets the value of custom\_data\_15. After calling this, custom\_data\_15\(\) will return value.| |clear\_custom\_data\_15\(\)|void|void|Clears the value of custom\_data\_15. After calling this, custom\_data\_15\(\) will return 0.| -**Parent topic:** [ActuatorCyclic](../references/summary_ActuatorCyclic.md) +**Parent topic:** [ActuatorCyclic \(C++\)](../../summary_pages/ActuatorCyclic.md) diff --git a/api_cpp/doc/markdown/references/msg_ActuatorCyclic_Feedback.md b/api_cpp/doc/markdown/messages/ActuatorCyclic/Feedback.md similarity index 70% rename from api_cpp/doc/markdown/references/msg_ActuatorCyclic_Feedback.md rename to api_cpp/doc/markdown/messages/ActuatorCyclic/Feedback.md index a158c2b6..46e9f5b6 100644 --- a/api_cpp/doc/markdown/references/msg_ActuatorCyclic_Feedback.md +++ b/api_cpp/doc/markdown/messages/ActuatorCyclic/Feedback.md @@ -1,19 +1,11 @@ -# Message Feedback +# class Feedback -This page describes the C++ Kinova::Api::ActuatorCyclic::Feedback message. - -## Overview / Purpose - -Defines the feedback provided by an actuator module - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|feedback\_id| [MessageId](msg_ActuatorCyclic_MessageId.md#)|MessageId| -|status\_flags|uint32|Status flags \(see enum SatatusFlags for the rest\)| +|feedback\_id| [MessageId](MessageId.md#)|MessageId| +|status\_flags|uint32|Status flags \(see enum StatusFlags for the rest\)| |jitter\_comm|uint32|Jitter from the communication in μs| |position|float32|Position of the actuator \(degrees\)| |velocity|float32|Angular velocity of the actuator \(degrees per second\)| @@ -27,18 +19,16 @@ Defines the feedback provided by an actuator module |warning\_bank\_a|uint32|Bank A Warning \(see ActuatorConfig.SafetyIdentifier\)| |warning\_bank\_b|uint32|Bank B Warning \(see ActuatorConfig.SafetyIdentifier\)| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |has\_feedback\_id\(\) const|bool|void|Returns true if feedback\_id is set.| -|feedback\_id\(\)|const [MessageId](msg_ActuatorCyclic_MessageId.md#)&|void|Returns the current value of feedback\_id. If feedback\_id is not set, returns a [MessageId](msg_ActuatorCyclic_MessageId.md#) with none of its fields set \(possibly feedback\_id::default\_instance\(\)\).| -|mutable\_feedback\_id\(\)| [MessageId](msg_ActuatorCyclic_MessageId.md#) \*|void|Returns a pointer to the mutable [MessageId](msg_ActuatorCyclic_MessageId.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MessageId](msg_ActuatorCyclic_MessageId.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MessageId](msg_ActuatorCyclic_MessageId.md#)\). After calling this, has\_feedback\_id\(\) will return true and feedback\_id\(\) will return a reference to the same instance of [MessageId](msg_ActuatorCyclic_MessageId.md#).| +|feedback\_id\(\)|const [MessageId](MessageId.md#)&|void|Returns the current value of feedback\_id. If feedback\_id is not set, returns a [MessageId](MessageId.md#) with none of its fields set \(possibly feedback\_id::default\_instance\(\)\).| +|mutable\_feedback\_id\(\)| [MessageId](MessageId.md#) \*|void|Returns a pointer to the mutable [MessageId](MessageId.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MessageId](MessageId.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MessageId](MessageId.md#)\). After calling this, has\_feedback\_id\(\) will return true and feedback\_id\(\) will return a reference to the same instance of [MessageId](MessageId.md#).| |clear\_feedback\_id\(\)|void|void|Clears the value of the field. After calling this, has\_feedback\_id\(\) will return false and feedback\_id\(\) will return the default value.| -|set\_allocated\_feedback\_id\(\)|void| [MessageId](msg_ActuatorCyclic_MessageId.md#) \*|Sets the [MessageId](msg_ActuatorCyclic_MessageId.md#) object to the field and frees the previous field value if it exists. If the [MessageId](msg_ActuatorCyclic_MessageId.md#) pointer is not NULL, the message takes ownership of the allocated [MessageId](msg_ActuatorCyclic_MessageId.md#) object and has\_ [MessageId](msg_ActuatorCyclic_MessageId.md#)\(\) will return true. Otherwise, if the feedback\_id is NULL, the behavior is the same as calling clear\_feedback\_id\(\).| -|release\_feedback\_id\(\)| [MessageId](msg_ActuatorCyclic_MessageId.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MessageId](msg_ActuatorCyclic_MessageId.md#) object. After calling this, caller takes the ownership of the allocated [MessageId](msg_ActuatorCyclic_MessageId.md#) object, has\_feedback\_id\(\) will return false, and feedback\_id\(\) will return the default value.| +|set\_allocated\_feedback\_id\(\)|void| [MessageId](MessageId.md#) \*|Sets the [MessageId](MessageId.md#) object to the field and frees the previous field value if it exists. If the [MessageId](MessageId.md#) pointer is not NULL, the message takes ownership of the allocated [MessageId](MessageId.md#) object and has\_ [MessageId](MessageId.md#)\(\) will return true. Otherwise, if the feedback\_id is NULL, the behavior is the same as calling clear\_feedback\_id\(\).| +|release\_feedback\_id\(\)| [MessageId](MessageId.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MessageId](MessageId.md#) object. After calling this, caller takes the ownership of the allocated [MessageId](MessageId.md#) object, has\_feedback\_id\(\) will return false, and feedback\_id\(\) will return the default value.| |status\_flags\(\)|uint32|void|Returns the current value of status\_flags. If the status\_flags is not set, returns 0.| |set\_status\_flags\(\)|void|uint32|Sets the value of status\_flags. After calling this, status\_flags\(\) will return value.| |clear\_status\_flags\(\)|void|void|Clears the value of status\_flags. After calling this, status\_flags\(\) will return 0.| @@ -79,5 +69,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_warning\_bank\_b\(\)|void|uint32|Sets the value of warning\_bank\_b. After calling this, warning\_bank\_b\(\) will return value.| |clear\_warning\_bank\_b\(\)|void|void|Clears the value of warning\_bank\_b. After calling this, warning\_bank\_b\(\) will return 0.| -**Parent topic:** [ActuatorCyclic](../references/summary_ActuatorCyclic.md) +**Parent topic:** [ActuatorCyclic \(C++\)](../../summary_pages/ActuatorCyclic.md) diff --git a/api_cpp/doc/markdown/references/msg_ActuatorCyclic_MessageId.md b/api_cpp/doc/markdown/messages/ActuatorCyclic/MessageId.md similarity index 51% rename from api_cpp/doc/markdown/references/msg_ActuatorCyclic_MessageId.md rename to api_cpp/doc/markdown/messages/ActuatorCyclic/MessageId.md index 9929277c..4bcce540 100644 --- a/api_cpp/doc/markdown/references/msg_ActuatorCyclic_MessageId.md +++ b/api_cpp/doc/markdown/messages/ActuatorCyclic/MessageId.md @@ -1,28 +1,18 @@ -# Message MessageId +# class MessageId -This page describes the C++ Kinova::Api::ActuatorCyclic::MessageId message. - -## Overview / Purpose - -Provides a message identifier - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |identifier|uint32|Message ID \(first 2 bytes : device ID, last 2 bytes : sequence number\). By default, set to zero| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |identifier\(\)|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| |set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| |clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return 0.| -**Parent topic:** [ActuatorCyclic](../references/summary_ActuatorCyclic.md) +**Parent topic:** [ActuatorCyclic \(C++\)](../../summary_pages/ActuatorCyclic.md) diff --git a/api_cpp/doc/markdown/messages/Base/Action.md b/api_cpp/doc/markdown/messages/Base/Action.md new file mode 100644 index 00000000..42b3933a --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/Action.md @@ -0,0 +1,163 @@ +# class Action + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|handle| [ActionHandle](ActionHandle.md#)|Reference to the action \(useful when updating an existing action\)| +|name|string|Action friendly name| +|application\_data|string|Application data \(reserved for use by Web App\)| +|send\_twist\_command|oneof:action\_parameters [TwistCommand](TwistCommand.md#)|Control the tool in velocity| +|send\_wrench\_command|oneof:action\_parameters [WrenchCommand](WrenchCommand.md#)|Control the tool in force \(EXPERIMENTAL\)| +|send\_joint\_speeds|oneof:action\_parameters [JointSpeeds](JointSpeeds.md#)|Action to control each joint speed| +|reach\_pose|oneof:action\_parameters [ConstrainedPose](ConstrainedPose.md#)|Reach a pose given Cartesian constraints| +|reach\_joint\_angles|oneof:action\_parameters [ConstrainedJointAngles](ConstrainedJointAngles.md#)|Reach a series of joint angles given angular constraints| +|toggle\_admittance\_mode|oneof:action\_parameters uint32|Enable or disable the admittance mode| +|switch\_control\_mapping|oneof:action\_parameters [SwitchControlMapping](SwitchControlMapping.md#)|Switch the active controller map| +|navigate\_joints|oneof:action\_parameters uint32|Select the next actuator to control in a map| +|navigate\_mappings|oneof:action\_parameters uint32|Select a different map| +|change\_twist|oneof:action\_parameters [ChangeTwist](ChangeTwist.md#)|Change tool twist| +|change\_joint\_speeds|oneof:action\_parameters [ChangeJointSpeeds](ChangeJointSpeeds.md#)|Change the joint speeds individually| +|change\_wrench|oneof:action\_parameters [ChangeWrench](ChangeWrench.md#)|Change the Cartesian force| +|apply\_emergency\_stop|oneof:action\_parameters [EmergencyStop](EmergencyStop.md#)|Apply robot emergency stop| +|clear\_faults|oneof:action\_parameters [Faults](Faults.md#)|Clear faults. Robot will be able to move if there is no more fault \(see BaseCyclic.BaseFeedback.\[fault\_bank\_a | fault\_bank\_b\]\)| +|delay|oneof:action\_parameters [Delay](Delay.md#)|Apply a delay| +|execute\_action|oneof:action\_parameters [ActionHandle](ActionHandle.md#)|Execute an existing action| +|send\_gripper\_command|oneof:action\_parameters [GripperCommand](GripperCommand.md#)|Send a gripper command| +|stop\_action|oneof:action\_parameters [Stop](Stop.md#)|Stop movement| +|play\_pre\_computed\_trajectory|oneof:action\_parameters [PreComputedJointTrajectory](PreComputedJointTrajectory.md#)|Play a pre-computed joint trajectory| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_handle\(\) const|bool|void|Returns true if handle is set.| +|handle\(\)|const [ActionHandle](ActionHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [ActionHandle](ActionHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [ActionHandle](ActionHandle.md#) \*|void|Returns a pointer to the mutable [ActionHandle](ActionHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ActionHandle](ActionHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ActionHandle](ActionHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [ActionHandle](ActionHandle.md#).| +|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [ActionHandle](ActionHandle.md#) \*|Sets the [ActionHandle](ActionHandle.md#) object to the field and frees the previous field value if it exists. If the [ActionHandle](ActionHandle.md#) pointer is not NULL, the message takes ownership of the allocated [ActionHandle](ActionHandle.md#) object and has\_ [ActionHandle](ActionHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [ActionHandle](ActionHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ActionHandle](ActionHandle.md#) object. After calling this, caller takes the ownership of the allocated [ActionHandle](ActionHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|name\(\)|const string&|void|Returns the current value of name. If name is not set, returns the empty string/empty bytes.| +|set\_name\(\)|void|const string&|Sets the value of name. After calling this, name\(\) will return a copy of value.| +|set\_name\(\)|void|string&&|\(C++11 and beyond\): Sets the value of name, moving from the passed string. After calling this, name\(\) will return a copy of value.| +|set\_name\(\)|void|const char\*|Sets the value of name using a C-style null-terminated string. After calling this, name\(\) will return a copy of value.| +|mutable\_name\(\)|string \*|void|Returns a pointer to the mutable string object that stores name's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, name\(\) will return whatever value is written into the given string.| +|clear\_name\(\)|void|void|Clears the value of name. After calling this, name\(\) will return the empty string/empty bytes.| +|set\_allocated\_name\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_name\(\).| +|release\_name\(\)|string \*|void|Releases the ownership of name and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and name\(\) will return the empty string/empty bytes.| +|application\_data\(\)|const string&|void|Returns the current value of application\_data. If application\_data is not set, returns the empty string/empty bytes.| +|set\_application\_data\(\)|void|const string&|Sets the value of application\_data. After calling this, application\_data\(\) will return a copy of value.| +|set\_application\_data\(\)|void|string&&|\(C++11 and beyond\): Sets the value of application\_data, moving from the passed string. After calling this, application\_data\(\) will return a copy of value.| +|set\_application\_data\(\)|void|const char\*|Sets the value of application\_data using a C-style null-terminated string. After calling this, application\_data\(\) will return a copy of value.| +|mutable\_application\_data\(\)|string \*|void|Returns a pointer to the mutable string object that stores application\_data's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, application\_data\(\) will return whatever value is written into the given string.| +|clear\_application\_data\(\)|void|void|Clears the value of application\_data. After calling this, application\_data\(\) will return the empty string/empty bytes.| +|set\_allocated\_application\_data\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_application\_data\(\).| +|release\_application\_data\(\)|string \*|void|Releases the ownership of application\_data and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and application\_data\(\) will return the empty string/empty bytes.| +|has\_send\_twist\_command\(\) const|void|void|Returns the current value of the field if oneof case is kSend\_twist\_command. Otherwise, returns oneof:action\_parameters [TwistCommand](TwistCommand.md#)::default\_instance\(\)| +|send\_twist\_command\(\) const|const oneof:action\_parameters [TwistCommand](TwistCommand.md#)&|void|Returns the current value of the field if oneof case is kSend\_twist\_command| +|mutable\_send\_twist\_command\(\)|oneof:action\_parameters [TwistCommand](TwistCommand.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kSend\_twist\_command and returns a pointer to the mutable oneof:action\_parameters [TwistCommand](TwistCommand.md#) object that stores the field's value. If the oneof case was not kSend\_twist\_command prior to the call, then the returned oneof:action\_parameters [TwistCommand](TwistCommand.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [TwistCommand](TwistCommand.md#)\). After calling this, has\_send\_twist\_command\(\) will return true, send\_twist\_command\(\) will return a reference to the same instance of oneof:action\_parameters [TwistCommand](TwistCommand.md#) and action\_parameters\_case\(\) will return kSend\_twist\_command| +|clear\_send\_twist\_command\(\)|void|void|Nothing will be changed if the oneof case is not kSend\_twist\_command. If the oneof case equals kSend\_twist\_command, frees the field and clears the oneof case. has\_send\_twist\_command\(\) will return false, send\_twist\_command\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_send\_twist\_command\(\)|void|oneof:action\_parameters [TwistCommand](TwistCommand.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [TwistCommand](TwistCommand.md#) pointer is not NULL: Sets the oneof:action\_parameters [TwistCommand](TwistCommand.md#) object to the field and sets the oneof case to kSend\_twist\_command. The message takes ownership of the allocated oneof:action\_parameters [TwistCommand](TwistCommand.md#) object, has\_send\_twist\_command\(\) will return true and action\_parameters\_case\(\) will return kSend\_twist\_command. If the pointer is NULL, has\_send\_twist\_command\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_send\_twist\_command\(\)|oneof:action\_parameters [TwistCommand](TwistCommand.md#)\*|void|Returns NULL if oneof case is not kSend\_twist\_command. If the oneof case is kSend\_twist\_command, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_send\_twist\_command\(\) will return false, send\_twist\_command\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|has\_send\_wrench\_command\(\) const|void|void|Returns the current value of the field if oneof case is kSend\_wrench\_command. Otherwise, returns oneof:action\_parameters [WrenchCommand](WrenchCommand.md#)::default\_instance\(\)| +|send\_wrench\_command\(\) const|const oneof:action\_parameters [WrenchCommand](WrenchCommand.md#)&|void|Returns the current value of the field if oneof case is kSend\_wrench\_command| +|mutable\_send\_wrench\_command\(\)|oneof:action\_parameters [WrenchCommand](WrenchCommand.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kSend\_wrench\_command and returns a pointer to the mutable oneof:action\_parameters [WrenchCommand](WrenchCommand.md#) object that stores the field's value. If the oneof case was not kSend\_wrench\_command prior to the call, then the returned oneof:action\_parameters [WrenchCommand](WrenchCommand.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [WrenchCommand](WrenchCommand.md#)\). After calling this, has\_send\_wrench\_command\(\) will return true, send\_wrench\_command\(\) will return a reference to the same instance of oneof:action\_parameters [WrenchCommand](WrenchCommand.md#) and action\_parameters\_case\(\) will return kSend\_wrench\_command| +|clear\_send\_wrench\_command\(\)|void|void|Nothing will be changed if the oneof case is not kSend\_wrench\_command. If the oneof case equals kSend\_wrench\_command, frees the field and clears the oneof case. has\_send\_wrench\_command\(\) will return false, send\_wrench\_command\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_send\_wrench\_command\(\)|void|oneof:action\_parameters [WrenchCommand](WrenchCommand.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [WrenchCommand](WrenchCommand.md#) pointer is not NULL: Sets the oneof:action\_parameters [WrenchCommand](WrenchCommand.md#) object to the field and sets the oneof case to kSend\_wrench\_command. The message takes ownership of the allocated oneof:action\_parameters [WrenchCommand](WrenchCommand.md#) object, has\_send\_wrench\_command\(\) will return true and action\_parameters\_case\(\) will return kSend\_wrench\_command. If the pointer is NULL, has\_send\_wrench\_command\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_send\_wrench\_command\(\)|oneof:action\_parameters [WrenchCommand](WrenchCommand.md#)\*|void|Returns NULL if oneof case is not kSend\_wrench\_command. If the oneof case is kSend\_wrench\_command, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_send\_wrench\_command\(\) will return false, send\_wrench\_command\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|has\_send\_joint\_speeds\(\) const|void|void|Returns the current value of the field if oneof case is kSend\_joint\_speeds. Otherwise, returns oneof:action\_parameters [JointSpeeds](JointSpeeds.md#)::default\_instance\(\)| +|send\_joint\_speeds\(\) const|const oneof:action\_parameters [JointSpeeds](JointSpeeds.md#)&|void|Returns the current value of the field if oneof case is kSend\_joint\_speeds| +|mutable\_send\_joint\_speeds\(\)|oneof:action\_parameters [JointSpeeds](JointSpeeds.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kSend\_joint\_speeds and returns a pointer to the mutable oneof:action\_parameters [JointSpeeds](JointSpeeds.md#) object that stores the field's value. If the oneof case was not kSend\_joint\_speeds prior to the call, then the returned oneof:action\_parameters [JointSpeeds](JointSpeeds.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [JointSpeeds](JointSpeeds.md#)\). After calling this, has\_send\_joint\_speeds\(\) will return true, send\_joint\_speeds\(\) will return a reference to the same instance of oneof:action\_parameters [JointSpeeds](JointSpeeds.md#) and action\_parameters\_case\(\) will return kSend\_joint\_speeds| +|clear\_send\_joint\_speeds\(\)|void|void|Nothing will be changed if the oneof case is not kSend\_joint\_speeds. If the oneof case equals kSend\_joint\_speeds, frees the field and clears the oneof case. has\_send\_joint\_speeds\(\) will return false, send\_joint\_speeds\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_send\_joint\_speeds\(\)|void|oneof:action\_parameters [JointSpeeds](JointSpeeds.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [JointSpeeds](JointSpeeds.md#) pointer is not NULL: Sets the oneof:action\_parameters [JointSpeeds](JointSpeeds.md#) object to the field and sets the oneof case to kSend\_joint\_speeds. The message takes ownership of the allocated oneof:action\_parameters [JointSpeeds](JointSpeeds.md#) object, has\_send\_joint\_speeds\(\) will return true and action\_parameters\_case\(\) will return kSend\_joint\_speeds. If the pointer is NULL, has\_send\_joint\_speeds\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_send\_joint\_speeds\(\)|oneof:action\_parameters [JointSpeeds](JointSpeeds.md#)\*|void|Returns NULL if oneof case is not kSend\_joint\_speeds. If the oneof case is kSend\_joint\_speeds, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_send\_joint\_speeds\(\) will return false, send\_joint\_speeds\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|has\_reach\_pose\(\) const|void|void|Returns the current value of the field if oneof case is kReach\_pose. Otherwise, returns oneof:action\_parameters [ConstrainedPose](ConstrainedPose.md#)::default\_instance\(\)| +|reach\_pose\(\) const|const oneof:action\_parameters [ConstrainedPose](ConstrainedPose.md#)&|void|Returns the current value of the field if oneof case is kReach\_pose| +|mutable\_reach\_pose\(\)|oneof:action\_parameters [ConstrainedPose](ConstrainedPose.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kReach\_pose and returns a pointer to the mutable oneof:action\_parameters [ConstrainedPose](ConstrainedPose.md#) object that stores the field's value. If the oneof case was not kReach\_pose prior to the call, then the returned oneof:action\_parameters [ConstrainedPose](ConstrainedPose.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [ConstrainedPose](ConstrainedPose.md#)\). After calling this, has\_reach\_pose\(\) will return true, reach\_pose\(\) will return a reference to the same instance of oneof:action\_parameters [ConstrainedPose](ConstrainedPose.md#) and action\_parameters\_case\(\) will return kReach\_pose| +|clear\_reach\_pose\(\)|void|void|Nothing will be changed if the oneof case is not kReach\_pose. If the oneof case equals kReach\_pose, frees the field and clears the oneof case. has\_reach\_pose\(\) will return false, reach\_pose\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_reach\_pose\(\)|void|oneof:action\_parameters [ConstrainedPose](ConstrainedPose.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [ConstrainedPose](ConstrainedPose.md#) pointer is not NULL: Sets the oneof:action\_parameters [ConstrainedPose](ConstrainedPose.md#) object to the field and sets the oneof case to kReach\_pose. The message takes ownership of the allocated oneof:action\_parameters [ConstrainedPose](ConstrainedPose.md#) object, has\_reach\_pose\(\) will return true and action\_parameters\_case\(\) will return kReach\_pose. If the pointer is NULL, has\_reach\_pose\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_reach\_pose\(\)|oneof:action\_parameters [ConstrainedPose](ConstrainedPose.md#)\*|void|Returns NULL if oneof case is not kReach\_pose. If the oneof case is kReach\_pose, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_reach\_pose\(\) will return false, reach\_pose\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|has\_reach\_joint\_angles\(\) const|void|void|Returns the current value of the field if oneof case is kReach\_joint\_angles. Otherwise, returns oneof:action\_parameters [ConstrainedJointAngles](ConstrainedJointAngles.md#)::default\_instance\(\)| +|reach\_joint\_angles\(\) const|const oneof:action\_parameters [ConstrainedJointAngles](ConstrainedJointAngles.md#)&|void|Returns the current value of the field if oneof case is kReach\_joint\_angles| +|mutable\_reach\_joint\_angles\(\)|oneof:action\_parameters [ConstrainedJointAngles](ConstrainedJointAngles.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kReach\_joint\_angles and returns a pointer to the mutable oneof:action\_parameters [ConstrainedJointAngles](ConstrainedJointAngles.md#) object that stores the field's value. If the oneof case was not kReach\_joint\_angles prior to the call, then the returned oneof:action\_parameters [ConstrainedJointAngles](ConstrainedJointAngles.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [ConstrainedJointAngles](ConstrainedJointAngles.md#)\). After calling this, has\_reach\_joint\_angles\(\) will return true, reach\_joint\_angles\(\) will return a reference to the same instance of oneof:action\_parameters [ConstrainedJointAngles](ConstrainedJointAngles.md#) and action\_parameters\_case\(\) will return kReach\_joint\_angles| +|clear\_reach\_joint\_angles\(\)|void|void|Nothing will be changed if the oneof case is not kReach\_joint\_angles. If the oneof case equals kReach\_joint\_angles, frees the field and clears the oneof case. has\_reach\_joint\_angles\(\) will return false, reach\_joint\_angles\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_reach\_joint\_angles\(\)|void|oneof:action\_parameters [ConstrainedJointAngles](ConstrainedJointAngles.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [ConstrainedJointAngles](ConstrainedJointAngles.md#) pointer is not NULL: Sets the oneof:action\_parameters [ConstrainedJointAngles](ConstrainedJointAngles.md#) object to the field and sets the oneof case to kReach\_joint\_angles. The message takes ownership of the allocated oneof:action\_parameters [ConstrainedJointAngles](ConstrainedJointAngles.md#) object, has\_reach\_joint\_angles\(\) will return true and action\_parameters\_case\(\) will return kReach\_joint\_angles. If the pointer is NULL, has\_reach\_joint\_angles\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_reach\_joint\_angles\(\)|oneof:action\_parameters [ConstrainedJointAngles](ConstrainedJointAngles.md#)\*|void|Returns NULL if oneof case is not kReach\_joint\_angles. If the oneof case is kReach\_joint\_angles, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_reach\_joint\_angles\(\) will return false, reach\_joint\_angles\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_toggle\_admittance\_mode\(\)|void|oneof:action\_parameters uint32|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the value of this field and sets the oneof case to kToggle\_admittance\_mode.| +|toggle\_admittance\_mode\(\) const|oneof:action\_parameters uint32|void|Returns the current value of the field if oneof case is kToggle\_admittance\_mode. Otherwise, returns the default value.| +|clear\_toggle\_admittance\_mode\(\)|void|void|Nothing will be changed if the oneof case is not kToggle\_admittance\_mode. If the oneof case is kToggle\_admittance\_mode, clears the value of the field and the oneof case| +|has\_switch\_control\_mapping\(\) const|void|void|Returns the current value of the field if oneof case is kSwitch\_control\_mapping. Otherwise, returns oneof:action\_parameters [SwitchControlMapping](SwitchControlMapping.md#)::default\_instance\(\)| +|switch\_control\_mapping\(\) const|const oneof:action\_parameters [SwitchControlMapping](SwitchControlMapping.md#)&|void|Returns the current value of the field if oneof case is kSwitch\_control\_mapping| +|mutable\_switch\_control\_mapping\(\)|oneof:action\_parameters [SwitchControlMapping](SwitchControlMapping.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kSwitch\_control\_mapping and returns a pointer to the mutable oneof:action\_parameters [SwitchControlMapping](SwitchControlMapping.md#) object that stores the field's value. If the oneof case was not kSwitch\_control\_mapping prior to the call, then the returned oneof:action\_parameters [SwitchControlMapping](SwitchControlMapping.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [SwitchControlMapping](SwitchControlMapping.md#)\). After calling this, has\_switch\_control\_mapping\(\) will return true, switch\_control\_mapping\(\) will return a reference to the same instance of oneof:action\_parameters [SwitchControlMapping](SwitchControlMapping.md#) and action\_parameters\_case\(\) will return kSwitch\_control\_mapping| +|clear\_switch\_control\_mapping\(\)|void|void|Nothing will be changed if the oneof case is not kSwitch\_control\_mapping. If the oneof case equals kSwitch\_control\_mapping, frees the field and clears the oneof case. has\_switch\_control\_mapping\(\) will return false, switch\_control\_mapping\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_switch\_control\_mapping\(\)|void|oneof:action\_parameters [SwitchControlMapping](SwitchControlMapping.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [SwitchControlMapping](SwitchControlMapping.md#) pointer is not NULL: Sets the oneof:action\_parameters [SwitchControlMapping](SwitchControlMapping.md#) object to the field and sets the oneof case to kSwitch\_control\_mapping. The message takes ownership of the allocated oneof:action\_parameters [SwitchControlMapping](SwitchControlMapping.md#) object, has\_switch\_control\_mapping\(\) will return true and action\_parameters\_case\(\) will return kSwitch\_control\_mapping. If the pointer is NULL, has\_switch\_control\_mapping\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_switch\_control\_mapping\(\)|oneof:action\_parameters [SwitchControlMapping](SwitchControlMapping.md#)\*|void|Returns NULL if oneof case is not kSwitch\_control\_mapping. If the oneof case is kSwitch\_control\_mapping, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_switch\_control\_mapping\(\) will return false, switch\_control\_mapping\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_navigate\_joints\(\)|void|oneof:action\_parameters uint32|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the value of this field and sets the oneof case to kNavigate\_joints.| +|navigate\_joints\(\) const|oneof:action\_parameters uint32|void|Returns the current value of the field if oneof case is kNavigate\_joints. Otherwise, returns the default value.| +|clear\_navigate\_joints\(\)|void|void|Nothing will be changed if the oneof case is not kNavigate\_joints. If the oneof case is kNavigate\_joints, clears the value of the field and the oneof case| +|set\_navigate\_mappings\(\)|void|oneof:action\_parameters uint32|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the value of this field and sets the oneof case to kNavigate\_mappings.| +|navigate\_mappings\(\) const|oneof:action\_parameters uint32|void|Returns the current value of the field if oneof case is kNavigate\_mappings. Otherwise, returns the default value.| +|clear\_navigate\_mappings\(\)|void|void|Nothing will be changed if the oneof case is not kNavigate\_mappings. If the oneof case is kNavigate\_mappings, clears the value of the field and the oneof case| +|has\_change\_twist\(\) const|void|void|Returns the current value of the field if oneof case is kChange\_twist. Otherwise, returns oneof:action\_parameters [ChangeTwist](ChangeTwist.md#)::default\_instance\(\)| +|change\_twist\(\) const|const oneof:action\_parameters [ChangeTwist](ChangeTwist.md#)&|void|Returns the current value of the field if oneof case is kChange\_twist| +|mutable\_change\_twist\(\)|oneof:action\_parameters [ChangeTwist](ChangeTwist.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kChange\_twist and returns a pointer to the mutable oneof:action\_parameters [ChangeTwist](ChangeTwist.md#) object that stores the field's value. If the oneof case was not kChange\_twist prior to the call, then the returned oneof:action\_parameters [ChangeTwist](ChangeTwist.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [ChangeTwist](ChangeTwist.md#)\). After calling this, has\_change\_twist\(\) will return true, change\_twist\(\) will return a reference to the same instance of oneof:action\_parameters [ChangeTwist](ChangeTwist.md#) and action\_parameters\_case\(\) will return kChange\_twist| +|clear\_change\_twist\(\)|void|void|Nothing will be changed if the oneof case is not kChange\_twist. If the oneof case equals kChange\_twist, frees the field and clears the oneof case. has\_change\_twist\(\) will return false, change\_twist\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_change\_twist\(\)|void|oneof:action\_parameters [ChangeTwist](ChangeTwist.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [ChangeTwist](ChangeTwist.md#) pointer is not NULL: Sets the oneof:action\_parameters [ChangeTwist](ChangeTwist.md#) object to the field and sets the oneof case to kChange\_twist. The message takes ownership of the allocated oneof:action\_parameters [ChangeTwist](ChangeTwist.md#) object, has\_change\_twist\(\) will return true and action\_parameters\_case\(\) will return kChange\_twist. If the pointer is NULL, has\_change\_twist\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_change\_twist\(\)|oneof:action\_parameters [ChangeTwist](ChangeTwist.md#)\*|void|Returns NULL if oneof case is not kChange\_twist. If the oneof case is kChange\_twist, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_change\_twist\(\) will return false, change\_twist\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|has\_change\_joint\_speeds\(\) const|void|void|Returns the current value of the field if oneof case is kChange\_joint\_speeds. Otherwise, returns oneof:action\_parameters [ChangeJointSpeeds](ChangeJointSpeeds.md#)::default\_instance\(\)| +|change\_joint\_speeds\(\) const|const oneof:action\_parameters [ChangeJointSpeeds](ChangeJointSpeeds.md#)&|void|Returns the current value of the field if oneof case is kChange\_joint\_speeds| +|mutable\_change\_joint\_speeds\(\)|oneof:action\_parameters [ChangeJointSpeeds](ChangeJointSpeeds.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kChange\_joint\_speeds and returns a pointer to the mutable oneof:action\_parameters [ChangeJointSpeeds](ChangeJointSpeeds.md#) object that stores the field's value. If the oneof case was not kChange\_joint\_speeds prior to the call, then the returned oneof:action\_parameters [ChangeJointSpeeds](ChangeJointSpeeds.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [ChangeJointSpeeds](ChangeJointSpeeds.md#)\). After calling this, has\_change\_joint\_speeds\(\) will return true, change\_joint\_speeds\(\) will return a reference to the same instance of oneof:action\_parameters [ChangeJointSpeeds](ChangeJointSpeeds.md#) and action\_parameters\_case\(\) will return kChange\_joint\_speeds| +|clear\_change\_joint\_speeds\(\)|void|void|Nothing will be changed if the oneof case is not kChange\_joint\_speeds. If the oneof case equals kChange\_joint\_speeds, frees the field and clears the oneof case. has\_change\_joint\_speeds\(\) will return false, change\_joint\_speeds\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_change\_joint\_speeds\(\)|void|oneof:action\_parameters [ChangeJointSpeeds](ChangeJointSpeeds.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [ChangeJointSpeeds](ChangeJointSpeeds.md#) pointer is not NULL: Sets the oneof:action\_parameters [ChangeJointSpeeds](ChangeJointSpeeds.md#) object to the field and sets the oneof case to kChange\_joint\_speeds. The message takes ownership of the allocated oneof:action\_parameters [ChangeJointSpeeds](ChangeJointSpeeds.md#) object, has\_change\_joint\_speeds\(\) will return true and action\_parameters\_case\(\) will return kChange\_joint\_speeds. If the pointer is NULL, has\_change\_joint\_speeds\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_change\_joint\_speeds\(\)|oneof:action\_parameters [ChangeJointSpeeds](ChangeJointSpeeds.md#)\*|void|Returns NULL if oneof case is not kChange\_joint\_speeds. If the oneof case is kChange\_joint\_speeds, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_change\_joint\_speeds\(\) will return false, change\_joint\_speeds\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|has\_change\_wrench\(\) const|void|void|Returns the current value of the field if oneof case is kChange\_wrench. Otherwise, returns oneof:action\_parameters [ChangeWrench](ChangeWrench.md#)::default\_instance\(\)| +|change\_wrench\(\) const|const oneof:action\_parameters [ChangeWrench](ChangeWrench.md#)&|void|Returns the current value of the field if oneof case is kChange\_wrench| +|mutable\_change\_wrench\(\)|oneof:action\_parameters [ChangeWrench](ChangeWrench.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kChange\_wrench and returns a pointer to the mutable oneof:action\_parameters [ChangeWrench](ChangeWrench.md#) object that stores the field's value. If the oneof case was not kChange\_wrench prior to the call, then the returned oneof:action\_parameters [ChangeWrench](ChangeWrench.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [ChangeWrench](ChangeWrench.md#)\). After calling this, has\_change\_wrench\(\) will return true, change\_wrench\(\) will return a reference to the same instance of oneof:action\_parameters [ChangeWrench](ChangeWrench.md#) and action\_parameters\_case\(\) will return kChange\_wrench| +|clear\_change\_wrench\(\)|void|void|Nothing will be changed if the oneof case is not kChange\_wrench. If the oneof case equals kChange\_wrench, frees the field and clears the oneof case. has\_change\_wrench\(\) will return false, change\_wrench\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_change\_wrench\(\)|void|oneof:action\_parameters [ChangeWrench](ChangeWrench.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [ChangeWrench](ChangeWrench.md#) pointer is not NULL: Sets the oneof:action\_parameters [ChangeWrench](ChangeWrench.md#) object to the field and sets the oneof case to kChange\_wrench. The message takes ownership of the allocated oneof:action\_parameters [ChangeWrench](ChangeWrench.md#) object, has\_change\_wrench\(\) will return true and action\_parameters\_case\(\) will return kChange\_wrench. If the pointer is NULL, has\_change\_wrench\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_change\_wrench\(\)|oneof:action\_parameters [ChangeWrench](ChangeWrench.md#)\*|void|Returns NULL if oneof case is not kChange\_wrench. If the oneof case is kChange\_wrench, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_change\_wrench\(\) will return false, change\_wrench\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|has\_apply\_emergency\_stop\(\) const|void|void|Returns the current value of the field if oneof case is kApply\_emergency\_stop. Otherwise, returns oneof:action\_parameters [EmergencyStop](EmergencyStop.md#)::default\_instance\(\)| +|apply\_emergency\_stop\(\) const|const oneof:action\_parameters [EmergencyStop](EmergencyStop.md#)&|void|Returns the current value of the field if oneof case is kApply\_emergency\_stop| +|mutable\_apply\_emergency\_stop\(\)|oneof:action\_parameters [EmergencyStop](EmergencyStop.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kApply\_emergency\_stop and returns a pointer to the mutable oneof:action\_parameters [EmergencyStop](EmergencyStop.md#) object that stores the field's value. If the oneof case was not kApply\_emergency\_stop prior to the call, then the returned oneof:action\_parameters [EmergencyStop](EmergencyStop.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [EmergencyStop](EmergencyStop.md#)\). After calling this, has\_apply\_emergency\_stop\(\) will return true, apply\_emergency\_stop\(\) will return a reference to the same instance of oneof:action\_parameters [EmergencyStop](EmergencyStop.md#) and action\_parameters\_case\(\) will return kApply\_emergency\_stop| +|clear\_apply\_emergency\_stop\(\)|void|void|Nothing will be changed if the oneof case is not kApply\_emergency\_stop. If the oneof case equals kApply\_emergency\_stop, frees the field and clears the oneof case. has\_apply\_emergency\_stop\(\) will return false, apply\_emergency\_stop\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_apply\_emergency\_stop\(\)|void|oneof:action\_parameters [EmergencyStop](EmergencyStop.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [EmergencyStop](EmergencyStop.md#) pointer is not NULL: Sets the oneof:action\_parameters [EmergencyStop](EmergencyStop.md#) object to the field and sets the oneof case to kApply\_emergency\_stop. The message takes ownership of the allocated oneof:action\_parameters [EmergencyStop](EmergencyStop.md#) object, has\_apply\_emergency\_stop\(\) will return true and action\_parameters\_case\(\) will return kApply\_emergency\_stop. If the pointer is NULL, has\_apply\_emergency\_stop\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_apply\_emergency\_stop\(\)|oneof:action\_parameters [EmergencyStop](EmergencyStop.md#)\*|void|Returns NULL if oneof case is not kApply\_emergency\_stop. If the oneof case is kApply\_emergency\_stop, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_apply\_emergency\_stop\(\) will return false, apply\_emergency\_stop\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|has\_clear\_faults\(\) const|void|void|Returns the current value of the field if oneof case is kClear\_faults. Otherwise, returns oneof:action\_parameters [Faults](Faults.md#)::default\_instance\(\)| +|clear\_faults\(\) const|const oneof:action\_parameters [Faults](Faults.md#)&|void|Returns the current value of the field if oneof case is kClear\_faults| +|mutable\_clear\_faults\(\)|oneof:action\_parameters [Faults](Faults.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kClear\_faults and returns a pointer to the mutable oneof:action\_parameters [Faults](Faults.md#) object that stores the field's value. If the oneof case was not kClear\_faults prior to the call, then the returned oneof:action\_parameters [Faults](Faults.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [Faults](Faults.md#)\). After calling this, has\_clear\_faults\(\) will return true, clear\_faults\(\) will return a reference to the same instance of oneof:action\_parameters [Faults](Faults.md#) and action\_parameters\_case\(\) will return kClear\_faults| +|clear\_clear\_faults\(\)|void|void|Nothing will be changed if the oneof case is not kClear\_faults. If the oneof case equals kClear\_faults, frees the field and clears the oneof case. has\_clear\_faults\(\) will return false, clear\_faults\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_clear\_faults\(\)|void|oneof:action\_parameters [Faults](Faults.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [Faults](Faults.md#) pointer is not NULL: Sets the oneof:action\_parameters [Faults](Faults.md#) object to the field and sets the oneof case to kClear\_faults. The message takes ownership of the allocated oneof:action\_parameters [Faults](Faults.md#) object, has\_clear\_faults\(\) will return true and action\_parameters\_case\(\) will return kClear\_faults. If the pointer is NULL, has\_clear\_faults\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_clear\_faults\(\)|oneof:action\_parameters [Faults](Faults.md#)\*|void|Returns NULL if oneof case is not kClear\_faults. If the oneof case is kClear\_faults, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_clear\_faults\(\) will return false, clear\_faults\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|has\_delay\(\) const|void|void|Returns the current value of the field if oneof case is kDelay. Otherwise, returns oneof:action\_parameters [Delay](Delay.md#)::default\_instance\(\)| +|delay\(\) const|const oneof:action\_parameters [Delay](Delay.md#)&|void|Returns the current value of the field if oneof case is kDelay| +|mutable\_delay\(\)|oneof:action\_parameters [Delay](Delay.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kDelay and returns a pointer to the mutable oneof:action\_parameters [Delay](Delay.md#) object that stores the field's value. If the oneof case was not kDelay prior to the call, then the returned oneof:action\_parameters [Delay](Delay.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [Delay](Delay.md#)\). After calling this, has\_delay\(\) will return true, delay\(\) will return a reference to the same instance of oneof:action\_parameters [Delay](Delay.md#) and action\_parameters\_case\(\) will return kDelay| +|clear\_delay\(\)|void|void|Nothing will be changed if the oneof case is not kDelay. If the oneof case equals kDelay, frees the field and clears the oneof case. has\_delay\(\) will return false, delay\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_delay\(\)|void|oneof:action\_parameters [Delay](Delay.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [Delay](Delay.md#) pointer is not NULL: Sets the oneof:action\_parameters [Delay](Delay.md#) object to the field and sets the oneof case to kDelay. The message takes ownership of the allocated oneof:action\_parameters [Delay](Delay.md#) object, has\_delay\(\) will return true and action\_parameters\_case\(\) will return kDelay. If the pointer is NULL, has\_delay\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_delay\(\)|oneof:action\_parameters [Delay](Delay.md#)\*|void|Returns NULL if oneof case is not kDelay. If the oneof case is kDelay, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_delay\(\) will return false, delay\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|has\_execute\_action\(\) const|void|void|Returns the current value of the field if oneof case is kExecute\_action. Otherwise, returns oneof:action\_parameters [ActionHandle](ActionHandle.md#)::default\_instance\(\)| +|execute\_action\(\) const|const oneof:action\_parameters [ActionHandle](ActionHandle.md#)&|void|Returns the current value of the field if oneof case is kExecute\_action| +|mutable\_execute\_action\(\)|oneof:action\_parameters [ActionHandle](ActionHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kExecute\_action and returns a pointer to the mutable oneof:action\_parameters [ActionHandle](ActionHandle.md#) object that stores the field's value. If the oneof case was not kExecute\_action prior to the call, then the returned oneof:action\_parameters [ActionHandle](ActionHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [ActionHandle](ActionHandle.md#)\). After calling this, has\_execute\_action\(\) will return true, execute\_action\(\) will return a reference to the same instance of oneof:action\_parameters [ActionHandle](ActionHandle.md#) and action\_parameters\_case\(\) will return kExecute\_action| +|clear\_execute\_action\(\)|void|void|Nothing will be changed if the oneof case is not kExecute\_action. If the oneof case equals kExecute\_action, frees the field and clears the oneof case. has\_execute\_action\(\) will return false, execute\_action\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_execute\_action\(\)|void|oneof:action\_parameters [ActionHandle](ActionHandle.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [ActionHandle](ActionHandle.md#) pointer is not NULL: Sets the oneof:action\_parameters [ActionHandle](ActionHandle.md#) object to the field and sets the oneof case to kExecute\_action. The message takes ownership of the allocated oneof:action\_parameters [ActionHandle](ActionHandle.md#) object, has\_execute\_action\(\) will return true and action\_parameters\_case\(\) will return kExecute\_action. If the pointer is NULL, has\_execute\_action\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_execute\_action\(\)|oneof:action\_parameters [ActionHandle](ActionHandle.md#)\*|void|Returns NULL if oneof case is not kExecute\_action. If the oneof case is kExecute\_action, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_execute\_action\(\) will return false, execute\_action\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|has\_send\_gripper\_command\(\) const|void|void|Returns the current value of the field if oneof case is kSend\_gripper\_command. Otherwise, returns oneof:action\_parameters [GripperCommand](GripperCommand.md#)::default\_instance\(\)| +|send\_gripper\_command\(\) const|const oneof:action\_parameters [GripperCommand](GripperCommand.md#)&|void|Returns the current value of the field if oneof case is kSend\_gripper\_command| +|mutable\_send\_gripper\_command\(\)|oneof:action\_parameters [GripperCommand](GripperCommand.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kSend\_gripper\_command and returns a pointer to the mutable oneof:action\_parameters [GripperCommand](GripperCommand.md#) object that stores the field's value. If the oneof case was not kSend\_gripper\_command prior to the call, then the returned oneof:action\_parameters [GripperCommand](GripperCommand.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [GripperCommand](GripperCommand.md#)\). After calling this, has\_send\_gripper\_command\(\) will return true, send\_gripper\_command\(\) will return a reference to the same instance of oneof:action\_parameters [GripperCommand](GripperCommand.md#) and action\_parameters\_case\(\) will return kSend\_gripper\_command| +|clear\_send\_gripper\_command\(\)|void|void|Nothing will be changed if the oneof case is not kSend\_gripper\_command. If the oneof case equals kSend\_gripper\_command, frees the field and clears the oneof case. has\_send\_gripper\_command\(\) will return false, send\_gripper\_command\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_send\_gripper\_command\(\)|void|oneof:action\_parameters [GripperCommand](GripperCommand.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [GripperCommand](GripperCommand.md#) pointer is not NULL: Sets the oneof:action\_parameters [GripperCommand](GripperCommand.md#) object to the field and sets the oneof case to kSend\_gripper\_command. The message takes ownership of the allocated oneof:action\_parameters [GripperCommand](GripperCommand.md#) object, has\_send\_gripper\_command\(\) will return true and action\_parameters\_case\(\) will return kSend\_gripper\_command. If the pointer is NULL, has\_send\_gripper\_command\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_send\_gripper\_command\(\)|oneof:action\_parameters [GripperCommand](GripperCommand.md#)\*|void|Returns NULL if oneof case is not kSend\_gripper\_command. If the oneof case is kSend\_gripper\_command, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_send\_gripper\_command\(\) will return false, send\_gripper\_command\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|has\_stop\_action\(\) const|void|void|Returns the current value of the field if oneof case is kStop\_action. Otherwise, returns oneof:action\_parameters [Stop](Stop.md#)::default\_instance\(\)| +|stop\_action\(\) const|const oneof:action\_parameters [Stop](Stop.md#)&|void|Returns the current value of the field if oneof case is kStop\_action| +|mutable\_stop\_action\(\)|oneof:action\_parameters [Stop](Stop.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kStop\_action and returns a pointer to the mutable oneof:action\_parameters [Stop](Stop.md#) object that stores the field's value. If the oneof case was not kStop\_action prior to the call, then the returned oneof:action\_parameters [Stop](Stop.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [Stop](Stop.md#)\). After calling this, has\_stop\_action\(\) will return true, stop\_action\(\) will return a reference to the same instance of oneof:action\_parameters [Stop](Stop.md#) and action\_parameters\_case\(\) will return kStop\_action| +|clear\_stop\_action\(\)|void|void|Nothing will be changed if the oneof case is not kStop\_action. If the oneof case equals kStop\_action, frees the field and clears the oneof case. has\_stop\_action\(\) will return false, stop\_action\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_stop\_action\(\)|void|oneof:action\_parameters [Stop](Stop.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [Stop](Stop.md#) pointer is not NULL: Sets the oneof:action\_parameters [Stop](Stop.md#) object to the field and sets the oneof case to kStop\_action. The message takes ownership of the allocated oneof:action\_parameters [Stop](Stop.md#) object, has\_stop\_action\(\) will return true and action\_parameters\_case\(\) will return kStop\_action. If the pointer is NULL, has\_stop\_action\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_stop\_action\(\)|oneof:action\_parameters [Stop](Stop.md#)\*|void|Returns NULL if oneof case is not kStop\_action. If the oneof case is kStop\_action, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_stop\_action\(\) will return false, stop\_action\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|has\_play\_pre\_computed\_trajectory\(\) const|void|void|Returns the current value of the field if oneof case is kPlay\_pre\_computed\_trajectory. Otherwise, returns oneof:action\_parameters [PreComputedJointTrajectory](PreComputedJointTrajectory.md#)::default\_instance\(\)| +|play\_pre\_computed\_trajectory\(\) const|const oneof:action\_parameters [PreComputedJointTrajectory](PreComputedJointTrajectory.md#)&|void|Returns the current value of the field if oneof case is kPlay\_pre\_computed\_trajectory| +|mutable\_play\_pre\_computed\_trajectory\(\)|oneof:action\_parameters [PreComputedJointTrajectory](PreComputedJointTrajectory.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kPlay\_pre\_computed\_trajectory and returns a pointer to the mutable oneof:action\_parameters [PreComputedJointTrajectory](PreComputedJointTrajectory.md#) object that stores the field's value. If the oneof case was not kPlay\_pre\_computed\_trajectory prior to the call, then the returned oneof:action\_parameters [PreComputedJointTrajectory](PreComputedJointTrajectory.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [PreComputedJointTrajectory](PreComputedJointTrajectory.md#)\). After calling this, has\_play\_pre\_computed\_trajectory\(\) will return true, play\_pre\_computed\_trajectory\(\) will return a reference to the same instance of oneof:action\_parameters [PreComputedJointTrajectory](PreComputedJointTrajectory.md#) and action\_parameters\_case\(\) will return kPlay\_pre\_computed\_trajectory| +|clear\_play\_pre\_computed\_trajectory\(\)|void|void|Nothing will be changed if the oneof case is not kPlay\_pre\_computed\_trajectory. If the oneof case equals kPlay\_pre\_computed\_trajectory, frees the field and clears the oneof case. has\_play\_pre\_computed\_trajectory\(\) will return false, play\_pre\_computed\_trajectory\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_play\_pre\_computed\_trajectory\(\)|void|oneof:action\_parameters [PreComputedJointTrajectory](PreComputedJointTrajectory.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [PreComputedJointTrajectory](PreComputedJointTrajectory.md#) pointer is not NULL: Sets the oneof:action\_parameters [PreComputedJointTrajectory](PreComputedJointTrajectory.md#) object to the field and sets the oneof case to kPlay\_pre\_computed\_trajectory. The message takes ownership of the allocated oneof:action\_parameters [PreComputedJointTrajectory](PreComputedJointTrajectory.md#) object, has\_play\_pre\_computed\_trajectory\(\) will return true and action\_parameters\_case\(\) will return kPlay\_pre\_computed\_trajectory. If the pointer is NULL, has\_play\_pre\_computed\_trajectory\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_play\_pre\_computed\_trajectory\(\)|oneof:action\_parameters [PreComputedJointTrajectory](PreComputedJointTrajectory.md#)\*|void|Returns NULL if oneof case is not kPlay\_pre\_computed\_trajectory. If the oneof case is kPlay\_pre\_computed\_trajectory, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_play\_pre\_computed\_trajectory\(\) will return false, play\_pre\_computed\_trajectory\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ActionExecutionState.md b/api_cpp/doc/markdown/messages/Base/ActionExecutionState.md new file mode 100644 index 00000000..62bd24b0 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ActionExecutionState.md @@ -0,0 +1,25 @@ +# class ActionExecutionState + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|action\_event|uint32|Action event type| +|handle| [ActionHandle](ActionHandle.md#)|Identifies the action for which this event occured| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|action\_event\(\) const|uint32|void|Returns the current value of action\_event. If the action\_event is not set, returns 0.| +|set\_action\_event\(\)|void|uint32|Sets the value of action\_event. After calling this, action\_event\(\) will return value.| +|clear\_action\_event\(\)|void|void|Clears the value of action\_event. After calling this, action\_event\(\) will return the empty string/empty bytes.| +|has\_handle\(\) const|bool|void|Returns true if handle is set.| +|handle\(\)|const [ActionHandle](ActionHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [ActionHandle](ActionHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [ActionHandle](ActionHandle.md#) \*|void|Returns a pointer to the mutable [ActionHandle](ActionHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ActionHandle](ActionHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ActionHandle](ActionHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [ActionHandle](ActionHandle.md#).| +|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [ActionHandle](ActionHandle.md#) \*|Sets the [ActionHandle](ActionHandle.md#) object to the field and frees the previous field value if it exists. If the [ActionHandle](ActionHandle.md#) pointer is not NULL, the message takes ownership of the allocated [ActionHandle](ActionHandle.md#) object and has\_ [ActionHandle](ActionHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [ActionHandle](ActionHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ActionHandle](ActionHandle.md#) object. After calling this, caller takes the ownership of the allocated [ActionHandle](ActionHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_ActionHandle.md b/api_cpp/doc/markdown/messages/Base/ActionHandle.md similarity index 55% rename from api_cpp/doc/markdown/references/msg_Base_ActionHandle.md rename to api_cpp/doc/markdown/messages/Base/ActionHandle.md index b919b1a4..dc9e7d5f 100644 --- a/api_cpp/doc/markdown/references/msg_Base_ActionHandle.md +++ b/api_cpp/doc/markdown/messages/Base/ActionHandle.md @@ -1,36 +1,26 @@ -# Message ActionHandle +# class ActionHandle -This page describes the C++ Kinova::Api::Base::ActionHandle message. - -## Overview / Purpose - -Identifies an action - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |identifier|uint32|Action identifier| -|action\_type| [ActionType](enm_Base_ActionType.md#)|Action type| +|action\_type|uint32|Action type| |permission|uint32|Permission of specified Action entity. Must use 'Kinova.Api.Common.Permission' enum.| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |identifier\(\)|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| |set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| |clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return 0.| -|action\_type\(\) const| [ActionType](enm_Base_ActionType.md#)|void|Returns the current value of action\_type. If the action\_type is not set, returns 0.| -|set\_action\_type\(\)|void| [ActionType](enm_Base_ActionType.md#)|Sets the value of action\_type. After calling this, action\_type\(\) will return value.| +|action\_type\(\) const|uint32|void|Returns the current value of action\_type. If the action\_type is not set, returns 0.| +|set\_action\_type\(\)|void|uint32|Sets the value of action\_type. After calling this, action\_type\(\) will return value.| |clear\_action\_type\(\)|void|void|Clears the value of action\_type. After calling this, action\_type\(\) will return the empty string/empty bytes.| |permission\(\)|uint32|void|Returns the current value of permission. If the permission is not set, returns 0.| |set\_permission\(\)|void|uint32|Sets the value of permission. After calling this, permission\(\) will return value.| |clear\_permission\(\)|void|void|Clears the value of permission. After calling this, permission\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/ActionList.md b/api_cpp/doc/markdown/messages/Base/ActionList.md new file mode 100644 index 00000000..4d6bfc77 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ActionList.md @@ -0,0 +1,22 @@ +# class ActionList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|action\_list| [Action](Action.md#)|Action| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|action\_list\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|action\_list\(\) const|const [Action](Action.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, action\_list\_size\(\)\) yields undefined behavior.| +|mutable\_action\_list\(\)| [Action](Action.md#)\*|int index|Returns a pointer to the mutable [Action](Action.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, action\_list\_size\(\)\) yields undefined behavior.| +|add\_action\_list\(\)| [Action](Action.md#)\*|void|Adds a new element and returns a pointer to it. The returned [Action](Action.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [Action](Action.md#)\).| +|clear\_action\_list\(\)|void|void|Removes all elements from the field. After calling this, action\_list\_size\(\) will return zero.| +|action\_list\(\) const|const RepeatedPtrField< [Action](Action.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_action\_list\(\)|RepeatedPtrField< [Action](Action.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ActionNotification.md b/api_cpp/doc/markdown/messages/Base/ActionNotification.md new file mode 100644 index 00000000..e11cdfc2 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ActionNotification.md @@ -0,0 +1,50 @@ +# class ActionNotification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|action\_event|uint32|Action event type| +|handle| [ActionHandle](ActionHandle.md#)|Identifies the action for which this event occured| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the action event| +|abort\_details|uint32|Details if action\_event is equal to ACTION\_ABORT| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the action event| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|action\_event\(\) const|uint32|void|Returns the current value of action\_event. If the action\_event is not set, returns 0.| +|set\_action\_event\(\)|void|uint32|Sets the value of action\_event. After calling this, action\_event\(\) will return value.| +|clear\_action\_event\(\)|void|void|Clears the value of action\_event. After calling this, action\_event\(\) will return the empty string/empty bytes.| +|has\_handle\(\) const|bool|void|Returns true if handle is set.| +|handle\(\)|const [ActionHandle](ActionHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [ActionHandle](ActionHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [ActionHandle](ActionHandle.md#) \*|void|Returns a pointer to the mutable [ActionHandle](ActionHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ActionHandle](ActionHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ActionHandle](ActionHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [ActionHandle](ActionHandle.md#).| +|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [ActionHandle](ActionHandle.md#) \*|Sets the [ActionHandle](ActionHandle.md#) object to the field and frees the previous field value if it exists. If the [ActionHandle](ActionHandle.md#) pointer is not NULL, the message takes ownership of the allocated [ActionHandle](ActionHandle.md#) object and has\_ [ActionHandle](ActionHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [ActionHandle](ActionHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ActionHandle](ActionHandle.md#) object. After calling this, caller takes the ownership of the allocated [ActionHandle](ActionHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| +|timestamp\(\)|const [Timestamp](../Common/Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](../Common/Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| +|mutable\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](../Common/Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](../Common/Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](../Common/Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](../Common/Timestamp.md#).| +|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| +|set\_allocated\_timestamp\(\)|void| [Timestamp](../Common/Timestamp.md#) \*|Sets the [Timestamp](../Common/Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](../Common/Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](../Common/Timestamp.md#) object and has\_ [Timestamp](../Common/Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| +|release\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](../Common/Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](../Common/Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| +|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| +|user\_handle\(\)|const [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](../Common/UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| +|mutable\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](../Common/UserProfileHandle.md#).| +|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| +|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|Sets the [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object and has\_ [UserProfileHandle](../Common/UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| +|release\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](../Common/UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| +|abort\_details\(\) const|uint32|void|Returns the current value of abort\_details. If the abort\_details is not set, returns 0.| +|set\_abort\_details\(\)|void|uint32|Sets the value of abort\_details. After calling this, abort\_details\(\) will return value.| +|clear\_abort\_details\(\)|void|void|Clears the value of abort\_details. After calling this, abort\_details\(\) will return the empty string/empty bytes.| +|has\_connection\(\) const|bool|void|Returns true if connection is set.| +|connection\(\)|const [Connection](../Common/Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](../Common/Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| +|mutable\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Returns a pointer to the mutable [Connection](../Common/Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](../Common/Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](../Common/Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](../Common/Connection.md#).| +|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| +|set\_allocated\_connection\(\)|void| [Connection](../Common/Connection.md#) \*|Sets the [Connection](../Common/Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](../Common/Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](../Common/Connection.md#) object and has\_ [Connection](../Common/Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| +|release\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](../Common/Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](../Common/Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ActionNotificationList.md b/api_cpp/doc/markdown/messages/Base/ActionNotificationList.md new file mode 100644 index 00000000..6601d896 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ActionNotificationList.md @@ -0,0 +1,22 @@ +# class ActionNotificationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|notifications| [ActionNotification](ActionNotification.md#)|Notification| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|notifications\(\) const|const [ActionNotification](ActionNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|mutable\_notifications\(\)| [ActionNotification](ActionNotification.md#)\*|int index|Returns a pointer to the mutable [ActionNotification](ActionNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|add\_notifications\(\)| [ActionNotification](ActionNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ActionNotification](ActionNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ActionNotification](ActionNotification.md#)\).| +|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| +|notifications\(\) const|const RepeatedPtrField< [ActionNotification](ActionNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_notifications\(\)|RepeatedPtrField< [ActionNotification](ActionNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ActivateMapHandle.md b/api_cpp/doc/markdown/messages/Base/ActivateMapHandle.md new file mode 100644 index 00000000..9eb1e197 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ActivateMapHandle.md @@ -0,0 +1,35 @@ +# class ActivateMapHandle + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|mapping\_handle| [MappingHandle](MappingHandle.md#)|Mapping that the active map is asked for| +|map\_group\_handle| [MapGroupHandle](MapGroupHandle.md#)|Map group that the active map is asked for \(not implemented yet\)| +|map\_handle| [MapHandle](MapHandle.md#)|New active map| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_mapping\_handle\(\) const|bool|void|Returns true if mapping\_handle is set.| +|mapping\_handle\(\)|const [MappingHandle](MappingHandle.md#)&|void|Returns the current value of mapping\_handle. If mapping\_handle is not set, returns a [MappingHandle](MappingHandle.md#) with none of its fields set \(possibly mapping\_handle::default\_instance\(\)\).| +|mutable\_mapping\_handle\(\)| [MappingHandle](MappingHandle.md#) \*|void|Returns a pointer to the mutable [MappingHandle](MappingHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MappingHandle](MappingHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MappingHandle](MappingHandle.md#)\). After calling this, has\_mapping\_handle\(\) will return true and mapping\_handle\(\) will return a reference to the same instance of [MappingHandle](MappingHandle.md#).| +|clear\_mapping\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_mapping\_handle\(\) will return false and mapping\_handle\(\) will return the default value.| +|set\_allocated\_mapping\_handle\(\)|void| [MappingHandle](MappingHandle.md#) \*|Sets the [MappingHandle](MappingHandle.md#) object to the field and frees the previous field value if it exists. If the [MappingHandle](MappingHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MappingHandle](MappingHandle.md#) object and has\_ [MappingHandle](MappingHandle.md#)\(\) will return true. Otherwise, if the mapping\_handle is NULL, the behavior is the same as calling clear\_mapping\_handle\(\).| +|release\_mapping\_handle\(\)| [MappingHandle](MappingHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MappingHandle](MappingHandle.md#) object. After calling this, caller takes the ownership of the allocated [MappingHandle](MappingHandle.md#) object, has\_mapping\_handle\(\) will return false, and mapping\_handle\(\) will return the default value.| +|has\_map\_group\_handle\(\) const|bool|void|Returns true if map\_group\_handle is set.| +|map\_group\_handle\(\)|const [MapGroupHandle](MapGroupHandle.md#)&|void|Returns the current value of map\_group\_handle. If map\_group\_handle is not set, returns a [MapGroupHandle](MapGroupHandle.md#) with none of its fields set \(possibly map\_group\_handle::default\_instance\(\)\).| +|mutable\_map\_group\_handle\(\)| [MapGroupHandle](MapGroupHandle.md#) \*|void|Returns a pointer to the mutable [MapGroupHandle](MapGroupHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapGroupHandle](MapGroupHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapGroupHandle](MapGroupHandle.md#)\). After calling this, has\_map\_group\_handle\(\) will return true and map\_group\_handle\(\) will return a reference to the same instance of [MapGroupHandle](MapGroupHandle.md#).| +|clear\_map\_group\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_map\_group\_handle\(\) will return false and map\_group\_handle\(\) will return the default value.| +|set\_allocated\_map\_group\_handle\(\)|void| [MapGroupHandle](MapGroupHandle.md#) \*|Sets the [MapGroupHandle](MapGroupHandle.md#) object to the field and frees the previous field value if it exists. If the [MapGroupHandle](MapGroupHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapGroupHandle](MapGroupHandle.md#) object and has\_ [MapGroupHandle](MapGroupHandle.md#)\(\) will return true. Otherwise, if the map\_group\_handle is NULL, the behavior is the same as calling clear\_map\_group\_handle\(\).| +|release\_map\_group\_handle\(\)| [MapGroupHandle](MapGroupHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapGroupHandle](MapGroupHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapGroupHandle](MapGroupHandle.md#) object, has\_map\_group\_handle\(\) will return false, and map\_group\_handle\(\) will return the default value.| +|has\_map\_handle\(\) const|bool|void|Returns true if map\_handle is set.| +|map\_handle\(\)|const [MapHandle](MapHandle.md#)&|void|Returns the current value of map\_handle. If map\_handle is not set, returns a [MapHandle](MapHandle.md#) with none of its fields set \(possibly map\_handle::default\_instance\(\)\).| +|mutable\_map\_handle\(\)| [MapHandle](MapHandle.md#) \*|void|Returns a pointer to the mutable [MapHandle](MapHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapHandle](MapHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapHandle](MapHandle.md#)\). After calling this, has\_map\_handle\(\) will return true and map\_handle\(\) will return a reference to the same instance of [MapHandle](MapHandle.md#).| +|clear\_map\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_map\_handle\(\) will return false and map\_handle\(\) will return the default value.| +|set\_allocated\_map\_handle\(\)|void| [MapHandle](MapHandle.md#) \*|Sets the [MapHandle](MapHandle.md#) object to the field and frees the previous field value if it exists. If the [MapHandle](MapHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapHandle](MapHandle.md#) object and has\_ [MapHandle](MapHandle.md#)\(\) will return true. Otherwise, if the map\_handle is NULL, the behavior is the same as calling clear\_map\_handle\(\).| +|release\_map\_handle\(\)| [MapHandle](MapHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapHandle](MapHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapHandle](MapHandle.md#) object, has\_map\_handle\(\) will return false, and map\_handle\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ActuatorInformation.md b/api_cpp/doc/markdown/messages/Base/ActuatorInformation.md new file mode 100644 index 00000000..0d416cb5 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ActuatorInformation.md @@ -0,0 +1,18 @@ +# class ActuatorInformation + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|count|uint32|Number of actuators| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|count\(\)|uint32|void|Returns the current value of count. If the count is not set, returns 0.| +|set\_count\(\)|void|uint32|Sets the value of count. After calling this, count\(\) will return value.| +|clear\_count\(\)|void|void|Clears the value of count. After calling this, count\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/Admittance.md b/api_cpp/doc/markdown/messages/Base/Admittance.md new file mode 100644 index 00000000..28ba32cd --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/Admittance.md @@ -0,0 +1,18 @@ +# class Admittance + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|admittance\_mode|uint32|mode| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|admittance\_mode\(\) const|uint32|void|Returns the current value of admittance\_mode. If the admittance\_mode is not set, returns 0.| +|set\_admittance\_mode\(\)|void|uint32|Sets the value of admittance\_mode. After calling this, admittance\_mode\(\) will return value.| +|clear\_admittance\_mode\(\)|void|void|Clears the value of admittance\_mode. After calling this, admittance\_mode\(\) will return the empty string/empty bytes.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/AdvancedSequenceHandle.md b/api_cpp/doc/markdown/messages/Base/AdvancedSequenceHandle.md new file mode 100644 index 00000000..fc9ea32e --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/AdvancedSequenceHandle.md @@ -0,0 +1,25 @@ +# class AdvancedSequenceHandle + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|handle| [SequenceHandle](SequenceHandle.md#)|Sequence handle| +|in\_loop|bool| | + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_handle\(\) const|bool|void|Returns true if handle is set.| +|handle\(\)|const [SequenceHandle](SequenceHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [SequenceHandle](SequenceHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [SequenceHandle](SequenceHandle.md#) \*|void|Returns a pointer to the mutable [SequenceHandle](SequenceHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SequenceHandle](SequenceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SequenceHandle](SequenceHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [SequenceHandle](SequenceHandle.md#).| +|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [SequenceHandle](SequenceHandle.md#) \*|Sets the [SequenceHandle](SequenceHandle.md#) object to the field and frees the previous field value if it exists. If the [SequenceHandle](SequenceHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SequenceHandle](SequenceHandle.md#) object and has\_ [SequenceHandle](SequenceHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [SequenceHandle](SequenceHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SequenceHandle](SequenceHandle.md#) object. After calling this, caller takes the ownership of the allocated [SequenceHandle](SequenceHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|in\_loop\(\)|bool|void|Returns the current value of in\_loop. If the in\_loop is not set, returns 0.| +|set\_in\_loop\(\)|void|bool|Sets the value of in\_loop. After calling this, in\_loop\(\) will return value.| +|clear\_in\_loop\(\)|void|void|Clears the value of in\_loop. After calling this, in\_loop\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/AppendActionInformation.md b/api_cpp/doc/markdown/messages/Base/AppendActionInformation.md new file mode 100644 index 00000000..7b81335c --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/AppendActionInformation.md @@ -0,0 +1,28 @@ +# class AppendActionInformation + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|sequence\_handle| [SequenceHandle](SequenceHandle.md#)|Sequence to which action must be appended| +|action| [Action](Action.md#)|Action to append| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_sequence\_handle\(\) const|bool|void|Returns true if sequence\_handle is set.| +|sequence\_handle\(\)|const [SequenceHandle](SequenceHandle.md#)&|void|Returns the current value of sequence\_handle. If sequence\_handle is not set, returns a [SequenceHandle](SequenceHandle.md#) with none of its fields set \(possibly sequence\_handle::default\_instance\(\)\).| +|mutable\_sequence\_handle\(\)| [SequenceHandle](SequenceHandle.md#) \*|void|Returns a pointer to the mutable [SequenceHandle](SequenceHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SequenceHandle](SequenceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SequenceHandle](SequenceHandle.md#)\). After calling this, has\_sequence\_handle\(\) will return true and sequence\_handle\(\) will return a reference to the same instance of [SequenceHandle](SequenceHandle.md#).| +|clear\_sequence\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_sequence\_handle\(\) will return false and sequence\_handle\(\) will return the default value.| +|set\_allocated\_sequence\_handle\(\)|void| [SequenceHandle](SequenceHandle.md#) \*|Sets the [SequenceHandle](SequenceHandle.md#) object to the field and frees the previous field value if it exists. If the [SequenceHandle](SequenceHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SequenceHandle](SequenceHandle.md#) object and has\_ [SequenceHandle](SequenceHandle.md#)\(\) will return true. Otherwise, if the sequence\_handle is NULL, the behavior is the same as calling clear\_sequence\_handle\(\).| +|release\_sequence\_handle\(\)| [SequenceHandle](SequenceHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SequenceHandle](SequenceHandle.md#) object. After calling this, caller takes the ownership of the allocated [SequenceHandle](SequenceHandle.md#) object, has\_sequence\_handle\(\) will return false, and sequence\_handle\(\) will return the default value.| +|has\_action\(\) const|bool|void|Returns true if action is set.| +|action\(\)|const [Action](Action.md#)&|void|Returns the current value of action. If action is not set, returns a [Action](Action.md#) with none of its fields set \(possibly action::default\_instance\(\)\).| +|mutable\_action\(\)| [Action](Action.md#) \*|void|Returns a pointer to the mutable [Action](Action.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Action](Action.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Action](Action.md#)\). After calling this, has\_action\(\) will return true and action\(\) will return a reference to the same instance of [Action](Action.md#).| +|clear\_action\(\)|void|void|Clears the value of the field. After calling this, has\_action\(\) will return false and action\(\) will return the default value.| +|set\_allocated\_action\(\)|void| [Action](Action.md#) \*|Sets the [Action](Action.md#) object to the field and frees the previous field value if it exists. If the [Action](Action.md#) pointer is not NULL, the message takes ownership of the allocated [Action](Action.md#) object and has\_ [Action](Action.md#)\(\) will return true. Otherwise, if the action is NULL, the behavior is the same as calling clear\_action\(\).| +|release\_action\(\)| [Action](Action.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Action](Action.md#) object. After calling this, caller takes the ownership of the allocated [Action](Action.md#) object, has\_action\(\) will return false, and action\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ArmStateInformation.md b/api_cpp/doc/markdown/messages/Base/ArmStateInformation.md new file mode 100644 index 00000000..f9e55d80 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ArmStateInformation.md @@ -0,0 +1,25 @@ +# class ArmStateInformation + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|active\_state|uint32|Arm active state| +|connection| [Connection](../Common/Connection.md#)|Connection information of the last processed command which triggered an arm state change| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|active\_state\(\) const|uint32|void|Returns the current value of active\_state. If the active\_state is not set, returns 0.| +|set\_active\_state\(\)|void|uint32|Sets the value of active\_state. After calling this, active\_state\(\) will return value.| +|clear\_active\_state\(\)|void|void|Clears the value of active\_state. After calling this, active\_state\(\) will return the empty string/empty bytes.| +|has\_connection\(\) const|bool|void|Returns true if connection is set.| +|connection\(\)|const [Connection](../Common/Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](../Common/Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| +|mutable\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Returns a pointer to the mutable [Connection](../Common/Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](../Common/Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](../Common/Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](../Common/Connection.md#).| +|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| +|set\_allocated\_connection\(\)|void| [Connection](../Common/Connection.md#) \*|Sets the [Connection](../Common/Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](../Common/Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](../Common/Connection.md#) object and has\_ [Connection](../Common/Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| +|release\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](../Common/Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](../Common/Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ArmStateNotification.md b/api_cpp/doc/markdown/messages/Base/ArmStateNotification.md new file mode 100644 index 00000000..b7709be7 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ArmStateNotification.md @@ -0,0 +1,32 @@ +# class ArmStateNotification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|active\_state|uint32|New arm state| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the arm state event| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|active\_state\(\) const|uint32|void|Returns the current value of active\_state. If the active\_state is not set, returns 0.| +|set\_active\_state\(\)|void|uint32|Sets the value of active\_state. After calling this, active\_state\(\) will return value.| +|clear\_active\_state\(\)|void|void|Clears the value of active\_state. After calling this, active\_state\(\) will return the empty string/empty bytes.| +|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| +|timestamp\(\)|const [Timestamp](../Common/Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](../Common/Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| +|mutable\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](../Common/Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](../Common/Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](../Common/Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](../Common/Timestamp.md#).| +|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| +|set\_allocated\_timestamp\(\)|void| [Timestamp](../Common/Timestamp.md#) \*|Sets the [Timestamp](../Common/Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](../Common/Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](../Common/Timestamp.md#) object and has\_ [Timestamp](../Common/Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| +|release\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](../Common/Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](../Common/Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| +|has\_connection\(\) const|bool|void|Returns true if connection is set.| +|connection\(\)|const [Connection](../Common/Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](../Common/Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| +|mutable\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Returns a pointer to the mutable [Connection](../Common/Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](../Common/Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](../Common/Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](../Common/Connection.md#).| +|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| +|set\_allocated\_connection\(\)|void| [Connection](../Common/Connection.md#) \*|Sets the [Connection](../Common/Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](../Common/Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](../Common/Connection.md#) object and has\_ [Connection](../Common/Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| +|release\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](../Common/Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](../Common/Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/BridgeConfig.md b/api_cpp/doc/markdown/messages/Base/BridgeConfig.md new file mode 100644 index 00000000..58774c07 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/BridgeConfig.md @@ -0,0 +1,36 @@ +# class BridgeConfig + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|device\_identifier|uint32|Identifier of the device to which the bridge is connecting.| +|bridgetype|uint32|Bridge type.| +|port\_config| [BridgePortConfig](BridgePortConfig.md#)|Port configuration. If used to enable port bridging, it is optional. If no port config is given defaults for bridge type is used.| +|bridge\_id| [BridgeIdentifier](BridgeIdentifier.md#)|Bridge identifier. Not used when creating bridge. It is used when retrieving configuration.| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|device\_identifier\(\)|uint32|void|Returns the current value of device\_identifier. If the device\_identifier is not set, returns 0.| +|set\_device\_identifier\(\)|void|uint32|Sets the value of device\_identifier. After calling this, device\_identifier\(\) will return value.| +|clear\_device\_identifier\(\)|void|void|Clears the value of device\_identifier. After calling this, device\_identifier\(\) will return 0.| +|bridgetype\(\) const|uint32|void|Returns the current value of bridgetype. If the bridgetype is not set, returns 0.| +|set\_bridgetype\(\)|void|uint32|Sets the value of bridgetype. After calling this, bridgetype\(\) will return value.| +|clear\_bridgetype\(\)|void|void|Clears the value of bridgetype. After calling this, bridgetype\(\) will return the empty string/empty bytes.| +|has\_port\_config\(\) const|bool|void|Returns true if port\_config is set.| +|port\_config\(\)|const [BridgePortConfig](BridgePortConfig.md#)&|void|Returns the current value of port\_config. If port\_config is not set, returns a [BridgePortConfig](BridgePortConfig.md#) with none of its fields set \(possibly port\_config::default\_instance\(\)\).| +|mutable\_port\_config\(\)| [BridgePortConfig](BridgePortConfig.md#) \*|void|Returns a pointer to the mutable [BridgePortConfig](BridgePortConfig.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [BridgePortConfig](BridgePortConfig.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [BridgePortConfig](BridgePortConfig.md#)\). After calling this, has\_port\_config\(\) will return true and port\_config\(\) will return a reference to the same instance of [BridgePortConfig](BridgePortConfig.md#).| +|clear\_port\_config\(\)|void|void|Clears the value of the field. After calling this, has\_port\_config\(\) will return false and port\_config\(\) will return the default value.| +|set\_allocated\_port\_config\(\)|void| [BridgePortConfig](BridgePortConfig.md#) \*|Sets the [BridgePortConfig](BridgePortConfig.md#) object to the field and frees the previous field value if it exists. If the [BridgePortConfig](BridgePortConfig.md#) pointer is not NULL, the message takes ownership of the allocated [BridgePortConfig](BridgePortConfig.md#) object and has\_ [BridgePortConfig](BridgePortConfig.md#)\(\) will return true. Otherwise, if the port\_config is NULL, the behavior is the same as calling clear\_port\_config\(\).| +|release\_port\_config\(\)| [BridgePortConfig](BridgePortConfig.md#) \*|void|Releases the ownership of the field and returns the pointer of the [BridgePortConfig](BridgePortConfig.md#) object. After calling this, caller takes the ownership of the allocated [BridgePortConfig](BridgePortConfig.md#) object, has\_port\_config\(\) will return false, and port\_config\(\) will return the default value.| +|has\_bridge\_id\(\) const|bool|void|Returns true if bridge\_id is set.| +|bridge\_id\(\)|const [BridgeIdentifier](BridgeIdentifier.md#)&|void|Returns the current value of bridge\_id. If bridge\_id is not set, returns a [BridgeIdentifier](BridgeIdentifier.md#) with none of its fields set \(possibly bridge\_id::default\_instance\(\)\).| +|mutable\_bridge\_id\(\)| [BridgeIdentifier](BridgeIdentifier.md#) \*|void|Returns a pointer to the mutable [BridgeIdentifier](BridgeIdentifier.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [BridgeIdentifier](BridgeIdentifier.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [BridgeIdentifier](BridgeIdentifier.md#)\). After calling this, has\_bridge\_id\(\) will return true and bridge\_id\(\) will return a reference to the same instance of [BridgeIdentifier](BridgeIdentifier.md#).| +|clear\_bridge\_id\(\)|void|void|Clears the value of the field. After calling this, has\_bridge\_id\(\) will return false and bridge\_id\(\) will return the default value.| +|set\_allocated\_bridge\_id\(\)|void| [BridgeIdentifier](BridgeIdentifier.md#) \*|Sets the [BridgeIdentifier](BridgeIdentifier.md#) object to the field and frees the previous field value if it exists. If the [BridgeIdentifier](BridgeIdentifier.md#) pointer is not NULL, the message takes ownership of the allocated [BridgeIdentifier](BridgeIdentifier.md#) object and has\_ [BridgeIdentifier](BridgeIdentifier.md#)\(\) will return true. Otherwise, if the bridge\_id is NULL, the behavior is the same as calling clear\_bridge\_id\(\).| +|release\_bridge\_id\(\)| [BridgeIdentifier](BridgeIdentifier.md#) \*|void|Releases the ownership of the field and returns the pointer of the [BridgeIdentifier](BridgeIdentifier.md#) object. After calling this, caller takes the ownership of the allocated [BridgeIdentifier](BridgeIdentifier.md#) object, has\_bridge\_id\(\) will return false, and bridge\_id\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/BridgeIdentifier.md b/api_cpp/doc/markdown/messages/Base/BridgeIdentifier.md new file mode 100644 index 00000000..b40f4216 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/BridgeIdentifier.md @@ -0,0 +1,18 @@ +# class BridgeIdentifier + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|bridge\_id|uint32|Unique bridge identifier.| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|bridge\_id\(\)|uint32|void|Returns the current value of bridge\_id. If the bridge\_id is not set, returns 0.| +|set\_bridge\_id\(\)|void|uint32|Sets the value of bridge\_id. After calling this, bridge\_id\(\) will return value.| +|clear\_bridge\_id\(\)|void|void|Clears the value of bridge\_id. After calling this, bridge\_id\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/BridgeList.md b/api_cpp/doc/markdown/messages/Base/BridgeList.md new file mode 100644 index 00000000..948d537e --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/BridgeList.md @@ -0,0 +1,22 @@ +# class BridgeList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|bridgeConfig| [BridgeConfig](BridgeConfig.md#)|List of bridge configuration.| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|bridgeConfig\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|bridgeConfig\(\) const|const [BridgeConfig](BridgeConfig.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, bridgeConfig\_size\(\)\) yields undefined behavior.| +|mutable\_bridgeConfig\(\)| [BridgeConfig](BridgeConfig.md#)\*|int index|Returns a pointer to the mutable [BridgeConfig](BridgeConfig.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, bridgeConfig\_size\(\)\) yields undefined behavior.| +|add\_bridgeConfig\(\)| [BridgeConfig](BridgeConfig.md#)\*|void|Adds a new element and returns a pointer to it. The returned [BridgeConfig](BridgeConfig.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [BridgeConfig](BridgeConfig.md#)\).| +|clear\_bridgeConfig\(\)|void|void|Removes all elements from the field. After calling this, bridgeConfig\_size\(\) will return zero.| +|bridgeConfig\(\) const|const RepeatedPtrField< [BridgeConfig](BridgeConfig.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_bridgeConfig\(\)|RepeatedPtrField< [BridgeConfig](BridgeConfig.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/BridgePortConfig.md b/api_cpp/doc/markdown/messages/Base/BridgePortConfig.md new file mode 100644 index 00000000..c6ca1694 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/BridgePortConfig.md @@ -0,0 +1,22 @@ +# class BridgePortConfig + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|target\_port|uint32|Port on target device.| +|out\_port|uint32|Port exposed on base's external interface| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|target\_port\(\)|uint32|void|Returns the current value of target\_port. If the target\_port is not set, returns 0.| +|set\_target\_port\(\)|void|uint32|Sets the value of target\_port. After calling this, target\_port\(\) will return value.| +|clear\_target\_port\(\)|void|void|Clears the value of target\_port. After calling this, target\_port\(\) will return 0.| +|out\_port\(\)|uint32|void|Returns the current value of out\_port. If the out\_port is not set, returns 0.| +|set\_out\_port\(\)|void|uint32|Sets the value of out\_port. After calling this, out\_port\(\) will return value.| +|clear\_out\_port\(\)|void|void|Clears the value of out\_port. After calling this, out\_port\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/BridgeResult.md b/api_cpp/doc/markdown/messages/Base/BridgeResult.md new file mode 100644 index 00000000..100c87f1 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/BridgeResult.md @@ -0,0 +1,25 @@ +# class BridgeResult + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|bridge\_id| [BridgeIdentifier](BridgeIdentifier.md#)|ID of the bridge on which operation was performed| +|status|uint32|Result code of operation.| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_bridge\_id\(\) const|bool|void|Returns true if bridge\_id is set.| +|bridge\_id\(\)|const [BridgeIdentifier](BridgeIdentifier.md#)&|void|Returns the current value of bridge\_id. If bridge\_id is not set, returns a [BridgeIdentifier](BridgeIdentifier.md#) with none of its fields set \(possibly bridge\_id::default\_instance\(\)\).| +|mutable\_bridge\_id\(\)| [BridgeIdentifier](BridgeIdentifier.md#) \*|void|Returns a pointer to the mutable [BridgeIdentifier](BridgeIdentifier.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [BridgeIdentifier](BridgeIdentifier.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [BridgeIdentifier](BridgeIdentifier.md#)\). After calling this, has\_bridge\_id\(\) will return true and bridge\_id\(\) will return a reference to the same instance of [BridgeIdentifier](BridgeIdentifier.md#).| +|clear\_bridge\_id\(\)|void|void|Clears the value of the field. After calling this, has\_bridge\_id\(\) will return false and bridge\_id\(\) will return the default value.| +|set\_allocated\_bridge\_id\(\)|void| [BridgeIdentifier](BridgeIdentifier.md#) \*|Sets the [BridgeIdentifier](BridgeIdentifier.md#) object to the field and frees the previous field value if it exists. If the [BridgeIdentifier](BridgeIdentifier.md#) pointer is not NULL, the message takes ownership of the allocated [BridgeIdentifier](BridgeIdentifier.md#) object and has\_ [BridgeIdentifier](BridgeIdentifier.md#)\(\) will return true. Otherwise, if the bridge\_id is NULL, the behavior is the same as calling clear\_bridge\_id\(\).| +|release\_bridge\_id\(\)| [BridgeIdentifier](BridgeIdentifier.md#) \*|void|Releases the ownership of the field and returns the pointer of the [BridgeIdentifier](BridgeIdentifier.md#) object. After calling this, caller takes the ownership of the allocated [BridgeIdentifier](BridgeIdentifier.md#) object, has\_bridge\_id\(\) will return false, and bridge\_id\(\) will return the default value.| +|status\(\) const|uint32|void|Returns the current value of status. If the status is not set, returns 0.| +|set\_status\(\)|void|uint32|Sets the value of status. After calling this, status\(\) will return value.| +|clear\_status\(\)|void|void|Clears the value of status. After calling this, status\(\) will return the empty string/empty bytes.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/CapSenseConfig.md b/api_cpp/doc/markdown/messages/Base/CapSenseConfig.md new file mode 100644 index 00000000..443e5b2a --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/CapSenseConfig.md @@ -0,0 +1,38 @@ +# class CapSenseConfig + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|identifier|uint32|MessageId| +|mode|uint32|Operational mode of the sensor| +|threshold\_a|float32|Threshold of the sensor A \(successive detection count to trigger a change of state\)| +|threshold\_b|float32|Threshold of the sensor B \(successive detection count to trigger a change of state\)| +|sensitivity\_a|float32|Sensitivity of the sensor A \(picofarad\)| +|sensitivity\_b|float32|Sensitivity of the sensor B \(picofarad\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|identifier\(\)|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| +|set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| +|clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return 0.| +|mode\(\) const|uint32|void|Returns the current value of mode. If the mode is not set, returns 0.| +|set\_mode\(\)|void|uint32|Sets the value of mode. After calling this, mode\(\) will return value.| +|clear\_mode\(\)|void|void|Clears the value of mode. After calling this, mode\(\) will return the empty string/empty bytes.| +|threshold\_a\(\)|float32|void|Returns the current value of threshold\_a. If the threshold\_a is not set, returns 0.| +|set\_threshold\_a\(\)|void|float32|Sets the value of threshold\_a. After calling this, threshold\_a\(\) will return value.| +|clear\_threshold\_a\(\)|void|void|Clears the value of threshold\_a. After calling this, threshold\_a\(\) will return 0.| +|threshold\_b\(\)|float32|void|Returns the current value of threshold\_b. If the threshold\_b is not set, returns 0.| +|set\_threshold\_b\(\)|void|float32|Sets the value of threshold\_b. After calling this, threshold\_b\(\) will return value.| +|clear\_threshold\_b\(\)|void|void|Clears the value of threshold\_b. After calling this, threshold\_b\(\) will return 0.| +|sensitivity\_a\(\)|float32|void|Returns the current value of sensitivity\_a. If the sensitivity\_a is not set, returns 0.| +|set\_sensitivity\_a\(\)|void|float32|Sets the value of sensitivity\_a. After calling this, sensitivity\_a\(\) will return value.| +|clear\_sensitivity\_a\(\)|void|void|Clears the value of sensitivity\_a. After calling this, sensitivity\_a\(\) will return 0.| +|sensitivity\_b\(\)|float32|void|Returns the current value of sensitivity\_b. If the sensitivity\_b is not set, returns 0.| +|set\_sensitivity\_b\(\)|void|float32|Sets the value of sensitivity\_b. After calling this, sensitivity\_b\(\) will return value.| +|clear\_sensitivity\_b\(\)|void|void|Clears the value of sensitivity\_b. After calling this, sensitivity\_b\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_CartesianLimitation.md b/api_cpp/doc/markdown/messages/Base/CartesianLimitation.md similarity index 53% rename from api_cpp/doc/markdown/references/msg_Base_CartesianLimitation.md rename to api_cpp/doc/markdown/messages/Base/CartesianLimitation.md index 08a866b5..78213a83 100644 --- a/api_cpp/doc/markdown/references/msg_Base_CartesianLimitation.md +++ b/api_cpp/doc/markdown/messages/Base/CartesianLimitation.md @@ -1,29 +1,19 @@ -# Message CartesianLimitation +# class CartesianLimitation -This page describes the C++ Kinova::Api::Base::CartesianLimitation message. - -## Overview / Purpose - -Provides a Cartesian limitation configuration - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|type| [LimitationType](enm_Base_LimitationType.md#)|Limitation type| +|type|uint32|Limitation type| |translation|float32|Translation limitation| |orientation|float32|Orientation limitation| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|type\(\) const| [LimitationType](enm_Base_LimitationType.md#)|void|Returns the current value of type. If the type is not set, returns 0.| -|set\_type\(\)|void| [LimitationType](enm_Base_LimitationType.md#)|Sets the value of type. After calling this, type\(\) will return value.| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|type\(\) const|uint32|void|Returns the current value of type. If the type is not set, returns 0.| +|set\_type\(\)|void|uint32|Sets the value of type. After calling this, type\(\) will return value.| |clear\_type\(\)|void|void|Clears the value of type. After calling this, type\(\) will return the empty string/empty bytes.| |translation\(\)|float32|void|Returns the current value of translation. If the translation is not set, returns 0.| |set\_translation\(\)|void|float32|Sets the value of translation. After calling this, translation\(\) will return value.| @@ -32,5 +22,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_orientation\(\)|void|float32|Sets the value of orientation. After calling this, orientation\(\) will return value.| |clear\_orientation\(\)|void|void|Clears the value of orientation. After calling this, orientation\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/CartesianLimitationList.md b/api_cpp/doc/markdown/messages/Base/CartesianLimitationList.md new file mode 100644 index 00000000..a49827db --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/CartesianLimitationList.md @@ -0,0 +1,22 @@ +# class CartesianLimitationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|limitations| [CartesianLimitation](CartesianLimitation.md#)|Limitation| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|limitations\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|limitations\(\) const|const [CartesianLimitation](CartesianLimitation.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, limitations\_size\(\)\) yields undefined behavior.| +|mutable\_limitations\(\)| [CartesianLimitation](CartesianLimitation.md#)\*|int index|Returns a pointer to the mutable [CartesianLimitation](CartesianLimitation.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, limitations\_size\(\)\) yields undefined behavior.| +|add\_limitations\(\)| [CartesianLimitation](CartesianLimitation.md#)\*|void|Adds a new element and returns a pointer to it. The returned [CartesianLimitation](CartesianLimitation.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [CartesianLimitation](CartesianLimitation.md#)\).| +|clear\_limitations\(\)|void|void|Removes all elements from the field. After calling this, limitations\_size\(\) will return zero.| +|limitations\(\) const|const RepeatedPtrField< [CartesianLimitation](CartesianLimitation.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_limitations\(\)|RepeatedPtrField< [CartesianLimitation](CartesianLimitation.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_CartesianSpeed.md b/api_cpp/doc/markdown/messages/Base/CartesianSpeed.md similarity index 65% rename from api_cpp/doc/markdown/references/msg_Base_CartesianSpeed.md rename to api_cpp/doc/markdown/messages/Base/CartesianSpeed.md index 6f5ce3d7..07eae77f 100644 --- a/api_cpp/doc/markdown/references/msg_Base_CartesianSpeed.md +++ b/api_cpp/doc/markdown/messages/Base/CartesianSpeed.md @@ -1,26 +1,16 @@ -# Message CartesianSpeed +# class CartesianSpeed -This page describes the C++ Kinova::Api::Base::CartesianSpeed message. - -## Overview / Purpose - -Defines a Cartesian speed - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |translation|float32|Translation speed \(in meters per second\)| |orientation|float32|Orientation speed \(in degrees per second\)| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |translation\(\)|float32|void|Returns the current value of translation. If the translation is not set, returns 0.| |set\_translation\(\)|void|float32|Sets the value of translation. After calling this, translation\(\) will return value.| |clear\_translation\(\)|void|void|Clears the value of translation. After calling this, translation\(\) will return 0.| @@ -28,5 +18,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_orientation\(\)|void|float32|Sets the value of orientation. After calling this, orientation\(\) will return value.| |clear\_orientation\(\)|void|void|Clears the value of orientation. After calling this, orientation\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/CartesianTrajectoryConstraint.md b/api_cpp/doc/markdown/messages/Base/CartesianTrajectoryConstraint.md new file mode 100644 index 00000000..3a942741 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/CartesianTrajectoryConstraint.md @@ -0,0 +1,25 @@ +# class CartesianTrajectoryConstraint + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|speed|oneof:type [CartesianSpeed](CartesianSpeed.md#)|Speed constraint \(in meters per second\)| +|duration|oneof:type float32|Duration constraint \(in meters per second\) \(not implemented yet\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_speed\(\) const|void|void|Returns the current value of the field if oneof case is kSpeed. Otherwise, returns oneof:type [CartesianSpeed](CartesianSpeed.md#)::default\_instance\(\)| +|speed\(\) const|const oneof:type [CartesianSpeed](CartesianSpeed.md#)&|void|Returns the current value of the field if oneof case is kSpeed| +|mutable\_speed\(\)|oneof:type [CartesianSpeed](CartesianSpeed.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_type\(\). Sets the oneof case to kSpeed and returns a pointer to the mutable oneof:type [CartesianSpeed](CartesianSpeed.md#) object that stores the field's value. If the oneof case was not kSpeed prior to the call, then the returned oneof:type [CartesianSpeed](CartesianSpeed.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:type [CartesianSpeed](CartesianSpeed.md#)\). After calling this, has\_speed\(\) will return true, speed\(\) will return a reference to the same instance of oneof:type [CartesianSpeed](CartesianSpeed.md#) and type\_case\(\) will return kSpeed| +|clear\_speed\(\)|void|void|Nothing will be changed if the oneof case is not kSpeed. If the oneof case equals kSpeed, frees the field and clears the oneof case. has\_speed\(\) will return false, speed\(\) will return the default value and type\_case\(\) will return TYPE\_NOT\_SET.| +|set\_allocated\_speed\(\)|void|oneof:type [CartesianSpeed](CartesianSpeed.md#)\*|Calls clear\_type\(\). If the oneof:type [CartesianSpeed](CartesianSpeed.md#) pointer is not NULL: Sets the oneof:type [CartesianSpeed](CartesianSpeed.md#) object to the field and sets the oneof case to kSpeed. The message takes ownership of the allocated oneof:type [CartesianSpeed](CartesianSpeed.md#) object, has\_speed\(\) will return true and type\_case\(\) will return kSpeed. If the pointer is NULL, has\_speed\(\) will return false and type\_case\(\) will return TYPE\_NOT\_SET. \(The behavior is like calling clear\_type\(\)\)| +|release\_speed\(\)|oneof:type [CartesianSpeed](CartesianSpeed.md#)\*|void|Returns NULL if oneof case is not kSpeed. If the oneof case is kSpeed, clears the oneof case, releases the ownership of the field and returns the pointer of the type object. After calling this, caller takes the ownership of the allocated type object, has\_speed\(\) will return false, speed\(\) will return the default value and type\_case\(\) will return TYPE\_NOT\_SET.| +|set\_duration\(\)|void|oneof:type float32|If any other oneof field in the same oneof is set, calls clear\_type\(\). Sets the value of this field and sets the oneof case to kDuration.| +|duration\(\) const|oneof:type float32|void|Returns the current value of the field if oneof case is kDuration. Otherwise, returns the default value.| +|clear\_duration\(\)|void|void|Nothing will be changed if the oneof case is not kDuration. If the oneof case is kDuration, clears the value of the field and the oneof case| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ChangeJointSpeeds.md b/api_cpp/doc/markdown/messages/Base/ChangeJointSpeeds.md new file mode 100644 index 00000000..5df01eb5 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ChangeJointSpeeds.md @@ -0,0 +1,21 @@ +# class ChangeJointSpeeds + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|joint\_speeds| [JointSpeeds](JointSpeeds.md#)|Joint speeds| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_joint\_speeds\(\) const|bool|void|Returns true if joint\_speeds is set.| +|joint\_speeds\(\)|const [JointSpeeds](JointSpeeds.md#)&|void|Returns the current value of joint\_speeds. If joint\_speeds is not set, returns a [JointSpeeds](JointSpeeds.md#) with none of its fields set \(possibly joint\_speeds::default\_instance\(\)\).| +|mutable\_joint\_speeds\(\)| [JointSpeeds](JointSpeeds.md#) \*|void|Returns a pointer to the mutable [JointSpeeds](JointSpeeds.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [JointSpeeds](JointSpeeds.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [JointSpeeds](JointSpeeds.md#)\). After calling this, has\_joint\_speeds\(\) will return true and joint\_speeds\(\) will return a reference to the same instance of [JointSpeeds](JointSpeeds.md#).| +|clear\_joint\_speeds\(\)|void|void|Clears the value of the field. After calling this, has\_joint\_speeds\(\) will return false and joint\_speeds\(\) will return the default value.| +|set\_allocated\_joint\_speeds\(\)|void| [JointSpeeds](JointSpeeds.md#) \*|Sets the [JointSpeeds](JointSpeeds.md#) object to the field and frees the previous field value if it exists. If the [JointSpeeds](JointSpeeds.md#) pointer is not NULL, the message takes ownership of the allocated [JointSpeeds](JointSpeeds.md#) object and has\_ [JointSpeeds](JointSpeeds.md#)\(\) will return true. Otherwise, if the joint\_speeds is NULL, the behavior is the same as calling clear\_joint\_speeds\(\).| +|release\_joint\_speeds\(\)| [JointSpeeds](JointSpeeds.md#) \*|void|Releases the ownership of the field and returns the pointer of the [JointSpeeds](JointSpeeds.md#) object. After calling this, caller takes the ownership of the allocated [JointSpeeds](JointSpeeds.md#) object, has\_joint\_speeds\(\) will return false, and joint\_speeds\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_ChangeTwist.md b/api_cpp/doc/markdown/messages/Base/ChangeTwist.md similarity index 60% rename from api_cpp/doc/markdown/references/msg_Base_ChangeTwist.md rename to api_cpp/doc/markdown/messages/Base/ChangeTwist.md index 3fd8c918..a249e463 100644 --- a/api_cpp/doc/markdown/references/msg_Base_ChangeTwist.md +++ b/api_cpp/doc/markdown/messages/Base/ChangeTwist.md @@ -1,26 +1,16 @@ -# Message ChangeTwist +# class ChangeTwist -This page describes the C++ Kinova::Api::Base::ChangeTwist message. - -## Overview / Purpose - -Defines an action to increase \(or reduce\) the maximum Cartesian velocity by a specific increment - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |linear|float32|Linear Cartesian velocity increment \(in meters per second\)| |angular|float32|Angular Cartesian velocity increment \(in degrees per second\)| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |linear\(\)|float32|void|Returns the current value of linear. If the linear is not set, returns 0.| |set\_linear\(\)|void|float32|Sets the value of linear. After calling this, linear\(\) will return value.| |clear\_linear\(\)|void|void|Clears the value of linear. After calling this, linear\(\) will return 0.| @@ -28,5 +18,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_angular\(\)|void|float32|Sets the value of angular. After calling this, angular\(\) will return value.| |clear\_angular\(\)|void|void|Clears the value of angular. After calling this, angular\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/ChangeWrench.md b/api_cpp/doc/markdown/messages/Base/ChangeWrench.md new file mode 100644 index 00000000..d64cbc00 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ChangeWrench.md @@ -0,0 +1,22 @@ +# class ChangeWrench + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|force|float32|Linear force increment \(in Newton\)| +|torque|float32|Angular torque increment \(in Newton\*meters\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|force\(\)|float32|void|Returns the current value of force. If the force is not set, returns 0.| +|set\_force\(\)|void|float32|Sets the value of force. After calling this, force\(\) will return value.| +|clear\_force\(\)|void|void|Clears the value of force. After calling this, force\(\) will return 0.| +|torque\(\)|float32|void|Returns the current value of torque. If the torque is not set, returns 0.| +|set\_torque\(\)|void|float32|Sets the value of torque. After calling this, torque\(\) will return value.| +|clear\_torque\(\)|void|void|Clears the value of torque. After calling this, torque\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/CommunicationInterfaceConfiguration.md b/api_cpp/doc/markdown/messages/Base/CommunicationInterfaceConfiguration.md new file mode 100644 index 00000000..01e430b9 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/CommunicationInterfaceConfiguration.md @@ -0,0 +1,22 @@ +# class CommunicationInterfaceConfiguration + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|type|uint32|Network type \(e.g. Wi-Fi, Wired Ethernet\)| +|enable|bool|Enable configuration. Set to true to enable network, false otherwise| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|type\(\) const|uint32|void|Returns the current value of type. If the type is not set, returns 0.| +|set\_type\(\)|void|uint32|Sets the value of type. After calling this, type\(\) will return value.| +|clear\_type\(\)|void|void|Clears the value of type. After calling this, type\(\) will return the empty string/empty bytes.| +|enable\(\)|bool|void|Returns the current value of enable. If the enable is not set, returns 0.| +|set\_enable\(\)|void|bool|Sets the value of enable. After calling this, enable\(\) will return value.| +|clear\_enable\(\)|void|void|Clears the value of enable. After calling this, enable\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ConfigurationChangeNotification.md b/api_cpp/doc/markdown/messages/Base/ConfigurationChangeNotification.md new file mode 100644 index 00000000..f50bb07d --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ConfigurationChangeNotification.md @@ -0,0 +1,109 @@ +# class ConfigurationChangeNotification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|event|uint32|Configuration event| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the configuration event| +|sequence\_handle|oneof:configuration\_change [SequenceHandle](SequenceHandle.md#)|Sequence for which the configuration changed| +|action\_handle|oneof:configuration\_change [ActionHandle](ActionHandle.md#)|Action for which the configuration changed| +|mapping\_handle|oneof:configuration\_change [MappingHandle](MappingHandle.md#)|Mapping for which the configuration changed| +|map\_group\_handle|oneof:configuration\_change [MapGroupHandle](MapGroupHandle.md#)|Map group for which the configuration changed| +|map\_handle|oneof:configuration\_change [MapHandle](MapHandle.md#)|Map for which the configuration changed| +|user\_profile\_handle|oneof:configuration\_change [UserProfileHandle](../Common/UserProfileHandle.md#)|User Profile for which the configuration changed| +|protection\_zone\_handle|oneof:configuration\_change [ProtectionZoneHandle](ProtectionZoneHandle.md#)|Protection zone for which the configuration changed| +|safety\_handle|oneof:configuration\_change [SafetyHandle](../Common/SafetyHandle.md#)|Safety for which the configuration changed| +|network\_handle|oneof:configuration\_change [NetworkHandle](NetworkHandle.md#)|Network element for which the configuration changed| +|ssid|oneof:configuration\_change [Ssid](Ssid.md#)|Wi-Fi instance for which the configuration changed| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the configuration event| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|event\(\) const|uint32|void|Returns the current value of event. If the event is not set, returns 0.| +|set\_event\(\)|void|uint32|Sets the value of event. After calling this, event\(\) will return value.| +|clear\_event\(\)|void|void|Clears the value of event. After calling this, event\(\) will return the empty string/empty bytes.| +|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| +|timestamp\(\)|const [Timestamp](../Common/Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](../Common/Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| +|mutable\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](../Common/Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](../Common/Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](../Common/Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](../Common/Timestamp.md#).| +|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| +|set\_allocated\_timestamp\(\)|void| [Timestamp](../Common/Timestamp.md#) \*|Sets the [Timestamp](../Common/Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](../Common/Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](../Common/Timestamp.md#) object and has\_ [Timestamp](../Common/Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| +|release\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](../Common/Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](../Common/Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| +|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| +|user\_handle\(\)|const [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](../Common/UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| +|mutable\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](../Common/UserProfileHandle.md#).| +|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| +|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|Sets the [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object and has\_ [UserProfileHandle](../Common/UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| +|release\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](../Common/UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| +|has\_sequence\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kSequence\_handle. Otherwise, returns oneof:configuration\_change [SequenceHandle](SequenceHandle.md#)::default\_instance\(\)| +|sequence\_handle\(\) const|const oneof:configuration\_change [SequenceHandle](SequenceHandle.md#)&|void|Returns the current value of the field if oneof case is kSequence\_handle| +|mutable\_sequence\_handle\(\)|oneof:configuration\_change [SequenceHandle](SequenceHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kSequence\_handle and returns a pointer to the mutable oneof:configuration\_change [SequenceHandle](SequenceHandle.md#) object that stores the field's value. If the oneof case was not kSequence\_handle prior to the call, then the returned oneof:configuration\_change [SequenceHandle](SequenceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:configuration\_change [SequenceHandle](SequenceHandle.md#)\). After calling this, has\_sequence\_handle\(\) will return true, sequence\_handle\(\) will return a reference to the same instance of oneof:configuration\_change [SequenceHandle](SequenceHandle.md#) and configuration\_change\_case\(\) will return kSequence\_handle| +|clear\_sequence\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kSequence\_handle. If the oneof case equals kSequence\_handle, frees the field and clears the oneof case. has\_sequence\_handle\(\) will return false, sequence\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|set\_allocated\_sequence\_handle\(\)|void|oneof:configuration\_change [SequenceHandle](SequenceHandle.md#)\*|Calls clear\_configuration\_change\(\). If the oneof:configuration\_change [SequenceHandle](SequenceHandle.md#) pointer is not NULL: Sets the oneof:configuration\_change [SequenceHandle](SequenceHandle.md#) object to the field and sets the oneof case to kSequence\_handle. The message takes ownership of the allocated oneof:configuration\_change [SequenceHandle](SequenceHandle.md#) object, has\_sequence\_handle\(\) will return true and configuration\_change\_case\(\) will return kSequence\_handle. If the pointer is NULL, has\_sequence\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| +|release\_sequence\_handle\(\)|oneof:configuration\_change [SequenceHandle](SequenceHandle.md#)\*|void|Returns NULL if oneof case is not kSequence\_handle. If the oneof case is kSequence\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_sequence\_handle\(\) will return false, sequence\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|has\_action\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kAction\_handle. Otherwise, returns oneof:configuration\_change [ActionHandle](ActionHandle.md#)::default\_instance\(\)| +|action\_handle\(\) const|const oneof:configuration\_change [ActionHandle](ActionHandle.md#)&|void|Returns the current value of the field if oneof case is kAction\_handle| +|mutable\_action\_handle\(\)|oneof:configuration\_change [ActionHandle](ActionHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kAction\_handle and returns a pointer to the mutable oneof:configuration\_change [ActionHandle](ActionHandle.md#) object that stores the field's value. If the oneof case was not kAction\_handle prior to the call, then the returned oneof:configuration\_change [ActionHandle](ActionHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:configuration\_change [ActionHandle](ActionHandle.md#)\). After calling this, has\_action\_handle\(\) will return true, action\_handle\(\) will return a reference to the same instance of oneof:configuration\_change [ActionHandle](ActionHandle.md#) and configuration\_change\_case\(\) will return kAction\_handle| +|clear\_action\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kAction\_handle. If the oneof case equals kAction\_handle, frees the field and clears the oneof case. has\_action\_handle\(\) will return false, action\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|set\_allocated\_action\_handle\(\)|void|oneof:configuration\_change [ActionHandle](ActionHandle.md#)\*|Calls clear\_configuration\_change\(\). If the oneof:configuration\_change [ActionHandle](ActionHandle.md#) pointer is not NULL: Sets the oneof:configuration\_change [ActionHandle](ActionHandle.md#) object to the field and sets the oneof case to kAction\_handle. The message takes ownership of the allocated oneof:configuration\_change [ActionHandle](ActionHandle.md#) object, has\_action\_handle\(\) will return true and configuration\_change\_case\(\) will return kAction\_handle. If the pointer is NULL, has\_action\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| +|release\_action\_handle\(\)|oneof:configuration\_change [ActionHandle](ActionHandle.md#)\*|void|Returns NULL if oneof case is not kAction\_handle. If the oneof case is kAction\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_action\_handle\(\) will return false, action\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|has\_mapping\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kMapping\_handle. Otherwise, returns oneof:configuration\_change [MappingHandle](MappingHandle.md#)::default\_instance\(\)| +|mapping\_handle\(\) const|const oneof:configuration\_change [MappingHandle](MappingHandle.md#)&|void|Returns the current value of the field if oneof case is kMapping\_handle| +|mutable\_mapping\_handle\(\)|oneof:configuration\_change [MappingHandle](MappingHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kMapping\_handle and returns a pointer to the mutable oneof:configuration\_change [MappingHandle](MappingHandle.md#) object that stores the field's value. If the oneof case was not kMapping\_handle prior to the call, then the returned oneof:configuration\_change [MappingHandle](MappingHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:configuration\_change [MappingHandle](MappingHandle.md#)\). After calling this, has\_mapping\_handle\(\) will return true, mapping\_handle\(\) will return a reference to the same instance of oneof:configuration\_change [MappingHandle](MappingHandle.md#) and configuration\_change\_case\(\) will return kMapping\_handle| +|clear\_mapping\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kMapping\_handle. If the oneof case equals kMapping\_handle, frees the field and clears the oneof case. has\_mapping\_handle\(\) will return false, mapping\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|set\_allocated\_mapping\_handle\(\)|void|oneof:configuration\_change [MappingHandle](MappingHandle.md#)\*|Calls clear\_configuration\_change\(\). If the oneof:configuration\_change [MappingHandle](MappingHandle.md#) pointer is not NULL: Sets the oneof:configuration\_change [MappingHandle](MappingHandle.md#) object to the field and sets the oneof case to kMapping\_handle. The message takes ownership of the allocated oneof:configuration\_change [MappingHandle](MappingHandle.md#) object, has\_mapping\_handle\(\) will return true and configuration\_change\_case\(\) will return kMapping\_handle. If the pointer is NULL, has\_mapping\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| +|release\_mapping\_handle\(\)|oneof:configuration\_change [MappingHandle](MappingHandle.md#)\*|void|Returns NULL if oneof case is not kMapping\_handle. If the oneof case is kMapping\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_mapping\_handle\(\) will return false, mapping\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|has\_map\_group\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kMap\_group\_handle. Otherwise, returns oneof:configuration\_change [MapGroupHandle](MapGroupHandle.md#)::default\_instance\(\)| +|map\_group\_handle\(\) const|const oneof:configuration\_change [MapGroupHandle](MapGroupHandle.md#)&|void|Returns the current value of the field if oneof case is kMap\_group\_handle| +|mutable\_map\_group\_handle\(\)|oneof:configuration\_change [MapGroupHandle](MapGroupHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kMap\_group\_handle and returns a pointer to the mutable oneof:configuration\_change [MapGroupHandle](MapGroupHandle.md#) object that stores the field's value. If the oneof case was not kMap\_group\_handle prior to the call, then the returned oneof:configuration\_change [MapGroupHandle](MapGroupHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:configuration\_change [MapGroupHandle](MapGroupHandle.md#)\). After calling this, has\_map\_group\_handle\(\) will return true, map\_group\_handle\(\) will return a reference to the same instance of oneof:configuration\_change [MapGroupHandle](MapGroupHandle.md#) and configuration\_change\_case\(\) will return kMap\_group\_handle| +|clear\_map\_group\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kMap\_group\_handle. If the oneof case equals kMap\_group\_handle, frees the field and clears the oneof case. has\_map\_group\_handle\(\) will return false, map\_group\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|set\_allocated\_map\_group\_handle\(\)|void|oneof:configuration\_change [MapGroupHandle](MapGroupHandle.md#)\*|Calls clear\_configuration\_change\(\). If the oneof:configuration\_change [MapGroupHandle](MapGroupHandle.md#) pointer is not NULL: Sets the oneof:configuration\_change [MapGroupHandle](MapGroupHandle.md#) object to the field and sets the oneof case to kMap\_group\_handle. The message takes ownership of the allocated oneof:configuration\_change [MapGroupHandle](MapGroupHandle.md#) object, has\_map\_group\_handle\(\) will return true and configuration\_change\_case\(\) will return kMap\_group\_handle. If the pointer is NULL, has\_map\_group\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| +|release\_map\_group\_handle\(\)|oneof:configuration\_change [MapGroupHandle](MapGroupHandle.md#)\*|void|Returns NULL if oneof case is not kMap\_group\_handle. If the oneof case is kMap\_group\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_map\_group\_handle\(\) will return false, map\_group\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|has\_map\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kMap\_handle. Otherwise, returns oneof:configuration\_change [MapHandle](MapHandle.md#)::default\_instance\(\)| +|map\_handle\(\) const|const oneof:configuration\_change [MapHandle](MapHandle.md#)&|void|Returns the current value of the field if oneof case is kMap\_handle| +|mutable\_map\_handle\(\)|oneof:configuration\_change [MapHandle](MapHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kMap\_handle and returns a pointer to the mutable oneof:configuration\_change [MapHandle](MapHandle.md#) object that stores the field's value. If the oneof case was not kMap\_handle prior to the call, then the returned oneof:configuration\_change [MapHandle](MapHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:configuration\_change [MapHandle](MapHandle.md#)\). After calling this, has\_map\_handle\(\) will return true, map\_handle\(\) will return a reference to the same instance of oneof:configuration\_change [MapHandle](MapHandle.md#) and configuration\_change\_case\(\) will return kMap\_handle| +|clear\_map\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kMap\_handle. If the oneof case equals kMap\_handle, frees the field and clears the oneof case. has\_map\_handle\(\) will return false, map\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|set\_allocated\_map\_handle\(\)|void|oneof:configuration\_change [MapHandle](MapHandle.md#)\*|Calls clear\_configuration\_change\(\). If the oneof:configuration\_change [MapHandle](MapHandle.md#) pointer is not NULL: Sets the oneof:configuration\_change [MapHandle](MapHandle.md#) object to the field and sets the oneof case to kMap\_handle. The message takes ownership of the allocated oneof:configuration\_change [MapHandle](MapHandle.md#) object, has\_map\_handle\(\) will return true and configuration\_change\_case\(\) will return kMap\_handle. If the pointer is NULL, has\_map\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| +|release\_map\_handle\(\)|oneof:configuration\_change [MapHandle](MapHandle.md#)\*|void|Returns NULL if oneof case is not kMap\_handle. If the oneof case is kMap\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_map\_handle\(\) will return false, map\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|has\_user\_profile\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kUser\_profile\_handle. Otherwise, returns oneof:configuration\_change [UserProfileHandle](../Common/UserProfileHandle.md#)::default\_instance\(\)| +|user\_profile\_handle\(\) const|const oneof:configuration\_change [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of the field if oneof case is kUser\_profile\_handle| +|mutable\_user\_profile\_handle\(\)|oneof:configuration\_change [UserProfileHandle](../Common/UserProfileHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kUser\_profile\_handle and returns a pointer to the mutable oneof:configuration\_change [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the oneof case was not kUser\_profile\_handle prior to the call, then the returned oneof:configuration\_change [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:configuration\_change [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_user\_profile\_handle\(\) will return true, user\_profile\_handle\(\) will return a reference to the same instance of oneof:configuration\_change [UserProfileHandle](../Common/UserProfileHandle.md#) and configuration\_change\_case\(\) will return kUser\_profile\_handle| +|clear\_user\_profile\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kUser\_profile\_handle. If the oneof case equals kUser\_profile\_handle, frees the field and clears the oneof case. has\_user\_profile\_handle\(\) will return false, user\_profile\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|set\_allocated\_user\_profile\_handle\(\)|void|oneof:configuration\_change [UserProfileHandle](../Common/UserProfileHandle.md#)\*|Calls clear\_configuration\_change\(\). If the oneof:configuration\_change [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL: Sets the oneof:configuration\_change [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and sets the oneof case to kUser\_profile\_handle. The message takes ownership of the allocated oneof:configuration\_change [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_user\_profile\_handle\(\) will return true and configuration\_change\_case\(\) will return kUser\_profile\_handle. If the pointer is NULL, has\_user\_profile\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| +|release\_user\_profile\_handle\(\)|oneof:configuration\_change [UserProfileHandle](../Common/UserProfileHandle.md#)\*|void|Returns NULL if oneof case is not kUser\_profile\_handle. If the oneof case is kUser\_profile\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_user\_profile\_handle\(\) will return false, user\_profile\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|has\_protection\_zone\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kProtection\_zone\_handle. Otherwise, returns oneof:configuration\_change [ProtectionZoneHandle](ProtectionZoneHandle.md#)::default\_instance\(\)| +|protection\_zone\_handle\(\) const|const oneof:configuration\_change [ProtectionZoneHandle](ProtectionZoneHandle.md#)&|void|Returns the current value of the field if oneof case is kProtection\_zone\_handle| +|mutable\_protection\_zone\_handle\(\)|oneof:configuration\_change [ProtectionZoneHandle](ProtectionZoneHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kProtection\_zone\_handle and returns a pointer to the mutable oneof:configuration\_change [ProtectionZoneHandle](ProtectionZoneHandle.md#) object that stores the field's value. If the oneof case was not kProtection\_zone\_handle prior to the call, then the returned oneof:configuration\_change [ProtectionZoneHandle](ProtectionZoneHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:configuration\_change [ProtectionZoneHandle](ProtectionZoneHandle.md#)\). After calling this, has\_protection\_zone\_handle\(\) will return true, protection\_zone\_handle\(\) will return a reference to the same instance of oneof:configuration\_change [ProtectionZoneHandle](ProtectionZoneHandle.md#) and configuration\_change\_case\(\) will return kProtection\_zone\_handle| +|clear\_protection\_zone\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kProtection\_zone\_handle. If the oneof case equals kProtection\_zone\_handle, frees the field and clears the oneof case. has\_protection\_zone\_handle\(\) will return false, protection\_zone\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|set\_allocated\_protection\_zone\_handle\(\)|void|oneof:configuration\_change [ProtectionZoneHandle](ProtectionZoneHandle.md#)\*|Calls clear\_configuration\_change\(\). If the oneof:configuration\_change [ProtectionZoneHandle](ProtectionZoneHandle.md#) pointer is not NULL: Sets the oneof:configuration\_change [ProtectionZoneHandle](ProtectionZoneHandle.md#) object to the field and sets the oneof case to kProtection\_zone\_handle. The message takes ownership of the allocated oneof:configuration\_change [ProtectionZoneHandle](ProtectionZoneHandle.md#) object, has\_protection\_zone\_handle\(\) will return true and configuration\_change\_case\(\) will return kProtection\_zone\_handle. If the pointer is NULL, has\_protection\_zone\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| +|release\_protection\_zone\_handle\(\)|oneof:configuration\_change [ProtectionZoneHandle](ProtectionZoneHandle.md#)\*|void|Returns NULL if oneof case is not kProtection\_zone\_handle. If the oneof case is kProtection\_zone\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_protection\_zone\_handle\(\) will return false, protection\_zone\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|has\_safety\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kSafety\_handle. Otherwise, returns oneof:configuration\_change [SafetyHandle](../Common/SafetyHandle.md#)::default\_instance\(\)| +|safety\_handle\(\) const|const oneof:configuration\_change [SafetyHandle](../Common/SafetyHandle.md#)&|void|Returns the current value of the field if oneof case is kSafety\_handle| +|mutable\_safety\_handle\(\)|oneof:configuration\_change [SafetyHandle](../Common/SafetyHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kSafety\_handle and returns a pointer to the mutable oneof:configuration\_change [SafetyHandle](../Common/SafetyHandle.md#) object that stores the field's value. If the oneof case was not kSafety\_handle prior to the call, then the returned oneof:configuration\_change [SafetyHandle](../Common/SafetyHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:configuration\_change [SafetyHandle](../Common/SafetyHandle.md#)\). After calling this, has\_safety\_handle\(\) will return true, safety\_handle\(\) will return a reference to the same instance of oneof:configuration\_change [SafetyHandle](../Common/SafetyHandle.md#) and configuration\_change\_case\(\) will return kSafety\_handle| +|clear\_safety\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kSafety\_handle. If the oneof case equals kSafety\_handle, frees the field and clears the oneof case. has\_safety\_handle\(\) will return false, safety\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|set\_allocated\_safety\_handle\(\)|void|oneof:configuration\_change [SafetyHandle](../Common/SafetyHandle.md#)\*|Calls clear\_configuration\_change\(\). If the oneof:configuration\_change [SafetyHandle](../Common/SafetyHandle.md#) pointer is not NULL: Sets the oneof:configuration\_change [SafetyHandle](../Common/SafetyHandle.md#) object to the field and sets the oneof case to kSafety\_handle. The message takes ownership of the allocated oneof:configuration\_change [SafetyHandle](../Common/SafetyHandle.md#) object, has\_safety\_handle\(\) will return true and configuration\_change\_case\(\) will return kSafety\_handle. If the pointer is NULL, has\_safety\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| +|release\_safety\_handle\(\)|oneof:configuration\_change [SafetyHandle](../Common/SafetyHandle.md#)\*|void|Returns NULL if oneof case is not kSafety\_handle. If the oneof case is kSafety\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_safety\_handle\(\) will return false, safety\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|has\_network\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kNetwork\_handle. Otherwise, returns oneof:configuration\_change [NetworkHandle](NetworkHandle.md#)::default\_instance\(\)| +|network\_handle\(\) const|const oneof:configuration\_change [NetworkHandle](NetworkHandle.md#)&|void|Returns the current value of the field if oneof case is kNetwork\_handle| +|mutable\_network\_handle\(\)|oneof:configuration\_change [NetworkHandle](NetworkHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kNetwork\_handle and returns a pointer to the mutable oneof:configuration\_change [NetworkHandle](NetworkHandle.md#) object that stores the field's value. If the oneof case was not kNetwork\_handle prior to the call, then the returned oneof:configuration\_change [NetworkHandle](NetworkHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:configuration\_change [NetworkHandle](NetworkHandle.md#)\). After calling this, has\_network\_handle\(\) will return true, network\_handle\(\) will return a reference to the same instance of oneof:configuration\_change [NetworkHandle](NetworkHandle.md#) and configuration\_change\_case\(\) will return kNetwork\_handle| +|clear\_network\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kNetwork\_handle. If the oneof case equals kNetwork\_handle, frees the field and clears the oneof case. has\_network\_handle\(\) will return false, network\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|set\_allocated\_network\_handle\(\)|void|oneof:configuration\_change [NetworkHandle](NetworkHandle.md#)\*|Calls clear\_configuration\_change\(\). If the oneof:configuration\_change [NetworkHandle](NetworkHandle.md#) pointer is not NULL: Sets the oneof:configuration\_change [NetworkHandle](NetworkHandle.md#) object to the field and sets the oneof case to kNetwork\_handle. The message takes ownership of the allocated oneof:configuration\_change [NetworkHandle](NetworkHandle.md#) object, has\_network\_handle\(\) will return true and configuration\_change\_case\(\) will return kNetwork\_handle. If the pointer is NULL, has\_network\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| +|release\_network\_handle\(\)|oneof:configuration\_change [NetworkHandle](NetworkHandle.md#)\*|void|Returns NULL if oneof case is not kNetwork\_handle. If the oneof case is kNetwork\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_network\_handle\(\) will return false, network\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|has\_ssid\(\) const|void|void|Returns the current value of the field if oneof case is kSsid. Otherwise, returns oneof:configuration\_change [Ssid](Ssid.md#)::default\_instance\(\)| +|ssid\(\) const|const oneof:configuration\_change [Ssid](Ssid.md#)&|void|Returns the current value of the field if oneof case is kSsid| +|mutable\_ssid\(\)|oneof:configuration\_change [Ssid](Ssid.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kSsid and returns a pointer to the mutable oneof:configuration\_change [Ssid](Ssid.md#) object that stores the field's value. If the oneof case was not kSsid prior to the call, then the returned oneof:configuration\_change [Ssid](Ssid.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:configuration\_change [Ssid](Ssid.md#)\). After calling this, has\_ssid\(\) will return true, ssid\(\) will return a reference to the same instance of oneof:configuration\_change [Ssid](Ssid.md#) and configuration\_change\_case\(\) will return kSsid| +|clear\_ssid\(\)|void|void|Nothing will be changed if the oneof case is not kSsid. If the oneof case equals kSsid, frees the field and clears the oneof case. has\_ssid\(\) will return false, ssid\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|set\_allocated\_ssid\(\)|void|oneof:configuration\_change [Ssid](Ssid.md#)\*|Calls clear\_configuration\_change\(\). If the oneof:configuration\_change [Ssid](Ssid.md#) pointer is not NULL: Sets the oneof:configuration\_change [Ssid](Ssid.md#) object to the field and sets the oneof case to kSsid. The message takes ownership of the allocated oneof:configuration\_change [Ssid](Ssid.md#) object, has\_ssid\(\) will return true and configuration\_change\_case\(\) will return kSsid. If the pointer is NULL, has\_ssid\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| +|release\_ssid\(\)|oneof:configuration\_change [Ssid](Ssid.md#)\*|void|Returns NULL if oneof case is not kSsid. If the oneof case is kSsid, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_ssid\(\) will return false, ssid\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| +|has\_connection\(\) const|bool|void|Returns true if connection is set.| +|connection\(\)|const [Connection](../Common/Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](../Common/Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| +|mutable\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Returns a pointer to the mutable [Connection](../Common/Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](../Common/Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](../Common/Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](../Common/Connection.md#).| +|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| +|set\_allocated\_connection\(\)|void| [Connection](../Common/Connection.md#) \*|Sets the [Connection](../Common/Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](../Common/Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](../Common/Connection.md#) object and has\_ [Connection](../Common/Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| +|release\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](../Common/Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](../Common/Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ConfigurationChangeNotificationList.md b/api_cpp/doc/markdown/messages/Base/ConfigurationChangeNotificationList.md new file mode 100644 index 00000000..5c28ffed --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ConfigurationChangeNotificationList.md @@ -0,0 +1,22 @@ +# class ConfigurationChangeNotificationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|notifications| [ConfigurationChangeNotification](ConfigurationChangeNotification.md#)|Notification| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|notifications\(\) const|const [ConfigurationChangeNotification](ConfigurationChangeNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|mutable\_notifications\(\)| [ConfigurationChangeNotification](ConfigurationChangeNotification.md#)\*|int index|Returns a pointer to the mutable [ConfigurationChangeNotification](ConfigurationChangeNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|add\_notifications\(\)| [ConfigurationChangeNotification](ConfigurationChangeNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ConfigurationChangeNotification](ConfigurationChangeNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ConfigurationChangeNotification](ConfigurationChangeNotification.md#)\).| +|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| +|notifications\(\) const|const RepeatedPtrField< [ConfigurationChangeNotification](ConfigurationChangeNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_notifications\(\)|RepeatedPtrField< [ConfigurationChangeNotification](ConfigurationChangeNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ConstrainedJointAngle.md b/api_cpp/doc/markdown/messages/Base/ConstrainedJointAngle.md new file mode 100644 index 00000000..6bdd7e75 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ConstrainedJointAngle.md @@ -0,0 +1,29 @@ +# class ConstrainedJointAngle + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|joint\_identifier|uint32|Joint identifier \(use device\_identifier\)| +|value|float32|Joint value \(in degrees\)| +|constraint| [JointTrajectoryConstraint](JointTrajectoryConstraint.md#)|Constraint to apply to the joint angle \(optional\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|joint\_identifier\(\)|uint32|void|Returns the current value of joint\_identifier. If the joint\_identifier is not set, returns 0.| +|set\_joint\_identifier\(\)|void|uint32|Sets the value of joint\_identifier. After calling this, joint\_identifier\(\) will return value.| +|clear\_joint\_identifier\(\)|void|void|Clears the value of joint\_identifier. After calling this, joint\_identifier\(\) will return 0.| +|value\(\)|float32|void|Returns the current value of value. If the value is not set, returns 0.| +|set\_value\(\)|void|float32|Sets the value of value. After calling this, value\(\) will return value.| +|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return 0.| +|has\_constraint\(\) const|bool|void|Returns true if constraint is set.| +|constraint\(\)|const [JointTrajectoryConstraint](JointTrajectoryConstraint.md#)&|void|Returns the current value of constraint. If constraint is not set, returns a [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) with none of its fields set \(possibly constraint::default\_instance\(\)\).| +|mutable\_constraint\(\)| [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) \*|void|Returns a pointer to the mutable [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [JointTrajectoryConstraint](JointTrajectoryConstraint.md#)\). After calling this, has\_constraint\(\) will return true and constraint\(\) will return a reference to the same instance of [JointTrajectoryConstraint](JointTrajectoryConstraint.md#).| +|clear\_constraint\(\)|void|void|Clears the value of the field. After calling this, has\_constraint\(\) will return false and constraint\(\) will return the default value.| +|set\_allocated\_constraint\(\)|void| [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) \*|Sets the [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) object to the field and frees the previous field value if it exists. If the [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) pointer is not NULL, the message takes ownership of the allocated [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) object and has\_ [JointTrajectoryConstraint](JointTrajectoryConstraint.md#)\(\) will return true. Otherwise, if the constraint is NULL, the behavior is the same as calling clear\_constraint\(\).| +|release\_constraint\(\)| [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) \*|void|Releases the ownership of the field and returns the pointer of the [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) object. After calling this, caller takes the ownership of the allocated [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) object, has\_constraint\(\) will return false, and constraint\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ConstrainedJointAngles.md b/api_cpp/doc/markdown/messages/Base/ConstrainedJointAngles.md new file mode 100644 index 00000000..ee28ee27 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ConstrainedJointAngles.md @@ -0,0 +1,28 @@ +# class ConstrainedJointAngles + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|joint\_angles| [JointAngles](JointAngles.md#)|Joint angles values| +|constraint| [JointTrajectoryConstraint](JointTrajectoryConstraint.md#)|Constraint to apply to all the joint angles \(optional\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_joint\_angles\(\) const|bool|void|Returns true if joint\_angles is set.| +|joint\_angles\(\)|const [JointAngles](JointAngles.md#)&|void|Returns the current value of joint\_angles. If joint\_angles is not set, returns a [JointAngles](JointAngles.md#) with none of its fields set \(possibly joint\_angles::default\_instance\(\)\).| +|mutable\_joint\_angles\(\)| [JointAngles](JointAngles.md#) \*|void|Returns a pointer to the mutable [JointAngles](JointAngles.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [JointAngles](JointAngles.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [JointAngles](JointAngles.md#)\). After calling this, has\_joint\_angles\(\) will return true and joint\_angles\(\) will return a reference to the same instance of [JointAngles](JointAngles.md#).| +|clear\_joint\_angles\(\)|void|void|Clears the value of the field. After calling this, has\_joint\_angles\(\) will return false and joint\_angles\(\) will return the default value.| +|set\_allocated\_joint\_angles\(\)|void| [JointAngles](JointAngles.md#) \*|Sets the [JointAngles](JointAngles.md#) object to the field and frees the previous field value if it exists. If the [JointAngles](JointAngles.md#) pointer is not NULL, the message takes ownership of the allocated [JointAngles](JointAngles.md#) object and has\_ [JointAngles](JointAngles.md#)\(\) will return true. Otherwise, if the joint\_angles is NULL, the behavior is the same as calling clear\_joint\_angles\(\).| +|release\_joint\_angles\(\)| [JointAngles](JointAngles.md#) \*|void|Releases the ownership of the field and returns the pointer of the [JointAngles](JointAngles.md#) object. After calling this, caller takes the ownership of the allocated [JointAngles](JointAngles.md#) object, has\_joint\_angles\(\) will return false, and joint\_angles\(\) will return the default value.| +|has\_constraint\(\) const|bool|void|Returns true if constraint is set.| +|constraint\(\)|const [JointTrajectoryConstraint](JointTrajectoryConstraint.md#)&|void|Returns the current value of constraint. If constraint is not set, returns a [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) with none of its fields set \(possibly constraint::default\_instance\(\)\).| +|mutable\_constraint\(\)| [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) \*|void|Returns a pointer to the mutable [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [JointTrajectoryConstraint](JointTrajectoryConstraint.md#)\). After calling this, has\_constraint\(\) will return true and constraint\(\) will return a reference to the same instance of [JointTrajectoryConstraint](JointTrajectoryConstraint.md#).| +|clear\_constraint\(\)|void|void|Clears the value of the field. After calling this, has\_constraint\(\) will return false and constraint\(\) will return the default value.| +|set\_allocated\_constraint\(\)|void| [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) \*|Sets the [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) object to the field and frees the previous field value if it exists. If the [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) pointer is not NULL, the message takes ownership of the allocated [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) object and has\_ [JointTrajectoryConstraint](JointTrajectoryConstraint.md#)\(\) will return true. Otherwise, if the constraint is NULL, the behavior is the same as calling clear\_constraint\(\).| +|release\_constraint\(\)| [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) \*|void|Releases the ownership of the field and returns the pointer of the [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) object. After calling this, caller takes the ownership of the allocated [JointTrajectoryConstraint](JointTrajectoryConstraint.md#) object, has\_constraint\(\) will return false, and constraint\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ConstrainedOrientation.md b/api_cpp/doc/markdown/messages/Base/ConstrainedOrientation.md new file mode 100644 index 00000000..82119443 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ConstrainedOrientation.md @@ -0,0 +1,28 @@ +# class ConstrainedOrientation + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|target\_orientation| [Orientation](Orientation.md#)|Cartesian orientation| +|constraint| [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#)|Constraint to apply to the target orientation| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_target\_orientation\(\) const|bool|void|Returns true if target\_orientation is set.| +|target\_orientation\(\)|const [Orientation](Orientation.md#)&|void|Returns the current value of target\_orientation. If target\_orientation is not set, returns a [Orientation](Orientation.md#) with none of its fields set \(possibly target\_orientation::default\_instance\(\)\).| +|mutable\_target\_orientation\(\)| [Orientation](Orientation.md#) \*|void|Returns a pointer to the mutable [Orientation](Orientation.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Orientation](Orientation.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Orientation](Orientation.md#)\). After calling this, has\_target\_orientation\(\) will return true and target\_orientation\(\) will return a reference to the same instance of [Orientation](Orientation.md#).| +|clear\_target\_orientation\(\)|void|void|Clears the value of the field. After calling this, has\_target\_orientation\(\) will return false and target\_orientation\(\) will return the default value.| +|set\_allocated\_target\_orientation\(\)|void| [Orientation](Orientation.md#) \*|Sets the [Orientation](Orientation.md#) object to the field and frees the previous field value if it exists. If the [Orientation](Orientation.md#) pointer is not NULL, the message takes ownership of the allocated [Orientation](Orientation.md#) object and has\_ [Orientation](Orientation.md#)\(\) will return true. Otherwise, if the target\_orientation is NULL, the behavior is the same as calling clear\_target\_orientation\(\).| +|release\_target\_orientation\(\)| [Orientation](Orientation.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Orientation](Orientation.md#) object. After calling this, caller takes the ownership of the allocated [Orientation](Orientation.md#) object, has\_target\_orientation\(\) will return false, and target\_orientation\(\) will return the default value.| +|has\_constraint\(\) const|bool|void|Returns true if constraint is set.| +|constraint\(\)|const [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#)&|void|Returns the current value of constraint. If constraint is not set, returns a [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) with none of its fields set \(possibly constraint::default\_instance\(\)\).| +|mutable\_constraint\(\)| [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) \*|void|Returns a pointer to the mutable [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#)\). After calling this, has\_constraint\(\) will return true and constraint\(\) will return a reference to the same instance of [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#).| +|clear\_constraint\(\)|void|void|Clears the value of the field. After calling this, has\_constraint\(\) will return false and constraint\(\) will return the default value.| +|set\_allocated\_constraint\(\)|void| [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) \*|Sets the [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) object to the field and frees the previous field value if it exists. If the [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) pointer is not NULL, the message takes ownership of the allocated [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) object and has\_ [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#)\(\) will return true. Otherwise, if the constraint is NULL, the behavior is the same as calling clear\_constraint\(\).| +|release\_constraint\(\)| [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) \*|void|Releases the ownership of the field and returns the pointer of the [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) object. After calling this, caller takes the ownership of the allocated [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) object, has\_constraint\(\) will return false, and constraint\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ConstrainedPose.md b/api_cpp/doc/markdown/messages/Base/ConstrainedPose.md new file mode 100644 index 00000000..94f9b9c1 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ConstrainedPose.md @@ -0,0 +1,28 @@ +# class ConstrainedPose + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|target\_pose| [Pose](Pose.md#)|Cartesian pose| +|constraint| [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#)|Constraint to apply to the target pose| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_target\_pose\(\) const|bool|void|Returns true if target\_pose is set.| +|target\_pose\(\)|const [Pose](Pose.md#)&|void|Returns the current value of target\_pose. If target\_pose is not set, returns a [Pose](Pose.md#) with none of its fields set \(possibly target\_pose::default\_instance\(\)\).| +|mutable\_target\_pose\(\)| [Pose](Pose.md#) \*|void|Returns a pointer to the mutable [Pose](Pose.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Pose](Pose.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Pose](Pose.md#)\). After calling this, has\_target\_pose\(\) will return true and target\_pose\(\) will return a reference to the same instance of [Pose](Pose.md#).| +|clear\_target\_pose\(\)|void|void|Clears the value of the field. After calling this, has\_target\_pose\(\) will return false and target\_pose\(\) will return the default value.| +|set\_allocated\_target\_pose\(\)|void| [Pose](Pose.md#) \*|Sets the [Pose](Pose.md#) object to the field and frees the previous field value if it exists. If the [Pose](Pose.md#) pointer is not NULL, the message takes ownership of the allocated [Pose](Pose.md#) object and has\_ [Pose](Pose.md#)\(\) will return true. Otherwise, if the target\_pose is NULL, the behavior is the same as calling clear\_target\_pose\(\).| +|release\_target\_pose\(\)| [Pose](Pose.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Pose](Pose.md#) object. After calling this, caller takes the ownership of the allocated [Pose](Pose.md#) object, has\_target\_pose\(\) will return false, and target\_pose\(\) will return the default value.| +|has\_constraint\(\) const|bool|void|Returns true if constraint is set.| +|constraint\(\)|const [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#)&|void|Returns the current value of constraint. If constraint is not set, returns a [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) with none of its fields set \(possibly constraint::default\_instance\(\)\).| +|mutable\_constraint\(\)| [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) \*|void|Returns a pointer to the mutable [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#)\). After calling this, has\_constraint\(\) will return true and constraint\(\) will return a reference to the same instance of [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#).| +|clear\_constraint\(\)|void|void|Clears the value of the field. After calling this, has\_constraint\(\) will return false and constraint\(\) will return the default value.| +|set\_allocated\_constraint\(\)|void| [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) \*|Sets the [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) object to the field and frees the previous field value if it exists. If the [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) pointer is not NULL, the message takes ownership of the allocated [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) object and has\_ [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#)\(\) will return true. Otherwise, if the constraint is NULL, the behavior is the same as calling clear\_constraint\(\).| +|release\_constraint\(\)| [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) \*|void|Releases the ownership of the field and returns the pointer of the [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) object. After calling this, caller takes the ownership of the allocated [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) object, has\_constraint\(\) will return false, and constraint\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ConstrainedPosition.md b/api_cpp/doc/markdown/messages/Base/ConstrainedPosition.md new file mode 100644 index 00000000..c637d522 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ConstrainedPosition.md @@ -0,0 +1,28 @@ +# class ConstrainedPosition + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|target\_position| [Position](Position.md#)|Cartesian position| +|constraint| [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#)|Constraint to apply to the target position| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_target\_position\(\) const|bool|void|Returns true if target\_position is set.| +|target\_position\(\)|const [Position](Position.md#)&|void|Returns the current value of target\_position. If target\_position is not set, returns a [Position](Position.md#) with none of its fields set \(possibly target\_position::default\_instance\(\)\).| +|mutable\_target\_position\(\)| [Position](Position.md#) \*|void|Returns a pointer to the mutable [Position](Position.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Position](Position.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Position](Position.md#)\). After calling this, has\_target\_position\(\) will return true and target\_position\(\) will return a reference to the same instance of [Position](Position.md#).| +|clear\_target\_position\(\)|void|void|Clears the value of the field. After calling this, has\_target\_position\(\) will return false and target\_position\(\) will return the default value.| +|set\_allocated\_target\_position\(\)|void| [Position](Position.md#) \*|Sets the [Position](Position.md#) object to the field and frees the previous field value if it exists. If the [Position](Position.md#) pointer is not NULL, the message takes ownership of the allocated [Position](Position.md#) object and has\_ [Position](Position.md#)\(\) will return true. Otherwise, if the target\_position is NULL, the behavior is the same as calling clear\_target\_position\(\).| +|release\_target\_position\(\)| [Position](Position.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Position](Position.md#) object. After calling this, caller takes the ownership of the allocated [Position](Position.md#) object, has\_target\_position\(\) will return false, and target\_position\(\) will return the default value.| +|has\_constraint\(\) const|bool|void|Returns true if constraint is set.| +|constraint\(\)|const [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#)&|void|Returns the current value of constraint. If constraint is not set, returns a [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) with none of its fields set \(possibly constraint::default\_instance\(\)\).| +|mutable\_constraint\(\)| [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) \*|void|Returns a pointer to the mutable [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#)\). After calling this, has\_constraint\(\) will return true and constraint\(\) will return a reference to the same instance of [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#).| +|clear\_constraint\(\)|void|void|Clears the value of the field. After calling this, has\_constraint\(\) will return false and constraint\(\) will return the default value.| +|set\_allocated\_constraint\(\)|void| [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) \*|Sets the [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) object to the field and frees the previous field value if it exists. If the [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) pointer is not NULL, the message takes ownership of the allocated [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) object and has\_ [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#)\(\) will return true. Otherwise, if the constraint is NULL, the behavior is the same as calling clear\_constraint\(\).| +|release\_constraint\(\)| [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) \*|void|Releases the ownership of the field and returns the pointer of the [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) object. After calling this, caller takes the ownership of the allocated [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#) object, has\_constraint\(\) will return false, and constraint\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ControlModeInformation.md b/api_cpp/doc/markdown/messages/Base/ControlModeInformation.md new file mode 100644 index 00000000..364d8c41 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ControlModeInformation.md @@ -0,0 +1,18 @@ +# class ControlModeInformation + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|mode|uint32|Control mode| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|mode\(\) const|uint32|void|Returns the current value of mode. If the mode is not set, returns 0.| +|set\_mode\(\)|void|uint32|Sets the value of mode. After calling this, mode\(\) will return value.| +|clear\_mode\(\)|void|void|Clears the value of mode. After calling this, mode\(\) will return the empty string/empty bytes.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ControlModeNotification.md b/api_cpp/doc/markdown/messages/Base/ControlModeNotification.md new file mode 100644 index 00000000..f8ca839a --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ControlModeNotification.md @@ -0,0 +1,39 @@ +# class ControlModeNotification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|control\_mode|uint32|New control mode| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the control mode event| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the control mode event| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|control\_mode\(\) const|uint32|void|Returns the current value of control\_mode. If the control\_mode is not set, returns 0.| +|set\_control\_mode\(\)|void|uint32|Sets the value of control\_mode. After calling this, control\_mode\(\) will return value.| +|clear\_control\_mode\(\)|void|void|Clears the value of control\_mode. After calling this, control\_mode\(\) will return the empty string/empty bytes.| +|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| +|timestamp\(\)|const [Timestamp](../Common/Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](../Common/Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| +|mutable\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](../Common/Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](../Common/Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](../Common/Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](../Common/Timestamp.md#).| +|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| +|set\_allocated\_timestamp\(\)|void| [Timestamp](../Common/Timestamp.md#) \*|Sets the [Timestamp](../Common/Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](../Common/Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](../Common/Timestamp.md#) object and has\_ [Timestamp](../Common/Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| +|release\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](../Common/Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](../Common/Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| +|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| +|user\_handle\(\)|const [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](../Common/UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| +|mutable\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](../Common/UserProfileHandle.md#).| +|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| +|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|Sets the [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object and has\_ [UserProfileHandle](../Common/UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| +|release\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](../Common/UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| +|has\_connection\(\) const|bool|void|Returns true if connection is set.| +|connection\(\)|const [Connection](../Common/Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](../Common/Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| +|mutable\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Returns a pointer to the mutable [Connection](../Common/Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](../Common/Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](../Common/Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](../Common/Connection.md#).| +|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| +|set\_allocated\_connection\(\)|void| [Connection](../Common/Connection.md#) \*|Sets the [Connection](../Common/Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](../Common/Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](../Common/Connection.md#) object and has\_ [Connection](../Common/Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| +|release\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](../Common/Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](../Common/Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ControlModeNotificationList.md b/api_cpp/doc/markdown/messages/Base/ControlModeNotificationList.md new file mode 100644 index 00000000..b3e3b396 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ControlModeNotificationList.md @@ -0,0 +1,22 @@ +# class ControlModeNotificationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|notifications| [ControlModeNotification](ControlModeNotification.md#)|Notification| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|notifications\(\) const|const [ControlModeNotification](ControlModeNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|mutable\_notifications\(\)| [ControlModeNotification](ControlModeNotification.md#)\*|int index|Returns a pointer to the mutable [ControlModeNotification](ControlModeNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|add\_notifications\(\)| [ControlModeNotification](ControlModeNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ControlModeNotification](ControlModeNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ControlModeNotification](ControlModeNotification.md#)\).| +|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| +|notifications\(\) const|const RepeatedPtrField< [ControlModeNotification](ControlModeNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_notifications\(\)|RepeatedPtrField< [ControlModeNotification](ControlModeNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ControllerElementHandle.md b/api_cpp/doc/markdown/messages/Base/ControllerElementHandle.md new file mode 100644 index 00000000..a2b91c84 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ControllerElementHandle.md @@ -0,0 +1,29 @@ +# class ControllerElementHandle + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|controller\_handle| [ControllerHandle](ControllerHandle.md#)|Controller handle| +|button|oneof:identifier uint32|Button identifier \(only set if 'button' controller event, otherwise zero\)| +|axis|oneof:identifier uint32|Axis identifier \(only set if 'axis' controller event, otherwise zero\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_controller\_handle\(\) const|bool|void|Returns true if controller\_handle is set.| +|controller\_handle\(\)|const [ControllerHandle](ControllerHandle.md#)&|void|Returns the current value of controller\_handle. If controller\_handle is not set, returns a [ControllerHandle](ControllerHandle.md#) with none of its fields set \(possibly controller\_handle::default\_instance\(\)\).| +|mutable\_controller\_handle\(\)| [ControllerHandle](ControllerHandle.md#) \*|void|Returns a pointer to the mutable [ControllerHandle](ControllerHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ControllerHandle](ControllerHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ControllerHandle](ControllerHandle.md#)\). After calling this, has\_controller\_handle\(\) will return true and controller\_handle\(\) will return a reference to the same instance of [ControllerHandle](ControllerHandle.md#).| +|clear\_controller\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_controller\_handle\(\) will return false and controller\_handle\(\) will return the default value.| +|set\_allocated\_controller\_handle\(\)|void| [ControllerHandle](ControllerHandle.md#) \*|Sets the [ControllerHandle](ControllerHandle.md#) object to the field and frees the previous field value if it exists. If the [ControllerHandle](ControllerHandle.md#) pointer is not NULL, the message takes ownership of the allocated [ControllerHandle](ControllerHandle.md#) object and has\_ [ControllerHandle](ControllerHandle.md#)\(\) will return true. Otherwise, if the controller\_handle is NULL, the behavior is the same as calling clear\_controller\_handle\(\).| +|release\_controller\_handle\(\)| [ControllerHandle](ControllerHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ControllerHandle](ControllerHandle.md#) object. After calling this, caller takes the ownership of the allocated [ControllerHandle](ControllerHandle.md#) object, has\_controller\_handle\(\) will return false, and controller\_handle\(\) will return the default value.| +|set\_button\(\)|void|oneof:identifier uint32|If any other oneof field in the same oneof is set, calls clear\_identifier\(\). Sets the value of this field and sets the oneof case to kButton.| +|button\(\) const|oneof:identifier uint32|void|Returns the current value of the field if oneof case is kButton. Otherwise, returns the default value.| +|clear\_button\(\)|void|void|Nothing will be changed if the oneof case is not kButton. If the oneof case is kButton, clears the value of the field and the oneof case| +|set\_axis\(\)|void|oneof:identifier uint32|If any other oneof field in the same oneof is set, calls clear\_identifier\(\). Sets the value of this field and sets the oneof case to kAxis.| +|axis\(\) const|oneof:identifier uint32|void|Returns the current value of the field if oneof case is kAxis. Otherwise, returns the default value.| +|clear\_axis\(\)|void|void|Nothing will be changed if the oneof case is not kAxis. If the oneof case is kAxis, clears the value of the field and the oneof case| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ControllerElementState.md b/api_cpp/doc/markdown/messages/Base/ControllerElementState.md new file mode 100644 index 00000000..e1bfd5d1 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ControllerElementState.md @@ -0,0 +1,29 @@ +# class ControllerElementState + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|handle| [ControllerElementHandle](ControllerElementHandle.md#)|Controller element handle| +|event\_type|uint32|Type of controller element event that occured| +|axis\_value|float32|Axis value \(set between -1.0 and 1.0\); only set if 'axis' controller element, otherwise set to zero| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_handle\(\) const|bool|void|Returns true if handle is set.| +|handle\(\)|const [ControllerElementHandle](ControllerElementHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [ControllerElementHandle](ControllerElementHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [ControllerElementHandle](ControllerElementHandle.md#) \*|void|Returns a pointer to the mutable [ControllerElementHandle](ControllerElementHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ControllerElementHandle](ControllerElementHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ControllerElementHandle](ControllerElementHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [ControllerElementHandle](ControllerElementHandle.md#).| +|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [ControllerElementHandle](ControllerElementHandle.md#) \*|Sets the [ControllerElementHandle](ControllerElementHandle.md#) object to the field and frees the previous field value if it exists. If the [ControllerElementHandle](ControllerElementHandle.md#) pointer is not NULL, the message takes ownership of the allocated [ControllerElementHandle](ControllerElementHandle.md#) object and has\_ [ControllerElementHandle](ControllerElementHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [ControllerElementHandle](ControllerElementHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ControllerElementHandle](ControllerElementHandle.md#) object. After calling this, caller takes the ownership of the allocated [ControllerElementHandle](ControllerElementHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|event\_type\(\) const|uint32|void|Returns the current value of event\_type. If the event\_type is not set, returns 0.| +|set\_event\_type\(\)|void|uint32|Sets the value of event\_type. After calling this, event\_type\(\) will return value.| +|clear\_event\_type\(\)|void|void|Clears the value of event\_type. After calling this, event\_type\(\) will return the empty string/empty bytes.| +|axis\_value\(\)|float32|void|Returns the current value of axis\_value. If the axis\_value is not set, returns 0.| +|set\_axis\_value\(\)|void|float32|Sets the value of axis\_value. After calling this, axis\_value\(\) will return value.| +|clear\_axis\_value\(\)|void|void|Clears the value of axis\_value. After calling this, axis\_value\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ControllerEvent.md b/api_cpp/doc/markdown/messages/Base/ControllerEvent.md new file mode 100644 index 00000000..059073b1 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ControllerEvent.md @@ -0,0 +1,26 @@ +# class ControllerEvent + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|input\_type|uint32|Type of controller input that caused the event\_identifier| +|behavior|uint32|Controller behavior that occured| +|input\_identifier|uint32|Controller input that caused the event| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|input\_type\(\) const|uint32|void|Returns the current value of input\_type. If the input\_type is not set, returns 0.| +|set\_input\_type\(\)|void|uint32|Sets the value of input\_type. After calling this, input\_type\(\) will return value.| +|clear\_input\_type\(\)|void|void|Clears the value of input\_type. After calling this, input\_type\(\) will return the empty string/empty bytes.| +|behavior\(\) const|uint32|void|Returns the current value of behavior. If the behavior is not set, returns 0.| +|set\_behavior\(\)|void|uint32|Sets the value of behavior. After calling this, behavior\(\) will return value.| +|clear\_behavior\(\)|void|void|Clears the value of behavior. After calling this, behavior\(\) will return the empty string/empty bytes.| +|input\_identifier\(\)|uint32|void|Returns the current value of input\_identifier. If the input\_identifier is not set, returns 0.| +|set\_input\_identifier\(\)|void|uint32|Sets the value of input\_identifier. After calling this, input\_identifier\(\) will return value.| +|clear\_input\_identifier\(\)|void|void|Clears the value of input\_identifier. After calling this, input\_identifier\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ControllerHandle.md b/api_cpp/doc/markdown/messages/Base/ControllerHandle.md new file mode 100644 index 00000000..41bdde83 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ControllerHandle.md @@ -0,0 +1,22 @@ +# class ControllerHandle + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|type|uint32|Controller device type| +|controller\_identifier|uint32|Controller device identifier| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|type\(\) const|uint32|void|Returns the current value of type. If the type is not set, returns 0.| +|set\_type\(\)|void|uint32|Sets the value of type. After calling this, type\(\) will return value.| +|clear\_type\(\)|void|void|Clears the value of type. After calling this, type\(\) will return the empty string/empty bytes.| +|controller\_identifier\(\)|uint32|void|Returns the current value of controller\_identifier. If the controller\_identifier is not set, returns 0.| +|set\_controller\_identifier\(\)|void|uint32|Sets the value of controller\_identifier. After calling this, controller\_identifier\(\) will return value.| +|clear\_controller\_identifier\(\)|void|void|Clears the value of controller\_identifier. After calling this, controller\_identifier\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ControllerList.md b/api_cpp/doc/markdown/messages/Base/ControllerList.md new file mode 100644 index 00000000..d920cfbb --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ControllerList.md @@ -0,0 +1,22 @@ +# class ControllerList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|handles| [ControllerHandle](ControllerHandle.md#)|Controller handle| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|handles\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|handles\(\) const|const [ControllerHandle](ControllerHandle.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, handles\_size\(\)\) yields undefined behavior.| +|mutable\_handles\(\)| [ControllerHandle](ControllerHandle.md#)\*|int index|Returns a pointer to the mutable [ControllerHandle](ControllerHandle.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, handles\_size\(\)\) yields undefined behavior.| +|add\_handles\(\)| [ControllerHandle](ControllerHandle.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ControllerHandle](ControllerHandle.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ControllerHandle](ControllerHandle.md#)\).| +|clear\_handles\(\)|void|void|Removes all elements from the field. After calling this, handles\_size\(\) will return zero.| +|handles\(\) const|const RepeatedPtrField< [ControllerHandle](ControllerHandle.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_handles\(\)|RepeatedPtrField< [ControllerHandle](ControllerHandle.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ControllerNotification.md b/api_cpp/doc/markdown/messages/Base/ControllerNotification.md new file mode 100644 index 00000000..a6899c51 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ControllerNotification.md @@ -0,0 +1,49 @@ +# class ControllerNotification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|controller\_state|oneof:state [ControllerState](ControllerState.md#)|Used to indicate if a controller connection or disconnection event occured| +|controller\_element|oneof:state [ControllerElementState](ControllerElementState.md#)|Used to indicate if a specific button \(or axis\) was pressed \(or moved\) \(not implemented yet\)| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the controller event| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the controller event| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_controller\_state\(\) const|void|void|Returns the current value of the field if oneof case is kController\_state. Otherwise, returns oneof:state [ControllerState](ControllerState.md#)::default\_instance\(\)| +|controller\_state\(\) const|const oneof:state [ControllerState](ControllerState.md#)&|void|Returns the current value of the field if oneof case is kController\_state| +|mutable\_controller\_state\(\)|oneof:state [ControllerState](ControllerState.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_state\(\). Sets the oneof case to kController\_state and returns a pointer to the mutable oneof:state [ControllerState](ControllerState.md#) object that stores the field's value. If the oneof case was not kController\_state prior to the call, then the returned oneof:state [ControllerState](ControllerState.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:state [ControllerState](ControllerState.md#)\). After calling this, has\_controller\_state\(\) will return true, controller\_state\(\) will return a reference to the same instance of oneof:state [ControllerState](ControllerState.md#) and state\_case\(\) will return kController\_state| +|clear\_controller\_state\(\)|void|void|Nothing will be changed if the oneof case is not kController\_state. If the oneof case equals kController\_state, frees the field and clears the oneof case. has\_controller\_state\(\) will return false, controller\_state\(\) will return the default value and state\_case\(\) will return STATE\_NOT\_SET.| +|set\_allocated\_controller\_state\(\)|void|oneof:state [ControllerState](ControllerState.md#)\*|Calls clear\_state\(\). If the oneof:state [ControllerState](ControllerState.md#) pointer is not NULL: Sets the oneof:state [ControllerState](ControllerState.md#) object to the field and sets the oneof case to kController\_state. The message takes ownership of the allocated oneof:state [ControllerState](ControllerState.md#) object, has\_controller\_state\(\) will return true and state\_case\(\) will return kController\_state. If the pointer is NULL, has\_controller\_state\(\) will return false and state\_case\(\) will return STATE\_NOT\_SET. \(The behavior is like calling clear\_state\(\)\)| +|release\_controller\_state\(\)|oneof:state [ControllerState](ControllerState.md#)\*|void|Returns NULL if oneof case is not kController\_state. If the oneof case is kController\_state, clears the oneof case, releases the ownership of the field and returns the pointer of the state object. After calling this, caller takes the ownership of the allocated state object, has\_controller\_state\(\) will return false, controller\_state\(\) will return the default value and state\_case\(\) will return STATE\_NOT\_SET.| +|has\_controller\_element\(\) const|void|void|Returns the current value of the field if oneof case is kController\_element. Otherwise, returns oneof:state [ControllerElementState](ControllerElementState.md#)::default\_instance\(\)| +|controller\_element\(\) const|const oneof:state [ControllerElementState](ControllerElementState.md#)&|void|Returns the current value of the field if oneof case is kController\_element| +|mutable\_controller\_element\(\)|oneof:state [ControllerElementState](ControllerElementState.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_state\(\). Sets the oneof case to kController\_element and returns a pointer to the mutable oneof:state [ControllerElementState](ControllerElementState.md#) object that stores the field's value. If the oneof case was not kController\_element prior to the call, then the returned oneof:state [ControllerElementState](ControllerElementState.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:state [ControllerElementState](ControllerElementState.md#)\). After calling this, has\_controller\_element\(\) will return true, controller\_element\(\) will return a reference to the same instance of oneof:state [ControllerElementState](ControllerElementState.md#) and state\_case\(\) will return kController\_element| +|clear\_controller\_element\(\)|void|void|Nothing will be changed if the oneof case is not kController\_element. If the oneof case equals kController\_element, frees the field and clears the oneof case. has\_controller\_element\(\) will return false, controller\_element\(\) will return the default value and state\_case\(\) will return STATE\_NOT\_SET.| +|set\_allocated\_controller\_element\(\)|void|oneof:state [ControllerElementState](ControllerElementState.md#)\*|Calls clear\_state\(\). If the oneof:state [ControllerElementState](ControllerElementState.md#) pointer is not NULL: Sets the oneof:state [ControllerElementState](ControllerElementState.md#) object to the field and sets the oneof case to kController\_element. The message takes ownership of the allocated oneof:state [ControllerElementState](ControllerElementState.md#) object, has\_controller\_element\(\) will return true and state\_case\(\) will return kController\_element. If the pointer is NULL, has\_controller\_element\(\) will return false and state\_case\(\) will return STATE\_NOT\_SET. \(The behavior is like calling clear\_state\(\)\)| +|release\_controller\_element\(\)|oneof:state [ControllerElementState](ControllerElementState.md#)\*|void|Returns NULL if oneof case is not kController\_element. If the oneof case is kController\_element, clears the oneof case, releases the ownership of the field and returns the pointer of the state object. After calling this, caller takes the ownership of the allocated state object, has\_controller\_element\(\) will return false, controller\_element\(\) will return the default value and state\_case\(\) will return STATE\_NOT\_SET.| +|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| +|timestamp\(\)|const [Timestamp](../Common/Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](../Common/Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| +|mutable\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](../Common/Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](../Common/Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](../Common/Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](../Common/Timestamp.md#).| +|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| +|set\_allocated\_timestamp\(\)|void| [Timestamp](../Common/Timestamp.md#) \*|Sets the [Timestamp](../Common/Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](../Common/Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](../Common/Timestamp.md#) object and has\_ [Timestamp](../Common/Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| +|release\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](../Common/Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](../Common/Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| +|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| +|user\_handle\(\)|const [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](../Common/UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| +|mutable\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](../Common/UserProfileHandle.md#).| +|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| +|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|Sets the [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object and has\_ [UserProfileHandle](../Common/UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| +|release\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](../Common/UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| +|has\_connection\(\) const|bool|void|Returns true if connection is set.| +|connection\(\)|const [Connection](../Common/Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](../Common/Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| +|mutable\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Returns a pointer to the mutable [Connection](../Common/Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](../Common/Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](../Common/Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](../Common/Connection.md#).| +|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| +|set\_allocated\_connection\(\)|void| [Connection](../Common/Connection.md#) \*|Sets the [Connection](../Common/Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](../Common/Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](../Common/Connection.md#) object and has\_ [Connection](../Common/Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| +|release\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](../Common/Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](../Common/Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ControllerNotificationList.md b/api_cpp/doc/markdown/messages/Base/ControllerNotificationList.md new file mode 100644 index 00000000..470e3991 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ControllerNotificationList.md @@ -0,0 +1,22 @@ +# class ControllerNotificationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|notifications| [ControllerNotification](ControllerNotification.md#)|Notifications| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|notifications\(\) const|const [ControllerNotification](ControllerNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|mutable\_notifications\(\)| [ControllerNotification](ControllerNotification.md#)\*|int index|Returns a pointer to the mutable [ControllerNotification](ControllerNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|add\_notifications\(\)| [ControllerNotification](ControllerNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ControllerNotification](ControllerNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ControllerNotification](ControllerNotification.md#)\).| +|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| +|notifications\(\) const|const RepeatedPtrField< [ControllerNotification](ControllerNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_notifications\(\)|RepeatedPtrField< [ControllerNotification](ControllerNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ControllerState.md b/api_cpp/doc/markdown/messages/Base/ControllerState.md new file mode 100644 index 00000000..ac8af2f3 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ControllerState.md @@ -0,0 +1,25 @@ +# class ControllerState + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|handle| [ControllerHandle](ControllerHandle.md#)|Controller identifier| +|event\_type|uint32|Type of controller event that occured| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_handle\(\) const|bool|void|Returns true if handle is set.| +|handle\(\)|const [ControllerHandle](ControllerHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [ControllerHandle](ControllerHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [ControllerHandle](ControllerHandle.md#) \*|void|Returns a pointer to the mutable [ControllerHandle](ControllerHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ControllerHandle](ControllerHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ControllerHandle](ControllerHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [ControllerHandle](ControllerHandle.md#).| +|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [ControllerHandle](ControllerHandle.md#) \*|Sets the [ControllerHandle](ControllerHandle.md#) object to the field and frees the previous field value if it exists. If the [ControllerHandle](ControllerHandle.md#) pointer is not NULL, the message takes ownership of the allocated [ControllerHandle](ControllerHandle.md#) object and has\_ [ControllerHandle](ControllerHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [ControllerHandle](ControllerHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ControllerHandle](ControllerHandle.md#) object. After calling this, caller takes the ownership of the allocated [ControllerHandle](ControllerHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|event\_type\(\) const|uint32|void|Returns the current value of event\_type. If the event\_type is not set, returns 0.| +|set\_event\_type\(\)|void|uint32|Sets the value of event\_type. After calling this, event\_type\(\) will return value.| +|clear\_event\_type\(\)|void|void|Clears the value of event\_type. After calling this, event\_type\(\) will return the empty string/empty bytes.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/Delay.md b/api_cpp/doc/markdown/messages/Base/Delay.md new file mode 100644 index 00000000..709c1d80 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/Delay.md @@ -0,0 +1,18 @@ +# class Delay + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|duration|uint32|Delay \(in seconds\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|duration\(\)|uint32|void|Returns the current value of duration. If the duration is not set, returns 0.| +|set\_duration\(\)|void|uint32|Sets the value of duration. After calling this, duration\(\) will return value.| +|clear\_duration\(\)|void|void|Clears the value of duration. After calling this, duration\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/EmergencyStop.md b/api_cpp/doc/markdown/messages/Base/EmergencyStop.md new file mode 100644 index 00000000..596b0f87 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/EmergencyStop.md @@ -0,0 +1,4 @@ +# class EmergencyStop + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/FactoryNotification.md b/api_cpp/doc/markdown/messages/Base/FactoryNotification.md new file mode 100644 index 00000000..94833dc3 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/FactoryNotification.md @@ -0,0 +1,39 @@ +# class FactoryNotification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|event|uint32|Event type| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the factory event to occur| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the factory event to occur| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|event\(\) const|uint32|void|Returns the current value of event. If the event is not set, returns 0.| +|set\_event\(\)|void|uint32|Sets the value of event. After calling this, event\(\) will return value.| +|clear\_event\(\)|void|void|Clears the value of event. After calling this, event\(\) will return the empty string/empty bytes.| +|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| +|timestamp\(\)|const [Timestamp](../Common/Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](../Common/Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| +|mutable\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](../Common/Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](../Common/Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](../Common/Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](../Common/Timestamp.md#).| +|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| +|set\_allocated\_timestamp\(\)|void| [Timestamp](../Common/Timestamp.md#) \*|Sets the [Timestamp](../Common/Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](../Common/Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](../Common/Timestamp.md#) object and has\_ [Timestamp](../Common/Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| +|release\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](../Common/Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](../Common/Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| +|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| +|user\_handle\(\)|const [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](../Common/UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| +|mutable\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](../Common/UserProfileHandle.md#).| +|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| +|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|Sets the [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object and has\_ [UserProfileHandle](../Common/UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| +|release\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](../Common/UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| +|has\_connection\(\) const|bool|void|Returns true if connection is set.| +|connection\(\)|const [Connection](../Common/Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](../Common/Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| +|mutable\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Returns a pointer to the mutable [Connection](../Common/Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](../Common/Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](../Common/Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](../Common/Connection.md#).| +|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| +|set\_allocated\_connection\(\)|void| [Connection](../Common/Connection.md#) \*|Sets the [Connection](../Common/Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](../Common/Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](../Common/Connection.md#) object and has\_ [Connection](../Common/Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| +|release\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](../Common/Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](../Common/Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/Faults.md b/api_cpp/doc/markdown/messages/Base/Faults.md new file mode 100644 index 00000000..87657489 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/Faults.md @@ -0,0 +1,4 @@ +# class Faults + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_Finger.md b/api_cpp/doc/markdown/messages/Base/Finger.md similarity index 52% rename from api_cpp/doc/markdown/references/msg_Base_Finger.md rename to api_cpp/doc/markdown/messages/Base/Finger.md index c9f4626e..a7fdc4f1 100644 --- a/api_cpp/doc/markdown/references/msg_Base_Finger.md +++ b/api_cpp/doc/markdown/messages/Base/Finger.md @@ -1,26 +1,16 @@ -# Message Finger +# class Finger -This page describes the C++ Kinova::Api::Base::Finger message. - -## Overview / Purpose - -Defines a finger movement - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |finger\_identifier|uint32|Finger identifier| -|value|float32|In position, admissible values for each finger is between 0 and 1.0, where 0 is closed and 1.0 is fully open. In speed or torque, admissible values for each finger is between -1.0 and 1.0, where 1.0 corresponds to maximum opening speed and -1.0 corresponds to maximum closing speed.| - - **Methods** +|value|float32| | -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |finger\_identifier\(\)|uint32|void|Returns the current value of finger\_identifier. If the finger\_identifier is not set, returns 0.| |set\_finger\_identifier\(\)|void|uint32|Sets the value of finger\_identifier. After calling this, finger\_identifier\(\) will return value.| |clear\_finger\_identifier\(\)|void|void|Clears the value of finger\_identifier. After calling this, finger\_identifier\(\) will return 0.| @@ -28,5 +18,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_value\(\)|void|float32|Sets the value of value. After calling this, value\(\) will return value.| |clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/FullIPv4Configuration.md b/api_cpp/doc/markdown/messages/Base/FullIPv4Configuration.md new file mode 100644 index 00000000..34c6677e --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/FullIPv4Configuration.md @@ -0,0 +1,28 @@ +# class FullIPv4Configuration + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|handle| [NetworkHandle](NetworkHandle.md#)|Network handle| +|ipv4\_configuration| [IPv4Configuration](IPv4Configuration.md#)|IPv4 configuration| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_handle\(\) const|bool|void|Returns true if handle is set.| +|handle\(\)|const [NetworkHandle](NetworkHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [NetworkHandle](NetworkHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [NetworkHandle](NetworkHandle.md#) \*|void|Returns a pointer to the mutable [NetworkHandle](NetworkHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [NetworkHandle](NetworkHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [NetworkHandle](NetworkHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [NetworkHandle](NetworkHandle.md#).| +|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [NetworkHandle](NetworkHandle.md#) \*|Sets the [NetworkHandle](NetworkHandle.md#) object to the field and frees the previous field value if it exists. If the [NetworkHandle](NetworkHandle.md#) pointer is not NULL, the message takes ownership of the allocated [NetworkHandle](NetworkHandle.md#) object and has\_ [NetworkHandle](NetworkHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [NetworkHandle](NetworkHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [NetworkHandle](NetworkHandle.md#) object. After calling this, caller takes the ownership of the allocated [NetworkHandle](NetworkHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|has\_ipv4\_configuration\(\) const|bool|void|Returns true if ipv4\_configuration is set.| +|ipv4\_configuration\(\)|const [IPv4Configuration](IPv4Configuration.md#)&|void|Returns the current value of ipv4\_configuration. If ipv4\_configuration is not set, returns a [IPv4Configuration](IPv4Configuration.md#) with none of its fields set \(possibly ipv4\_configuration::default\_instance\(\)\).| +|mutable\_ipv4\_configuration\(\)| [IPv4Configuration](IPv4Configuration.md#) \*|void|Returns a pointer to the mutable [IPv4Configuration](IPv4Configuration.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [IPv4Configuration](IPv4Configuration.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [IPv4Configuration](IPv4Configuration.md#)\). After calling this, has\_ipv4\_configuration\(\) will return true and ipv4\_configuration\(\) will return a reference to the same instance of [IPv4Configuration](IPv4Configuration.md#).| +|clear\_ipv4\_configuration\(\)|void|void|Clears the value of the field. After calling this, has\_ipv4\_configuration\(\) will return false and ipv4\_configuration\(\) will return the default value.| +|set\_allocated\_ipv4\_configuration\(\)|void| [IPv4Configuration](IPv4Configuration.md#) \*|Sets the [IPv4Configuration](IPv4Configuration.md#) object to the field and frees the previous field value if it exists. If the [IPv4Configuration](IPv4Configuration.md#) pointer is not NULL, the message takes ownership of the allocated [IPv4Configuration](IPv4Configuration.md#) object and has\_ [IPv4Configuration](IPv4Configuration.md#)\(\) will return true. Otherwise, if the ipv4\_configuration is NULL, the behavior is the same as calling clear\_ipv4\_configuration\(\).| +|release\_ipv4\_configuration\(\)| [IPv4Configuration](IPv4Configuration.md#) \*|void|Releases the ownership of the field and returns the pointer of the [IPv4Configuration](IPv4Configuration.md#) object. After calling this, caller takes the ownership of the allocated [IPv4Configuration](IPv4Configuration.md#) object, has\_ipv4\_configuration\(\) will return false, and ipv4\_configuration\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/FullUserProfile.md b/api_cpp/doc/markdown/messages/Base/FullUserProfile.md new file mode 100644 index 00000000..739fbf1f --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/FullUserProfile.md @@ -0,0 +1,30 @@ +# class FullUserProfile + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|user\_profile| [UserProfile](UserProfile.md#)|Information about the user, including its username.| +|password|string|User's password| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_user\_profile\(\) const|bool|void|Returns true if user\_profile is set.| +|user\_profile\(\)|const [UserProfile](UserProfile.md#)&|void|Returns the current value of user\_profile. If user\_profile is not set, returns a [UserProfile](UserProfile.md#) with none of its fields set \(possibly user\_profile::default\_instance\(\)\).| +|mutable\_user\_profile\(\)| [UserProfile](UserProfile.md#) \*|void|Returns a pointer to the mutable [UserProfile](UserProfile.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfile](UserProfile.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfile](UserProfile.md#)\). After calling this, has\_user\_profile\(\) will return true and user\_profile\(\) will return a reference to the same instance of [UserProfile](UserProfile.md#).| +|clear\_user\_profile\(\)|void|void|Clears the value of the field. After calling this, has\_user\_profile\(\) will return false and user\_profile\(\) will return the default value.| +|set\_allocated\_user\_profile\(\)|void| [UserProfile](UserProfile.md#) \*|Sets the [UserProfile](UserProfile.md#) object to the field and frees the previous field value if it exists. If the [UserProfile](UserProfile.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfile](UserProfile.md#) object and has\_ [UserProfile](UserProfile.md#)\(\) will return true. Otherwise, if the user\_profile is NULL, the behavior is the same as calling clear\_user\_profile\(\).| +|release\_user\_profile\(\)| [UserProfile](UserProfile.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfile](UserProfile.md#) object. After calling this, caller takes the ownership of the allocated [UserProfile](UserProfile.md#) object, has\_user\_profile\(\) will return false, and user\_profile\(\) will return the default value.| +|password\(\)|const string&|void|Returns the current value of password. If password is not set, returns the empty string/empty bytes.| +|set\_password\(\)|void|const string&|Sets the value of password. After calling this, password\(\) will return a copy of value.| +|set\_password\(\)|void|string&&|\(C++11 and beyond\): Sets the value of password, moving from the passed string. After calling this, password\(\) will return a copy of value.| +|set\_password\(\)|void|const char\*|Sets the value of password using a C-style null-terminated string. After calling this, password\(\) will return a copy of value.| +|mutable\_password\(\)|string \*|void|Returns a pointer to the mutable string object that stores password's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, password\(\) will return whatever value is written into the given string.| +|clear\_password\(\)|void|void|Clears the value of password. After calling this, password\(\) will return the empty string/empty bytes.| +|set\_allocated\_password\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_password\(\).| +|release\_password\(\)|string \*|void|Releases the ownership of password and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and password\(\) will return the empty string/empty bytes.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/GpioEvent.md b/api_cpp/doc/markdown/messages/Base/GpioEvent.md new file mode 100644 index 00000000..623b727c --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/GpioEvent.md @@ -0,0 +1,22 @@ +# class GpioEvent + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|gpio\_state|uint32|New GPIO state| +|device\_identifier|uint32|GPIO device identifier for which this event occured| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|gpio\_state\(\) const|uint32|void|Returns the current value of gpio\_state. If the gpio\_state is not set, returns 0.| +|set\_gpio\_state\(\)|void|uint32|Sets the value of gpio\_state. After calling this, gpio\_state\(\) will return value.| +|clear\_gpio\_state\(\)|void|void|Clears the value of gpio\_state. After calling this, gpio\_state\(\) will return the empty string/empty bytes.| +|device\_identifier\(\)|uint32|void|Returns the current value of device\_identifier. If the device\_identifier is not set, returns 0.| +|set\_device\_identifier\(\)|void|uint32|Sets the value of device\_identifier. After calling this, device\_identifier\(\) will return value.| +|clear\_device\_identifier\(\)|void|void|Clears the value of device\_identifier. After calling this, device\_identifier\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/Gripper.md b/api_cpp/doc/markdown/messages/Base/Gripper.md new file mode 100644 index 00000000..59f2b8f2 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/Gripper.md @@ -0,0 +1,22 @@ +# class Gripper + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|finger| [Finger](Finger.md#)|Finger movements| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|finger\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|finger\(\) const|const [Finger](Finger.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, finger\_size\(\)\) yields undefined behavior.| +|mutable\_finger\(\)| [Finger](Finger.md#)\*|int index|Returns a pointer to the mutable [Finger](Finger.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, finger\_size\(\)\) yields undefined behavior.| +|add\_finger\(\)| [Finger](Finger.md#)\*|void|Adds a new element and returns a pointer to it. The returned [Finger](Finger.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [Finger](Finger.md#)\).| +|clear\_finger\(\)|void|void|Removes all elements from the field. After calling this, finger\_size\(\) will return zero.| +|finger\(\) const|const RepeatedPtrField< [Finger](Finger.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_finger\(\)|RepeatedPtrField< [Finger](Finger.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/GripperCommand.md b/api_cpp/doc/markdown/messages/Base/GripperCommand.md new file mode 100644 index 00000000..9098edb6 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/GripperCommand.md @@ -0,0 +1,29 @@ +# class GripperCommand + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|mode|uint32|Mode in which to control the gripper| +|gripper| [Gripper](Gripper.md#)|Gripper movement values| +|duration|uint32|Duration constraint. If not 0, allows to set a limit \(in seconds\) to the GripperCommand| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|mode\(\) const|uint32|void|Returns the current value of mode. If the mode is not set, returns 0.| +|set\_mode\(\)|void|uint32|Sets the value of mode. After calling this, mode\(\) will return value.| +|clear\_mode\(\)|void|void|Clears the value of mode. After calling this, mode\(\) will return the empty string/empty bytes.| +|has\_gripper\(\) const|bool|void|Returns true if gripper is set.| +|gripper\(\)|const [Gripper](Gripper.md#)&|void|Returns the current value of gripper. If gripper is not set, returns a [Gripper](Gripper.md#) with none of its fields set \(possibly gripper::default\_instance\(\)\).| +|mutable\_gripper\(\)| [Gripper](Gripper.md#) \*|void|Returns a pointer to the mutable [Gripper](Gripper.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Gripper](Gripper.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Gripper](Gripper.md#)\). After calling this, has\_gripper\(\) will return true and gripper\(\) will return a reference to the same instance of [Gripper](Gripper.md#).| +|clear\_gripper\(\)|void|void|Clears the value of the field. After calling this, has\_gripper\(\) will return false and gripper\(\) will return the default value.| +|set\_allocated\_gripper\(\)|void| [Gripper](Gripper.md#) \*|Sets the [Gripper](Gripper.md#) object to the field and frees the previous field value if it exists. If the [Gripper](Gripper.md#) pointer is not NULL, the message takes ownership of the allocated [Gripper](Gripper.md#) object and has\_ [Gripper](Gripper.md#)\(\) will return true. Otherwise, if the gripper is NULL, the behavior is the same as calling clear\_gripper\(\).| +|release\_gripper\(\)| [Gripper](Gripper.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Gripper](Gripper.md#) object. After calling this, caller takes the ownership of the allocated [Gripper](Gripper.md#) object, has\_gripper\(\) will return false, and gripper\(\) will return the default value.| +|duration\(\)|uint32|void|Returns the current value of duration. If the duration is not set, returns 0.| +|set\_duration\(\)|void|uint32|Sets the value of duration. After calling this, duration\(\) will return value.| +|clear\_duration\(\)|void|void|Clears the value of duration. After calling this, duration\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/GripperRequest.md b/api_cpp/doc/markdown/messages/Base/GripperRequest.md new file mode 100644 index 00000000..67e7bfe8 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/GripperRequest.md @@ -0,0 +1,18 @@ +# class GripperRequest + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|mode|uint32|Mode for which the gripper movement status is requested| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|mode\(\) const|uint32|void|Returns the current value of mode. If the mode is not set, returns 0.| +|set\_mode\(\)|void|uint32|Sets the value of mode. After calling this, mode\(\) will return value.| +|clear\_mode\(\)|void|void|Clears the value of mode. After calling this, mode\(\) will return the empty string/empty bytes.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_IPv4Configuration.md b/api_cpp/doc/markdown/messages/Base/IPv4Configuration.md similarity index 78% rename from api_cpp/doc/markdown/references/msg_Base_IPv4Configuration.md rename to api_cpp/doc/markdown/messages/Base/IPv4Configuration.md index 409f3870..a9eea4c0 100644 --- a/api_cpp/doc/markdown/references/msg_Base_IPv4Configuration.md +++ b/api_cpp/doc/markdown/messages/Base/IPv4Configuration.md @@ -1,14 +1,6 @@ -# Message IPv4Configuration +# class IPv4Configuration -This page describes the C++ Kinova::Api::Base::IPv4Configuration message. - -## Overview / Purpose - -Provides an IPv4 configuration - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| @@ -17,12 +9,10 @@ Provides an IPv4 configuration |default\_gateway|uint32|Gateway IPv4 address| |dhcp\_enabled|bool|Enable automatic \(DHCP\) IPv4 configuration. Set to true to enable DHCP instead of static configuration.| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |ip\_address\(\)|uint32|void|Returns the current value of ip\_address. If the ip\_address is not set, returns 0.| |set\_ip\_address\(\)|void|uint32|Sets the value of ip\_address. After calling this, ip\_address\(\) will return value.| |clear\_ip\_address\(\)|void|void|Clears the value of ip\_address. After calling this, ip\_address\(\) will return 0.| @@ -36,5 +26,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_dhcp\_enabled\(\)|void|bool|Sets the value of dhcp\_enabled. After calling this, dhcp\_enabled\(\) will return value.| |clear\_dhcp\_enabled\(\)|void|void|Clears the value of dhcp\_enabled. After calling this, dhcp\_enabled\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/msg_Base_IPv4Information.md b/api_cpp/doc/markdown/messages/Base/IPv4Information.md similarity index 71% rename from api_cpp/doc/markdown/references/msg_Base_IPv4Information.md rename to api_cpp/doc/markdown/messages/Base/IPv4Information.md index ebc3271f..2dc4d0e0 100644 --- a/api_cpp/doc/markdown/references/msg_Base_IPv4Information.md +++ b/api_cpp/doc/markdown/messages/Base/IPv4Information.md @@ -1,14 +1,6 @@ -# Message IPv4Information +# class IPv4Information -This page describes the C++ Kinova::Api::Base::IPv4Information message. - -## Overview / Purpose - -Provides information about an IPv4 endpoint - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| @@ -16,12 +8,10 @@ Provides information about an IPv4 endpoint |subnet\_mask|uint32|IPv4 subnet mask| |default\_gateway|uint32|Gateway IPv4 address| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |ip\_address\(\)|uint32|void|Returns the current value of ip\_address. If the ip\_address is not set, returns 0.| |set\_ip\_address\(\)|void|uint32|Sets the value of ip\_address. After calling this, ip\_address\(\) will return value.| |clear\_ip\_address\(\)|void|void|Clears the value of ip\_address. After calling this, ip\_address\(\) will return 0.| @@ -32,5 +22,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_default\_gateway\(\)|void|uint32|Sets the value of default\_gateway. After calling this, default\_gateway\(\) will return value.| |clear\_default\_gateway\(\)|void|void|Clears the value of default\_gateway. After calling this, default\_gateway\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/msg_Base_JointAngle.md b/api_cpp/doc/markdown/messages/Base/JointAngle.md similarity index 64% rename from api_cpp/doc/markdown/references/msg_Base_JointAngle.md rename to api_cpp/doc/markdown/messages/Base/JointAngle.md index 525389e1..bb585174 100644 --- a/api_cpp/doc/markdown/references/msg_Base_JointAngle.md +++ b/api_cpp/doc/markdown/messages/Base/JointAngle.md @@ -1,26 +1,16 @@ -# Message JointAngle +# class JointAngle -This page describes the C++ Kinova::Api::Base::JointAngle message. - -## Overview / Purpose - -Position of a specific joint - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |joint\_identifier|uint32|Joint identifier| |value|float32|Position \(in degrees\)| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |joint\_identifier\(\)|uint32|void|Returns the current value of joint\_identifier. If the joint\_identifier is not set, returns 0.| |set\_joint\_identifier\(\)|void|uint32|Sets the value of joint\_identifier. After calling this, joint\_identifier\(\) will return value.| |clear\_joint\_identifier\(\)|void|void|Clears the value of joint\_identifier. After calling this, joint\_identifier\(\) will return 0.| @@ -28,5 +18,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_value\(\)|void|float32|Sets the value of value. After calling this, value\(\) will return value.| |clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/JointAngles.md b/api_cpp/doc/markdown/messages/Base/JointAngles.md new file mode 100644 index 00000000..771370ca --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/JointAngles.md @@ -0,0 +1,22 @@ +# class JointAngles + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|joint\_angles| [JointAngle](JointAngle.md#)|Array of joint angles| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|joint\_angles\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|joint\_angles\(\) const|const [JointAngle](JointAngle.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, joint\_angles\_size\(\)\) yields undefined behavior.| +|mutable\_joint\_angles\(\)| [JointAngle](JointAngle.md#)\*|int index|Returns a pointer to the mutable [JointAngle](JointAngle.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, joint\_angles\_size\(\)\) yields undefined behavior.| +|add\_joint\_angles\(\)| [JointAngle](JointAngle.md#)\*|void|Adds a new element and returns a pointer to it. The returned [JointAngle](JointAngle.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [JointAngle](JointAngle.md#)\).| +|clear\_joint\_angles\(\)|void|void|Removes all elements from the field. After calling this, joint\_angles\_size\(\) will return zero.| +|joint\_angles\(\) const|const RepeatedPtrField< [JointAngle](JointAngle.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_joint\_angles\(\)|RepeatedPtrField< [JointAngle](JointAngle.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/JointLimitation.md b/api_cpp/doc/markdown/messages/Base/JointLimitation.md new file mode 100644 index 00000000..e12a7b3c --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/JointLimitation.md @@ -0,0 +1,26 @@ +# class JointLimitation + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|joint\_identifier|uint32|Joint device identifier| +|type|uint32|Joint limitation type| +|value|float32|Joint limitation value| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|joint\_identifier\(\)|uint32|void|Returns the current value of joint\_identifier. If the joint\_identifier is not set, returns 0.| +|set\_joint\_identifier\(\)|void|uint32|Sets the value of joint\_identifier. After calling this, joint\_identifier\(\) will return value.| +|clear\_joint\_identifier\(\)|void|void|Clears the value of joint\_identifier. After calling this, joint\_identifier\(\) will return 0.| +|type\(\) const|uint32|void|Returns the current value of type. If the type is not set, returns 0.| +|set\_type\(\)|void|uint32|Sets the value of type. After calling this, type\(\) will return value.| +|clear\_type\(\)|void|void|Clears the value of type. After calling this, type\(\) will return the empty string/empty bytes.| +|value\(\)|float32|void|Returns the current value of value. If the value is not set, returns 0.| +|set\_value\(\)|void|float32|Sets the value of value. After calling this, value\(\) will return value.| +|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_JointSpeed.md b/api_cpp/doc/markdown/messages/Base/JointSpeed.md similarity index 69% rename from api_cpp/doc/markdown/references/msg_Base_JointSpeed.md rename to api_cpp/doc/markdown/messages/Base/JointSpeed.md index 6bf16675..5197bc3d 100644 --- a/api_cpp/doc/markdown/references/msg_Base_JointSpeed.md +++ b/api_cpp/doc/markdown/messages/Base/JointSpeed.md @@ -1,27 +1,17 @@ -# Message JointSpeed +# class JointSpeed -This page describes the C++ Kinova::Api::Base::JointSpeed message. - -## Overview / Purpose - -Defines the speed of a specific joint - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |joint\_identifier|uint32|Joint identifier| |value|float32|Joint speed \(in degrees per second\)| -|duration|uint32|Duration constraint. If not 0, allows to set a limit \(in seconds\) to the JointsSpeed \(future\)| - - **Methods** +|duration|uint32|Duration constraint. If not 0, allows to set a limit \(in seconds\) to the JointsSpeed \(not implemented yet\)| -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |joint\_identifier\(\)|uint32|void|Returns the current value of joint\_identifier. If the joint\_identifier is not set, returns 0.| |set\_joint\_identifier\(\)|void|uint32|Sets the value of joint\_identifier. After calling this, joint\_identifier\(\) will return value.| |clear\_joint\_identifier\(\)|void|void|Clears the value of joint\_identifier. After calling this, joint\_identifier\(\) will return 0.| @@ -32,5 +22,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_duration\(\)|void|uint32|Sets the value of duration. After calling this, duration\(\) will return value.| |clear\_duration\(\)|void|void|Clears the value of duration. After calling this, duration\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/JointSpeeds.md b/api_cpp/doc/markdown/messages/Base/JointSpeeds.md new file mode 100644 index 00000000..36d23229 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/JointSpeeds.md @@ -0,0 +1,26 @@ +# class JointSpeeds + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|joint\_speeds| [JointSpeed](JointSpeed.md#)|Array of joint speeds| +|duration|uint32|Duration constraint. If not 0, allows to set a limit \(in seconds\) common to every joint specified in 'joint\_speeds' \(not implemented yet\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|joint\_speeds\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|joint\_speeds\(\) const|const [JointSpeed](JointSpeed.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, joint\_speeds\_size\(\)\) yields undefined behavior.| +|mutable\_joint\_speeds\(\)| [JointSpeed](JointSpeed.md#)\*|int index|Returns a pointer to the mutable [JointSpeed](JointSpeed.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, joint\_speeds\_size\(\)\) yields undefined behavior.| +|add\_joint\_speeds\(\)| [JointSpeed](JointSpeed.md#)\*|void|Adds a new element and returns a pointer to it. The returned [JointSpeed](JointSpeed.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [JointSpeed](JointSpeed.md#)\).| +|clear\_joint\_speeds\(\)|void|void|Removes all elements from the field. After calling this, joint\_speeds\_size\(\) will return zero.| +|joint\_speeds\(\) const|const RepeatedPtrField< [JointSpeed](JointSpeed.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_joint\_speeds\(\)|RepeatedPtrField< [JointSpeed](JointSpeed.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|duration\(\)|uint32|void|Returns the current value of duration. If the duration is not set, returns 0.| +|set\_duration\(\)|void|uint32|Sets the value of duration. After calling this, duration\(\) will return value.| +|clear\_duration\(\)|void|void|Clears the value of duration. After calling this, duration\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/JointTorque.md b/api_cpp/doc/markdown/messages/Base/JointTorque.md new file mode 100644 index 00000000..f88121c7 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/JointTorque.md @@ -0,0 +1,26 @@ +# class JointTorque + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|joint\_identifier|uint32|Joint identifier| +|value|float32|Joint speed \(in Newton\*meters\)| +|duration|uint32|Duration constraint. If not 0, allows to set a limit \(in seconds\) to the JointTorque \(not implemented yet\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|joint\_identifier\(\)|uint32|void|Returns the current value of joint\_identifier. If the joint\_identifier is not set, returns 0.| +|set\_joint\_identifier\(\)|void|uint32|Sets the value of joint\_identifier. After calling this, joint\_identifier\(\) will return value.| +|clear\_joint\_identifier\(\)|void|void|Clears the value of joint\_identifier. After calling this, joint\_identifier\(\) will return 0.| +|value\(\)|float32|void|Returns the current value of value. If the value is not set, returns 0.| +|set\_value\(\)|void|float32|Sets the value of value. After calling this, value\(\) will return value.| +|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return 0.| +|duration\(\)|uint32|void|Returns the current value of duration. If the duration is not set, returns 0.| +|set\_duration\(\)|void|uint32|Sets the value of duration. After calling this, duration\(\) will return value.| +|clear\_duration\(\)|void|void|Clears the value of duration. After calling this, duration\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/JointTorques.md b/api_cpp/doc/markdown/messages/Base/JointTorques.md new file mode 100644 index 00000000..9b132569 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/JointTorques.md @@ -0,0 +1,26 @@ +# class JointTorques + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|joint\_torques| [JointTorque](JointTorque.md#)|Array of joint torque.| +|duration|uint32|Duration constraint. If not 0, allows to set a limit \(in seconds\) common to every joint specified in 'joint\_torques' \(not implemented yet\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|joint\_torques\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|joint\_torques\(\) const|const [JointTorque](JointTorque.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, joint\_torques\_size\(\)\) yields undefined behavior.| +|mutable\_joint\_torques\(\)| [JointTorque](JointTorque.md#)\*|int index|Returns a pointer to the mutable [JointTorque](JointTorque.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, joint\_torques\_size\(\)\) yields undefined behavior.| +|add\_joint\_torques\(\)| [JointTorque](JointTorque.md#)\*|void|Adds a new element and returns a pointer to it. The returned [JointTorque](JointTorque.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [JointTorque](JointTorque.md#)\).| +|clear\_joint\_torques\(\)|void|void|Removes all elements from the field. After calling this, joint\_torques\_size\(\) will return zero.| +|joint\_torques\(\) const|const RepeatedPtrField< [JointTorque](JointTorque.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_joint\_torques\(\)|RepeatedPtrField< [JointTorque](JointTorque.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|duration\(\)|uint32|void|Returns the current value of duration. If the duration is not set, returns 0.| +|set\_duration\(\)|void|uint32|Sets the value of duration. After calling this, duration\(\) will return value.| +|clear\_duration\(\)|void|void|Clears the value of duration. After calling this, duration\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/JointTrajectoryConstraint.md b/api_cpp/doc/markdown/messages/Base/JointTrajectoryConstraint.md new file mode 100644 index 00000000..a0d412bf --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/JointTrajectoryConstraint.md @@ -0,0 +1,22 @@ +# class JointTrajectoryConstraint + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|type|uint32|Joint trajectory constraint type| +|value|float32|Constraint value \(in seconds or in meters per second depending on constraint type\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|type\(\) const|uint32|void|Returns the current value of type. If the type is not set, returns 0.| +|set\_type\(\)|void|uint32|Sets the value of type. After calling this, type\(\) will return value.| +|clear\_type\(\)|void|void|Clears the value of type. After calling this, type\(\) will return the empty string/empty bytes.| +|value\(\)|float32|void|Returns the current value of value. If the value is not set, returns 0.| +|set\_value\(\)|void|float32|Sets the value of value. After calling this, value\(\) will return value.| +|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/JointsLimitationsList.md b/api_cpp/doc/markdown/messages/Base/JointsLimitationsList.md new file mode 100644 index 00000000..80a18c29 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/JointsLimitationsList.md @@ -0,0 +1,22 @@ +# class JointsLimitationsList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|joints\_limitations| [JointLimitation](JointLimitation.md#)|Joints Limitations| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|joints\_limitations\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|joints\_limitations\(\) const|const [JointLimitation](JointLimitation.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, joints\_limitations\_size\(\)\) yields undefined behavior.| +|mutable\_joints\_limitations\(\)| [JointLimitation](JointLimitation.md#)\*|int index|Returns a pointer to the mutable [JointLimitation](JointLimitation.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, joints\_limitations\_size\(\)\) yields undefined behavior.| +|add\_joints\_limitations\(\)| [JointLimitation](JointLimitation.md#)\*|void|Adds a new element and returns a pointer to it. The returned [JointLimitation](JointLimitation.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [JointLimitation](JointLimitation.md#)\).| +|clear\_joints\_limitations\(\)|void|void|Removes all elements from the field. After calling this, joints\_limitations\_size\(\) will return zero.| +|joints\_limitations\(\) const|const RepeatedPtrField< [JointLimitation](JointLimitation.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_joints\_limitations\(\)|RepeatedPtrField< [JointLimitation](JointLimitation.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/Map.md b/api_cpp/doc/markdown/messages/Base/Map.md new file mode 100644 index 00000000..0143d2b5 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/Map.md @@ -0,0 +1,38 @@ +# class Map + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|handle| [MapHandle](MapHandle.md#)|Map handle \(do not set on createMap\(\) call\)| +|name|string|Map friendly name| +|elements| [MapElement](MapElement.md#)|Array of map elements| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_handle\(\) const|bool|void|Returns true if handle is set.| +|handle\(\)|const [MapHandle](MapHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [MapHandle](MapHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [MapHandle](MapHandle.md#) \*|void|Returns a pointer to the mutable [MapHandle](MapHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapHandle](MapHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapHandle](MapHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [MapHandle](MapHandle.md#).| +|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [MapHandle](MapHandle.md#) \*|Sets the [MapHandle](MapHandle.md#) object to the field and frees the previous field value if it exists. If the [MapHandle](MapHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapHandle](MapHandle.md#) object and has\_ [MapHandle](MapHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [MapHandle](MapHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapHandle](MapHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapHandle](MapHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|name\(\)|const string&|void|Returns the current value of name. If name is not set, returns the empty string/empty bytes.| +|set\_name\(\)|void|const string&|Sets the value of name. After calling this, name\(\) will return a copy of value.| +|set\_name\(\)|void|string&&|\(C++11 and beyond\): Sets the value of name, moving from the passed string. After calling this, name\(\) will return a copy of value.| +|set\_name\(\)|void|const char\*|Sets the value of name using a C-style null-terminated string. After calling this, name\(\) will return a copy of value.| +|mutable\_name\(\)|string \*|void|Returns a pointer to the mutable string object that stores name's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, name\(\) will return whatever value is written into the given string.| +|clear\_name\(\)|void|void|Clears the value of name. After calling this, name\(\) will return the empty string/empty bytes.| +|set\_allocated\_name\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_name\(\).| +|release\_name\(\)|string \*|void|Releases the ownership of name and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and name\(\) will return the empty string/empty bytes.| +|elements\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|elements\(\) const|const [MapElement](MapElement.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, elements\_size\(\)\) yields undefined behavior.| +|mutable\_elements\(\)| [MapElement](MapElement.md#)\*|int index|Returns a pointer to the mutable [MapElement](MapElement.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, elements\_size\(\)\) yields undefined behavior.| +|add\_elements\(\)| [MapElement](MapElement.md#)\*|void|Adds a new element and returns a pointer to it. The returned [MapElement](MapElement.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapElement](MapElement.md#)\).| +|clear\_elements\(\)|void|void|Removes all elements from the field. After calling this, elements\_size\(\) will return zero.| +|elements\(\) const|const RepeatedPtrField< [MapElement](MapElement.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_elements\(\)|RepeatedPtrField< [MapElement](MapElement.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/MapElement.md b/api_cpp/doc/markdown/messages/Base/MapElement.md new file mode 100644 index 00000000..e2f5b4d0 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/MapElement.md @@ -0,0 +1,28 @@ +# class MapElement + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|event| [MapEvent](MapEvent.md#)|Map event that occured| +|action| [Action](Action.md#)|Action to invoke upon event occurence| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_event\(\) const|bool|void|Returns true if event is set.| +|event\(\)|const [MapEvent](MapEvent.md#)&|void|Returns the current value of event. If event is not set, returns a [MapEvent](MapEvent.md#) with none of its fields set \(possibly event::default\_instance\(\)\).| +|mutable\_event\(\)| [MapEvent](MapEvent.md#) \*|void|Returns a pointer to the mutable [MapEvent](MapEvent.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapEvent](MapEvent.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapEvent](MapEvent.md#)\). After calling this, has\_event\(\) will return true and event\(\) will return a reference to the same instance of [MapEvent](MapEvent.md#).| +|clear\_event\(\)|void|void|Clears the value of the field. After calling this, has\_event\(\) will return false and event\(\) will return the default value.| +|set\_allocated\_event\(\)|void| [MapEvent](MapEvent.md#) \*|Sets the [MapEvent](MapEvent.md#) object to the field and frees the previous field value if it exists. If the [MapEvent](MapEvent.md#) pointer is not NULL, the message takes ownership of the allocated [MapEvent](MapEvent.md#) object and has\_ [MapEvent](MapEvent.md#)\(\) will return true. Otherwise, if the event is NULL, the behavior is the same as calling clear\_event\(\).| +|release\_event\(\)| [MapEvent](MapEvent.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapEvent](MapEvent.md#) object. After calling this, caller takes the ownership of the allocated [MapEvent](MapEvent.md#) object, has\_event\(\) will return false, and event\(\) will return the default value.| +|has\_action\(\) const|bool|void|Returns true if action is set.| +|action\(\)|const [Action](Action.md#)&|void|Returns the current value of action. If action is not set, returns a [Action](Action.md#) with none of its fields set \(possibly action::default\_instance\(\)\).| +|mutable\_action\(\)| [Action](Action.md#) \*|void|Returns a pointer to the mutable [Action](Action.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Action](Action.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Action](Action.md#)\). After calling this, has\_action\(\) will return true and action\(\) will return a reference to the same instance of [Action](Action.md#).| +|clear\_action\(\)|void|void|Clears the value of the field. After calling this, has\_action\(\) will return false and action\(\) will return the default value.| +|set\_allocated\_action\(\)|void| [Action](Action.md#) \*|Sets the [Action](Action.md#) object to the field and frees the previous field value if it exists. If the [Action](Action.md#) pointer is not NULL, the message takes ownership of the allocated [Action](Action.md#) object and has\_ [Action](Action.md#)\(\) will return true. Otherwise, if the action is NULL, the behavior is the same as calling clear\_action\(\).| +|release\_action\(\)| [Action](Action.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Action](Action.md#) object. After calling this, caller takes the ownership of the allocated [Action](Action.md#) object, has\_action\(\) will return false, and action\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/MapEvent.md b/api_cpp/doc/markdown/messages/Base/MapEvent.md new file mode 100644 index 00000000..6cd7a66e --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/MapEvent.md @@ -0,0 +1,44 @@ +# class MapEvent + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|safety\_event|oneof:events [SafetyEvent](SafetyEvent.md#)|Mapped safety event \(not implemented yet\)| +|gpio\_event|oneof:events [GpioEvent](GpioEvent.md#)|Mapped GPIO event \(not implemented yet\)| +|controller\_event|oneof:events [ControllerEvent](ControllerEvent.md#)|Mapped controller event| +|name|string|Map event friendly name| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_safety\_event\(\) const|void|void|Returns the current value of the field if oneof case is kSafety\_event. Otherwise, returns oneof:events [SafetyEvent](SafetyEvent.md#)::default\_instance\(\)| +|safety\_event\(\) const|const oneof:events [SafetyEvent](SafetyEvent.md#)&|void|Returns the current value of the field if oneof case is kSafety\_event| +|mutable\_safety\_event\(\)|oneof:events [SafetyEvent](SafetyEvent.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_events\(\). Sets the oneof case to kSafety\_event and returns a pointer to the mutable oneof:events [SafetyEvent](SafetyEvent.md#) object that stores the field's value. If the oneof case was not kSafety\_event prior to the call, then the returned oneof:events [SafetyEvent](SafetyEvent.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:events [SafetyEvent](SafetyEvent.md#)\). After calling this, has\_safety\_event\(\) will return true, safety\_event\(\) will return a reference to the same instance of oneof:events [SafetyEvent](SafetyEvent.md#) and events\_case\(\) will return kSafety\_event| +|clear\_safety\_event\(\)|void|void|Nothing will be changed if the oneof case is not kSafety\_event. If the oneof case equals kSafety\_event, frees the field and clears the oneof case. has\_safety\_event\(\) will return false, safety\_event\(\) will return the default value and events\_case\(\) will return EVENTS\_NOT\_SET.| +|set\_allocated\_safety\_event\(\)|void|oneof:events [SafetyEvent](SafetyEvent.md#)\*|Calls clear\_events\(\). If the oneof:events [SafetyEvent](SafetyEvent.md#) pointer is not NULL: Sets the oneof:events [SafetyEvent](SafetyEvent.md#) object to the field and sets the oneof case to kSafety\_event. The message takes ownership of the allocated oneof:events [SafetyEvent](SafetyEvent.md#) object, has\_safety\_event\(\) will return true and events\_case\(\) will return kSafety\_event. If the pointer is NULL, has\_safety\_event\(\) will return false and events\_case\(\) will return EVENTS\_NOT\_SET. \(The behavior is like calling clear\_events\(\)\)| +|release\_safety\_event\(\)|oneof:events [SafetyEvent](SafetyEvent.md#)\*|void|Returns NULL if oneof case is not kSafety\_event. If the oneof case is kSafety\_event, clears the oneof case, releases the ownership of the field and returns the pointer of the events object. After calling this, caller takes the ownership of the allocated events object, has\_safety\_event\(\) will return false, safety\_event\(\) will return the default value and events\_case\(\) will return EVENTS\_NOT\_SET.| +|has\_gpio\_event\(\) const|void|void|Returns the current value of the field if oneof case is kGpio\_event. Otherwise, returns oneof:events [GpioEvent](GpioEvent.md#)::default\_instance\(\)| +|gpio\_event\(\) const|const oneof:events [GpioEvent](GpioEvent.md#)&|void|Returns the current value of the field if oneof case is kGpio\_event| +|mutable\_gpio\_event\(\)|oneof:events [GpioEvent](GpioEvent.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_events\(\). Sets the oneof case to kGpio\_event and returns a pointer to the mutable oneof:events [GpioEvent](GpioEvent.md#) object that stores the field's value. If the oneof case was not kGpio\_event prior to the call, then the returned oneof:events [GpioEvent](GpioEvent.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:events [GpioEvent](GpioEvent.md#)\). After calling this, has\_gpio\_event\(\) will return true, gpio\_event\(\) will return a reference to the same instance of oneof:events [GpioEvent](GpioEvent.md#) and events\_case\(\) will return kGpio\_event| +|clear\_gpio\_event\(\)|void|void|Nothing will be changed if the oneof case is not kGpio\_event. If the oneof case equals kGpio\_event, frees the field and clears the oneof case. has\_gpio\_event\(\) will return false, gpio\_event\(\) will return the default value and events\_case\(\) will return EVENTS\_NOT\_SET.| +|set\_allocated\_gpio\_event\(\)|void|oneof:events [GpioEvent](GpioEvent.md#)\*|Calls clear\_events\(\). If the oneof:events [GpioEvent](GpioEvent.md#) pointer is not NULL: Sets the oneof:events [GpioEvent](GpioEvent.md#) object to the field and sets the oneof case to kGpio\_event. The message takes ownership of the allocated oneof:events [GpioEvent](GpioEvent.md#) object, has\_gpio\_event\(\) will return true and events\_case\(\) will return kGpio\_event. If the pointer is NULL, has\_gpio\_event\(\) will return false and events\_case\(\) will return EVENTS\_NOT\_SET. \(The behavior is like calling clear\_events\(\)\)| +|release\_gpio\_event\(\)|oneof:events [GpioEvent](GpioEvent.md#)\*|void|Returns NULL if oneof case is not kGpio\_event. If the oneof case is kGpio\_event, clears the oneof case, releases the ownership of the field and returns the pointer of the events object. After calling this, caller takes the ownership of the allocated events object, has\_gpio\_event\(\) will return false, gpio\_event\(\) will return the default value and events\_case\(\) will return EVENTS\_NOT\_SET.| +|has\_controller\_event\(\) const|void|void|Returns the current value of the field if oneof case is kController\_event. Otherwise, returns oneof:events [ControllerEvent](ControllerEvent.md#)::default\_instance\(\)| +|controller\_event\(\) const|const oneof:events [ControllerEvent](ControllerEvent.md#)&|void|Returns the current value of the field if oneof case is kController\_event| +|mutable\_controller\_event\(\)|oneof:events [ControllerEvent](ControllerEvent.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_events\(\). Sets the oneof case to kController\_event and returns a pointer to the mutable oneof:events [ControllerEvent](ControllerEvent.md#) object that stores the field's value. If the oneof case was not kController\_event prior to the call, then the returned oneof:events [ControllerEvent](ControllerEvent.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:events [ControllerEvent](ControllerEvent.md#)\). After calling this, has\_controller\_event\(\) will return true, controller\_event\(\) will return a reference to the same instance of oneof:events [ControllerEvent](ControllerEvent.md#) and events\_case\(\) will return kController\_event| +|clear\_controller\_event\(\)|void|void|Nothing will be changed if the oneof case is not kController\_event. If the oneof case equals kController\_event, frees the field and clears the oneof case. has\_controller\_event\(\) will return false, controller\_event\(\) will return the default value and events\_case\(\) will return EVENTS\_NOT\_SET.| +|set\_allocated\_controller\_event\(\)|void|oneof:events [ControllerEvent](ControllerEvent.md#)\*|Calls clear\_events\(\). If the oneof:events [ControllerEvent](ControllerEvent.md#) pointer is not NULL: Sets the oneof:events [ControllerEvent](ControllerEvent.md#) object to the field and sets the oneof case to kController\_event. The message takes ownership of the allocated oneof:events [ControllerEvent](ControllerEvent.md#) object, has\_controller\_event\(\) will return true and events\_case\(\) will return kController\_event. If the pointer is NULL, has\_controller\_event\(\) will return false and events\_case\(\) will return EVENTS\_NOT\_SET. \(The behavior is like calling clear\_events\(\)\)| +|release\_controller\_event\(\)|oneof:events [ControllerEvent](ControllerEvent.md#)\*|void|Returns NULL if oneof case is not kController\_event. If the oneof case is kController\_event, clears the oneof case, releases the ownership of the field and returns the pointer of the events object. After calling this, caller takes the ownership of the allocated events object, has\_controller\_event\(\) will return false, controller\_event\(\) will return the default value and events\_case\(\) will return EVENTS\_NOT\_SET.| +|name\(\)|const string&|void|Returns the current value of name. If name is not set, returns the empty string/empty bytes.| +|set\_name\(\)|void|const string&|Sets the value of name. After calling this, name\(\) will return a copy of value.| +|set\_name\(\)|void|string&&|\(C++11 and beyond\): Sets the value of name, moving from the passed string. After calling this, name\(\) will return a copy of value.| +|set\_name\(\)|void|const char\*|Sets the value of name using a C-style null-terminated string. After calling this, name\(\) will return a copy of value.| +|mutable\_name\(\)|string \*|void|Returns a pointer to the mutable string object that stores name's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, name\(\) will return whatever value is written into the given string.| +|clear\_name\(\)|void|void|Clears the value of name. After calling this, name\(\) will return the empty string/empty bytes.| +|set\_allocated\_name\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_name\(\).| +|release\_name\(\)|string \*|void|Releases the ownership of name and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and name\(\) will return the empty string/empty bytes.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/MapGroup.md b/api_cpp/doc/markdown/messages/Base/MapGroup.md new file mode 100644 index 00000000..25c800c4 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/MapGroup.md @@ -0,0 +1,69 @@ +# class MapGroup + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|group\_handle| [MapGroupHandle](MapGroupHandle.md#)|Map group handle \(do not set on createMapGroup\(\) call\)| +|name|string|Map group friendly name| +|related\_mapping\_handle| [MappingHandle](MappingHandle.md#)|Mapping that this map group belongs to| +|parent\_group\_handle| [MapGroupHandle](MapGroupHandle.md#)|Parent map group \(if any\)| +|children\_map\_group\_handles| [MapGroupHandle](MapGroupHandle.md#)|Children map groups \(if any\)| +|map\_handles| [MapHandle](MapHandle.md#)|Array of maps that are included in this map group| +|application\_data|string|Application data \(reserved for use by Web App\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_group\_handle\(\) const|bool|void|Returns true if group\_handle is set.| +|group\_handle\(\)|const [MapGroupHandle](MapGroupHandle.md#)&|void|Returns the current value of group\_handle. If group\_handle is not set, returns a [MapGroupHandle](MapGroupHandle.md#) with none of its fields set \(possibly group\_handle::default\_instance\(\)\).| +|mutable\_group\_handle\(\)| [MapGroupHandle](MapGroupHandle.md#) \*|void|Returns a pointer to the mutable [MapGroupHandle](MapGroupHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapGroupHandle](MapGroupHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapGroupHandle](MapGroupHandle.md#)\). After calling this, has\_group\_handle\(\) will return true and group\_handle\(\) will return a reference to the same instance of [MapGroupHandle](MapGroupHandle.md#).| +|clear\_group\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_group\_handle\(\) will return false and group\_handle\(\) will return the default value.| +|set\_allocated\_group\_handle\(\)|void| [MapGroupHandle](MapGroupHandle.md#) \*|Sets the [MapGroupHandle](MapGroupHandle.md#) object to the field and frees the previous field value if it exists. If the [MapGroupHandle](MapGroupHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapGroupHandle](MapGroupHandle.md#) object and has\_ [MapGroupHandle](MapGroupHandle.md#)\(\) will return true. Otherwise, if the group\_handle is NULL, the behavior is the same as calling clear\_group\_handle\(\).| +|release\_group\_handle\(\)| [MapGroupHandle](MapGroupHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapGroupHandle](MapGroupHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapGroupHandle](MapGroupHandle.md#) object, has\_group\_handle\(\) will return false, and group\_handle\(\) will return the default value.| +|name\(\)|const string&|void|Returns the current value of name. If name is not set, returns the empty string/empty bytes.| +|set\_name\(\)|void|const string&|Sets the value of name. After calling this, name\(\) will return a copy of value.| +|set\_name\(\)|void|string&&|\(C++11 and beyond\): Sets the value of name, moving from the passed string. After calling this, name\(\) will return a copy of value.| +|set\_name\(\)|void|const char\*|Sets the value of name using a C-style null-terminated string. After calling this, name\(\) will return a copy of value.| +|mutable\_name\(\)|string \*|void|Returns a pointer to the mutable string object that stores name's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, name\(\) will return whatever value is written into the given string.| +|clear\_name\(\)|void|void|Clears the value of name. After calling this, name\(\) will return the empty string/empty bytes.| +|set\_allocated\_name\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_name\(\).| +|release\_name\(\)|string \*|void|Releases the ownership of name and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and name\(\) will return the empty string/empty bytes.| +|has\_related\_mapping\_handle\(\) const|bool|void|Returns true if related\_mapping\_handle is set.| +|related\_mapping\_handle\(\)|const [MappingHandle](MappingHandle.md#)&|void|Returns the current value of related\_mapping\_handle. If related\_mapping\_handle is not set, returns a [MappingHandle](MappingHandle.md#) with none of its fields set \(possibly related\_mapping\_handle::default\_instance\(\)\).| +|mutable\_related\_mapping\_handle\(\)| [MappingHandle](MappingHandle.md#) \*|void|Returns a pointer to the mutable [MappingHandle](MappingHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MappingHandle](MappingHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MappingHandle](MappingHandle.md#)\). After calling this, has\_related\_mapping\_handle\(\) will return true and related\_mapping\_handle\(\) will return a reference to the same instance of [MappingHandle](MappingHandle.md#).| +|clear\_related\_mapping\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_related\_mapping\_handle\(\) will return false and related\_mapping\_handle\(\) will return the default value.| +|set\_allocated\_related\_mapping\_handle\(\)|void| [MappingHandle](MappingHandle.md#) \*|Sets the [MappingHandle](MappingHandle.md#) object to the field and frees the previous field value if it exists. If the [MappingHandle](MappingHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MappingHandle](MappingHandle.md#) object and has\_ [MappingHandle](MappingHandle.md#)\(\) will return true. Otherwise, if the related\_mapping\_handle is NULL, the behavior is the same as calling clear\_related\_mapping\_handle\(\).| +|release\_related\_mapping\_handle\(\)| [MappingHandle](MappingHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MappingHandle](MappingHandle.md#) object. After calling this, caller takes the ownership of the allocated [MappingHandle](MappingHandle.md#) object, has\_related\_mapping\_handle\(\) will return false, and related\_mapping\_handle\(\) will return the default value.| +|has\_parent\_group\_handle\(\) const|bool|void|Returns true if parent\_group\_handle is set.| +|parent\_group\_handle\(\)|const [MapGroupHandle](MapGroupHandle.md#)&|void|Returns the current value of parent\_group\_handle. If parent\_group\_handle is not set, returns a [MapGroupHandle](MapGroupHandle.md#) with none of its fields set \(possibly parent\_group\_handle::default\_instance\(\)\).| +|mutable\_parent\_group\_handle\(\)| [MapGroupHandle](MapGroupHandle.md#) \*|void|Returns a pointer to the mutable [MapGroupHandle](MapGroupHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapGroupHandle](MapGroupHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapGroupHandle](MapGroupHandle.md#)\). After calling this, has\_parent\_group\_handle\(\) will return true and parent\_group\_handle\(\) will return a reference to the same instance of [MapGroupHandle](MapGroupHandle.md#).| +|clear\_parent\_group\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_parent\_group\_handle\(\) will return false and parent\_group\_handle\(\) will return the default value.| +|set\_allocated\_parent\_group\_handle\(\)|void| [MapGroupHandle](MapGroupHandle.md#) \*|Sets the [MapGroupHandle](MapGroupHandle.md#) object to the field and frees the previous field value if it exists. If the [MapGroupHandle](MapGroupHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapGroupHandle](MapGroupHandle.md#) object and has\_ [MapGroupHandle](MapGroupHandle.md#)\(\) will return true. Otherwise, if the parent\_group\_handle is NULL, the behavior is the same as calling clear\_parent\_group\_handle\(\).| +|release\_parent\_group\_handle\(\)| [MapGroupHandle](MapGroupHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapGroupHandle](MapGroupHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapGroupHandle](MapGroupHandle.md#) object, has\_parent\_group\_handle\(\) will return false, and parent\_group\_handle\(\) will return the default value.| +|children\_map\_group\_handles\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|children\_map\_group\_handles\(\) const|const [MapGroupHandle](MapGroupHandle.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, children\_map\_group\_handles\_size\(\)\) yields undefined behavior.| +|mutable\_children\_map\_group\_handles\(\)| [MapGroupHandle](MapGroupHandle.md#)\*|int index|Returns a pointer to the mutable [MapGroupHandle](MapGroupHandle.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, children\_map\_group\_handles\_size\(\)\) yields undefined behavior.| +|add\_children\_map\_group\_handles\(\)| [MapGroupHandle](MapGroupHandle.md#)\*|void|Adds a new element and returns a pointer to it. The returned [MapGroupHandle](MapGroupHandle.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapGroupHandle](MapGroupHandle.md#)\).| +|clear\_children\_map\_group\_handles\(\)|void|void|Removes all elements from the field. After calling this, children\_map\_group\_handles\_size\(\) will return zero.| +|children\_map\_group\_handles\(\) const|const RepeatedPtrField< [MapGroupHandle](MapGroupHandle.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_children\_map\_group\_handles\(\)|RepeatedPtrField< [MapGroupHandle](MapGroupHandle.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|map\_handles\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|map\_handles\(\) const|const [MapHandle](MapHandle.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, map\_handles\_size\(\)\) yields undefined behavior.| +|mutable\_map\_handles\(\)| [MapHandle](MapHandle.md#)\*|int index|Returns a pointer to the mutable [MapHandle](MapHandle.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, map\_handles\_size\(\)\) yields undefined behavior.| +|add\_map\_handles\(\)| [MapHandle](MapHandle.md#)\*|void|Adds a new element and returns a pointer to it. The returned [MapHandle](MapHandle.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapHandle](MapHandle.md#)\).| +|clear\_map\_handles\(\)|void|void|Removes all elements from the field. After calling this, map\_handles\_size\(\) will return zero.| +|map\_handles\(\) const|const RepeatedPtrField< [MapHandle](MapHandle.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_map\_handles\(\)|RepeatedPtrField< [MapHandle](MapHandle.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|application\_data\(\)|const string&|void|Returns the current value of application\_data. If application\_data is not set, returns the empty string/empty bytes.| +|set\_application\_data\(\)|void|const string&|Sets the value of application\_data. After calling this, application\_data\(\) will return a copy of value.| +|set\_application\_data\(\)|void|string&&|\(C++11 and beyond\): Sets the value of application\_data, moving from the passed string. After calling this, application\_data\(\) will return a copy of value.| +|set\_application\_data\(\)|void|const char\*|Sets the value of application\_data using a C-style null-terminated string. After calling this, application\_data\(\) will return a copy of value.| +|mutable\_application\_data\(\)|string \*|void|Returns a pointer to the mutable string object that stores application\_data's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, application\_data\(\) will return whatever value is written into the given string.| +|clear\_application\_data\(\)|void|void|Clears the value of application\_data. After calling this, application\_data\(\) will return the empty string/empty bytes.| +|set\_allocated\_application\_data\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_application\_data\(\).| +|release\_application\_data\(\)|string \*|void|Releases the ownership of application\_data and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and application\_data\(\) will return the empty string/empty bytes.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_MapGroupHandle.md b/api_cpp/doc/markdown/messages/Base/MapGroupHandle.md similarity index 64% rename from api_cpp/doc/markdown/references/msg_Base_MapGroupHandle.md rename to api_cpp/doc/markdown/messages/Base/MapGroupHandle.md index a22e6d1c..0c78c203 100644 --- a/api_cpp/doc/markdown/references/msg_Base_MapGroupHandle.md +++ b/api_cpp/doc/markdown/messages/Base/MapGroupHandle.md @@ -1,26 +1,16 @@ -# Message MapGroupHandle +# class MapGroupHandle -This page describes the C++ Kinova::Api::Base::MapGroupHandle message. - -## Overview / Purpose - -Identifies a map group \(future\) - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |identifier|uint32|Identifier| |permission|uint32|Permission of specified map group entity. Must use 'Kinova.Api.Common.Permission' enum.| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |identifier\(\)|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| |set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| |clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return 0.| @@ -28,5 +18,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_permission\(\)|void|uint32|Sets the value of permission. After calling this, permission\(\) will return value.| |clear\_permission\(\)|void|void|Clears the value of permission. After calling this, permission\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/MapGroupList.md b/api_cpp/doc/markdown/messages/Base/MapGroupList.md new file mode 100644 index 00000000..1659a515 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/MapGroupList.md @@ -0,0 +1,22 @@ +# class MapGroupList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|map\_groups| [MapGroup](MapGroup.md#)|Map group| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|map\_groups\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|map\_groups\(\) const|const [MapGroup](MapGroup.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, map\_groups\_size\(\)\) yields undefined behavior.| +|mutable\_map\_groups\(\)| [MapGroup](MapGroup.md#)\*|int index|Returns a pointer to the mutable [MapGroup](MapGroup.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, map\_groups\_size\(\)\) yields undefined behavior.| +|add\_map\_groups\(\)| [MapGroup](MapGroup.md#)\*|void|Adds a new element and returns a pointer to it. The returned [MapGroup](MapGroup.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapGroup](MapGroup.md#)\).| +|clear\_map\_groups\(\)|void|void|Removes all elements from the field. After calling this, map\_groups\_size\(\) will return zero.| +|map\_groups\(\) const|const RepeatedPtrField< [MapGroup](MapGroup.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_map\_groups\(\)|RepeatedPtrField< [MapGroup](MapGroup.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_MapHandle.md b/api_cpp/doc/markdown/messages/Base/MapHandle.md similarity index 65% rename from api_cpp/doc/markdown/references/msg_Base_MapHandle.md rename to api_cpp/doc/markdown/messages/Base/MapHandle.md index 36e4d496..30270433 100644 --- a/api_cpp/doc/markdown/references/msg_Base_MapHandle.md +++ b/api_cpp/doc/markdown/messages/Base/MapHandle.md @@ -1,26 +1,16 @@ -# Message MapHandle +# class MapHandle -This page describes the C++ Kinova::Api::Base::MapHandle message. - -## Overview / Purpose - -Identifies a map - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |identifier|uint32|Identifier| |permission|uint32|Permission of specified map entity. Must use 'Kinova.Api.Common.Permission' enum.| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |identifier\(\)|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| |set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| |clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return 0.| @@ -28,5 +18,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_permission\(\)|void|uint32|Sets the value of permission. After calling this, permission\(\) will return value.| |clear\_permission\(\)|void|void|Clears the value of permission. After calling this, permission\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/MapList.md b/api_cpp/doc/markdown/messages/Base/MapList.md new file mode 100644 index 00000000..5fcf31bd --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/MapList.md @@ -0,0 +1,22 @@ +# class MapList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|map\_list| [Map](Map.md#)|map| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|map\_list\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|map\_list\(\) const|const [Map](Map.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, map\_list\_size\(\)\) yields undefined behavior.| +|mutable\_map\_list\(\)| [Map](Map.md#)\*|int index|Returns a pointer to the mutable [Map](Map.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, map\_list\_size\(\)\) yields undefined behavior.| +|add\_map\_list\(\)| [Map](Map.md#)\*|void|Adds a new element and returns a pointer to it. The returned [Map](Map.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [Map](Map.md#)\).| +|clear\_map\_list\(\)|void|void|Removes all elements from the field. After calling this, map\_list\_size\(\) will return zero.| +|map\_list\(\) const|const RepeatedPtrField< [Map](Map.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_map\_list\(\)|RepeatedPtrField< [Map](Map.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/Mapping.md b/api_cpp/doc/markdown/messages/Base/Mapping.md new file mode 100644 index 00000000..7e62c407 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/Mapping.md @@ -0,0 +1,73 @@ +# class Mapping + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|handle| [MappingHandle](MappingHandle.md#)|Mapping handle \(do not set on createMapping\(\) call\)| +|name|string|Mapping friendly name| +|controller\_identifier|uint32|Associated controller identifier| +|active\_map\_group\_handle| [MapGroupHandle](MapGroupHandle.md#)|Currently active map group \(not implemented yet\)| +|map\_group\_handles| [MapGroupHandle](MapGroupHandle.md#)|Array of associated map groups \(not implemented yet\)| +|active\_map\_handle| [MapHandle](MapHandle.md#)|Currently active map| +|map\_handles| [MapHandle](MapHandle.md#)|Array of associated maps| +|application\_data|string|Application data \(reserved for use by Web App\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_handle\(\) const|bool|void|Returns true if handle is set.| +|handle\(\)|const [MappingHandle](MappingHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [MappingHandle](MappingHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [MappingHandle](MappingHandle.md#) \*|void|Returns a pointer to the mutable [MappingHandle](MappingHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MappingHandle](MappingHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MappingHandle](MappingHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [MappingHandle](MappingHandle.md#).| +|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [MappingHandle](MappingHandle.md#) \*|Sets the [MappingHandle](MappingHandle.md#) object to the field and frees the previous field value if it exists. If the [MappingHandle](MappingHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MappingHandle](MappingHandle.md#) object and has\_ [MappingHandle](MappingHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [MappingHandle](MappingHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MappingHandle](MappingHandle.md#) object. After calling this, caller takes the ownership of the allocated [MappingHandle](MappingHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|name\(\)|const string&|void|Returns the current value of name. If name is not set, returns the empty string/empty bytes.| +|set\_name\(\)|void|const string&|Sets the value of name. After calling this, name\(\) will return a copy of value.| +|set\_name\(\)|void|string&&|\(C++11 and beyond\): Sets the value of name, moving from the passed string. After calling this, name\(\) will return a copy of value.| +|set\_name\(\)|void|const char\*|Sets the value of name using a C-style null-terminated string. After calling this, name\(\) will return a copy of value.| +|mutable\_name\(\)|string \*|void|Returns a pointer to the mutable string object that stores name's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, name\(\) will return whatever value is written into the given string.| +|clear\_name\(\)|void|void|Clears the value of name. After calling this, name\(\) will return the empty string/empty bytes.| +|set\_allocated\_name\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_name\(\).| +|release\_name\(\)|string \*|void|Releases the ownership of name and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and name\(\) will return the empty string/empty bytes.| +|controller\_identifier\(\)|uint32|void|Returns the current value of controller\_identifier. If the controller\_identifier is not set, returns 0.| +|set\_controller\_identifier\(\)|void|uint32|Sets the value of controller\_identifier. After calling this, controller\_identifier\(\) will return value.| +|clear\_controller\_identifier\(\)|void|void|Clears the value of controller\_identifier. After calling this, controller\_identifier\(\) will return 0.| +|has\_active\_map\_group\_handle\(\) const|bool|void|Returns true if active\_map\_group\_handle is set.| +|active\_map\_group\_handle\(\)|const [MapGroupHandle](MapGroupHandle.md#)&|void|Returns the current value of active\_map\_group\_handle. If active\_map\_group\_handle is not set, returns a [MapGroupHandle](MapGroupHandle.md#) with none of its fields set \(possibly active\_map\_group\_handle::default\_instance\(\)\).| +|mutable\_active\_map\_group\_handle\(\)| [MapGroupHandle](MapGroupHandle.md#) \*|void|Returns a pointer to the mutable [MapGroupHandle](MapGroupHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapGroupHandle](MapGroupHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapGroupHandle](MapGroupHandle.md#)\). After calling this, has\_active\_map\_group\_handle\(\) will return true and active\_map\_group\_handle\(\) will return a reference to the same instance of [MapGroupHandle](MapGroupHandle.md#).| +|clear\_active\_map\_group\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_active\_map\_group\_handle\(\) will return false and active\_map\_group\_handle\(\) will return the default value.| +|set\_allocated\_active\_map\_group\_handle\(\)|void| [MapGroupHandle](MapGroupHandle.md#) \*|Sets the [MapGroupHandle](MapGroupHandle.md#) object to the field and frees the previous field value if it exists. If the [MapGroupHandle](MapGroupHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapGroupHandle](MapGroupHandle.md#) object and has\_ [MapGroupHandle](MapGroupHandle.md#)\(\) will return true. Otherwise, if the active\_map\_group\_handle is NULL, the behavior is the same as calling clear\_active\_map\_group\_handle\(\).| +|release\_active\_map\_group\_handle\(\)| [MapGroupHandle](MapGroupHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapGroupHandle](MapGroupHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapGroupHandle](MapGroupHandle.md#) object, has\_active\_map\_group\_handle\(\) will return false, and active\_map\_group\_handle\(\) will return the default value.| +|map\_group\_handles\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|map\_group\_handles\(\) const|const [MapGroupHandle](MapGroupHandle.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, map\_group\_handles\_size\(\)\) yields undefined behavior.| +|mutable\_map\_group\_handles\(\)| [MapGroupHandle](MapGroupHandle.md#)\*|int index|Returns a pointer to the mutable [MapGroupHandle](MapGroupHandle.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, map\_group\_handles\_size\(\)\) yields undefined behavior.| +|add\_map\_group\_handles\(\)| [MapGroupHandle](MapGroupHandle.md#)\*|void|Adds a new element and returns a pointer to it. The returned [MapGroupHandle](MapGroupHandle.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapGroupHandle](MapGroupHandle.md#)\).| +|clear\_map\_group\_handles\(\)|void|void|Removes all elements from the field. After calling this, map\_group\_handles\_size\(\) will return zero.| +|map\_group\_handles\(\) const|const RepeatedPtrField< [MapGroupHandle](MapGroupHandle.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_map\_group\_handles\(\)|RepeatedPtrField< [MapGroupHandle](MapGroupHandle.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|has\_active\_map\_handle\(\) const|bool|void|Returns true if active\_map\_handle is set.| +|active\_map\_handle\(\)|const [MapHandle](MapHandle.md#)&|void|Returns the current value of active\_map\_handle. If active\_map\_handle is not set, returns a [MapHandle](MapHandle.md#) with none of its fields set \(possibly active\_map\_handle::default\_instance\(\)\).| +|mutable\_active\_map\_handle\(\)| [MapHandle](MapHandle.md#) \*|void|Returns a pointer to the mutable [MapHandle](MapHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapHandle](MapHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapHandle](MapHandle.md#)\). After calling this, has\_active\_map\_handle\(\) will return true and active\_map\_handle\(\) will return a reference to the same instance of [MapHandle](MapHandle.md#).| +|clear\_active\_map\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_active\_map\_handle\(\) will return false and active\_map\_handle\(\) will return the default value.| +|set\_allocated\_active\_map\_handle\(\)|void| [MapHandle](MapHandle.md#) \*|Sets the [MapHandle](MapHandle.md#) object to the field and frees the previous field value if it exists. If the [MapHandle](MapHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapHandle](MapHandle.md#) object and has\_ [MapHandle](MapHandle.md#)\(\) will return true. Otherwise, if the active\_map\_handle is NULL, the behavior is the same as calling clear\_active\_map\_handle\(\).| +|release\_active\_map\_handle\(\)| [MapHandle](MapHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapHandle](MapHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapHandle](MapHandle.md#) object, has\_active\_map\_handle\(\) will return false, and active\_map\_handle\(\) will return the default value.| +|map\_handles\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|map\_handles\(\) const|const [MapHandle](MapHandle.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, map\_handles\_size\(\)\) yields undefined behavior.| +|mutable\_map\_handles\(\)| [MapHandle](MapHandle.md#)\*|int index|Returns a pointer to the mutable [MapHandle](MapHandle.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, map\_handles\_size\(\)\) yields undefined behavior.| +|add\_map\_handles\(\)| [MapHandle](MapHandle.md#)\*|void|Adds a new element and returns a pointer to it. The returned [MapHandle](MapHandle.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapHandle](MapHandle.md#)\).| +|clear\_map\_handles\(\)|void|void|Removes all elements from the field. After calling this, map\_handles\_size\(\) will return zero.| +|map\_handles\(\) const|const RepeatedPtrField< [MapHandle](MapHandle.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_map\_handles\(\)|RepeatedPtrField< [MapHandle](MapHandle.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|application\_data\(\)|const string&|void|Returns the current value of application\_data. If application\_data is not set, returns the empty string/empty bytes.| +|set\_application\_data\(\)|void|const string&|Sets the value of application\_data. After calling this, application\_data\(\) will return a copy of value.| +|set\_application\_data\(\)|void|string&&|\(C++11 and beyond\): Sets the value of application\_data, moving from the passed string. After calling this, application\_data\(\) will return a copy of value.| +|set\_application\_data\(\)|void|const char\*|Sets the value of application\_data using a C-style null-terminated string. After calling this, application\_data\(\) will return a copy of value.| +|mutable\_application\_data\(\)|string \*|void|Returns a pointer to the mutable string object that stores application\_data's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, application\_data\(\) will return whatever value is written into the given string.| +|clear\_application\_data\(\)|void|void|Clears the value of application\_data. After calling this, application\_data\(\) will return the empty string/empty bytes.| +|set\_allocated\_application\_data\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_application\_data\(\).| +|release\_application\_data\(\)|string \*|void|Releases the ownership of application\_data and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and application\_data\(\) will return the empty string/empty bytes.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_MappingHandle.md b/api_cpp/doc/markdown/messages/Base/MappingHandle.md similarity index 65% rename from api_cpp/doc/markdown/references/msg_Base_MappingHandle.md rename to api_cpp/doc/markdown/messages/Base/MappingHandle.md index 12b6cdf4..a08c89ee 100644 --- a/api_cpp/doc/markdown/references/msg_Base_MappingHandle.md +++ b/api_cpp/doc/markdown/messages/Base/MappingHandle.md @@ -1,26 +1,16 @@ -# Message MappingHandle +# class MappingHandle -This page describes the C++ Kinova::Api::Base::MappingHandle message. - -## Overview / Purpose - -Identifies a Mapping - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |identifier|uint32|Mapping identifier| |permission|uint32|Permission of specified mapping entity. Must use 'Kinova.Api.Common.Permission' enum.| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |identifier\(\)|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| |set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| |clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return 0.| @@ -28,5 +18,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_permission\(\)|void|uint32|Sets the value of permission. After calling this, permission\(\) will return value.| |clear\_permission\(\)|void|void|Clears the value of permission. After calling this, permission\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/MappingInfoNotification.md b/api_cpp/doc/markdown/messages/Base/MappingInfoNotification.md new file mode 100644 index 00000000..183d9af3 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/MappingInfoNotification.md @@ -0,0 +1,46 @@ +# class MappingInfoNotification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|controller\_identifier|uint32|Identifier of the controller| +|active\_map\_handle| [MapHandle](MapHandle.md#)|New active map| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the mapping information event| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the mapping information event| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|controller\_identifier\(\)|uint32|void|Returns the current value of controller\_identifier. If the controller\_identifier is not set, returns 0.| +|set\_controller\_identifier\(\)|void|uint32|Sets the value of controller\_identifier. After calling this, controller\_identifier\(\) will return value.| +|clear\_controller\_identifier\(\)|void|void|Clears the value of controller\_identifier. After calling this, controller\_identifier\(\) will return 0.| +|has\_active\_map\_handle\(\) const|bool|void|Returns true if active\_map\_handle is set.| +|active\_map\_handle\(\)|const [MapHandle](MapHandle.md#)&|void|Returns the current value of active\_map\_handle. If active\_map\_handle is not set, returns a [MapHandle](MapHandle.md#) with none of its fields set \(possibly active\_map\_handle::default\_instance\(\)\).| +|mutable\_active\_map\_handle\(\)| [MapHandle](MapHandle.md#) \*|void|Returns a pointer to the mutable [MapHandle](MapHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapHandle](MapHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapHandle](MapHandle.md#)\). After calling this, has\_active\_map\_handle\(\) will return true and active\_map\_handle\(\) will return a reference to the same instance of [MapHandle](MapHandle.md#).| +|clear\_active\_map\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_active\_map\_handle\(\) will return false and active\_map\_handle\(\) will return the default value.| +|set\_allocated\_active\_map\_handle\(\)|void| [MapHandle](MapHandle.md#) \*|Sets the [MapHandle](MapHandle.md#) object to the field and frees the previous field value if it exists. If the [MapHandle](MapHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapHandle](MapHandle.md#) object and has\_ [MapHandle](MapHandle.md#)\(\) will return true. Otherwise, if the active\_map\_handle is NULL, the behavior is the same as calling clear\_active\_map\_handle\(\).| +|release\_active\_map\_handle\(\)| [MapHandle](MapHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapHandle](MapHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapHandle](MapHandle.md#) object, has\_active\_map\_handle\(\) will return false, and active\_map\_handle\(\) will return the default value.| +|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| +|timestamp\(\)|const [Timestamp](../Common/Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](../Common/Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| +|mutable\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](../Common/Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](../Common/Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](../Common/Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](../Common/Timestamp.md#).| +|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| +|set\_allocated\_timestamp\(\)|void| [Timestamp](../Common/Timestamp.md#) \*|Sets the [Timestamp](../Common/Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](../Common/Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](../Common/Timestamp.md#) object and has\_ [Timestamp](../Common/Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| +|release\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](../Common/Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](../Common/Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| +|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| +|user\_handle\(\)|const [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](../Common/UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| +|mutable\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](../Common/UserProfileHandle.md#).| +|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| +|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|Sets the [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object and has\_ [UserProfileHandle](../Common/UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| +|release\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](../Common/UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| +|has\_connection\(\) const|bool|void|Returns true if connection is set.| +|connection\(\)|const [Connection](../Common/Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](../Common/Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| +|mutable\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Returns a pointer to the mutable [Connection](../Common/Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](../Common/Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](../Common/Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](../Common/Connection.md#).| +|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| +|set\_allocated\_connection\(\)|void| [Connection](../Common/Connection.md#) \*|Sets the [Connection](../Common/Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](../Common/Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](../Common/Connection.md#) object and has\_ [Connection](../Common/Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| +|release\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](../Common/Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](../Common/Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/MappingInfoNotificationList.md b/api_cpp/doc/markdown/messages/Base/MappingInfoNotificationList.md new file mode 100644 index 00000000..a9505dfa --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/MappingInfoNotificationList.md @@ -0,0 +1,22 @@ +# class MappingInfoNotificationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|notifications| [MappingInfoNotification](MappingInfoNotification.md#)|Notification| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|notifications\(\) const|const [MappingInfoNotification](MappingInfoNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|mutable\_notifications\(\)| [MappingInfoNotification](MappingInfoNotification.md#)\*|int index|Returns a pointer to the mutable [MappingInfoNotification](MappingInfoNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|add\_notifications\(\)| [MappingInfoNotification](MappingInfoNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [MappingInfoNotification](MappingInfoNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [MappingInfoNotification](MappingInfoNotification.md#)\).| +|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| +|notifications\(\) const|const RepeatedPtrField< [MappingInfoNotification](MappingInfoNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_notifications\(\)|RepeatedPtrField< [MappingInfoNotification](MappingInfoNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/MappingList.md b/api_cpp/doc/markdown/messages/Base/MappingList.md new file mode 100644 index 00000000..e040f2bc --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/MappingList.md @@ -0,0 +1,22 @@ +# class MappingList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|mappings| [Mapping](Mapping.md#)|Mapping| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|mappings\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|mappings\(\) const|const [Mapping](Mapping.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, mappings\_size\(\)\) yields undefined behavior.| +|mutable\_mappings\(\)| [Mapping](Mapping.md#)\*|int index|Returns a pointer to the mutable [Mapping](Mapping.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, mappings\_size\(\)\) yields undefined behavior.| +|add\_mappings\(\)| [Mapping](Mapping.md#)\*|void|Adds a new element and returns a pointer to it. The returned [Mapping](Mapping.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [Mapping](Mapping.md#)\).| +|clear\_mappings\(\)|void|void|Removes all elements from the field. After calling this, mappings\_size\(\) will return zero.| +|mappings\(\) const|const RepeatedPtrField< [Mapping](Mapping.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_mappings\(\)|RepeatedPtrField< [Mapping](Mapping.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/NetworkHandle.md b/api_cpp/doc/markdown/messages/Base/NetworkHandle.md new file mode 100644 index 00000000..6d1f4bef --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/NetworkHandle.md @@ -0,0 +1,18 @@ +# class NetworkHandle + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|type|uint32|Network type| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|type\(\) const|uint32|void|Returns the current value of type. If the type is not set, returns 0.| +|set\_type\(\)|void|uint32|Sets the value of type. After calling this, type\(\) will return value.| +|clear\_type\(\)|void|void|Clears the value of type. After calling this, type\(\) will return the empty string/empty bytes.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/NetworkNotification.md b/api_cpp/doc/markdown/messages/Base/NetworkNotification.md new file mode 100644 index 00000000..b874de0c --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/NetworkNotification.md @@ -0,0 +1,39 @@ +# class NetworkNotification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|event|uint32|Event type| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the network event to occur| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the network event to occur| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|event\(\) const|uint32|void|Returns the current value of event. If the event is not set, returns 0.| +|set\_event\(\)|void|uint32|Sets the value of event. After calling this, event\(\) will return value.| +|clear\_event\(\)|void|void|Clears the value of event. After calling this, event\(\) will return the empty string/empty bytes.| +|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| +|timestamp\(\)|const [Timestamp](../Common/Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](../Common/Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| +|mutable\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](../Common/Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](../Common/Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](../Common/Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](../Common/Timestamp.md#).| +|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| +|set\_allocated\_timestamp\(\)|void| [Timestamp](../Common/Timestamp.md#) \*|Sets the [Timestamp](../Common/Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](../Common/Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](../Common/Timestamp.md#) object and has\_ [Timestamp](../Common/Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| +|release\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](../Common/Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](../Common/Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| +|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| +|user\_handle\(\)|const [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](../Common/UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| +|mutable\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](../Common/UserProfileHandle.md#).| +|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| +|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|Sets the [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object and has\_ [UserProfileHandle](../Common/UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| +|release\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](../Common/UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| +|has\_connection\(\) const|bool|void|Returns true if connection is set.| +|connection\(\)|const [Connection](../Common/Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](../Common/Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| +|mutable\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Returns a pointer to the mutable [Connection](../Common/Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](../Common/Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](../Common/Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](../Common/Connection.md#).| +|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| +|set\_allocated\_connection\(\)|void| [Connection](../Common/Connection.md#) \*|Sets the [Connection](../Common/Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](../Common/Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](../Common/Connection.md#) object and has\_ [Connection](../Common/Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| +|release\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](../Common/Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](../Common/Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/NetworkNotificationList.md b/api_cpp/doc/markdown/messages/Base/NetworkNotificationList.md new file mode 100644 index 00000000..6e62765f --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/NetworkNotificationList.md @@ -0,0 +1,22 @@ +# class NetworkNotificationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|notifications| [NetworkNotification](NetworkNotification.md#)|Notification| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|notifications\(\) const|const [NetworkNotification](NetworkNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|mutable\_notifications\(\)| [NetworkNotification](NetworkNotification.md#)\*|int index|Returns a pointer to the mutable [NetworkNotification](NetworkNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|add\_notifications\(\)| [NetworkNotification](NetworkNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [NetworkNotification](NetworkNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [NetworkNotification](NetworkNotification.md#)\).| +|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| +|notifications\(\) const|const RepeatedPtrField< [NetworkNotification](NetworkNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_notifications\(\)|RepeatedPtrField< [NetworkNotification](NetworkNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/OperatingModeInformation.md b/api_cpp/doc/markdown/messages/Base/OperatingModeInformation.md new file mode 100644 index 00000000..122d9966 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/OperatingModeInformation.md @@ -0,0 +1,25 @@ +# class OperatingModeInformation + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|operating\_mode|uint32|Operating mode| +|device\_handle| [DeviceHandle](../Common/DeviceHandle.md#)|Device matching operating mode \(if applicable\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|operating\_mode\(\) const|uint32|void|Returns the current value of operating\_mode. If the operating\_mode is not set, returns 0.| +|set\_operating\_mode\(\)|void|uint32|Sets the value of operating\_mode. After calling this, operating\_mode\(\) will return value.| +|clear\_operating\_mode\(\)|void|void|Clears the value of operating\_mode. After calling this, operating\_mode\(\) will return the empty string/empty bytes.| +|has\_device\_handle\(\) const|bool|void|Returns true if device\_handle is set.| +|device\_handle\(\)|const [DeviceHandle](../Common/DeviceHandle.md#)&|void|Returns the current value of device\_handle. If device\_handle is not set, returns a [DeviceHandle](../Common/DeviceHandle.md#) with none of its fields set \(possibly device\_handle::default\_instance\(\)\).| +|mutable\_device\_handle\(\)| [DeviceHandle](../Common/DeviceHandle.md#) \*|void|Returns a pointer to the mutable [DeviceHandle](../Common/DeviceHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [DeviceHandle](../Common/DeviceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [DeviceHandle](../Common/DeviceHandle.md#)\). After calling this, has\_device\_handle\(\) will return true and device\_handle\(\) will return a reference to the same instance of [DeviceHandle](../Common/DeviceHandle.md#).| +|clear\_device\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_device\_handle\(\) will return false and device\_handle\(\) will return the default value.| +|set\_allocated\_device\_handle\(\)|void| [DeviceHandle](../Common/DeviceHandle.md#) \*|Sets the [DeviceHandle](../Common/DeviceHandle.md#) object to the field and frees the previous field value if it exists. If the [DeviceHandle](../Common/DeviceHandle.md#) pointer is not NULL, the message takes ownership of the allocated [DeviceHandle](../Common/DeviceHandle.md#) object and has\_ [DeviceHandle](../Common/DeviceHandle.md#)\(\) will return true. Otherwise, if the device\_handle is NULL, the behavior is the same as calling clear\_device\_handle\(\).| +|release\_device\_handle\(\)| [DeviceHandle](../Common/DeviceHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [DeviceHandle](../Common/DeviceHandle.md#) object. After calling this, caller takes the ownership of the allocated [DeviceHandle](../Common/DeviceHandle.md#) object, has\_device\_handle\(\) will return false, and device\_handle\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/OperatingModeNotification.md b/api_cpp/doc/markdown/messages/Base/OperatingModeNotification.md new file mode 100644 index 00000000..ebdbc043 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/OperatingModeNotification.md @@ -0,0 +1,46 @@ +# class OperatingModeNotification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|operating\_mode|uint32|New operating mode| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the operating mode event| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the operating mode event| +|device\_handle| [DeviceHandle](../Common/DeviceHandle.md#)|Device matching operating mode \(if applicable\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|operating\_mode\(\) const|uint32|void|Returns the current value of operating\_mode. If the operating\_mode is not set, returns 0.| +|set\_operating\_mode\(\)|void|uint32|Sets the value of operating\_mode. After calling this, operating\_mode\(\) will return value.| +|clear\_operating\_mode\(\)|void|void|Clears the value of operating\_mode. After calling this, operating\_mode\(\) will return the empty string/empty bytes.| +|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| +|timestamp\(\)|const [Timestamp](../Common/Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](../Common/Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| +|mutable\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](../Common/Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](../Common/Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](../Common/Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](../Common/Timestamp.md#).| +|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| +|set\_allocated\_timestamp\(\)|void| [Timestamp](../Common/Timestamp.md#) \*|Sets the [Timestamp](../Common/Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](../Common/Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](../Common/Timestamp.md#) object and has\_ [Timestamp](../Common/Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| +|release\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](../Common/Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](../Common/Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| +|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| +|user\_handle\(\)|const [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](../Common/UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| +|mutable\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](../Common/UserProfileHandle.md#).| +|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| +|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|Sets the [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object and has\_ [UserProfileHandle](../Common/UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| +|release\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](../Common/UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| +|has\_connection\(\) const|bool|void|Returns true if connection is set.| +|connection\(\)|const [Connection](../Common/Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](../Common/Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| +|mutable\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Returns a pointer to the mutable [Connection](../Common/Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](../Common/Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](../Common/Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](../Common/Connection.md#).| +|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| +|set\_allocated\_connection\(\)|void| [Connection](../Common/Connection.md#) \*|Sets the [Connection](../Common/Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](../Common/Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](../Common/Connection.md#) object and has\_ [Connection](../Common/Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| +|release\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](../Common/Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](../Common/Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| +|has\_device\_handle\(\) const|bool|void|Returns true if device\_handle is set.| +|device\_handle\(\)|const [DeviceHandle](../Common/DeviceHandle.md#)&|void|Returns the current value of device\_handle. If device\_handle is not set, returns a [DeviceHandle](../Common/DeviceHandle.md#) with none of its fields set \(possibly device\_handle::default\_instance\(\)\).| +|mutable\_device\_handle\(\)| [DeviceHandle](../Common/DeviceHandle.md#) \*|void|Returns a pointer to the mutable [DeviceHandle](../Common/DeviceHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [DeviceHandle](../Common/DeviceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [DeviceHandle](../Common/DeviceHandle.md#)\). After calling this, has\_device\_handle\(\) will return true and device\_handle\(\) will return a reference to the same instance of [DeviceHandle](../Common/DeviceHandle.md#).| +|clear\_device\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_device\_handle\(\) will return false and device\_handle\(\) will return the default value.| +|set\_allocated\_device\_handle\(\)|void| [DeviceHandle](../Common/DeviceHandle.md#) \*|Sets the [DeviceHandle](../Common/DeviceHandle.md#) object to the field and frees the previous field value if it exists. If the [DeviceHandle](../Common/DeviceHandle.md#) pointer is not NULL, the message takes ownership of the allocated [DeviceHandle](../Common/DeviceHandle.md#) object and has\_ [DeviceHandle](../Common/DeviceHandle.md#)\(\) will return true. Otherwise, if the device\_handle is NULL, the behavior is the same as calling clear\_device\_handle\(\).| +|release\_device\_handle\(\)| [DeviceHandle](../Common/DeviceHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [DeviceHandle](../Common/DeviceHandle.md#) object. After calling this, caller takes the ownership of the allocated [DeviceHandle](../Common/DeviceHandle.md#) object, has\_device\_handle\(\) will return false, and device\_handle\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/OperatingModeNotificationList.md b/api_cpp/doc/markdown/messages/Base/OperatingModeNotificationList.md new file mode 100644 index 00000000..6c73ea05 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/OperatingModeNotificationList.md @@ -0,0 +1,22 @@ +# class OperatingModeNotificationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|notifications| [OperatingModeNotification](OperatingModeNotification.md#)|Notification| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|notifications\(\) const|const [OperatingModeNotification](OperatingModeNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|mutable\_notifications\(\)| [OperatingModeNotification](OperatingModeNotification.md#)\*|int index|Returns a pointer to the mutable [OperatingModeNotification](OperatingModeNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|add\_notifications\(\)| [OperatingModeNotification](OperatingModeNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [OperatingModeNotification](OperatingModeNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [OperatingModeNotification](OperatingModeNotification.md#)\).| +|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| +|notifications\(\) const|const RepeatedPtrField< [OperatingModeNotification](OperatingModeNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_notifications\(\)|RepeatedPtrField< [OperatingModeNotification](OperatingModeNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_Orientation.md b/api_cpp/doc/markdown/messages/Base/Orientation.md similarity index 71% rename from api_cpp/doc/markdown/references/msg_Base_Orientation.md rename to api_cpp/doc/markdown/messages/Base/Orientation.md index 79e4c66f..b139f2e7 100644 --- a/api_cpp/doc/markdown/references/msg_Base_Orientation.md +++ b/api_cpp/doc/markdown/messages/Base/Orientation.md @@ -1,14 +1,6 @@ -# Message Orientation +# class Orientation -This page describes the C++ Kinova::Api::Base::Orientation message. - -## Overview / Purpose - -Defines a Cartesian orientation - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| @@ -16,12 +8,10 @@ Defines a Cartesian orientation |theta\_y|float32|Theta Y orientation \(in degrees\)| |theta\_z|float32|Theta Z orientation \(in degrees\)| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |theta\_x\(\)|float32|void|Returns the current value of theta\_x. If the theta\_x is not set, returns 0.| |set\_theta\_x\(\)|void|float32|Sets the value of theta\_x. After calling this, theta\_x\(\) will return value.| |clear\_theta\_x\(\)|void|void|Clears the value of theta\_x. After calling this, theta\_x\(\) will return 0.| @@ -32,5 +22,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_theta\_z\(\)|void|float32|Sets the value of theta\_z. After calling this, theta\_z\(\) will return value.| |clear\_theta\_z\(\)|void|void|Clears the value of theta\_z. After calling this, theta\_z\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/msg_Base_PasswordChange.md b/api_cpp/doc/markdown/messages/Base/PasswordChange.md similarity index 61% rename from api_cpp/doc/markdown/references/msg_Base_PasswordChange.md rename to api_cpp/doc/markdown/messages/Base/PasswordChange.md index 6664c337..6ee38094 100644 --- a/api_cpp/doc/markdown/references/msg_Base_PasswordChange.md +++ b/api_cpp/doc/markdown/messages/Base/PasswordChange.md @@ -1,33 +1,23 @@ -# Message PasswordChange +# class PasswordChange -This page describes the C++ Kinova::Api::Base::PasswordChange message. - -## Overview / Purpose - -Provides information to change a user's password - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User handle| +|handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User handle| |old\_password|string|Current password| |new\_password|string|New password| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| +|handle\(\)|const [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [UserProfileHandle](../Common/UserProfileHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [UserProfileHandle](../Common/UserProfileHandle.md#).| |clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|Sets the [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object and has\_ [UserProfileHandle](../Common/UserProfileHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](../Common/UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| |old\_password\(\)|const string&|void|Returns the current value of old\_password. If old\_password is not set, returns the empty string/empty bytes.| |set\_old\_password\(\)|void|const string&|Sets the value of old\_password. After calling this, old\_password\(\) will return a copy of value.| |set\_old\_password\(\)|void|string&&|\(C++11 and beyond\): Sets the value of old\_password, moving from the passed string. After calling this, old\_password\(\) will return a copy of value.| @@ -45,5 +35,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_allocated\_new\_password\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_new\_password\(\).| |release\_new\_password\(\)|string \*|void|Releases the ownership of new\_password and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and new\_password\(\) will return the empty string/empty bytes.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/msg_Base_Point.md b/api_cpp/doc/markdown/messages/Base/Point.md similarity index 66% rename from api_cpp/doc/markdown/references/msg_Base_Point.md rename to api_cpp/doc/markdown/messages/Base/Point.md index 262160c5..3548d42f 100644 --- a/api_cpp/doc/markdown/references/msg_Base_Point.md +++ b/api_cpp/doc/markdown/messages/Base/Point.md @@ -1,14 +1,6 @@ -# Message Point +# class Point -This page describes the C++ Kinova::Api::Base::Point message. - -## Overview / Purpose - -Identifies a Cartesian point - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| @@ -16,12 +8,10 @@ Identifies a Cartesian point |y|float32|y \(in meters\)| |z|float32|z \(in meters\)| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |x\(\)|float32|void|Returns the current value of x. If the x is not set, returns 0.| |set\_x\(\)|void|float32|Sets the value of x. After calling this, x\(\) will return value.| |clear\_x\(\)|void|void|Clears the value of x. After calling this, x\(\) will return 0.| @@ -32,5 +22,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_z\(\)|void|float32|Sets the value of z. After calling this, z\(\) will return value.| |clear\_z\(\)|void|void|Clears the value of z. After calling this, z\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/msg_Base_Pose.md b/api_cpp/doc/markdown/messages/Base/Pose.md similarity index 81% rename from api_cpp/doc/markdown/references/msg_Base_Pose.md rename to api_cpp/doc/markdown/messages/Base/Pose.md index a006586a..6c8e09de 100644 --- a/api_cpp/doc/markdown/references/msg_Base_Pose.md +++ b/api_cpp/doc/markdown/messages/Base/Pose.md @@ -1,14 +1,6 @@ -# Message Pose +# class Pose -This page describes the C++ Kinova::Api::Base::Pose message. - -## Overview / Purpose - -Defines a Cartesian pose - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| @@ -19,12 +11,10 @@ Defines a Cartesian pose |theta\_y|float32|Theta Y orienation \(in degrees\)| |theta\_z|float32|Theta Z orientation \(in degrees\)| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |x\(\)|float32|void|Returns the current value of x. If the x is not set, returns 0.| |set\_x\(\)|void|float32|Sets the value of x. After calling this, x\(\) will return value.| |clear\_x\(\)|void|void|Clears the value of x. After calling this, x\(\) will return 0.| @@ -44,5 +34,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_theta\_z\(\)|void|float32|Sets the value of theta\_z. After calling this, theta\_z\(\) will return value.| |clear\_theta\_z\(\)|void|void|Clears the value of theta\_z. After calling this, theta\_z\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/msg_Base_Position.md b/api_cpp/doc/markdown/messages/Base/Position.md similarity index 67% rename from api_cpp/doc/markdown/references/msg_Base_Position.md rename to api_cpp/doc/markdown/messages/Base/Position.md index 9a5ae701..2f3ad92e 100644 --- a/api_cpp/doc/markdown/references/msg_Base_Position.md +++ b/api_cpp/doc/markdown/messages/Base/Position.md @@ -1,14 +1,6 @@ -# Message Position +# class Position -This page describes the C++ Kinova::Api::Base::Position message. - -## Overview / Purpose - -Defines a Cartesian position - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| @@ -16,12 +8,10 @@ Defines a Cartesian position |y|float32|Y position \(in meters\)| |z|float32|Z position \(in meters\)| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |x\(\)|float32|void|Returns the current value of x. If the x is not set, returns 0.| |set\_x\(\)|void|float32|Sets the value of x. After calling this, x\(\) will return value.| |clear\_x\(\)|void|void|Clears the value of x. After calling this, x\(\) will return 0.| @@ -32,5 +22,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_z\(\)|void|float32|Sets the value of z. After calling this, z\(\) will return value.| |clear\_z\(\)|void|void|Clears the value of z. After calling this, z\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/PreComputedJointTrajectory.md b/api_cpp/doc/markdown/messages/Base/PreComputedJointTrajectory.md new file mode 100644 index 00000000..b88c7e09 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/PreComputedJointTrajectory.md @@ -0,0 +1,26 @@ +# class PreComputedJointTrajectory + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|mode|uint32|Trajectory continuity mode| +|trajectory\_elements| [PreComputedJointTrajectoryElement](PreComputedJointTrajectoryElement.md#)|List of pre-computed elements composing the trajectory.| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|mode\(\) const|uint32|void|Returns the current value of mode. If the mode is not set, returns 0.| +|set\_mode\(\)|void|uint32|Sets the value of mode. After calling this, mode\(\) will return value.| +|clear\_mode\(\)|void|void|Clears the value of mode. After calling this, mode\(\) will return the empty string/empty bytes.| +|trajectory\_elements\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|trajectory\_elements\(\) const|const [PreComputedJointTrajectoryElement](PreComputedJointTrajectoryElement.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, trajectory\_elements\_size\(\)\) yields undefined behavior.| +|mutable\_trajectory\_elements\(\)| [PreComputedJointTrajectoryElement](PreComputedJointTrajectoryElement.md#)\*|int index|Returns a pointer to the mutable [PreComputedJointTrajectoryElement](PreComputedJointTrajectoryElement.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, trajectory\_elements\_size\(\)\) yields undefined behavior.| +|add\_trajectory\_elements\(\)| [PreComputedJointTrajectoryElement](PreComputedJointTrajectoryElement.md#)\*|void|Adds a new element and returns a pointer to it. The returned [PreComputedJointTrajectoryElement](PreComputedJointTrajectoryElement.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [PreComputedJointTrajectoryElement](PreComputedJointTrajectoryElement.md#)\).| +|clear\_trajectory\_elements\(\)|void|void|Removes all elements from the field. After calling this, trajectory\_elements\_size\(\) will return zero.| +|trajectory\_elements\(\) const|const RepeatedPtrField< [PreComputedJointTrajectoryElement](PreComputedJointTrajectoryElement.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_trajectory\_elements\(\)|RepeatedPtrField< [PreComputedJointTrajectoryElement](PreComputedJointTrajectoryElement.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/PreComputedJointTrajectoryElement.md b/api_cpp/doc/markdown/messages/Base/PreComputedJointTrajectoryElement.md new file mode 100644 index 00000000..cc909078 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/PreComputedJointTrajectoryElement.md @@ -0,0 +1,42 @@ +# class PreComputedJointTrajectoryElement + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|joint\_angles|float32|Angles values for all joints \(in degrees\)| +|joint\_speeds|float32|Speed values for all joints \(in degrees per second\)| +|joint\_accelerations|float32|Acceleration values for all joints \(in degrees per second^2\)| +|time\_from\_start|float32|Absolute elaspsed time since initial point \(in seconds\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|joint\_angles\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|joint\_angles\(\) const|int|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, joint\_angles\_size\(\)\) yields undefined behavior.| +|set\_joint\_angles\(\)|void|\(int index, int32 value\)|Sets the value of the element at the given zero-based index.| +|add\_joint\_angles\(\)|void|\(int32 value\)|Appends a new element to the field with the given value.| +|clear\_joint\_angles\(\)|void|void|Removes all elements from the field. After calling this, joint\_angles\_size\(\) will return zero.| +|joint\_angles\(\) const|const RepeatedField&|void|Returns the underlying RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_joint\_angles\(\)|RepeatedField\*|void|Returns a pointer to the underlying mutable RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|joint\_speeds\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|joint\_speeds\(\) const|int|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, joint\_speeds\_size\(\)\) yields undefined behavior.| +|set\_joint\_speeds\(\)|void|\(int index, int32 value\)|Sets the value of the element at the given zero-based index.| +|add\_joint\_speeds\(\)|void|\(int32 value\)|Appends a new element to the field with the given value.| +|clear\_joint\_speeds\(\)|void|void|Removes all elements from the field. After calling this, joint\_speeds\_size\(\) will return zero.| +|joint\_speeds\(\) const|const RepeatedField&|void|Returns the underlying RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_joint\_speeds\(\)|RepeatedField\*|void|Returns a pointer to the underlying mutable RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|joint\_accelerations\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|joint\_accelerations\(\) const|int|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, joint\_accelerations\_size\(\)\) yields undefined behavior.| +|set\_joint\_accelerations\(\)|void|\(int index, int32 value\)|Sets the value of the element at the given zero-based index.| +|add\_joint\_accelerations\(\)|void|\(int32 value\)|Appends a new element to the field with the given value.| +|clear\_joint\_accelerations\(\)|void|void|Removes all elements from the field. After calling this, joint\_accelerations\_size\(\) will return zero.| +|joint\_accelerations\(\) const|const RepeatedField&|void|Returns the underlying RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_joint\_accelerations\(\)|RepeatedField\*|void|Returns a pointer to the underlying mutable RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|time\_from\_start\(\)|float32|void|Returns the current value of time\_from\_start. If the time\_from\_start is not set, returns 0.| +|set\_time\_from\_start\(\)|void|float32|Sets the value of time\_from\_start. After calling this, time\_from\_start\(\) will return value.| +|clear\_time\_from\_start\(\)|void|void|Clears the value of time\_from\_start. After calling this, time\_from\_start\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ProtectionZone.md b/api_cpp/doc/markdown/messages/Base/ProtectionZone.md new file mode 100644 index 00000000..4b17a791 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ProtectionZone.md @@ -0,0 +1,66 @@ +# class ProtectionZone + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|handle| [ProtectionZoneHandle](ProtectionZoneHandle.md#)|Protection zone handle| +|name|string|Protection zone friendly name| +|application\_data|string|Application data \(reserved for use by Web App\)| +|is\_enabled|bool|True if protection zone is enabled, false otherwise| +|shape| [ZoneShape](ZoneShape.md#)|Protection zone shape| +|limitations| [CartesianLimitation](CartesianLimitation.md#)|List of Cartesian limitation| +|envelope\_limitations| [CartesianLimitation](CartesianLimitation.md#)|List of Cartesian limitation of the envelop| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_handle\(\) const|bool|void|Returns true if handle is set.| +|handle\(\)|const [ProtectionZoneHandle](ProtectionZoneHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [ProtectionZoneHandle](ProtectionZoneHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [ProtectionZoneHandle](ProtectionZoneHandle.md#) \*|void|Returns a pointer to the mutable [ProtectionZoneHandle](ProtectionZoneHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ProtectionZoneHandle](ProtectionZoneHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ProtectionZoneHandle](ProtectionZoneHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [ProtectionZoneHandle](ProtectionZoneHandle.md#).| +|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [ProtectionZoneHandle](ProtectionZoneHandle.md#) \*|Sets the [ProtectionZoneHandle](ProtectionZoneHandle.md#) object to the field and frees the previous field value if it exists. If the [ProtectionZoneHandle](ProtectionZoneHandle.md#) pointer is not NULL, the message takes ownership of the allocated [ProtectionZoneHandle](ProtectionZoneHandle.md#) object and has\_ [ProtectionZoneHandle](ProtectionZoneHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [ProtectionZoneHandle](ProtectionZoneHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ProtectionZoneHandle](ProtectionZoneHandle.md#) object. After calling this, caller takes the ownership of the allocated [ProtectionZoneHandle](ProtectionZoneHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|name\(\)|const string&|void|Returns the current value of name. If name is not set, returns the empty string/empty bytes.| +|set\_name\(\)|void|const string&|Sets the value of name. After calling this, name\(\) will return a copy of value.| +|set\_name\(\)|void|string&&|\(C++11 and beyond\): Sets the value of name, moving from the passed string. After calling this, name\(\) will return a copy of value.| +|set\_name\(\)|void|const char\*|Sets the value of name using a C-style null-terminated string. After calling this, name\(\) will return a copy of value.| +|mutable\_name\(\)|string \*|void|Returns a pointer to the mutable string object that stores name's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, name\(\) will return whatever value is written into the given string.| +|clear\_name\(\)|void|void|Clears the value of name. After calling this, name\(\) will return the empty string/empty bytes.| +|set\_allocated\_name\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_name\(\).| +|release\_name\(\)|string \*|void|Releases the ownership of name and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and name\(\) will return the empty string/empty bytes.| +|application\_data\(\)|const string&|void|Returns the current value of application\_data. If application\_data is not set, returns the empty string/empty bytes.| +|set\_application\_data\(\)|void|const string&|Sets the value of application\_data. After calling this, application\_data\(\) will return a copy of value.| +|set\_application\_data\(\)|void|string&&|\(C++11 and beyond\): Sets the value of application\_data, moving from the passed string. After calling this, application\_data\(\) will return a copy of value.| +|set\_application\_data\(\)|void|const char\*|Sets the value of application\_data using a C-style null-terminated string. After calling this, application\_data\(\) will return a copy of value.| +|mutable\_application\_data\(\)|string \*|void|Returns a pointer to the mutable string object that stores application\_data's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, application\_data\(\) will return whatever value is written into the given string.| +|clear\_application\_data\(\)|void|void|Clears the value of application\_data. After calling this, application\_data\(\) will return the empty string/empty bytes.| +|set\_allocated\_application\_data\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_application\_data\(\).| +|release\_application\_data\(\)|string \*|void|Releases the ownership of application\_data and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and application\_data\(\) will return the empty string/empty bytes.| +|is\_enabled\(\)|bool|void|Returns the current value of is\_enabled. If the is\_enabled is not set, returns 0.| +|set\_is\_enabled\(\)|void|bool|Sets the value of is\_enabled. After calling this, is\_enabled\(\) will return value.| +|clear\_is\_enabled\(\)|void|void|Clears the value of is\_enabled. After calling this, is\_enabled\(\) will return 0.| +|has\_shape\(\) const|bool|void|Returns true if shape is set.| +|shape\(\)|const [ZoneShape](ZoneShape.md#)&|void|Returns the current value of shape. If shape is not set, returns a [ZoneShape](ZoneShape.md#) with none of its fields set \(possibly shape::default\_instance\(\)\).| +|mutable\_shape\(\)| [ZoneShape](ZoneShape.md#) \*|void|Returns a pointer to the mutable [ZoneShape](ZoneShape.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ZoneShape](ZoneShape.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ZoneShape](ZoneShape.md#)\). After calling this, has\_shape\(\) will return true and shape\(\) will return a reference to the same instance of [ZoneShape](ZoneShape.md#).| +|clear\_shape\(\)|void|void|Clears the value of the field. After calling this, has\_shape\(\) will return false and shape\(\) will return the default value.| +|set\_allocated\_shape\(\)|void| [ZoneShape](ZoneShape.md#) \*|Sets the [ZoneShape](ZoneShape.md#) object to the field and frees the previous field value if it exists. If the [ZoneShape](ZoneShape.md#) pointer is not NULL, the message takes ownership of the allocated [ZoneShape](ZoneShape.md#) object and has\_ [ZoneShape](ZoneShape.md#)\(\) will return true. Otherwise, if the shape is NULL, the behavior is the same as calling clear\_shape\(\).| +|release\_shape\(\)| [ZoneShape](ZoneShape.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ZoneShape](ZoneShape.md#) object. After calling this, caller takes the ownership of the allocated [ZoneShape](ZoneShape.md#) object, has\_shape\(\) will return false, and shape\(\) will return the default value.| +|limitations\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|limitations\(\) const|const [CartesianLimitation](CartesianLimitation.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, limitations\_size\(\)\) yields undefined behavior.| +|mutable\_limitations\(\)| [CartesianLimitation](CartesianLimitation.md#)\*|int index|Returns a pointer to the mutable [CartesianLimitation](CartesianLimitation.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, limitations\_size\(\)\) yields undefined behavior.| +|add\_limitations\(\)| [CartesianLimitation](CartesianLimitation.md#)\*|void|Adds a new element and returns a pointer to it. The returned [CartesianLimitation](CartesianLimitation.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [CartesianLimitation](CartesianLimitation.md#)\).| +|clear\_limitations\(\)|void|void|Removes all elements from the field. After calling this, limitations\_size\(\) will return zero.| +|limitations\(\) const|const RepeatedPtrField< [CartesianLimitation](CartesianLimitation.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_limitations\(\)|RepeatedPtrField< [CartesianLimitation](CartesianLimitation.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|envelope\_limitations\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|envelope\_limitations\(\) const|const [CartesianLimitation](CartesianLimitation.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, envelope\_limitations\_size\(\)\) yields undefined behavior.| +|mutable\_envelope\_limitations\(\)| [CartesianLimitation](CartesianLimitation.md#)\*|int index|Returns a pointer to the mutable [CartesianLimitation](CartesianLimitation.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, envelope\_limitations\_size\(\)\) yields undefined behavior.| +|add\_envelope\_limitations\(\)| [CartesianLimitation](CartesianLimitation.md#)\*|void|Adds a new element and returns a pointer to it. The returned [CartesianLimitation](CartesianLimitation.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [CartesianLimitation](CartesianLimitation.md#)\).| +|clear\_envelope\_limitations\(\)|void|void|Removes all elements from the field. After calling this, envelope\_limitations\_size\(\) will return zero.| +|envelope\_limitations\(\) const|const RepeatedPtrField< [CartesianLimitation](CartesianLimitation.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_envelope\_limitations\(\)|RepeatedPtrField< [CartesianLimitation](CartesianLimitation.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_ProtectionZoneHandle.md b/api_cpp/doc/markdown/messages/Base/ProtectionZoneHandle.md similarity index 64% rename from api_cpp/doc/markdown/references/msg_Base_ProtectionZoneHandle.md rename to api_cpp/doc/markdown/messages/Base/ProtectionZoneHandle.md index 2b5b448f..e606437b 100644 --- a/api_cpp/doc/markdown/references/msg_Base_ProtectionZoneHandle.md +++ b/api_cpp/doc/markdown/messages/Base/ProtectionZoneHandle.md @@ -1,26 +1,16 @@ -# Message ProtectionZoneHandle +# class ProtectionZoneHandle -This page describes the C++ Kinova::Api::Base::ProtectionZoneHandle message. - -## Overview / Purpose - -Identifies a protection zone - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |identifier|uint32|Protection zone identifier| |permission|uint32|Permission of specified Proctection zone entity. Must use 'Kinova.Api.Common.Permission' enum.| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |identifier\(\)|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| |set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| |clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return 0.| @@ -28,5 +18,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_permission\(\)|void|uint32|Sets the value of permission. After calling this, permission\(\) will return value.| |clear\_permission\(\)|void|void|Clears the value of permission. After calling this, permission\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/ProtectionZoneInformation.md b/api_cpp/doc/markdown/messages/Base/ProtectionZoneInformation.md new file mode 100644 index 00000000..c2abd16d --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ProtectionZoneInformation.md @@ -0,0 +1,18 @@ +# class ProtectionZoneInformation + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|event|uint32|Event type| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|event\(\) const|uint32|void|Returns the current value of event. If the event is not set, returns 0.| +|set\_event\(\)|void|uint32|Sets the value of event. After calling this, event\(\) will return value.| +|clear\_event\(\)|void|void|Clears the value of event. After calling this, event\(\) will return the empty string/empty bytes.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ProtectionZoneList.md b/api_cpp/doc/markdown/messages/Base/ProtectionZoneList.md new file mode 100644 index 00000000..b156801d --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ProtectionZoneList.md @@ -0,0 +1,22 @@ +# class ProtectionZoneList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|protection\_zones| [ProtectionZone](ProtectionZone.md#)|Protection zone| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|protection\_zones\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|protection\_zones\(\) const|const [ProtectionZone](ProtectionZone.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, protection\_zones\_size\(\)\) yields undefined behavior.| +|mutable\_protection\_zones\(\)| [ProtectionZone](ProtectionZone.md#)\*|int index|Returns a pointer to the mutable [ProtectionZone](ProtectionZone.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, protection\_zones\_size\(\)\) yields undefined behavior.| +|add\_protection\_zones\(\)| [ProtectionZone](ProtectionZone.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ProtectionZone](ProtectionZone.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ProtectionZone](ProtectionZone.md#)\).| +|clear\_protection\_zones\(\)|void|void|Removes all elements from the field. After calling this, protection\_zones\_size\(\) will return zero.| +|protection\_zones\(\) const|const RepeatedPtrField< [ProtectionZone](ProtectionZone.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_protection\_zones\(\)|RepeatedPtrField< [ProtectionZone](ProtectionZone.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ProtectionZoneNotification.md b/api_cpp/doc/markdown/messages/Base/ProtectionZoneNotification.md new file mode 100644 index 00000000..ce6760af --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ProtectionZoneNotification.md @@ -0,0 +1,46 @@ +# class ProtectionZoneNotification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|event|uint32|Event type| +|handle| [ProtectionZoneHandle](ProtectionZoneHandle.md#)|Handle of the protection zone that this event refers to| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the protection zone event to occur| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the protection zone event to occur| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|event\(\) const|uint32|void|Returns the current value of event. If the event is not set, returns 0.| +|set\_event\(\)|void|uint32|Sets the value of event. After calling this, event\(\) will return value.| +|clear\_event\(\)|void|void|Clears the value of event. After calling this, event\(\) will return the empty string/empty bytes.| +|has\_handle\(\) const|bool|void|Returns true if handle is set.| +|handle\(\)|const [ProtectionZoneHandle](ProtectionZoneHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [ProtectionZoneHandle](ProtectionZoneHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [ProtectionZoneHandle](ProtectionZoneHandle.md#) \*|void|Returns a pointer to the mutable [ProtectionZoneHandle](ProtectionZoneHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ProtectionZoneHandle](ProtectionZoneHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ProtectionZoneHandle](ProtectionZoneHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [ProtectionZoneHandle](ProtectionZoneHandle.md#).| +|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [ProtectionZoneHandle](ProtectionZoneHandle.md#) \*|Sets the [ProtectionZoneHandle](ProtectionZoneHandle.md#) object to the field and frees the previous field value if it exists. If the [ProtectionZoneHandle](ProtectionZoneHandle.md#) pointer is not NULL, the message takes ownership of the allocated [ProtectionZoneHandle](ProtectionZoneHandle.md#) object and has\_ [ProtectionZoneHandle](ProtectionZoneHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [ProtectionZoneHandle](ProtectionZoneHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ProtectionZoneHandle](ProtectionZoneHandle.md#) object. After calling this, caller takes the ownership of the allocated [ProtectionZoneHandle](ProtectionZoneHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| +|timestamp\(\)|const [Timestamp](../Common/Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](../Common/Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| +|mutable\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](../Common/Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](../Common/Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](../Common/Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](../Common/Timestamp.md#).| +|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| +|set\_allocated\_timestamp\(\)|void| [Timestamp](../Common/Timestamp.md#) \*|Sets the [Timestamp](../Common/Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](../Common/Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](../Common/Timestamp.md#) object and has\_ [Timestamp](../Common/Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| +|release\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](../Common/Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](../Common/Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| +|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| +|user\_handle\(\)|const [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](../Common/UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| +|mutable\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](../Common/UserProfileHandle.md#).| +|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| +|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|Sets the [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object and has\_ [UserProfileHandle](../Common/UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| +|release\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](../Common/UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| +|has\_connection\(\) const|bool|void|Returns true if connection is set.| +|connection\(\)|const [Connection](../Common/Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](../Common/Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| +|mutable\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Returns a pointer to the mutable [Connection](../Common/Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](../Common/Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](../Common/Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](../Common/Connection.md#).| +|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| +|set\_allocated\_connection\(\)|void| [Connection](../Common/Connection.md#) \*|Sets the [Connection](../Common/Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](../Common/Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](../Common/Connection.md#) object and has\_ [Connection](../Common/Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| +|release\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](../Common/Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](../Common/Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ProtectionZoneNotificationList.md b/api_cpp/doc/markdown/messages/Base/ProtectionZoneNotificationList.md new file mode 100644 index 00000000..7f33271b --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ProtectionZoneNotificationList.md @@ -0,0 +1,22 @@ +# class ProtectionZoneNotificationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|notifications| [ProtectionZoneNotification](ProtectionZoneNotification.md#)|Notification| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|notifications\(\) const|const [ProtectionZoneNotification](ProtectionZoneNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|mutable\_notifications\(\)| [ProtectionZoneNotification](ProtectionZoneNotification.md#)\*|int index|Returns a pointer to the mutable [ProtectionZoneNotification](ProtectionZoneNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|add\_notifications\(\)| [ProtectionZoneNotification](ProtectionZoneNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ProtectionZoneNotification](ProtectionZoneNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ProtectionZoneNotification](ProtectionZoneNotification.md#)\).| +|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| +|notifications\(\) const|const RepeatedPtrField< [ProtectionZoneNotification](ProtectionZoneNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_notifications\(\)|RepeatedPtrField< [ProtectionZoneNotification](ProtectionZoneNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/Query.md b/api_cpp/doc/markdown/messages/Base/Query.md new file mode 100644 index 00000000..e9d8a560 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/Query.md @@ -0,0 +1,37 @@ +# class Query + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|start\_timestamp| [Timestamp](../Common/Timestamp.md#)|Start timestamp \(set to zero to specify it\)| +|end\_timestamp| [Timestamp](../Common/Timestamp.md#)|End timestamp \(set to zero to not specify it\)| +|username|string|Queried username \(set to "" to not specify it\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_start\_timestamp\(\) const|bool|void|Returns true if start\_timestamp is set.| +|start\_timestamp\(\)|const [Timestamp](../Common/Timestamp.md#)&|void|Returns the current value of start\_timestamp. If start\_timestamp is not set, returns a [Timestamp](../Common/Timestamp.md#) with none of its fields set \(possibly start\_timestamp::default\_instance\(\)\).| +|mutable\_start\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](../Common/Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](../Common/Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](../Common/Timestamp.md#)\). After calling this, has\_start\_timestamp\(\) will return true and start\_timestamp\(\) will return a reference to the same instance of [Timestamp](../Common/Timestamp.md#).| +|clear\_start\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_start\_timestamp\(\) will return false and start\_timestamp\(\) will return the default value.| +|set\_allocated\_start\_timestamp\(\)|void| [Timestamp](../Common/Timestamp.md#) \*|Sets the [Timestamp](../Common/Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](../Common/Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](../Common/Timestamp.md#) object and has\_ [Timestamp](../Common/Timestamp.md#)\(\) will return true. Otherwise, if the start\_timestamp is NULL, the behavior is the same as calling clear\_start\_timestamp\(\).| +|release\_start\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](../Common/Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](../Common/Timestamp.md#) object, has\_start\_timestamp\(\) will return false, and start\_timestamp\(\) will return the default value.| +|has\_end\_timestamp\(\) const|bool|void|Returns true if end\_timestamp is set.| +|end\_timestamp\(\)|const [Timestamp](../Common/Timestamp.md#)&|void|Returns the current value of end\_timestamp. If end\_timestamp is not set, returns a [Timestamp](../Common/Timestamp.md#) with none of its fields set \(possibly end\_timestamp::default\_instance\(\)\).| +|mutable\_end\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](../Common/Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](../Common/Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](../Common/Timestamp.md#)\). After calling this, has\_end\_timestamp\(\) will return true and end\_timestamp\(\) will return a reference to the same instance of [Timestamp](../Common/Timestamp.md#).| +|clear\_end\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_end\_timestamp\(\) will return false and end\_timestamp\(\) will return the default value.| +|set\_allocated\_end\_timestamp\(\)|void| [Timestamp](../Common/Timestamp.md#) \*|Sets the [Timestamp](../Common/Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](../Common/Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](../Common/Timestamp.md#) object and has\_ [Timestamp](../Common/Timestamp.md#)\(\) will return true. Otherwise, if the end\_timestamp is NULL, the behavior is the same as calling clear\_end\_timestamp\(\).| +|release\_end\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](../Common/Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](../Common/Timestamp.md#) object, has\_end\_timestamp\(\) will return false, and end\_timestamp\(\) will return the default value.| +|username\(\)|const string&|void|Returns the current value of username. If username is not set, returns the empty string/empty bytes.| +|set\_username\(\)|void|const string&|Sets the value of username. After calling this, username\(\) will return a copy of value.| +|set\_username\(\)|void|string&&|\(C++11 and beyond\): Sets the value of username, moving from the passed string. After calling this, username\(\) will return a copy of value.| +|set\_username\(\)|void|const char\*|Sets the value of username using a C-style null-terminated string. After calling this, username\(\) will return a copy of value.| +|mutable\_username\(\)|string \*|void|Returns a pointer to the mutable string object that stores username's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, username\(\) will return whatever value is written into the given string.| +|clear\_username\(\)|void|void|Clears the value of username. After calling this, username\(\) will return the empty string/empty bytes.| +|set\_allocated\_username\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_username\(\).| +|release\_username\(\)|string \*|void|Releases the ownership of username and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and username\(\) will return the empty string/empty bytes.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/RequestedActionType.md b/api_cpp/doc/markdown/messages/Base/RequestedActionType.md new file mode 100644 index 00000000..01e598d0 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/RequestedActionType.md @@ -0,0 +1,18 @@ +# class RequestedActionType + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|action\_type|uint32|Action type| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|action\_type\(\) const|uint32|void|Returns the current value of action\_type. If the action\_type is not set, returns 0.| +|set\_action\_type\(\)|void|uint32|Sets the value of action\_type. After calling this, action\_type\(\) will return value.| +|clear\_action\_type\(\)|void|void|Clears the value of action\_type. After calling this, action\_type\(\) will return the empty string/empty bytes.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/RobotEventNotification.md b/api_cpp/doc/markdown/messages/Base/RobotEventNotification.md new file mode 100644 index 00000000..be9c1041 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/RobotEventNotification.md @@ -0,0 +1,46 @@ +# class RobotEventNotification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|event|uint32|Robot event type| +|handle| [DeviceHandle](../Common/DeviceHandle.md#)|Identifier of the hardware device connected or disconnected| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the robot event to occur| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the robot event to occur| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|event\(\) const|uint32|void|Returns the current value of event. If the event is not set, returns 0.| +|set\_event\(\)|void|uint32|Sets the value of event. After calling this, event\(\) will return value.| +|clear\_event\(\)|void|void|Clears the value of event. After calling this, event\(\) will return the empty string/empty bytes.| +|has\_handle\(\) const|bool|void|Returns true if handle is set.| +|handle\(\)|const [DeviceHandle](../Common/DeviceHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [DeviceHandle](../Common/DeviceHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [DeviceHandle](../Common/DeviceHandle.md#) \*|void|Returns a pointer to the mutable [DeviceHandle](../Common/DeviceHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [DeviceHandle](../Common/DeviceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [DeviceHandle](../Common/DeviceHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [DeviceHandle](../Common/DeviceHandle.md#).| +|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [DeviceHandle](../Common/DeviceHandle.md#) \*|Sets the [DeviceHandle](../Common/DeviceHandle.md#) object to the field and frees the previous field value if it exists. If the [DeviceHandle](../Common/DeviceHandle.md#) pointer is not NULL, the message takes ownership of the allocated [DeviceHandle](../Common/DeviceHandle.md#) object and has\_ [DeviceHandle](../Common/DeviceHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [DeviceHandle](../Common/DeviceHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [DeviceHandle](../Common/DeviceHandle.md#) object. After calling this, caller takes the ownership of the allocated [DeviceHandle](../Common/DeviceHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| +|timestamp\(\)|const [Timestamp](../Common/Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](../Common/Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| +|mutable\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](../Common/Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](../Common/Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](../Common/Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](../Common/Timestamp.md#).| +|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| +|set\_allocated\_timestamp\(\)|void| [Timestamp](../Common/Timestamp.md#) \*|Sets the [Timestamp](../Common/Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](../Common/Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](../Common/Timestamp.md#) object and has\_ [Timestamp](../Common/Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| +|release\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](../Common/Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](../Common/Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| +|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| +|user\_handle\(\)|const [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](../Common/UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| +|mutable\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](../Common/UserProfileHandle.md#).| +|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| +|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|Sets the [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object and has\_ [UserProfileHandle](../Common/UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| +|release\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](../Common/UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| +|has\_connection\(\) const|bool|void|Returns true if connection is set.| +|connection\(\)|const [Connection](../Common/Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](../Common/Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| +|mutable\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Returns a pointer to the mutable [Connection](../Common/Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](../Common/Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](../Common/Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](../Common/Connection.md#).| +|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| +|set\_allocated\_connection\(\)|void| [Connection](../Common/Connection.md#) \*|Sets the [Connection](../Common/Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](../Common/Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](../Common/Connection.md#) object and has\_ [Connection](../Common/Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| +|release\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](../Common/Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](../Common/Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/RobotEventNotificationList.md b/api_cpp/doc/markdown/messages/Base/RobotEventNotificationList.md new file mode 100644 index 00000000..afe12b01 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/RobotEventNotificationList.md @@ -0,0 +1,22 @@ +# class RobotEventNotificationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|notifications| [RobotEventNotification](RobotEventNotification.md#)|Notification| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|notifications\(\) const|const [RobotEventNotification](RobotEventNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|mutable\_notifications\(\)| [RobotEventNotification](RobotEventNotification.md#)\*|int index|Returns a pointer to the mutable [RobotEventNotification](RobotEventNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|add\_notifications\(\)| [RobotEventNotification](RobotEventNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [RobotEventNotification](RobotEventNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [RobotEventNotification](RobotEventNotification.md#)\).| +|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| +|notifications\(\) const|const RepeatedPtrField< [RobotEventNotification](RobotEventNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_notifications\(\)|RepeatedPtrField< [RobotEventNotification](RobotEventNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/RotationMatrix.md b/api_cpp/doc/markdown/messages/Base/RotationMatrix.md new file mode 100644 index 00000000..c7f6ca63 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/RotationMatrix.md @@ -0,0 +1,35 @@ +# class RotationMatrix + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|row1| [RotationMatrixRow](RotationMatrixRow.md#)|First rotation matrix row| +|row2| [RotationMatrixRow](RotationMatrixRow.md#)|Second rotation matrix row| +|row3| [RotationMatrixRow](RotationMatrixRow.md#)|Third rotation matrix row| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_row1\(\) const|bool|void|Returns true if row1 is set.| +|row1\(\)|const [RotationMatrixRow](RotationMatrixRow.md#)&|void|Returns the current value of row1. If row1 is not set, returns a [RotationMatrixRow](RotationMatrixRow.md#) with none of its fields set \(possibly row1::default\_instance\(\)\).| +|mutable\_row1\(\)| [RotationMatrixRow](RotationMatrixRow.md#) \*|void|Returns a pointer to the mutable [RotationMatrixRow](RotationMatrixRow.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [RotationMatrixRow](RotationMatrixRow.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [RotationMatrixRow](RotationMatrixRow.md#)\). After calling this, has\_row1\(\) will return true and row1\(\) will return a reference to the same instance of [RotationMatrixRow](RotationMatrixRow.md#).| +|clear\_row1\(\)|void|void|Clears the value of the field. After calling this, has\_row1\(\) will return false and row1\(\) will return the default value.| +|set\_allocated\_row1\(\)|void| [RotationMatrixRow](RotationMatrixRow.md#) \*|Sets the [RotationMatrixRow](RotationMatrixRow.md#) object to the field and frees the previous field value if it exists. If the [RotationMatrixRow](RotationMatrixRow.md#) pointer is not NULL, the message takes ownership of the allocated [RotationMatrixRow](RotationMatrixRow.md#) object and has\_ [RotationMatrixRow](RotationMatrixRow.md#)\(\) will return true. Otherwise, if the row1 is NULL, the behavior is the same as calling clear\_row1\(\).| +|release\_row1\(\)| [RotationMatrixRow](RotationMatrixRow.md#) \*|void|Releases the ownership of the field and returns the pointer of the [RotationMatrixRow](RotationMatrixRow.md#) object. After calling this, caller takes the ownership of the allocated [RotationMatrixRow](RotationMatrixRow.md#) object, has\_row1\(\) will return false, and row1\(\) will return the default value.| +|has\_row2\(\) const|bool|void|Returns true if row2 is set.| +|row2\(\)|const [RotationMatrixRow](RotationMatrixRow.md#)&|void|Returns the current value of row2. If row2 is not set, returns a [RotationMatrixRow](RotationMatrixRow.md#) with none of its fields set \(possibly row2::default\_instance\(\)\).| +|mutable\_row2\(\)| [RotationMatrixRow](RotationMatrixRow.md#) \*|void|Returns a pointer to the mutable [RotationMatrixRow](RotationMatrixRow.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [RotationMatrixRow](RotationMatrixRow.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [RotationMatrixRow](RotationMatrixRow.md#)\). After calling this, has\_row2\(\) will return true and row2\(\) will return a reference to the same instance of [RotationMatrixRow](RotationMatrixRow.md#).| +|clear\_row2\(\)|void|void|Clears the value of the field. After calling this, has\_row2\(\) will return false and row2\(\) will return the default value.| +|set\_allocated\_row2\(\)|void| [RotationMatrixRow](RotationMatrixRow.md#) \*|Sets the [RotationMatrixRow](RotationMatrixRow.md#) object to the field and frees the previous field value if it exists. If the [RotationMatrixRow](RotationMatrixRow.md#) pointer is not NULL, the message takes ownership of the allocated [RotationMatrixRow](RotationMatrixRow.md#) object and has\_ [RotationMatrixRow](RotationMatrixRow.md#)\(\) will return true. Otherwise, if the row2 is NULL, the behavior is the same as calling clear\_row2\(\).| +|release\_row2\(\)| [RotationMatrixRow](RotationMatrixRow.md#) \*|void|Releases the ownership of the field and returns the pointer of the [RotationMatrixRow](RotationMatrixRow.md#) object. After calling this, caller takes the ownership of the allocated [RotationMatrixRow](RotationMatrixRow.md#) object, has\_row2\(\) will return false, and row2\(\) will return the default value.| +|has\_row3\(\) const|bool|void|Returns true if row3 is set.| +|row3\(\)|const [RotationMatrixRow](RotationMatrixRow.md#)&|void|Returns the current value of row3. If row3 is not set, returns a [RotationMatrixRow](RotationMatrixRow.md#) with none of its fields set \(possibly row3::default\_instance\(\)\).| +|mutable\_row3\(\)| [RotationMatrixRow](RotationMatrixRow.md#) \*|void|Returns a pointer to the mutable [RotationMatrixRow](RotationMatrixRow.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [RotationMatrixRow](RotationMatrixRow.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [RotationMatrixRow](RotationMatrixRow.md#)\). After calling this, has\_row3\(\) will return true and row3\(\) will return a reference to the same instance of [RotationMatrixRow](RotationMatrixRow.md#).| +|clear\_row3\(\)|void|void|Clears the value of the field. After calling this, has\_row3\(\) will return false and row3\(\) will return the default value.| +|set\_allocated\_row3\(\)|void| [RotationMatrixRow](RotationMatrixRow.md#) \*|Sets the [RotationMatrixRow](RotationMatrixRow.md#) object to the field and frees the previous field value if it exists. If the [RotationMatrixRow](RotationMatrixRow.md#) pointer is not NULL, the message takes ownership of the allocated [RotationMatrixRow](RotationMatrixRow.md#) object and has\_ [RotationMatrixRow](RotationMatrixRow.md#)\(\) will return true. Otherwise, if the row3 is NULL, the behavior is the same as calling clear\_row3\(\).| +|release\_row3\(\)| [RotationMatrixRow](RotationMatrixRow.md#) \*|void|Releases the ownership of the field and returns the pointer of the [RotationMatrixRow](RotationMatrixRow.md#) object. After calling this, caller takes the ownership of the allocated [RotationMatrixRow](RotationMatrixRow.md#) object, has\_row3\(\) will return false, and row3\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_RotationMatrixRow.md b/api_cpp/doc/markdown/messages/Base/RotationMatrixRow.md similarity index 68% rename from api_cpp/doc/markdown/references/msg_Base_RotationMatrixRow.md rename to api_cpp/doc/markdown/messages/Base/RotationMatrixRow.md index 855035b8..9d58b39b 100644 --- a/api_cpp/doc/markdown/references/msg_Base_RotationMatrixRow.md +++ b/api_cpp/doc/markdown/messages/Base/RotationMatrixRow.md @@ -1,14 +1,6 @@ -# Message RotationMatrixRow +# class RotationMatrixRow -This page describes the C++ Kinova::Api::Base::RotationMatrixRow message. - -## Overview / Purpose - -Provides the rotation matrix configuration of a single row - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| @@ -16,12 +8,10 @@ Provides the rotation matrix configuration of a single row |column2|float32|Value between -1.0 and 1.0| |column3|float32|Value between -1.0 and 1.0| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |column1\(\)|float32|void|Returns the current value of column1. If the column1 is not set, returns 0.| |set\_column1\(\)|void|float32|Sets the value of column1. After calling this, column1\(\) will return value.| |clear\_column1\(\)|void|void|Clears the value of column1. After calling this, column1\(\) will return 0.| @@ -32,5 +22,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_column3\(\)|void|float32|Sets the value of column3. After calling this, column3\(\) will return value.| |clear\_column3\(\)|void|void|Clears the value of column3. After calling this, column3\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/SafetyEvent.md b/api_cpp/doc/markdown/messages/Base/SafetyEvent.md new file mode 100644 index 00000000..d71889ee --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/SafetyEvent.md @@ -0,0 +1,21 @@ +# class SafetyEvent + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|safety\_handle| [SafetyHandle](../Common/SafetyHandle.md#)|Safety that caused the event to occur| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_safety\_handle\(\) const|bool|void|Returns true if safety\_handle is set.| +|safety\_handle\(\)|const [SafetyHandle](../Common/SafetyHandle.md#)&|void|Returns the current value of safety\_handle. If safety\_handle is not set, returns a [SafetyHandle](../Common/SafetyHandle.md#) with none of its fields set \(possibly safety\_handle::default\_instance\(\)\).| +|mutable\_safety\_handle\(\)| [SafetyHandle](../Common/SafetyHandle.md#) \*|void|Returns a pointer to the mutable [SafetyHandle](../Common/SafetyHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SafetyHandle](../Common/SafetyHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyHandle](../Common/SafetyHandle.md#)\). After calling this, has\_safety\_handle\(\) will return true and safety\_handle\(\) will return a reference to the same instance of [SafetyHandle](../Common/SafetyHandle.md#).| +|clear\_safety\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_safety\_handle\(\) will return false and safety\_handle\(\) will return the default value.| +|set\_allocated\_safety\_handle\(\)|void| [SafetyHandle](../Common/SafetyHandle.md#) \*|Sets the [SafetyHandle](../Common/SafetyHandle.md#) object to the field and frees the previous field value if it exists. If the [SafetyHandle](../Common/SafetyHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SafetyHandle](../Common/SafetyHandle.md#) object and has\_ [SafetyHandle](../Common/SafetyHandle.md#)\(\) will return true. Otherwise, if the safety\_handle is NULL, the behavior is the same as calling clear\_safety\_handle\(\).| +|release\_safety\_handle\(\)| [SafetyHandle](../Common/SafetyHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SafetyHandle](../Common/SafetyHandle.md#) object. After calling this, caller takes the ownership of the allocated [SafetyHandle](../Common/SafetyHandle.md#) object, has\_safety\_handle\(\) will return false, and safety\_handle\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/SafetyNotificationList.md b/api_cpp/doc/markdown/messages/Base/SafetyNotificationList.md new file mode 100644 index 00000000..4f4afa2f --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/SafetyNotificationList.md @@ -0,0 +1,22 @@ +# class SafetyNotificationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|notifications| [SafetyNotification](../Common/SafetyNotification.md#)|Notification| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|notifications\(\) const|const [SafetyNotification](../Common/SafetyNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|mutable\_notifications\(\)| [SafetyNotification](../Common/SafetyNotification.md#)\*|int index|Returns a pointer to the mutable [SafetyNotification](../Common/SafetyNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|add\_notifications\(\)| [SafetyNotification](../Common/SafetyNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [SafetyNotification](../Common/SafetyNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyNotification](../Common/SafetyNotification.md#)\).| +|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| +|notifications\(\) const|const RepeatedPtrField< [SafetyNotification](../Common/SafetyNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_notifications\(\)|RepeatedPtrField< [SafetyNotification](../Common/SafetyNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_Sequence.md b/api_cpp/doc/markdown/messages/Base/Sequence.md similarity index 52% rename from api_cpp/doc/markdown/references/msg_Base_Sequence.md rename to api_cpp/doc/markdown/messages/Base/Sequence.md index 44f5a68d..cba795ef 100644 --- a/api_cpp/doc/markdown/references/msg_Base_Sequence.md +++ b/api_cpp/doc/markdown/messages/Base/Sequence.md @@ -1,34 +1,24 @@ -# Message Sequence +# class Sequence -This page describes the C++ Kinova::Api::Base::Sequence message. - -## Overview / Purpose - -Provides information about a sequence - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|handle| [SequenceHandle](msg_Base_SequenceHandle.md#)|Sequence handle| +|handle| [SequenceHandle](SequenceHandle.md#)|Sequence handle| |name|string|Sequence name| |application\_data|string|Application data \(reserved for use by Web App\)| -|tasks|Collection of [SequenceTask](msg_Base_SequenceTask.md#)|Array of tasks that this sequence contains| - - **Methods** +|tasks| [SequenceTask](SequenceTask.md#)|Array of tasks that this sequence contains| -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [SequenceHandle](msg_Base_SequenceHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [SequenceHandle](msg_Base_SequenceHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [SequenceHandle](msg_Base_SequenceHandle.md#) \*|void|Returns a pointer to the mutable [SequenceHandle](msg_Base_SequenceHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SequenceHandle](msg_Base_SequenceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SequenceHandle](msg_Base_SequenceHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [SequenceHandle](msg_Base_SequenceHandle.md#).| +|handle\(\)|const [SequenceHandle](SequenceHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [SequenceHandle](SequenceHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [SequenceHandle](SequenceHandle.md#) \*|void|Returns a pointer to the mutable [SequenceHandle](SequenceHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SequenceHandle](SequenceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SequenceHandle](SequenceHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [SequenceHandle](SequenceHandle.md#).| |clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [SequenceHandle](msg_Base_SequenceHandle.md#) \*|Sets the [SequenceHandle](msg_Base_SequenceHandle.md#) object to the field and frees the previous field value if it exists. If the [SequenceHandle](msg_Base_SequenceHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SequenceHandle](msg_Base_SequenceHandle.md#) object and has\_ [SequenceHandle](msg_Base_SequenceHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [SequenceHandle](msg_Base_SequenceHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SequenceHandle](msg_Base_SequenceHandle.md#) object. After calling this, caller takes the ownership of the allocated [SequenceHandle](msg_Base_SequenceHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [SequenceHandle](SequenceHandle.md#) \*|Sets the [SequenceHandle](SequenceHandle.md#) object to the field and frees the previous field value if it exists. If the [SequenceHandle](SequenceHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SequenceHandle](SequenceHandle.md#) object and has\_ [SequenceHandle](SequenceHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [SequenceHandle](SequenceHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SequenceHandle](SequenceHandle.md#) object. After calling this, caller takes the ownership of the allocated [SequenceHandle](SequenceHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| |name\(\)|const string&|void|Returns the current value of name. If name is not set, returns the empty string/empty bytes.| |set\_name\(\)|void|const string&|Sets the value of name. After calling this, name\(\) will return a copy of value.| |set\_name\(\)|void|string&&|\(C++11 and beyond\): Sets the value of name, moving from the passed string. After calling this, name\(\) will return a copy of value.| @@ -46,12 +36,12 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_allocated\_application\_data\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_application\_data\(\).| |release\_application\_data\(\)|string \*|void|Releases the ownership of application\_data and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and application\_data\(\) will return the empty string/empty bytes.| |tasks\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|tasks\(\) const|const [SequenceTask](msg_Base_SequenceTask.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, tasks\_size\(\)\) yields undefined behavior.| -|mutable\_tasks\(\)| [SequenceTask](msg_Base_SequenceTask.md#)\*|int index|Returns a pointer to the mutable [SequenceTask](msg_Base_SequenceTask.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, tasks\_size\(\)\) yields undefined behavior.| -|add\_tasks\(\)| [SequenceTask](msg_Base_SequenceTask.md#)\*|void|Adds a new element and returns a pointer to it. The returned [SequenceTask](msg_Base_SequenceTask.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [SequenceTask](msg_Base_SequenceTask.md#)\).| +|tasks\(\) const|const [SequenceTask](SequenceTask.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, tasks\_size\(\)\) yields undefined behavior.| +|mutable\_tasks\(\)| [SequenceTask](SequenceTask.md#)\*|int index|Returns a pointer to the mutable [SequenceTask](SequenceTask.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, tasks\_size\(\)\) yields undefined behavior.| +|add\_tasks\(\)| [SequenceTask](SequenceTask.md#)\*|void|Adds a new element and returns a pointer to it. The returned [SequenceTask](SequenceTask.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [SequenceTask](SequenceTask.md#)\).| |clear\_tasks\(\)|void|void|Removes all elements from the field. After calling this, tasks\_size\(\) will return zero.| -|tasks\(\) const|const RepeatedPtrField< [SequenceTask](msg_Base_SequenceTask.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_tasks\(\)|RepeatedPtrField< [SequenceTask](msg_Base_SequenceTask.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|tasks\(\) const|const RepeatedPtrField< [SequenceTask](SequenceTask.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_tasks\(\)|RepeatedPtrField< [SequenceTask](SequenceTask.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/msg_Base_SequenceHandle.md b/api_cpp/doc/markdown/messages/Base/SequenceHandle.md similarity index 64% rename from api_cpp/doc/markdown/references/msg_Base_SequenceHandle.md rename to api_cpp/doc/markdown/messages/Base/SequenceHandle.md index cd587d0e..7840525a 100644 --- a/api_cpp/doc/markdown/references/msg_Base_SequenceHandle.md +++ b/api_cpp/doc/markdown/messages/Base/SequenceHandle.md @@ -1,26 +1,16 @@ -# Message SequenceHandle +# class SequenceHandle -This page describes the C++ Kinova::Api::Base::SequenceHandle message. - -## Overview / Purpose - -Identifies a sequence - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |identifier|uint32|Sequence identifier| |permission|uint32|Sequence permission. See 'Kinova.Api.Common.Permission' enum.| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |identifier\(\)|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| |set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| |clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return 0.| @@ -28,5 +18,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_permission\(\)|void|uint32|Sets the value of permission. After calling this, permission\(\) will return value.| |clear\_permission\(\)|void|void|Clears the value of permission. After calling this, permission\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/SequenceInfoNotification.md b/api_cpp/doc/markdown/messages/Base/SequenceInfoNotification.md new file mode 100644 index 00000000..9a502944 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/SequenceInfoNotification.md @@ -0,0 +1,58 @@ +# class SequenceInfoNotification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|event\_identifier|uint32|Sequence event type| +|sequence\_handle| [SequenceHandle](SequenceHandle.md#)|Handle of the sequence that this event refers to| +|task\_index|uint32|Task index| +|group\_identifier|uint32|Specifies the order in which this task must be executed| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the sequence event| +|abort\_details|uint32|Details if event\_identifier is equal to ABORT| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the sequence event| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|event\_identifier\(\) const|uint32|void|Returns the current value of event\_identifier. If the event\_identifier is not set, returns 0.| +|set\_event\_identifier\(\)|void|uint32|Sets the value of event\_identifier. After calling this, event\_identifier\(\) will return value.| +|clear\_event\_identifier\(\)|void|void|Clears the value of event\_identifier. After calling this, event\_identifier\(\) will return the empty string/empty bytes.| +|has\_sequence\_handle\(\) const|bool|void|Returns true if sequence\_handle is set.| +|sequence\_handle\(\)|const [SequenceHandle](SequenceHandle.md#)&|void|Returns the current value of sequence\_handle. If sequence\_handle is not set, returns a [SequenceHandle](SequenceHandle.md#) with none of its fields set \(possibly sequence\_handle::default\_instance\(\)\).| +|mutable\_sequence\_handle\(\)| [SequenceHandle](SequenceHandle.md#) \*|void|Returns a pointer to the mutable [SequenceHandle](SequenceHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SequenceHandle](SequenceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SequenceHandle](SequenceHandle.md#)\). After calling this, has\_sequence\_handle\(\) will return true and sequence\_handle\(\) will return a reference to the same instance of [SequenceHandle](SequenceHandle.md#).| +|clear\_sequence\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_sequence\_handle\(\) will return false and sequence\_handle\(\) will return the default value.| +|set\_allocated\_sequence\_handle\(\)|void| [SequenceHandle](SequenceHandle.md#) \*|Sets the [SequenceHandle](SequenceHandle.md#) object to the field and frees the previous field value if it exists. If the [SequenceHandle](SequenceHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SequenceHandle](SequenceHandle.md#) object and has\_ [SequenceHandle](SequenceHandle.md#)\(\) will return true. Otherwise, if the sequence\_handle is NULL, the behavior is the same as calling clear\_sequence\_handle\(\).| +|release\_sequence\_handle\(\)| [SequenceHandle](SequenceHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SequenceHandle](SequenceHandle.md#) object. After calling this, caller takes the ownership of the allocated [SequenceHandle](SequenceHandle.md#) object, has\_sequence\_handle\(\) will return false, and sequence\_handle\(\) will return the default value.| +|task\_index\(\)|uint32|void|Returns the current value of task\_index. If the task\_index is not set, returns 0.| +|set\_task\_index\(\)|void|uint32|Sets the value of task\_index. After calling this, task\_index\(\) will return value.| +|clear\_task\_index\(\)|void|void|Clears the value of task\_index. After calling this, task\_index\(\) will return 0.| +|group\_identifier\(\)|uint32|void|Returns the current value of group\_identifier. If the group\_identifier is not set, returns 0.| +|set\_group\_identifier\(\)|void|uint32|Sets the value of group\_identifier. After calling this, group\_identifier\(\) will return value.| +|clear\_group\_identifier\(\)|void|void|Clears the value of group\_identifier. After calling this, group\_identifier\(\) will return 0.| +|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| +|timestamp\(\)|const [Timestamp](../Common/Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](../Common/Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| +|mutable\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](../Common/Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](../Common/Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](../Common/Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](../Common/Timestamp.md#).| +|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| +|set\_allocated\_timestamp\(\)|void| [Timestamp](../Common/Timestamp.md#) \*|Sets the [Timestamp](../Common/Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](../Common/Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](../Common/Timestamp.md#) object and has\_ [Timestamp](../Common/Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| +|release\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](../Common/Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](../Common/Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| +|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| +|user\_handle\(\)|const [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](../Common/UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| +|mutable\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](../Common/UserProfileHandle.md#).| +|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| +|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|Sets the [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object and has\_ [UserProfileHandle](../Common/UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| +|release\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](../Common/UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| +|abort\_details\(\) const|uint32|void|Returns the current value of abort\_details. If the abort\_details is not set, returns 0.| +|set\_abort\_details\(\)|void|uint32|Sets the value of abort\_details. After calling this, abort\_details\(\) will return value.| +|clear\_abort\_details\(\)|void|void|Clears the value of abort\_details. After calling this, abort\_details\(\) will return the empty string/empty bytes.| +|has\_connection\(\) const|bool|void|Returns true if connection is set.| +|connection\(\)|const [Connection](../Common/Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](../Common/Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| +|mutable\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Returns a pointer to the mutable [Connection](../Common/Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](../Common/Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](../Common/Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](../Common/Connection.md#).| +|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| +|set\_allocated\_connection\(\)|void| [Connection](../Common/Connection.md#) \*|Sets the [Connection](../Common/Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](../Common/Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](../Common/Connection.md#) object and has\_ [Connection](../Common/Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| +|release\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](../Common/Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](../Common/Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/SequenceInfoNotificationList.md b/api_cpp/doc/markdown/messages/Base/SequenceInfoNotificationList.md new file mode 100644 index 00000000..f5e1d375 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/SequenceInfoNotificationList.md @@ -0,0 +1,22 @@ +# class SequenceInfoNotificationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|notifications| [SequenceInfoNotification](SequenceInfoNotification.md#)|Notification| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|notifications\(\) const|const [SequenceInfoNotification](SequenceInfoNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|mutable\_notifications\(\)| [SequenceInfoNotification](SequenceInfoNotification.md#)\*|int index|Returns a pointer to the mutable [SequenceInfoNotification](SequenceInfoNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|add\_notifications\(\)| [SequenceInfoNotification](SequenceInfoNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [SequenceInfoNotification](SequenceInfoNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [SequenceInfoNotification](SequenceInfoNotification.md#)\).| +|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| +|notifications\(\) const|const RepeatedPtrField< [SequenceInfoNotification](SequenceInfoNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_notifications\(\)|RepeatedPtrField< [SequenceInfoNotification](SequenceInfoNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_SequenceInformation.md b/api_cpp/doc/markdown/messages/Base/SequenceInformation.md similarity index 50% rename from api_cpp/doc/markdown/references/msg_Base_SequenceInformation.md rename to api_cpp/doc/markdown/messages/Base/SequenceInformation.md index f15074b4..4faaaee5 100644 --- a/api_cpp/doc/markdown/references/msg_Base_SequenceInformation.md +++ b/api_cpp/doc/markdown/messages/Base/SequenceInformation.md @@ -1,29 +1,19 @@ -# Message SequenceInformation +# class SequenceInformation -This page describes the C++ Kinova::Api::Base::SequenceInformation message. - -## Overview / Purpose - -Provides information about a sequence - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|event\_identifier| [EventIdSequenceInfoNotification](enm_Base_EventIdSequenceInfoNotification.md#)|Sequence event type| +|event\_identifier|uint32|Sequence event type| |task\_index|uint32|Task index| |task\_identifier|uint32|Task identifier| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|event\_identifier\(\) const| [EventIdSequenceInfoNotification](enm_Base_EventIdSequenceInfoNotification.md#)|void|Returns the current value of event\_identifier. If the event\_identifier is not set, returns 0.| -|set\_event\_identifier\(\)|void| [EventIdSequenceInfoNotification](enm_Base_EventIdSequenceInfoNotification.md#)|Sets the value of event\_identifier. After calling this, event\_identifier\(\) will return value.| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|event\_identifier\(\) const|uint32|void|Returns the current value of event\_identifier. If the event\_identifier is not set, returns 0.| +|set\_event\_identifier\(\)|void|uint32|Sets the value of event\_identifier. After calling this, event\_identifier\(\) will return value.| |clear\_event\_identifier\(\)|void|void|Clears the value of event\_identifier. After calling this, event\_identifier\(\) will return the empty string/empty bytes.| |task\_index\(\)|uint32|void|Returns the current value of task\_index. If the task\_index is not set, returns 0.| |set\_task\_index\(\)|void|uint32|Sets the value of task\_index. After calling this, task\_index\(\) will return value.| @@ -32,5 +22,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_task\_identifier\(\)|void|uint32|Sets the value of task\_identifier. After calling this, task\_identifier\(\) will return value.| |clear\_task\_identifier\(\)|void|void|Clears the value of task\_identifier. After calling this, task\_identifier\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/SequenceList.md b/api_cpp/doc/markdown/messages/Base/SequenceList.md new file mode 100644 index 00000000..4ea48188 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/SequenceList.md @@ -0,0 +1,22 @@ +# class SequenceList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|sequence\_list| [Sequence](Sequence.md#)|Sequence| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|sequence\_list\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|sequence\_list\(\) const|const [Sequence](Sequence.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, sequence\_list\_size\(\)\) yields undefined behavior.| +|mutable\_sequence\_list\(\)| [Sequence](Sequence.md#)\*|int index|Returns a pointer to the mutable [Sequence](Sequence.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, sequence\_list\_size\(\)\) yields undefined behavior.| +|add\_sequence\_list\(\)| [Sequence](Sequence.md#)\*|void|Adds a new element and returns a pointer to it. The returned [Sequence](Sequence.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [Sequence](Sequence.md#)\).| +|clear\_sequence\_list\(\)|void|void|Removes all elements from the field. After calling this, sequence\_list\_size\(\) will return zero.| +|sequence\_list\(\) const|const RepeatedPtrField< [Sequence](Sequence.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_sequence\_list\(\)|RepeatedPtrField< [Sequence](Sequence.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_SequenceTask.md b/api_cpp/doc/markdown/messages/Base/SequenceTask.md similarity index 56% rename from api_cpp/doc/markdown/references/msg_Base_SequenceTask.md rename to api_cpp/doc/markdown/messages/Base/SequenceTask.md index b2dc4aa8..ccd1ead4 100644 --- a/api_cpp/doc/markdown/references/msg_Base_SequenceTask.md +++ b/api_cpp/doc/markdown/messages/Base/SequenceTask.md @@ -1,36 +1,26 @@ -# Message SequenceTask +# class SequenceTask -This page describes the C++ Kinova::Api::Base::SequenceTask message. - -## Overview / Purpose - -Provides information about a task inside a sequence - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |group\_identifier|uint32|Specifies the order in which this task must be executed| -|action| [Action](msg_Base_Action.md#)|Specifies the action to execute| +|action| [Action](Action.md#)|Specifies the action to execute| |application\_data|string|Application data \(reserved for use by Web App\)| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |group\_identifier\(\)|uint32|void|Returns the current value of group\_identifier. If the group\_identifier is not set, returns 0.| |set\_group\_identifier\(\)|void|uint32|Sets the value of group\_identifier. After calling this, group\_identifier\(\) will return value.| |clear\_group\_identifier\(\)|void|void|Clears the value of group\_identifier. After calling this, group\_identifier\(\) will return 0.| |has\_action\(\) const|bool|void|Returns true if action is set.| -|action\(\)|const [Action](msg_Base_Action.md#)&|void|Returns the current value of action. If action is not set, returns a [Action](msg_Base_Action.md#) with none of its fields set \(possibly action::default\_instance\(\)\).| -|mutable\_action\(\)| [Action](msg_Base_Action.md#) \*|void|Returns a pointer to the mutable [Action](msg_Base_Action.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Action](msg_Base_Action.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Action](msg_Base_Action.md#)\). After calling this, has\_action\(\) will return true and action\(\) will return a reference to the same instance of [Action](msg_Base_Action.md#).| +|action\(\)|const [Action](Action.md#)&|void|Returns the current value of action. If action is not set, returns a [Action](Action.md#) with none of its fields set \(possibly action::default\_instance\(\)\).| +|mutable\_action\(\)| [Action](Action.md#) \*|void|Returns a pointer to the mutable [Action](Action.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Action](Action.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Action](Action.md#)\). After calling this, has\_action\(\) will return true and action\(\) will return a reference to the same instance of [Action](Action.md#).| |clear\_action\(\)|void|void|Clears the value of the field. After calling this, has\_action\(\) will return false and action\(\) will return the default value.| -|set\_allocated\_action\(\)|void| [Action](msg_Base_Action.md#) \*|Sets the [Action](msg_Base_Action.md#) object to the field and frees the previous field value if it exists. If the [Action](msg_Base_Action.md#) pointer is not NULL, the message takes ownership of the allocated [Action](msg_Base_Action.md#) object and has\_ [Action](msg_Base_Action.md#)\(\) will return true. Otherwise, if the action is NULL, the behavior is the same as calling clear\_action\(\).| -|release\_action\(\)| [Action](msg_Base_Action.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Action](msg_Base_Action.md#) object. After calling this, caller takes the ownership of the allocated [Action](msg_Base_Action.md#) object, has\_action\(\) will return false, and action\(\) will return the default value.| +|set\_allocated\_action\(\)|void| [Action](Action.md#) \*|Sets the [Action](Action.md#) object to the field and frees the previous field value if it exists. If the [Action](Action.md#) pointer is not NULL, the message takes ownership of the allocated [Action](Action.md#) object and has\_ [Action](Action.md#)\(\) will return true. Otherwise, if the action is NULL, the behavior is the same as calling clear\_action\(\).| +|release\_action\(\)| [Action](Action.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Action](Action.md#) object. After calling this, caller takes the ownership of the allocated [Action](Action.md#) object, has\_action\(\) will return false, and action\(\) will return the default value.| |application\_data\(\)|const string&|void|Returns the current value of application\_data. If application\_data is not set, returns the empty string/empty bytes.| |set\_application\_data\(\)|void|const string&|Sets the value of application\_data. After calling this, application\_data\(\) will return a copy of value.| |set\_application\_data\(\)|void|string&&|\(C++11 and beyond\): Sets the value of application\_data, moving from the passed string. After calling this, application\_data\(\) will return a copy of value.| @@ -40,5 +30,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_allocated\_application\_data\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_application\_data\(\).| |release\_application\_data\(\)|string \*|void|Releases the ownership of application\_data and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and application\_data\(\) will return the empty string/empty bytes.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/SequenceTaskHandle.md b/api_cpp/doc/markdown/messages/Base/SequenceTaskHandle.md new file mode 100644 index 00000000..2b454bab --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/SequenceTaskHandle.md @@ -0,0 +1,25 @@ +# class SequenceTaskHandle + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|sequence\_handle| [SequenceHandle](SequenceHandle.md#)|Sequence handle| +|task\_index|uint32|Task index inside the sequence| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_sequence\_handle\(\) const|bool|void|Returns true if sequence\_handle is set.| +|sequence\_handle\(\)|const [SequenceHandle](SequenceHandle.md#)&|void|Returns the current value of sequence\_handle. If sequence\_handle is not set, returns a [SequenceHandle](SequenceHandle.md#) with none of its fields set \(possibly sequence\_handle::default\_instance\(\)\).| +|mutable\_sequence\_handle\(\)| [SequenceHandle](SequenceHandle.md#) \*|void|Returns a pointer to the mutable [SequenceHandle](SequenceHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SequenceHandle](SequenceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SequenceHandle](SequenceHandle.md#)\). After calling this, has\_sequence\_handle\(\) will return true and sequence\_handle\(\) will return a reference to the same instance of [SequenceHandle](SequenceHandle.md#).| +|clear\_sequence\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_sequence\_handle\(\) will return false and sequence\_handle\(\) will return the default value.| +|set\_allocated\_sequence\_handle\(\)|void| [SequenceHandle](SequenceHandle.md#) \*|Sets the [SequenceHandle](SequenceHandle.md#) object to the field and frees the previous field value if it exists. If the [SequenceHandle](SequenceHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SequenceHandle](SequenceHandle.md#) object and has\_ [SequenceHandle](SequenceHandle.md#)\(\) will return true. Otherwise, if the sequence\_handle is NULL, the behavior is the same as calling clear\_sequence\_handle\(\).| +|release\_sequence\_handle\(\)| [SequenceHandle](SequenceHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SequenceHandle](SequenceHandle.md#) object. After calling this, caller takes the ownership of the allocated [SequenceHandle](SequenceHandle.md#) object, has\_sequence\_handle\(\) will return false, and sequence\_handle\(\) will return the default value.| +|task\_index\(\)|uint32|void|Returns the current value of task\_index. If the task\_index is not set, returns 0.| +|set\_task\_index\(\)|void|uint32|Sets the value of task\_index. After calling this, task\_index\(\) will return value.| +|clear\_task\_index\(\)|void|void|Clears the value of task\_index. After calling this, task\_index\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ServoingModeInformation.md b/api_cpp/doc/markdown/messages/Base/ServoingModeInformation.md new file mode 100644 index 00000000..48116698 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ServoingModeInformation.md @@ -0,0 +1,18 @@ +# class ServoingModeInformation + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|servoing\_mode|uint32|Servoing mode| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|servoing\_mode\(\) const|uint32|void|Returns the current value of servoing\_mode. If the servoing\_mode is not set, returns 0.| +|set\_servoing\_mode\(\)|void|uint32|Sets the value of servoing\_mode. After calling this, servoing\_mode\(\) will return value.| +|clear\_servoing\_mode\(\)|void|void|Clears the value of servoing\_mode. After calling this, servoing\_mode\(\) will return the empty string/empty bytes.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ServoingModeNotification.md b/api_cpp/doc/markdown/messages/Base/ServoingModeNotification.md new file mode 100644 index 00000000..d4fcb733 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ServoingModeNotification.md @@ -0,0 +1,39 @@ +# class ServoingModeNotification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|servoing\_mode|uint32|New servoing mode| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the servoing mode event| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the servoing mode event| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|servoing\_mode\(\) const|uint32|void|Returns the current value of servoing\_mode. If the servoing\_mode is not set, returns 0.| +|set\_servoing\_mode\(\)|void|uint32|Sets the value of servoing\_mode. After calling this, servoing\_mode\(\) will return value.| +|clear\_servoing\_mode\(\)|void|void|Clears the value of servoing\_mode. After calling this, servoing\_mode\(\) will return the empty string/empty bytes.| +|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| +|timestamp\(\)|const [Timestamp](../Common/Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](../Common/Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| +|mutable\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](../Common/Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](../Common/Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](../Common/Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](../Common/Timestamp.md#).| +|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| +|set\_allocated\_timestamp\(\)|void| [Timestamp](../Common/Timestamp.md#) \*|Sets the [Timestamp](../Common/Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](../Common/Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](../Common/Timestamp.md#) object and has\_ [Timestamp](../Common/Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| +|release\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](../Common/Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](../Common/Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| +|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| +|user\_handle\(\)|const [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](../Common/UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| +|mutable\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](../Common/UserProfileHandle.md#).| +|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| +|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|Sets the [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object and has\_ [UserProfileHandle](../Common/UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| +|release\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](../Common/UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| +|has\_connection\(\) const|bool|void|Returns true if connection is set.| +|connection\(\)|const [Connection](../Common/Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](../Common/Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| +|mutable\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Returns a pointer to the mutable [Connection](../Common/Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](../Common/Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](../Common/Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](../Common/Connection.md#).| +|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| +|set\_allocated\_connection\(\)|void| [Connection](../Common/Connection.md#) \*|Sets the [Connection](../Common/Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](../Common/Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](../Common/Connection.md#) object and has\_ [Connection](../Common/Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| +|release\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](../Common/Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](../Common/Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ServoingModeNotificationList.md b/api_cpp/doc/markdown/messages/Base/ServoingModeNotificationList.md new file mode 100644 index 00000000..48cad229 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ServoingModeNotificationList.md @@ -0,0 +1,22 @@ +# class ServoingModeNotificationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|notifications| [ServoingModeNotification](ServoingModeNotification.md#)|Notification| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|notifications\(\) const|const [ServoingModeNotification](ServoingModeNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|mutable\_notifications\(\)| [ServoingModeNotification](ServoingModeNotification.md#)\*|int index|Returns a pointer to the mutable [ServoingModeNotification](ServoingModeNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|add\_notifications\(\)| [ServoingModeNotification](ServoingModeNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ServoingModeNotification](ServoingModeNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ServoingModeNotification](ServoingModeNotification.md#)\).| +|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| +|notifications\(\) const|const RepeatedPtrField< [ServoingModeNotification](ServoingModeNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_notifications\(\)|RepeatedPtrField< [ServoingModeNotification](ServoingModeNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_Ssid.md b/api_cpp/doc/markdown/messages/Base/Ssid.md similarity index 80% rename from api_cpp/doc/markdown/references/msg_Base_Ssid.md rename to api_cpp/doc/markdown/messages/Base/Ssid.md index 4e4ff208..1c22c873 100644 --- a/api_cpp/doc/markdown/references/msg_Base_Ssid.md +++ b/api_cpp/doc/markdown/messages/Base/Ssid.md @@ -1,25 +1,15 @@ -# Message Ssid +# class Ssid -This page describes the C++ Kinova::Api::Base::Ssid message. - -## Overview / Purpose - -Identifies a Wi-Fi SSID - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |identifier|string|Wi-Fi Service Set Identifier| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |identifier\(\)|const string&|void|Returns the current value of identifier. If identifier is not set, returns the empty string/empty bytes.| |set\_identifier\(\)|void|const string&|Sets the value of identifier. After calling this, identifier\(\) will return a copy of value.| |set\_identifier\(\)|void|string&&|\(C++11 and beyond\): Sets the value of identifier, moving from the passed string. After calling this, identifier\(\) will return a copy of value.| @@ -29,5 +19,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_allocated\_identifier\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_identifier\(\).| |release\_identifier\(\)|string \*|void|Releases the ownership of identifier and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and identifier\(\) will return the empty string/empty bytes.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/Stop.md b/api_cpp/doc/markdown/messages/Base/Stop.md new file mode 100644 index 00000000..d46063fc --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/Stop.md @@ -0,0 +1,4 @@ +# class Stop + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/SwitchControlMapping.md b/api_cpp/doc/markdown/messages/Base/SwitchControlMapping.md new file mode 100644 index 00000000..63a328c9 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/SwitchControlMapping.md @@ -0,0 +1,32 @@ +# class SwitchControlMapping + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|controller\_identifier|uint32|Identifier of the controller for which changing the active map is requested| +|map\_group\_handle| [MapGroupHandle](MapGroupHandle.md#)|Reference to the map group for which the active map needs to change| +|map\_handle| [MapHandle](MapHandle.md#)|Reference to new active map| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|controller\_identifier\(\)|uint32|void|Returns the current value of controller\_identifier. If the controller\_identifier is not set, returns 0.| +|set\_controller\_identifier\(\)|void|uint32|Sets the value of controller\_identifier. After calling this, controller\_identifier\(\) will return value.| +|clear\_controller\_identifier\(\)|void|void|Clears the value of controller\_identifier. After calling this, controller\_identifier\(\) will return 0.| +|has\_map\_group\_handle\(\) const|bool|void|Returns true if map\_group\_handle is set.| +|map\_group\_handle\(\)|const [MapGroupHandle](MapGroupHandle.md#)&|void|Returns the current value of map\_group\_handle. If map\_group\_handle is not set, returns a [MapGroupHandle](MapGroupHandle.md#) with none of its fields set \(possibly map\_group\_handle::default\_instance\(\)\).| +|mutable\_map\_group\_handle\(\)| [MapGroupHandle](MapGroupHandle.md#) \*|void|Returns a pointer to the mutable [MapGroupHandle](MapGroupHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapGroupHandle](MapGroupHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapGroupHandle](MapGroupHandle.md#)\). After calling this, has\_map\_group\_handle\(\) will return true and map\_group\_handle\(\) will return a reference to the same instance of [MapGroupHandle](MapGroupHandle.md#).| +|clear\_map\_group\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_map\_group\_handle\(\) will return false and map\_group\_handle\(\) will return the default value.| +|set\_allocated\_map\_group\_handle\(\)|void| [MapGroupHandle](MapGroupHandle.md#) \*|Sets the [MapGroupHandle](MapGroupHandle.md#) object to the field and frees the previous field value if it exists. If the [MapGroupHandle](MapGroupHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapGroupHandle](MapGroupHandle.md#) object and has\_ [MapGroupHandle](MapGroupHandle.md#)\(\) will return true. Otherwise, if the map\_group\_handle is NULL, the behavior is the same as calling clear\_map\_group\_handle\(\).| +|release\_map\_group\_handle\(\)| [MapGroupHandle](MapGroupHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapGroupHandle](MapGroupHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapGroupHandle](MapGroupHandle.md#) object, has\_map\_group\_handle\(\) will return false, and map\_group\_handle\(\) will return the default value.| +|has\_map\_handle\(\) const|bool|void|Returns true if map\_handle is set.| +|map\_handle\(\)|const [MapHandle](MapHandle.md#)&|void|Returns the current value of map\_handle. If map\_handle is not set, returns a [MapHandle](MapHandle.md#) with none of its fields set \(possibly map\_handle::default\_instance\(\)\).| +|mutable\_map\_handle\(\)| [MapHandle](MapHandle.md#) \*|void|Returns a pointer to the mutable [MapHandle](MapHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapHandle](MapHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapHandle](MapHandle.md#)\). After calling this, has\_map\_handle\(\) will return true and map\_handle\(\) will return a reference to the same instance of [MapHandle](MapHandle.md#).| +|clear\_map\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_map\_handle\(\) will return false and map\_handle\(\) will return the default value.| +|set\_allocated\_map\_handle\(\)|void| [MapHandle](MapHandle.md#) \*|Sets the [MapHandle](MapHandle.md#) object to the field and frees the previous field value if it exists. If the [MapHandle](MapHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapHandle](MapHandle.md#) object and has\_ [MapHandle](MapHandle.md#)\(\) will return true. Otherwise, if the map\_handle is NULL, the behavior is the same as calling clear\_map\_handle\(\).| +|release\_map\_handle\(\)| [MapHandle](MapHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapHandle](MapHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapHandle](MapHandle.md#) object, has\_map\_handle\(\) will return false, and map\_handle\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_SystemTime.md b/api_cpp/doc/markdown/messages/Base/SystemTime.md similarity index 80% rename from api_cpp/doc/markdown/references/msg_Base_SystemTime.md rename to api_cpp/doc/markdown/messages/Base/SystemTime.md index 873ac054..dcd0e521 100644 --- a/api_cpp/doc/markdown/references/msg_Base_SystemTime.md +++ b/api_cpp/doc/markdown/messages/Base/SystemTime.md @@ -1,14 +1,6 @@ -# Message SystemTime +# class SystemTime -This page describes the C++ Kinova::Api::Base::SystemTime message. - -## Overview / Purpose - -Identifies the system time \(future\) - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| @@ -19,12 +11,10 @@ Identifies the system time \(future\) |mon|uint32|Months since January \(0-11\)| |year|uint32|Years since 1900| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |sec\(\)|uint32|void|Returns the current value of sec. If the sec is not set, returns 0.| |set\_sec\(\)|void|uint32|Sets the value of sec. After calling this, sec\(\) will return value.| |clear\_sec\(\)|void|void|Clears the value of sec. After calling this, sec\(\) will return 0.| @@ -44,5 +34,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_year\(\)|void|uint32|Sets the value of year. After calling this, year\(\) will return value.| |clear\_year\(\)|void|void|Clears the value of year. After calling this, year\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/Timeout.md b/api_cpp/doc/markdown/messages/Base/Timeout.md new file mode 100644 index 00000000..93f653dd --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/Timeout.md @@ -0,0 +1,18 @@ +# class Timeout + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|value|uint32|Timeout value \(not implemented yet\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|value\(\)|uint32|void|Returns the current value of value. If the value is not set, returns 0.| +|set\_value\(\)|void|uint32|Sets the value of value. After calling this, value\(\) will return value.| +|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/TrajectoryErrorElement.md b/api_cpp/doc/markdown/messages/Base/TrajectoryErrorElement.md new file mode 100644 index 00000000..19955355 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/TrajectoryErrorElement.md @@ -0,0 +1,47 @@ +# class TrajectoryErrorElement + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|error\_type|uint32|Error type| +|error\_identifier|uint32|Error identifier| +|error\_value|float32|Erroneous value| +|min\_value|float32|Minimum permitted value| +|max\_value|float32|Maximum permitted value| +|index|uint32|Actuator index| +|message|string|Clarification message for the error| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|error\_type\(\) const|uint32|void|Returns the current value of error\_type. If the error\_type is not set, returns 0.| +|set\_error\_type\(\)|void|uint32|Sets the value of error\_type. After calling this, error\_type\(\) will return value.| +|clear\_error\_type\(\)|void|void|Clears the value of error\_type. After calling this, error\_type\(\) will return the empty string/empty bytes.| +|error\_identifier\(\) const|uint32|void|Returns the current value of error\_identifier. If the error\_identifier is not set, returns 0.| +|set\_error\_identifier\(\)|void|uint32|Sets the value of error\_identifier. After calling this, error\_identifier\(\) will return value.| +|clear\_error\_identifier\(\)|void|void|Clears the value of error\_identifier. After calling this, error\_identifier\(\) will return the empty string/empty bytes.| +|error\_value\(\)|float32|void|Returns the current value of error\_value. If the error\_value is not set, returns 0.| +|set\_error\_value\(\)|void|float32|Sets the value of error\_value. After calling this, error\_value\(\) will return value.| +|clear\_error\_value\(\)|void|void|Clears the value of error\_value. After calling this, error\_value\(\) will return 0.| +|min\_value\(\)|float32|void|Returns the current value of min\_value. If the min\_value is not set, returns 0.| +|set\_min\_value\(\)|void|float32|Sets the value of min\_value. After calling this, min\_value\(\) will return value.| +|clear\_min\_value\(\)|void|void|Clears the value of min\_value. After calling this, min\_value\(\) will return 0.| +|max\_value\(\)|float32|void|Returns the current value of max\_value. If the max\_value is not set, returns 0.| +|set\_max\_value\(\)|void|float32|Sets the value of max\_value. After calling this, max\_value\(\) will return value.| +|clear\_max\_value\(\)|void|void|Clears the value of max\_value. After calling this, max\_value\(\) will return 0.| +|index\(\)|uint32|void|Returns the current value of index. If the index is not set, returns 0.| +|set\_index\(\)|void|uint32|Sets the value of index. After calling this, index\(\) will return value.| +|clear\_index\(\)|void|void|Clears the value of index. After calling this, index\(\) will return 0.| +|message\(\)|const string&|void|Returns the current value of message. If message is not set, returns the empty string/empty bytes.| +|set\_message\(\)|void|const string&|Sets the value of message. After calling this, message\(\) will return a copy of value.| +|set\_message\(\)|void|string&&|\(C++11 and beyond\): Sets the value of message, moving from the passed string. After calling this, message\(\) will return a copy of value.| +|set\_message\(\)|void|const char\*|Sets the value of message using a C-style null-terminated string. After calling this, message\(\) will return a copy of value.| +|mutable\_message\(\)|string \*|void|Returns a pointer to the mutable string object that stores message's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, message\(\) will return whatever value is written into the given string.| +|clear\_message\(\)|void|void|Clears the value of message. After calling this, message\(\) will return the empty string/empty bytes.| +|set\_allocated\_message\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_message\(\).| +|release\_message\(\)|string \*|void|Releases the ownership of message and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and message\(\) will return the empty string/empty bytes.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/TrajectoryErrorReport.md b/api_cpp/doc/markdown/messages/Base/TrajectoryErrorReport.md new file mode 100644 index 00000000..5d2eb09b --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/TrajectoryErrorReport.md @@ -0,0 +1,22 @@ +# class TrajectoryErrorReport + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|trajectory\_error\_elements| [TrajectoryErrorElement](TrajectoryErrorElement.md#)| | + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|trajectory\_error\_elements\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|trajectory\_error\_elements\(\) const|const [TrajectoryErrorElement](TrajectoryErrorElement.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, trajectory\_error\_elements\_size\(\)\) yields undefined behavior.| +|mutable\_trajectory\_error\_elements\(\)| [TrajectoryErrorElement](TrajectoryErrorElement.md#)\*|int index|Returns a pointer to the mutable [TrajectoryErrorElement](TrajectoryErrorElement.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, trajectory\_error\_elements\_size\(\)\) yields undefined behavior.| +|add\_trajectory\_error\_elements\(\)| [TrajectoryErrorElement](TrajectoryErrorElement.md#)\*|void|Adds a new element and returns a pointer to it. The returned [TrajectoryErrorElement](TrajectoryErrorElement.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [TrajectoryErrorElement](TrajectoryErrorElement.md#)\).| +|clear\_trajectory\_error\_elements\(\)|void|void|Removes all elements from the field. After calling this, trajectory\_error\_elements\_size\(\) will return zero.| +|trajectory\_error\_elements\(\) const|const RepeatedPtrField< [TrajectoryErrorElement](TrajectoryErrorElement.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_trajectory\_error\_elements\(\)|RepeatedPtrField< [TrajectoryErrorElement](TrajectoryErrorElement.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/TransformationMatrix.md b/api_cpp/doc/markdown/messages/Base/TransformationMatrix.md new file mode 100644 index 00000000..fd660afc --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/TransformationMatrix.md @@ -0,0 +1,42 @@ +# class TransformationMatrix + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|r0| [TransformationRow](TransformationRow.md#)|First transformation row| +|r1| [TransformationRow](TransformationRow.md#)|Second transformation row| +|r2| [TransformationRow](TransformationRow.md#)|Third transformation row| +|r3| [TransformationRow](TransformationRow.md#)|Fourth transformation row| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_r0\(\) const|bool|void|Returns true if r0 is set.| +|r0\(\)|const [TransformationRow](TransformationRow.md#)&|void|Returns the current value of r0. If r0 is not set, returns a [TransformationRow](TransformationRow.md#) with none of its fields set \(possibly r0::default\_instance\(\)\).| +|mutable\_r0\(\)| [TransformationRow](TransformationRow.md#) \*|void|Returns a pointer to the mutable [TransformationRow](TransformationRow.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [TransformationRow](TransformationRow.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [TransformationRow](TransformationRow.md#)\). After calling this, has\_r0\(\) will return true and r0\(\) will return a reference to the same instance of [TransformationRow](TransformationRow.md#).| +|clear\_r0\(\)|void|void|Clears the value of the field. After calling this, has\_r0\(\) will return false and r0\(\) will return the default value.| +|set\_allocated\_r0\(\)|void| [TransformationRow](TransformationRow.md#) \*|Sets the [TransformationRow](TransformationRow.md#) object to the field and frees the previous field value if it exists. If the [TransformationRow](TransformationRow.md#) pointer is not NULL, the message takes ownership of the allocated [TransformationRow](TransformationRow.md#) object and has\_ [TransformationRow](TransformationRow.md#)\(\) will return true. Otherwise, if the r0 is NULL, the behavior is the same as calling clear\_r0\(\).| +|release\_r0\(\)| [TransformationRow](TransformationRow.md#) \*|void|Releases the ownership of the field and returns the pointer of the [TransformationRow](TransformationRow.md#) object. After calling this, caller takes the ownership of the allocated [TransformationRow](TransformationRow.md#) object, has\_r0\(\) will return false, and r0\(\) will return the default value.| +|has\_r1\(\) const|bool|void|Returns true if r1 is set.| +|r1\(\)|const [TransformationRow](TransformationRow.md#)&|void|Returns the current value of r1. If r1 is not set, returns a [TransformationRow](TransformationRow.md#) with none of its fields set \(possibly r1::default\_instance\(\)\).| +|mutable\_r1\(\)| [TransformationRow](TransformationRow.md#) \*|void|Returns a pointer to the mutable [TransformationRow](TransformationRow.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [TransformationRow](TransformationRow.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [TransformationRow](TransformationRow.md#)\). After calling this, has\_r1\(\) will return true and r1\(\) will return a reference to the same instance of [TransformationRow](TransformationRow.md#).| +|clear\_r1\(\)|void|void|Clears the value of the field. After calling this, has\_r1\(\) will return false and r1\(\) will return the default value.| +|set\_allocated\_r1\(\)|void| [TransformationRow](TransformationRow.md#) \*|Sets the [TransformationRow](TransformationRow.md#) object to the field and frees the previous field value if it exists. If the [TransformationRow](TransformationRow.md#) pointer is not NULL, the message takes ownership of the allocated [TransformationRow](TransformationRow.md#) object and has\_ [TransformationRow](TransformationRow.md#)\(\) will return true. Otherwise, if the r1 is NULL, the behavior is the same as calling clear\_r1\(\).| +|release\_r1\(\)| [TransformationRow](TransformationRow.md#) \*|void|Releases the ownership of the field and returns the pointer of the [TransformationRow](TransformationRow.md#) object. After calling this, caller takes the ownership of the allocated [TransformationRow](TransformationRow.md#) object, has\_r1\(\) will return false, and r1\(\) will return the default value.| +|has\_r2\(\) const|bool|void|Returns true if r2 is set.| +|r2\(\)|const [TransformationRow](TransformationRow.md#)&|void|Returns the current value of r2. If r2 is not set, returns a [TransformationRow](TransformationRow.md#) with none of its fields set \(possibly r2::default\_instance\(\)\).| +|mutable\_r2\(\)| [TransformationRow](TransformationRow.md#) \*|void|Returns a pointer to the mutable [TransformationRow](TransformationRow.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [TransformationRow](TransformationRow.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [TransformationRow](TransformationRow.md#)\). After calling this, has\_r2\(\) will return true and r2\(\) will return a reference to the same instance of [TransformationRow](TransformationRow.md#).| +|clear\_r2\(\)|void|void|Clears the value of the field. After calling this, has\_r2\(\) will return false and r2\(\) will return the default value.| +|set\_allocated\_r2\(\)|void| [TransformationRow](TransformationRow.md#) \*|Sets the [TransformationRow](TransformationRow.md#) object to the field and frees the previous field value if it exists. If the [TransformationRow](TransformationRow.md#) pointer is not NULL, the message takes ownership of the allocated [TransformationRow](TransformationRow.md#) object and has\_ [TransformationRow](TransformationRow.md#)\(\) will return true. Otherwise, if the r2 is NULL, the behavior is the same as calling clear\_r2\(\).| +|release\_r2\(\)| [TransformationRow](TransformationRow.md#) \*|void|Releases the ownership of the field and returns the pointer of the [TransformationRow](TransformationRow.md#) object. After calling this, caller takes the ownership of the allocated [TransformationRow](TransformationRow.md#) object, has\_r2\(\) will return false, and r2\(\) will return the default value.| +|has\_r3\(\) const|bool|void|Returns true if r3 is set.| +|r3\(\)|const [TransformationRow](TransformationRow.md#)&|void|Returns the current value of r3. If r3 is not set, returns a [TransformationRow](TransformationRow.md#) with none of its fields set \(possibly r3::default\_instance\(\)\).| +|mutable\_r3\(\)| [TransformationRow](TransformationRow.md#) \*|void|Returns a pointer to the mutable [TransformationRow](TransformationRow.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [TransformationRow](TransformationRow.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [TransformationRow](TransformationRow.md#)\). After calling this, has\_r3\(\) will return true and r3\(\) will return a reference to the same instance of [TransformationRow](TransformationRow.md#).| +|clear\_r3\(\)|void|void|Clears the value of the field. After calling this, has\_r3\(\) will return false and r3\(\) will return the default value.| +|set\_allocated\_r3\(\)|void| [TransformationRow](TransformationRow.md#) \*|Sets the [TransformationRow](TransformationRow.md#) object to the field and frees the previous field value if it exists. If the [TransformationRow](TransformationRow.md#) pointer is not NULL, the message takes ownership of the allocated [TransformationRow](TransformationRow.md#) object and has\_ [TransformationRow](TransformationRow.md#)\(\) will return true. Otherwise, if the r3 is NULL, the behavior is the same as calling clear\_r3\(\).| +|release\_r3\(\)| [TransformationRow](TransformationRow.md#) \*|void|Releases the ownership of the field and returns the pointer of the [TransformationRow](TransformationRow.md#) object. After calling this, caller takes the ownership of the allocated [TransformationRow](TransformationRow.md#) object, has\_r3\(\) will return false, and r3\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_TransformationRow.md b/api_cpp/doc/markdown/messages/Base/TransformationRow.md similarity index 71% rename from api_cpp/doc/markdown/references/msg_Base_TransformationRow.md rename to api_cpp/doc/markdown/messages/Base/TransformationRow.md index 8e4ae67e..e06c2f78 100644 --- a/api_cpp/doc/markdown/references/msg_Base_TransformationRow.md +++ b/api_cpp/doc/markdown/messages/Base/TransformationRow.md @@ -1,14 +1,6 @@ -# Message TransformationRow +# class TransformationRow -This page describes the C++ Kinova::Api::Base::TransformationRow message. - -## Overview / Purpose - -Defines a transformation matrix row - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| @@ -17,12 +9,10 @@ Defines a transformation matrix row |c2|float32|Third column value| |c3|float32|Fourth column value| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |c0\(\)|float32|void|Returns the current value of c0. If the c0 is not set, returns 0.| |set\_c0\(\)|void|float32|Sets the value of c0. After calling this, c0\(\) will return value.| |clear\_c0\(\)|void|void|Clears the value of c0. After calling this, c0\(\) will return 0.| @@ -36,5 +26,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_c3\(\)|void|float32|Sets the value of c3. After calling this, c3\(\) will return value.| |clear\_c3\(\)|void|void|Clears the value of c3. After calling this, c3\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/msg_Base_Twist.md b/api_cpp/doc/markdown/messages/Base/Twist.md similarity index 71% rename from api_cpp/doc/markdown/references/msg_Base_Twist.md rename to api_cpp/doc/markdown/messages/Base/Twist.md index 49bdccf7..25490a8e 100644 --- a/api_cpp/doc/markdown/references/msg_Base_Twist.md +++ b/api_cpp/doc/markdown/messages/Base/Twist.md @@ -1,30 +1,20 @@ -# Message Twist +# class Twist -This page describes the C++ Kinova::Api::Base::Twist message. - -## Overview / Purpose - -Defines a twist \(velocity\) - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|linear\_x|float32|Linear X velocity| -|linear\_y|float32|Linear Y velocity| -|linear\_z|float32|Linear Z velocity| -|angular\_x|float32|Angular X velocity| -|angular\_y|float32|Angular Y velocity| -|angular\_z|float32|Angular Z velocity| - - **Methods** +|linear\_x|float32|Linear X velocity \(m/s or ratio between -1.0 and 1.0 if used with joystick command\)| +|linear\_y|float32|Linear Y velocity \(m/s or ratio between -1.0 and 1.0 if used with joystick command\)| +|linear\_z|float32|Linear Z velocity \(m/s or ratio between -1.0 and 1.0 if used with joystick command\)| +|angular\_x|float32|Angular X velocity \(deg/s or ratio between -1.0 and 1.0 if used with joystick command\)| +|angular\_y|float32|Angular Y velocity \(deg/s or ratio between -1.0 and 1.0 if used with joystick command\)| +|angular\_z|float32|Angular Z velocity \(deg/s or ratio between -1.0 and 1.0 if used with joystick command\)| -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |linear\_x\(\)|float32|void|Returns the current value of linear\_x. If the linear\_x is not set, returns 0.| |set\_linear\_x\(\)|void|float32|Sets the value of linear\_x. After calling this, linear\_x\(\) will return value.| |clear\_linear\_x\(\)|void|void|Clears the value of linear\_x. After calling this, linear\_x\(\) will return 0.| @@ -44,5 +34,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_angular\_z\(\)|void|float32|Sets the value of angular\_z. After calling this, angular\_z\(\) will return value.| |clear\_angular\_z\(\)|void|void|Clears the value of angular\_z. After calling this, angular\_z\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/TwistCommand.md b/api_cpp/doc/markdown/messages/Base/TwistCommand.md new file mode 100644 index 00000000..be1b8348 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/TwistCommand.md @@ -0,0 +1,29 @@ +# class TwistCommand + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|reference\_frame|uint32|The reference frame used for the twist command| +|twist| [Twist](Twist.md#)|Twist value| +|duration|uint32|Duration constrant. If not 0, allows to set a limit \(in milliseconds\) to the TwistCommand \(not implemented yet\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|reference\_frame\(\) const|uint32|void|Returns the current value of reference\_frame. If the reference\_frame is not set, returns 0.| +|set\_reference\_frame\(\)|void|uint32|Sets the value of reference\_frame. After calling this, reference\_frame\(\) will return value.| +|clear\_reference\_frame\(\)|void|void|Clears the value of reference\_frame. After calling this, reference\_frame\(\) will return the empty string/empty bytes.| +|has\_twist\(\) const|bool|void|Returns true if twist is set.| +|twist\(\)|const [Twist](Twist.md#)&|void|Returns the current value of twist. If twist is not set, returns a [Twist](Twist.md#) with none of its fields set \(possibly twist::default\_instance\(\)\).| +|mutable\_twist\(\)| [Twist](Twist.md#) \*|void|Returns a pointer to the mutable [Twist](Twist.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Twist](Twist.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Twist](Twist.md#)\). After calling this, has\_twist\(\) will return true and twist\(\) will return a reference to the same instance of [Twist](Twist.md#).| +|clear\_twist\(\)|void|void|Clears the value of the field. After calling this, has\_twist\(\) will return false and twist\(\) will return the default value.| +|set\_allocated\_twist\(\)|void| [Twist](Twist.md#) \*|Sets the [Twist](Twist.md#) object to the field and frees the previous field value if it exists. If the [Twist](Twist.md#) pointer is not NULL, the message takes ownership of the allocated [Twist](Twist.md#) object and has\_ [Twist](Twist.md#)\(\) will return true. Otherwise, if the twist is NULL, the behavior is the same as calling clear\_twist\(\).| +|release\_twist\(\)| [Twist](Twist.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Twist](Twist.md#) object. After calling this, caller takes the ownership of the allocated [Twist](Twist.md#) object, has\_twist\(\) will return false, and twist\(\) will return the default value.| +|duration\(\)|uint32|void|Returns the current value of duration. If the duration is not set, returns 0.| +|set\_duration\(\)|void|uint32|Sets the value of duration. After calling this, duration\(\) will return value.| +|clear\_duration\(\)|void|void|Clears the value of duration. After calling this, duration\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/TwistLimitation.md b/api_cpp/doc/markdown/messages/Base/TwistLimitation.md new file mode 100644 index 00000000..6390be1e --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/TwistLimitation.md @@ -0,0 +1,22 @@ +# class TwistLimitation + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|linear|float32|Linear limitation| +|angular|float32|Angular limitation| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|linear\(\)|float32|void|Returns the current value of linear. If the linear is not set, returns 0.| +|set\_linear\(\)|void|float32|Sets the value of linear. After calling this, linear\(\) will return value.| +|clear\_linear\(\)|void|void|Clears the value of linear. After calling this, linear\(\) will return 0.| +|angular\(\)|float32|void|Returns the current value of angular. If the angular is not set, returns 0.| +|set\_angular\(\)|void|float32|Sets the value of angular. After calling this, angular\(\) will return value.| +|clear\_angular\(\)|void|void|Clears the value of angular. After calling this, angular\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/UserList.md b/api_cpp/doc/markdown/messages/Base/UserList.md new file mode 100644 index 00000000..3e993185 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/UserList.md @@ -0,0 +1,22 @@ +# class UserList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|user\_handles| [UserProfileHandle](../Common/UserProfileHandle.md#)|User handle| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|user\_handles\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|user\_handles\(\) const|const [UserProfileHandle](../Common/UserProfileHandle.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, user\_handles\_size\(\)\) yields undefined behavior.| +|mutable\_user\_handles\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#)\*|int index|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, user\_handles\_size\(\)\) yields undefined behavior.| +|add\_user\_handles\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#)\*|void|Adds a new element and returns a pointer to it. The returned [UserProfileHandle](../Common/UserProfileHandle.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\).| +|clear\_user\_handles\(\)|void|void|Removes all elements from the field. After calling this, user\_handles\_size\(\) will return zero.| +|user\_handles\(\) const|const RepeatedPtrField< [UserProfileHandle](../Common/UserProfileHandle.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_user\_handles\(\)|RepeatedPtrField< [UserProfileHandle](../Common/UserProfileHandle.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/UserNotification.md b/api_cpp/doc/markdown/messages/Base/UserNotification.md new file mode 100644 index 00000000..680ca0ae --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/UserNotification.md @@ -0,0 +1,46 @@ +# class UserNotification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|user\_event|uint32|User event type| +|modified\_user| [UserProfileHandle](../Common/UserProfileHandle.md#)|User profile that was modified| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the user profile event \(i.e. user who changed the user profile\)| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the user profile event \(i.e. user who changed the user profile\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|user\_event\(\) const|uint32|void|Returns the current value of user\_event. If the user\_event is not set, returns 0.| +|set\_user\_event\(\)|void|uint32|Sets the value of user\_event. After calling this, user\_event\(\) will return value.| +|clear\_user\_event\(\)|void|void|Clears the value of user\_event. After calling this, user\_event\(\) will return the empty string/empty bytes.| +|has\_modified\_user\(\) const|bool|void|Returns true if modified\_user is set.| +|modified\_user\(\)|const [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of modified\_user. If modified\_user is not set, returns a [UserProfileHandle](../Common/UserProfileHandle.md#) with none of its fields set \(possibly modified\_user::default\_instance\(\)\).| +|mutable\_modified\_user\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_modified\_user\(\) will return true and modified\_user\(\) will return a reference to the same instance of [UserProfileHandle](../Common/UserProfileHandle.md#).| +|clear\_modified\_user\(\)|void|void|Clears the value of the field. After calling this, has\_modified\_user\(\) will return false and modified\_user\(\) will return the default value.| +|set\_allocated\_modified\_user\(\)|void| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|Sets the [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object and has\_ [UserProfileHandle](../Common/UserProfileHandle.md#)\(\) will return true. Otherwise, if the modified\_user is NULL, the behavior is the same as calling clear\_modified\_user\(\).| +|release\_modified\_user\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](../Common/UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_modified\_user\(\) will return false, and modified\_user\(\) will return the default value.| +|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| +|timestamp\(\)|const [Timestamp](../Common/Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](../Common/Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| +|mutable\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](../Common/Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](../Common/Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](../Common/Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](../Common/Timestamp.md#).| +|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| +|set\_allocated\_timestamp\(\)|void| [Timestamp](../Common/Timestamp.md#) \*|Sets the [Timestamp](../Common/Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](../Common/Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](../Common/Timestamp.md#) object and has\_ [Timestamp](../Common/Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| +|release\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](../Common/Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](../Common/Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| +|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| +|user\_handle\(\)|const [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](../Common/UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| +|mutable\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](../Common/UserProfileHandle.md#).| +|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| +|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|Sets the [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object and has\_ [UserProfileHandle](../Common/UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| +|release\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](../Common/UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| +|has\_connection\(\) const|bool|void|Returns true if connection is set.| +|connection\(\)|const [Connection](../Common/Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](../Common/Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| +|mutable\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Returns a pointer to the mutable [Connection](../Common/Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](../Common/Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](../Common/Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](../Common/Connection.md#).| +|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| +|set\_allocated\_connection\(\)|void| [Connection](../Common/Connection.md#) \*|Sets the [Connection](../Common/Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](../Common/Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](../Common/Connection.md#) object and has\_ [Connection](../Common/Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| +|release\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](../Common/Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](../Common/Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/UserNotificationList.md b/api_cpp/doc/markdown/messages/Base/UserNotificationList.md new file mode 100644 index 00000000..c8ac077f --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/UserNotificationList.md @@ -0,0 +1,22 @@ +# class UserNotificationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|notifications| [UserNotification](UserNotification.md#)|Notification| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|notifications\(\) const|const [UserNotification](UserNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|mutable\_notifications\(\)| [UserNotification](UserNotification.md#)\*|int index|Returns a pointer to the mutable [UserNotification](UserNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| +|add\_notifications\(\)| [UserNotification](UserNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [UserNotification](UserNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserNotification](UserNotification.md#)\).| +|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| +|notifications\(\) const|const RepeatedPtrField< [UserNotification](UserNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_notifications\(\)|RepeatedPtrField< [UserNotification](UserNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_UserProfile.md b/api_cpp/doc/markdown/messages/Base/UserProfile.md similarity index 75% rename from api_cpp/doc/markdown/references/msg_Base_UserProfile.md rename to api_cpp/doc/markdown/messages/Base/UserProfile.md index fc495d27..cb2d70bf 100644 --- a/api_cpp/doc/markdown/references/msg_Base_UserProfile.md +++ b/api_cpp/doc/markdown/messages/Base/UserProfile.md @@ -1,35 +1,25 @@ -# Message UserProfile +# class UserProfile -This page describes the C++ Kinova::Api::Base::UserProfile message. - -## Overview / Purpose - -Provides information about a user - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User handle \(no need to set it with CreateUserProfile\(\)| +|handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User handle \(no need to set it with CreateUserProfile\(\)\)| |username|string|Username, which is used to connect to robot \(or login via Web App\)| |firstname|string|User's first name| |lastname|string|User's last name| |application\_data|string|Application data \(reserved for use by Web App\)| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| +|handle\(\)|const [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [UserProfileHandle](../Common/UserProfileHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [UserProfileHandle](../Common/UserProfileHandle.md#).| |clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|Sets the [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object and has\_ [UserProfileHandle](../Common/UserProfileHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](../Common/UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| |username\(\)|const string&|void|Returns the current value of username. If username is not set, returns the empty string/empty bytes.| |set\_username\(\)|void|const string&|Sets the value of username. After calling this, username\(\) will return a copy of value.| |set\_username\(\)|void|string&&|\(C++11 and beyond\): Sets the value of username, moving from the passed string. After calling this, username\(\) will return a copy of value.| @@ -63,5 +53,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_allocated\_application\_data\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_application\_data\(\).| |release\_application\_data\(\)|string \*|void|Releases the ownership of application\_data and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and application\_data\(\) will return the empty string/empty bytes.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/UserProfileList.md b/api_cpp/doc/markdown/messages/Base/UserProfileList.md new file mode 100644 index 00000000..d6c23615 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/UserProfileList.md @@ -0,0 +1,22 @@ +# class UserProfileList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|user\_profiles| [UserProfile](UserProfile.md#)|User profile| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|user\_profiles\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|user\_profiles\(\) const|const [UserProfile](UserProfile.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, user\_profiles\_size\(\)\) yields undefined behavior.| +|mutable\_user\_profiles\(\)| [UserProfile](UserProfile.md#)\*|int index|Returns a pointer to the mutable [UserProfile](UserProfile.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, user\_profiles\_size\(\)\) yields undefined behavior.| +|add\_user\_profiles\(\)| [UserProfile](UserProfile.md#)\*|void|Adds a new element and returns a pointer to it. The returned [UserProfile](UserProfile.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfile](UserProfile.md#)\).| +|clear\_user\_profiles\(\)|void|void|Removes all elements from the field. After calling this, user\_profiles\_size\(\) will return zero.| +|user\_profiles\(\) const|const RepeatedPtrField< [UserProfile](UserProfile.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_user\_profiles\(\)|RepeatedPtrField< [UserProfile](UserProfile.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_WifiConfiguration.md b/api_cpp/doc/markdown/messages/Base/WifiConfiguration.md similarity index 58% rename from api_cpp/doc/markdown/references/msg_Base_WifiConfiguration.md rename to api_cpp/doc/markdown/messages/Base/WifiConfiguration.md index 00d18eb4..275b3fa1 100644 --- a/api_cpp/doc/markdown/references/msg_Base_WifiConfiguration.md +++ b/api_cpp/doc/markdown/messages/Base/WifiConfiguration.md @@ -1,33 +1,23 @@ -# Message WifiConfiguration +# class WifiConfiguration -This page describes the C++ Kinova::Api::Base::WifiConfiguration message. - -## Overview / Purpose - -Provides a Wi-Fi Configuration - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|ssid| [Ssid](msg_Base_Ssid.md#)|SSID| +|ssid| [Ssid](Ssid.md#)|SSID| |security\_key|string|Security key to used when connecting to Wi-Fi network| |connect\_automatically|bool|Connection mode. Set to true so robot automatically connects to this Wi-Fi network at bootup, false otherwise| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |has\_ssid\(\) const|bool|void|Returns true if ssid is set.| -|ssid\(\)|const [Ssid](msg_Base_Ssid.md#)&|void|Returns the current value of ssid. If ssid is not set, returns a [Ssid](msg_Base_Ssid.md#) with none of its fields set \(possibly ssid::default\_instance\(\)\).| -|mutable\_ssid\(\)| [Ssid](msg_Base_Ssid.md#) \*|void|Returns a pointer to the mutable [Ssid](msg_Base_Ssid.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Ssid](msg_Base_Ssid.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Ssid](msg_Base_Ssid.md#)\). After calling this, has\_ssid\(\) will return true and ssid\(\) will return a reference to the same instance of [Ssid](msg_Base_Ssid.md#).| +|ssid\(\)|const [Ssid](Ssid.md#)&|void|Returns the current value of ssid. If ssid is not set, returns a [Ssid](Ssid.md#) with none of its fields set \(possibly ssid::default\_instance\(\)\).| +|mutable\_ssid\(\)| [Ssid](Ssid.md#) \*|void|Returns a pointer to the mutable [Ssid](Ssid.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Ssid](Ssid.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Ssid](Ssid.md#)\). After calling this, has\_ssid\(\) will return true and ssid\(\) will return a reference to the same instance of [Ssid](Ssid.md#).| |clear\_ssid\(\)|void|void|Clears the value of the field. After calling this, has\_ssid\(\) will return false and ssid\(\) will return the default value.| -|set\_allocated\_ssid\(\)|void| [Ssid](msg_Base_Ssid.md#) \*|Sets the [Ssid](msg_Base_Ssid.md#) object to the field and frees the previous field value if it exists. If the [Ssid](msg_Base_Ssid.md#) pointer is not NULL, the message takes ownership of the allocated [Ssid](msg_Base_Ssid.md#) object and has\_ [Ssid](msg_Base_Ssid.md#)\(\) will return true. Otherwise, if the ssid is NULL, the behavior is the same as calling clear\_ssid\(\).| -|release\_ssid\(\)| [Ssid](msg_Base_Ssid.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Ssid](msg_Base_Ssid.md#) object. After calling this, caller takes the ownership of the allocated [Ssid](msg_Base_Ssid.md#) object, has\_ssid\(\) will return false, and ssid\(\) will return the default value.| +|set\_allocated\_ssid\(\)|void| [Ssid](Ssid.md#) \*|Sets the [Ssid](Ssid.md#) object to the field and frees the previous field value if it exists. If the [Ssid](Ssid.md#) pointer is not NULL, the message takes ownership of the allocated [Ssid](Ssid.md#) object and has\_ [Ssid](Ssid.md#)\(\) will return true. Otherwise, if the ssid is NULL, the behavior is the same as calling clear\_ssid\(\).| +|release\_ssid\(\)| [Ssid](Ssid.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Ssid](Ssid.md#) object. After calling this, caller takes the ownership of the allocated [Ssid](Ssid.md#) object, has\_ssid\(\) will return false, and ssid\(\) will return the default value.| |security\_key\(\)|const string&|void|Returns the current value of security\_key. If security\_key is not set, returns the empty string/empty bytes.| |set\_security\_key\(\)|void|const string&|Sets the value of security\_key. After calling this, security\_key\(\) will return a copy of value.| |set\_security\_key\(\)|void|string&&|\(C++11 and beyond\): Sets the value of security\_key, moving from the passed string. After calling this, security\_key\(\) will return a copy of value.| @@ -40,5 +30,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_connect\_automatically\(\)|void|bool|Sets the value of connect\_automatically. After calling this, connect\_automatically\(\) will return value.| |clear\_connect\_automatically\(\)|void|void|Clears the value of connect\_automatically. After calling this, connect\_automatically\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/WifiConfigurationList.md b/api_cpp/doc/markdown/messages/Base/WifiConfigurationList.md new file mode 100644 index 00000000..1acf141d --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/WifiConfigurationList.md @@ -0,0 +1,22 @@ +# class WifiConfigurationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|wifi\_configuration\_list| [WifiConfiguration](WifiConfiguration.md#)|Wi-Fi configurations| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|wifi\_configuration\_list\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|wifi\_configuration\_list\(\) const|const [WifiConfiguration](WifiConfiguration.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, wifi\_configuration\_list\_size\(\)\) yields undefined behavior.| +|mutable\_wifi\_configuration\_list\(\)| [WifiConfiguration](WifiConfiguration.md#)\*|int index|Returns a pointer to the mutable [WifiConfiguration](WifiConfiguration.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, wifi\_configuration\_list\_size\(\)\) yields undefined behavior.| +|add\_wifi\_configuration\_list\(\)| [WifiConfiguration](WifiConfiguration.md#)\*|void|Adds a new element and returns a pointer to it. The returned [WifiConfiguration](WifiConfiguration.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [WifiConfiguration](WifiConfiguration.md#)\).| +|clear\_wifi\_configuration\_list\(\)|void|void|Removes all elements from the field. After calling this, wifi\_configuration\_list\_size\(\) will return zero.| +|wifi\_configuration\_list\(\) const|const RepeatedPtrField< [WifiConfiguration](WifiConfiguration.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_wifi\_configuration\_list\(\)|RepeatedPtrField< [WifiConfiguration](WifiConfiguration.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_Base_WifiInformation.md b/api_cpp/doc/markdown/messages/Base/WifiInformation.md similarity index 50% rename from api_cpp/doc/markdown/references/msg_Base_WifiInformation.md rename to api_cpp/doc/markdown/messages/Base/WifiInformation.md index 5233427e..83d1d6c0 100644 --- a/api_cpp/doc/markdown/references/msg_Base_WifiInformation.md +++ b/api_cpp/doc/markdown/messages/Base/WifiInformation.md @@ -1,45 +1,35 @@ -# Message WifiInformation +# class WifiInformation -This page describes the C++ Kinova::Api::Base::WifiInformation message. - -## Overview / Purpose - -Provides information about a specific Wi-Fi network - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|ssid| [Ssid](msg_Base_Ssid.md#)|SSID| +|ssid| [Ssid](Ssid.md#)|SSID| |security\_type|uint32|Wi-Fi security type| |encryption\_type|uint32|Wi-Fi encryption type| -|signal\_quality| [SignalQuality](enm_Base_SignalQuality.md#)|Wi-Fi signal quality| +|signal\_quality|uint32|Wi-Fi signal quality| |signal\_strength|int32|Wi-Fi signal power in dBm| |frequency|uint32|Wi-Fi operating frequency \(channel\) in MHz| |channel|uint32|Wi-Fi operating channel| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |has\_ssid\(\) const|bool|void|Returns true if ssid is set.| -|ssid\(\)|const [Ssid](msg_Base_Ssid.md#)&|void|Returns the current value of ssid. If ssid is not set, returns a [Ssid](msg_Base_Ssid.md#) with none of its fields set \(possibly ssid::default\_instance\(\)\).| -|mutable\_ssid\(\)| [Ssid](msg_Base_Ssid.md#) \*|void|Returns a pointer to the mutable [Ssid](msg_Base_Ssid.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Ssid](msg_Base_Ssid.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Ssid](msg_Base_Ssid.md#)\). After calling this, has\_ssid\(\) will return true and ssid\(\) will return a reference to the same instance of [Ssid](msg_Base_Ssid.md#).| +|ssid\(\)|const [Ssid](Ssid.md#)&|void|Returns the current value of ssid. If ssid is not set, returns a [Ssid](Ssid.md#) with none of its fields set \(possibly ssid::default\_instance\(\)\).| +|mutable\_ssid\(\)| [Ssid](Ssid.md#) \*|void|Returns a pointer to the mutable [Ssid](Ssid.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Ssid](Ssid.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Ssid](Ssid.md#)\). After calling this, has\_ssid\(\) will return true and ssid\(\) will return a reference to the same instance of [Ssid](Ssid.md#).| |clear\_ssid\(\)|void|void|Clears the value of the field. After calling this, has\_ssid\(\) will return false and ssid\(\) will return the default value.| -|set\_allocated\_ssid\(\)|void| [Ssid](msg_Base_Ssid.md#) \*|Sets the [Ssid](msg_Base_Ssid.md#) object to the field and frees the previous field value if it exists. If the [Ssid](msg_Base_Ssid.md#) pointer is not NULL, the message takes ownership of the allocated [Ssid](msg_Base_Ssid.md#) object and has\_ [Ssid](msg_Base_Ssid.md#)\(\) will return true. Otherwise, if the ssid is NULL, the behavior is the same as calling clear\_ssid\(\).| -|release\_ssid\(\)| [Ssid](msg_Base_Ssid.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Ssid](msg_Base_Ssid.md#) object. After calling this, caller takes the ownership of the allocated [Ssid](msg_Base_Ssid.md#) object, has\_ssid\(\) will return false, and ssid\(\) will return the default value.| +|set\_allocated\_ssid\(\)|void| [Ssid](Ssid.md#) \*|Sets the [Ssid](Ssid.md#) object to the field and frees the previous field value if it exists. If the [Ssid](Ssid.md#) pointer is not NULL, the message takes ownership of the allocated [Ssid](Ssid.md#) object and has\_ [Ssid](Ssid.md#)\(\) will return true. Otherwise, if the ssid is NULL, the behavior is the same as calling clear\_ssid\(\).| +|release\_ssid\(\)| [Ssid](Ssid.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Ssid](Ssid.md#) object. After calling this, caller takes the ownership of the allocated [Ssid](Ssid.md#) object, has\_ssid\(\) will return false, and ssid\(\) will return the default value.| |security\_type\(\)|uint32|void|Returns the current value of security\_type. If the security\_type is not set, returns 0.| |set\_security\_type\(\)|void|uint32|Sets the value of security\_type. After calling this, security\_type\(\) will return value.| |clear\_security\_type\(\)|void|void|Clears the value of security\_type. After calling this, security\_type\(\) will return 0.| |encryption\_type\(\)|uint32|void|Returns the current value of encryption\_type. If the encryption\_type is not set, returns 0.| |set\_encryption\_type\(\)|void|uint32|Sets the value of encryption\_type. After calling this, encryption\_type\(\) will return value.| |clear\_encryption\_type\(\)|void|void|Clears the value of encryption\_type. After calling this, encryption\_type\(\) will return 0.| -|signal\_quality\(\) const| [SignalQuality](enm_Base_SignalQuality.md#)|void|Returns the current value of signal\_quality. If the signal\_quality is not set, returns 0.| -|set\_signal\_quality\(\)|void| [SignalQuality](enm_Base_SignalQuality.md#)|Sets the value of signal\_quality. After calling this, signal\_quality\(\) will return value.| +|signal\_quality\(\) const|uint32|void|Returns the current value of signal\_quality. If the signal\_quality is not set, returns 0.| +|set\_signal\_quality\(\)|void|uint32|Sets the value of signal\_quality. After calling this, signal\_quality\(\) will return value.| |clear\_signal\_quality\(\)|void|void|Clears the value of signal\_quality. After calling this, signal\_quality\(\) will return the empty string/empty bytes.| |signal\_strength\(\)|int32|void|Returns the current value of signal\_strength. If the signal\_strength is not set, returns 0.| |set\_signal\_strength\(\)|void|int32|Sets the value of signal\_strength. After calling this, signal\_strength\(\) will return value.| @@ -51,5 +41,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_channel\(\)|void|uint32|Sets the value of channel. After calling this, channel\(\) will return value.| |clear\_channel\(\)|void|void|Clears the value of channel. After calling this, channel\(\) will return 0.| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/messages/Base/WifiInformationList.md b/api_cpp/doc/markdown/messages/Base/WifiInformationList.md new file mode 100644 index 00000000..bd95c1a8 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/WifiInformationList.md @@ -0,0 +1,22 @@ +# class WifiInformationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|wifi\_information\_list| [WifiInformation](WifiInformation.md#)|Wi-Fi information| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|wifi\_information\_list\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|wifi\_information\_list\(\) const|const [WifiInformation](WifiInformation.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, wifi\_information\_list\_size\(\)\) yields undefined behavior.| +|mutable\_wifi\_information\_list\(\)| [WifiInformation](WifiInformation.md#)\*|int index|Returns a pointer to the mutable [WifiInformation](WifiInformation.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, wifi\_information\_list\_size\(\)\) yields undefined behavior.| +|add\_wifi\_information\_list\(\)| [WifiInformation](WifiInformation.md#)\*|void|Adds a new element and returns a pointer to it. The returned [WifiInformation](WifiInformation.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [WifiInformation](WifiInformation.md#)\).| +|clear\_wifi\_information\_list\(\)|void|void|Removes all elements from the field. After calling this, wifi\_information\_list\_size\(\) will return zero.| +|wifi\_information\_list\(\) const|const RepeatedPtrField< [WifiInformation](WifiInformation.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_wifi\_information\_list\(\)|RepeatedPtrField< [WifiInformation](WifiInformation.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/Wrench.md b/api_cpp/doc/markdown/messages/Base/Wrench.md new file mode 100644 index 00000000..351305ae --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/Wrench.md @@ -0,0 +1,38 @@ +# class Wrench + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|force\_x|float32|Linear X force \(Newtons or ratio between -1.0 and 1.0 if used with Joystick command\)| +|force\_y|float32|Linear Y force \(Newtons or ratio between -1.0 and 1.0 if used with Joystick command\)| +|force\_z|float32|Linear Z force \(Newtons or ratio between -1.0 and 1.0 if used with Joystick command\)| +|torque\_x|float32|Angular X torque \(Newton-meters or ratio between -1.0 and 1.0 if used with Joystick command\)| +|torque\_y|float32|Angular Y torque \(Newton-meters or ratio between -1.0 and 1.0 if used with Joystick command\)| +|torque\_z|float32|Angular Z torque \(Newton-meters or ratio between -1.0 and 1.0 if used with Joystick command\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|force\_x\(\)|float32|void|Returns the current value of force\_x. If the force\_x is not set, returns 0.| +|set\_force\_x\(\)|void|float32|Sets the value of force\_x. After calling this, force\_x\(\) will return value.| +|clear\_force\_x\(\)|void|void|Clears the value of force\_x. After calling this, force\_x\(\) will return 0.| +|force\_y\(\)|float32|void|Returns the current value of force\_y. If the force\_y is not set, returns 0.| +|set\_force\_y\(\)|void|float32|Sets the value of force\_y. After calling this, force\_y\(\) will return value.| +|clear\_force\_y\(\)|void|void|Clears the value of force\_y. After calling this, force\_y\(\) will return 0.| +|force\_z\(\)|float32|void|Returns the current value of force\_z. If the force\_z is not set, returns 0.| +|set\_force\_z\(\)|void|float32|Sets the value of force\_z. After calling this, force\_z\(\) will return value.| +|clear\_force\_z\(\)|void|void|Clears the value of force\_z. After calling this, force\_z\(\) will return 0.| +|torque\_x\(\)|float32|void|Returns the current value of torque\_x. If the torque\_x is not set, returns 0.| +|set\_torque\_x\(\)|void|float32|Sets the value of torque\_x. After calling this, torque\_x\(\) will return value.| +|clear\_torque\_x\(\)|void|void|Clears the value of torque\_x. After calling this, torque\_x\(\) will return 0.| +|torque\_y\(\)|float32|void|Returns the current value of torque\_y. If the torque\_y is not set, returns 0.| +|set\_torque\_y\(\)|void|float32|Sets the value of torque\_y. After calling this, torque\_y\(\) will return value.| +|clear\_torque\_y\(\)|void|void|Clears the value of torque\_y. After calling this, torque\_y\(\) will return 0.| +|torque\_z\(\)|float32|void|Returns the current value of torque\_z. If the torque\_z is not set, returns 0.| +|set\_torque\_z\(\)|void|float32|Sets the value of torque\_z. After calling this, torque\_z\(\) will return value.| +|clear\_torque\_z\(\)|void|void|Clears the value of torque\_z. After calling this, torque\_z\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/WrenchCommand.md b/api_cpp/doc/markdown/messages/Base/WrenchCommand.md new file mode 100644 index 00000000..46cdcded --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/WrenchCommand.md @@ -0,0 +1,33 @@ +# class WrenchCommand + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|reference\_frame|uint32|The reference frame used for the wrench command| +|mode|uint32|Mode in which the command is executed| +|wrench| [Wrench](Wrench.md#)|Wrench value| +|duration|uint32|Duration constraint. If not 0, allows to set a limit \(in milliseconds\) to the WrenchCommand| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|reference\_frame\(\) const|uint32|void|Returns the current value of reference\_frame. If the reference\_frame is not set, returns 0.| +|set\_reference\_frame\(\)|void|uint32|Sets the value of reference\_frame. After calling this, reference\_frame\(\) will return value.| +|clear\_reference\_frame\(\)|void|void|Clears the value of reference\_frame. After calling this, reference\_frame\(\) will return the empty string/empty bytes.| +|mode\(\) const|uint32|void|Returns the current value of mode. If the mode is not set, returns 0.| +|set\_mode\(\)|void|uint32|Sets the value of mode. After calling this, mode\(\) will return value.| +|clear\_mode\(\)|void|void|Clears the value of mode. After calling this, mode\(\) will return the empty string/empty bytes.| +|has\_wrench\(\) const|bool|void|Returns true if wrench is set.| +|wrench\(\)|const [Wrench](Wrench.md#)&|void|Returns the current value of wrench. If wrench is not set, returns a [Wrench](Wrench.md#) with none of its fields set \(possibly wrench::default\_instance\(\)\).| +|mutable\_wrench\(\)| [Wrench](Wrench.md#) \*|void|Returns a pointer to the mutable [Wrench](Wrench.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Wrench](Wrench.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Wrench](Wrench.md#)\). After calling this, has\_wrench\(\) will return true and wrench\(\) will return a reference to the same instance of [Wrench](Wrench.md#).| +|clear\_wrench\(\)|void|void|Clears the value of the field. After calling this, has\_wrench\(\) will return false and wrench\(\) will return the default value.| +|set\_allocated\_wrench\(\)|void| [Wrench](Wrench.md#) \*|Sets the [Wrench](Wrench.md#) object to the field and frees the previous field value if it exists. If the [Wrench](Wrench.md#) pointer is not NULL, the message takes ownership of the allocated [Wrench](Wrench.md#) object and has\_ [Wrench](Wrench.md#)\(\) will return true. Otherwise, if the wrench is NULL, the behavior is the same as calling clear\_wrench\(\).| +|release\_wrench\(\)| [Wrench](Wrench.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Wrench](Wrench.md#) object. After calling this, caller takes the ownership of the allocated [Wrench](Wrench.md#) object, has\_wrench\(\) will return false, and wrench\(\) will return the default value.| +|duration\(\)|uint32|void|Returns the current value of duration. If the duration is not set, returns 0.| +|set\_duration\(\)|void|uint32|Sets the value of duration. After calling this, duration\(\) will return value.| +|clear\_duration\(\)|void|void|Clears the value of duration. After calling this, duration\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/WrenchLimitation.md b/api_cpp/doc/markdown/messages/Base/WrenchLimitation.md new file mode 100644 index 00000000..f53fa141 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/WrenchLimitation.md @@ -0,0 +1,22 @@ +# class WrenchLimitation + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|force|float32|Force limitation| +|torque|float32|Torque limitation| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|force\(\)|float32|void|Returns the current value of force. If the force is not set, returns 0.| +|set\_force\(\)|void|float32|Sets the value of force. After calling this, force\(\) will return value.| +|clear\_force\(\)|void|void|Clears the value of force. After calling this, force\(\) will return 0.| +|torque\(\)|float32|void|Returns the current value of torque. If the torque is not set, returns 0.| +|set\_torque\(\)|void|float32|Sets the value of torque. After calling this, torque\(\) will return value.| +|clear\_torque\(\)|void|void|Clears the value of torque. After calling this, torque\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/messages/Base/ZoneShape.md b/api_cpp/doc/markdown/messages/Base/ZoneShape.md new file mode 100644 index 00000000..90651169 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Base/ZoneShape.md @@ -0,0 +1,44 @@ +# class ZoneShape + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|shape\_type|uint32|Shape type| +|origin| [Point](Point.md#)|Origin of the protection zone shape from reference \(in meters\)| +|orientation| [RotationMatrix](RotationMatrix.md#)|Rotation matrix to provide shape orientation| +|dimensions|float32|Shape size measurement \(in meters\). If rectangular prism: x, y and z dimensions. If cylinder: radius and height. If sphere: radius| +|envelope\_thickness|float32|Thickness of envelop around shape \(in meters\). The envelop is of same shape type as the shape at its center.| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|shape\_type\(\) const|uint32|void|Returns the current value of shape\_type. If the shape\_type is not set, returns 0.| +|set\_shape\_type\(\)|void|uint32|Sets the value of shape\_type. After calling this, shape\_type\(\) will return value.| +|clear\_shape\_type\(\)|void|void|Clears the value of shape\_type. After calling this, shape\_type\(\) will return the empty string/empty bytes.| +|has\_origin\(\) const|bool|void|Returns true if origin is set.| +|origin\(\)|const [Point](Point.md#)&|void|Returns the current value of origin. If origin is not set, returns a [Point](Point.md#) with none of its fields set \(possibly origin::default\_instance\(\)\).| +|mutable\_origin\(\)| [Point](Point.md#) \*|void|Returns a pointer to the mutable [Point](Point.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Point](Point.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Point](Point.md#)\). After calling this, has\_origin\(\) will return true and origin\(\) will return a reference to the same instance of [Point](Point.md#).| +|clear\_origin\(\)|void|void|Clears the value of the field. After calling this, has\_origin\(\) will return false and origin\(\) will return the default value.| +|set\_allocated\_origin\(\)|void| [Point](Point.md#) \*|Sets the [Point](Point.md#) object to the field and frees the previous field value if it exists. If the [Point](Point.md#) pointer is not NULL, the message takes ownership of the allocated [Point](Point.md#) object and has\_ [Point](Point.md#)\(\) will return true. Otherwise, if the origin is NULL, the behavior is the same as calling clear\_origin\(\).| +|release\_origin\(\)| [Point](Point.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Point](Point.md#) object. After calling this, caller takes the ownership of the allocated [Point](Point.md#) object, has\_origin\(\) will return false, and origin\(\) will return the default value.| +|has\_orientation\(\) const|bool|void|Returns true if orientation is set.| +|orientation\(\)|const [RotationMatrix](RotationMatrix.md#)&|void|Returns the current value of orientation. If orientation is not set, returns a [RotationMatrix](RotationMatrix.md#) with none of its fields set \(possibly orientation::default\_instance\(\)\).| +|mutable\_orientation\(\)| [RotationMatrix](RotationMatrix.md#) \*|void|Returns a pointer to the mutable [RotationMatrix](RotationMatrix.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [RotationMatrix](RotationMatrix.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [RotationMatrix](RotationMatrix.md#)\). After calling this, has\_orientation\(\) will return true and orientation\(\) will return a reference to the same instance of [RotationMatrix](RotationMatrix.md#).| +|clear\_orientation\(\)|void|void|Clears the value of the field. After calling this, has\_orientation\(\) will return false and orientation\(\) will return the default value.| +|set\_allocated\_orientation\(\)|void| [RotationMatrix](RotationMatrix.md#) \*|Sets the [RotationMatrix](RotationMatrix.md#) object to the field and frees the previous field value if it exists. If the [RotationMatrix](RotationMatrix.md#) pointer is not NULL, the message takes ownership of the allocated [RotationMatrix](RotationMatrix.md#) object and has\_ [RotationMatrix](RotationMatrix.md#)\(\) will return true. Otherwise, if the orientation is NULL, the behavior is the same as calling clear\_orientation\(\).| +|release\_orientation\(\)| [RotationMatrix](RotationMatrix.md#) \*|void|Releases the ownership of the field and returns the pointer of the [RotationMatrix](RotationMatrix.md#) object. After calling this, caller takes the ownership of the allocated [RotationMatrix](RotationMatrix.md#) object, has\_orientation\(\) will return false, and orientation\(\) will return the default value.| +|dimensions\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|dimensions\(\) const|int|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, dimensions\_size\(\)\) yields undefined behavior.| +|set\_dimensions\(\)|void|\(int index, int32 value\)|Sets the value of the element at the given zero-based index.| +|add\_dimensions\(\)|void|\(int32 value\)|Appends a new element to the field with the given value.| +|clear\_dimensions\(\)|void|void|Removes all elements from the field. After calling this, dimensions\_size\(\) will return zero.| +|dimensions\(\) const|const RepeatedField&|void|Returns the underlying RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_dimensions\(\)|RepeatedField\*|void|Returns a pointer to the underlying mutable RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|envelope\_thickness\(\)|float32|void|Returns the current value of envelope\_thickness. If the envelope\_thickness is not set, returns 0.| +|set\_envelope\_thickness\(\)|void|float32|Sets the value of envelope\_thickness. After calling this, envelope\_thickness\(\) will return value.| +|clear\_envelope\_thickness\(\)|void|void|Clears the value of envelope\_thickness. After calling this, envelope\_thickness\(\) will return 0.| + +**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/msg_BaseCyclic_ActuatorCommand.md b/api_cpp/doc/markdown/messages/BaseCyclic/ActuatorCommand.md similarity index 82% rename from api_cpp/doc/markdown/references/msg_BaseCyclic_ActuatorCommand.md rename to api_cpp/doc/markdown/messages/BaseCyclic/ActuatorCommand.md index 6d272633..dd638fe3 100644 --- a/api_cpp/doc/markdown/references/msg_BaseCyclic_ActuatorCommand.md +++ b/api_cpp/doc/markdown/messages/BaseCyclic/ActuatorCommand.md @@ -1,14 +1,6 @@ -# Message ActuatorCommand +# class ActuatorCommand -This page describes the C++ Kinova::Api::BaseCyclic::ActuatorCommand message. - -## Overview / Purpose - -Defines an actuator module command - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| @@ -19,12 +11,10 @@ Defines an actuator module command |torque\_joint|float32|Desired torque of the actuator \(in Newton \* meters\)| |current\_motor|float32|Desired current of the motor \(in Amperes\)| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |command\_id\(\)|uint32|void|Returns the current value of command\_id. If the command\_id is not set, returns 0.| |set\_command\_id\(\)|void|uint32|Sets the value of command\_id. After calling this, command\_id\(\) will return value.| |clear\_command\_id\(\)|void|void|Clears the value of command\_id. After calling this, command\_id\(\) will return 0.| @@ -44,5 +34,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_current\_motor\(\)|void|float32|Sets the value of current\_motor. After calling this, current\_motor\(\) will return value.| |clear\_current\_motor\(\)|void|void|Clears the value of current\_motor. After calling this, current\_motor\(\) will return 0.| -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) +**Parent topic:** [BaseCyclic \(C++\)](../../summary_pages/BaseCyclic.md) diff --git a/api_cpp/doc/markdown/references/msg_BaseCyclic_ActuatorCustomData.md b/api_cpp/doc/markdown/messages/BaseCyclic/ActuatorCustomData.md similarity index 92% rename from api_cpp/doc/markdown/references/msg_BaseCyclic_ActuatorCustomData.md rename to api_cpp/doc/markdown/messages/BaseCyclic/ActuatorCustomData.md index 5e5d309b..c40e9962 100644 --- a/api_cpp/doc/markdown/references/msg_BaseCyclic_ActuatorCustomData.md +++ b/api_cpp/doc/markdown/messages/BaseCyclic/ActuatorCustomData.md @@ -1,14 +1,6 @@ -# Message ActuatorCustomData +# class ActuatorCustomData -This page describes the C++ Kinova::Api::BaseCyclic::ActuatorCustomData message. - -## Overview / Purpose - -Custom development data from an actuator module, content varies according to debug needs - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| @@ -30,12 +22,10 @@ Custom development data from an actuator module, content varies according to deb |custom\_data\_14|uint32|Custom data word 14| |custom\_data\_15|uint32|Custom data word 15| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |command\_id\(\)|uint32|void|Returns the current value of command\_id. If the command\_id is not set, returns 0.| |set\_command\_id\(\)|void|uint32|Sets the value of command\_id. After calling this, command\_id\(\) will return value.| |clear\_command\_id\(\)|void|void|Clears the value of command\_id. After calling this, command\_id\(\) will return 0.| @@ -88,5 +78,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_custom\_data\_15\(\)|void|uint32|Sets the value of custom\_data\_15. After calling this, custom\_data\_15\(\) will return value.| |clear\_custom\_data\_15\(\)|void|void|Clears the value of custom\_data\_15. After calling this, custom\_data\_15\(\) will return 0.| -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) +**Parent topic:** [BaseCyclic \(C++\)](../../summary_pages/BaseCyclic.md) diff --git a/api_cpp/doc/markdown/references/msg_BaseCyclic_ActuatorFeedback.md b/api_cpp/doc/markdown/messages/BaseCyclic/ActuatorFeedback.md similarity index 91% rename from api_cpp/doc/markdown/references/msg_BaseCyclic_ActuatorFeedback.md rename to api_cpp/doc/markdown/messages/BaseCyclic/ActuatorFeedback.md index dc15adc0..d7ae636a 100644 --- a/api_cpp/doc/markdown/references/msg_BaseCyclic_ActuatorFeedback.md +++ b/api_cpp/doc/markdown/messages/BaseCyclic/ActuatorFeedback.md @@ -1,14 +1,6 @@ -# Message ActuatorFeedback +# class ActuatorFeedback -This page describes the C++ Kinova::Api::BaseCyclic::ActuatorFeedback message. - -## Overview / Purpose - -Defines the feedback provided by an actuator module - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| @@ -27,12 +19,10 @@ Defines the feedback provided by an actuator module |warning\_bank\_a|uint32|Warning bank A| |warning\_bank\_b|uint32|Warning bank B| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |command\_id\(\)|uint32|void|Returns the current value of command\_id. If the command\_id is not set, returns 0.| |set\_command\_id\(\)|void|uint32|Sets the value of command\_id. After calling this, command\_id\(\) will return value.| |clear\_command\_id\(\)|void|void|Clears the value of command\_id. After calling this, command\_id\(\) will return 0.| @@ -76,5 +66,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_warning\_bank\_b\(\)|void|uint32|Sets the value of warning\_bank\_b. After calling this, warning\_bank\_b\(\) will return value.| |clear\_warning\_bank\_b\(\)|void|void|Clears the value of warning\_bank\_b. After calling this, warning\_bank\_b\(\) will return 0.| -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) +**Parent topic:** [BaseCyclic \(C++\)](../../summary_pages/BaseCyclic.md) diff --git a/api_cpp/doc/markdown/references/msg_BaseCyclic_BaseFeedback.md b/api_cpp/doc/markdown/messages/BaseCyclic/BaseFeedback.md similarity index 76% rename from api_cpp/doc/markdown/references/msg_BaseCyclic_BaseFeedback.md rename to api_cpp/doc/markdown/messages/BaseCyclic/BaseFeedback.md index c0848021..13019714 100644 --- a/api_cpp/doc/markdown/references/msg_BaseCyclic_BaseFeedback.md +++ b/api_cpp/doc/markdown/messages/BaseCyclic/BaseFeedback.md @@ -1,63 +1,59 @@ -# Message BaseFeedback +# class BaseFeedback -This page describes the C++ Kinova::Api::BaseCyclic::BaseFeedback message. - -## Overview / Purpose - -Defines the feedback provided by the base module - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |active\_state\_connection\_identifier|uint32|Connection identifier of the last processed command which triggered an arm state change| -|active\_state| [ArmState](enm_Common_ArmState.md#)|Active state of the arm| +|active\_state|uint32|Active state of the arm| |arm\_voltage|float32|Arm voltage \(in Volts\)| |arm\_current|float32|Arm current \(in Amperes\)| -|temperature\_cpu|float32|CPU temperature \(in degree Celcius\)| -|temperature\_ambient|float32|Ambient temperature \(in degree Celcius\)| +|temperature\_cpu|float32|CPU temperature \(in degree Celsius\)| +|temperature\_ambient|float32|Ambient temperature \(in degree Celsius\)| |imu\_acceleration\_x|float32|IMU Measured acceleration \(X-Axis\) of the base \(in meters per second squared\)| |imu\_acceleration\_y|float32|IMU Measured acceleration \(Y-Axis\) of the base \(in meters per second squared\)| |imu\_acceleration\_z|float32|IMU Measured acceleration \(Z-Axis\) of the base \(in meters per second squared\)| |imu\_angular\_velocity\_x|float32|IMU Measured angular velocity \(X-Axis\) of the base \(in degrees per second\)| |imu\_angular\_velocity\_y|float32|IMU Measured angular velocity \(Y-Axis\) of the base \(in degrees per second\)| |imu\_angular\_velocity\_z|float32|IMU Measured angular velocity \(Z-Axis\) of the base \(in degrees per second\)| -|tool\_pose\_x|float32|Measured Cartesian position \(X-Axis\) of the End Effector \(EE\) \(in meters\)| -|tool\_pose\_y|float32|Measured Cartesian position \(Y-Axis\) of the End Effector \(EE\) \(in meters\)| -|tool\_pose\_z|float32|Measured Cartesian position \(Z-Axis\) of the End Effector \(EE\) \(in meters\)| -|tool\_pose\_theta\_x|float32|Measured Cartesian orientation \(X-Axis\) of the End Effector \(EE\) \(in degrees\)| -|tool\_pose\_theta\_y|float32|Measured Cartesian orientation \(Y-Axis\) of the End Effector \(EE\) \(in degrees\)| -|tool\_pose\_theta\_z|float32|Measured Cartesian orientation \(Z-Axis\) of the End Effector \(EE\) \(in degrees\)| -|tool\_twist\_linear\_x|float32|Measured Cartesian linear velocity \(X-Axis\) of the End Effector \(EE\) \(in meters\)| -|tool\_twist\_linear\_y|float32|Measured Cartesian linear velocity \(Y-Axis\) of the End Effector \(EE\) \(in meters\)| -|tool\_twist\_linear\_z|float32|Measured Cartesian linear velocity \(Z-Axis\) of the End Effector \(EE\) \(in meters\)| -|tool\_twist\_angular\_x|float32|Measured Cartesian angular velocity \(X-Axis\) of the End Effector \(EE\) \(in degrees per second\)| -|tool\_twist\_angular\_y|float32|Measured Cartesian angular velocity \(Y-Axis\) of the End Effector \(EE\) \(in degrees per second\)| -|tool\_twist\_angular\_z|float32|Measured Cartesian angular velocity \(Z-Axis\) of the End Effector \(EE\) \(in degrees per second\)| -|tool\_external\_wrench\_force\_x|float32|Calculated force in X-Axis from external wrench \(in Newton\)| -|tool\_external\_wrench\_force\_y|float32|Calculated force in Y-Axis from external wrench \(in Newton\)| -|tool\_external\_wrench\_force\_z|float32|Calculated force in Z-Axis from external wrench \(in Newton\)| -|tool\_external\_wrench\_torque\_x|float32|Calculated torque about X-axis from external wrench \(in Newton \* meters\)| -|tool\_external\_wrench\_torque\_y|float32|Calculated torque about Y-axis from external wrench \(in Newton \* meters\)| -|tool\_external\_wrench\_torque\_z|float32|Calculated torque about Z-axis from external wrench \(in Newton \* meters\)| +|tool\_pose\_x|float32|Measured Cartesian position \(X-Axis\) of the tool \(in meters\)| +|tool\_pose\_y|float32|Measured Cartesian position \(Y-Axis\) of the tool \(in meters\)| +|tool\_pose\_z|float32|Measured Cartesian position \(Z-Axis\) of the tool \(in meters\)| +|tool\_pose\_theta\_x|float32|Measured Cartesian orientation \(X-Axis\) of the tool \(in degrees\)| +|tool\_pose\_theta\_y|float32|Measured Cartesian orientation \(Y-Axis\) of the tool \(in degrees\)| +|tool\_pose\_theta\_z|float32|Measured Cartesian orientation \(Z-Axis\) of the tool \(in degrees\)| +|tool\_twist\_linear\_x|float32|Measured Cartesian linear velocity \(X-Axis\) of the tool \(in meters\)| +|tool\_twist\_linear\_y|float32|Measured Cartesian linear velocity \(Y-Axis\) of the tool \(in meters\)| +|tool\_twist\_linear\_z|float32|Measured Cartesian linear velocity \(Z-Axis\) of the tool \(in meters\)| +|tool\_twist\_angular\_x|float32|Measured Cartesian angular velocity \(X-Axis\) of the tool \(in degrees per second\)| +|tool\_twist\_angular\_y|float32|Measured Cartesian angular velocity \(Y-Axis\) of the tool \(in degrees per second\)| +|tool\_twist\_angular\_z|float32|Measured Cartesian angular velocity \(Z-Axis\) of the tool \(in degrees per second\)| +|tool\_external\_wrench\_force\_x|float32|Computed force in X-Axis from external wrench \(in Newton\)| +|tool\_external\_wrench\_force\_y|float32|Computed force in Y-Axis from external wrench \(in Newton\)| +|tool\_external\_wrench\_force\_z|float32|Computed force in Z-Axis from external wrench \(in Newton\)| +|tool\_external\_wrench\_torque\_x|float32|Computed torque about X-axis from external wrench \(in Newton-meters\)| +|tool\_external\_wrench\_torque\_y|float32|Computed torque about Y-axis from external wrench \(in Newton-meters\)| +|tool\_external\_wrench\_torque\_z|float32|Computed torque about Z-axis from external wrench \(in Newton-meters\)| |fault\_bank\_a|uint32|The arm fault flags bank A \(0 if no fault\) see Base.SafetyIdentifier| |fault\_bank\_b|uint32|The arm fault flags bank B \(0 if no fault\) see Base.SafetyIdentifier| |warning\_bank\_a|uint32|The arm warning flags bank A \(0 if no warning\) see Base.SafetyIdentifier| |warning\_bank\_b|uint32|The arm warning flags bank B \(0 if no warning\) see Base.SafetyIdentifier| +|commanded\_tool\_pose\_x|float32|Commanded Cartesian position \(X-Axis\) of the tool \(in meters\)| +|commanded\_tool\_pose\_y|float32|Commanded Cartesian position \(Y-Axis\) of the tool \(in meters\)| +|commanded\_tool\_pose\_z|float32|Commanded Cartesian position \(Z-Axis\) of the tool \(in meters\)| +|commanded\_tool\_pose\_theta\_x|float32|Commanded Cartesian orientation \(X-Axis\) of the tool \(in degrees\)| +|commanded\_tool\_pose\_theta\_y|float32|Commanded Cartesian orientation \(Y-Axis\) of the tool \(in degrees\)| +|commanded\_tool\_pose\_theta\_z|float32|Commanded Cartesian orientation \(Z-Axis\) of the tool \(in degrees\)| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |active\_state\_connection\_identifier\(\)|uint32|void|Returns the current value of active\_state\_connection\_identifier. If the active\_state\_connection\_identifier is not set, returns 0.| |set\_active\_state\_connection\_identifier\(\)|void|uint32|Sets the value of active\_state\_connection\_identifier. After calling this, active\_state\_connection\_identifier\(\) will return value.| |clear\_active\_state\_connection\_identifier\(\)|void|void|Clears the value of active\_state\_connection\_identifier. After calling this, active\_state\_connection\_identifier\(\) will return 0.| -|active\_state\(\) const| [ArmState](enm_Common_ArmState.md#)|void|Returns the current value of active\_state. If the active\_state is not set, returns 0.| -|set\_active\_state\(\)|void| [ArmState](enm_Common_ArmState.md#)|Sets the value of active\_state. After calling this, active\_state\(\) will return value.| +|active\_state\(\) const|uint32|void|Returns the current value of active\_state. If the active\_state is not set, returns 0.| +|set\_active\_state\(\)|void|uint32|Sets the value of active\_state. After calling this, active\_state\(\) will return value.| |clear\_active\_state\(\)|void|void|Clears the value of active\_state. After calling this, active\_state\(\) will return the empty string/empty bytes.| |arm\_voltage\(\)|float32|void|Returns the current value of arm\_voltage. If the arm\_voltage is not set, returns 0.| |set\_arm\_voltage\(\)|void|float32|Sets the value of arm\_voltage. After calling this, arm\_voltage\(\) will return value.| @@ -155,6 +151,24 @@ The methods listed below are some of the most commonly used. Please refer to Goo |warning\_bank\_b\(\)|uint32|void|Returns the current value of warning\_bank\_b. If the warning\_bank\_b is not set, returns 0.| |set\_warning\_bank\_b\(\)|void|uint32|Sets the value of warning\_bank\_b. After calling this, warning\_bank\_b\(\) will return value.| |clear\_warning\_bank\_b\(\)|void|void|Clears the value of warning\_bank\_b. After calling this, warning\_bank\_b\(\) will return 0.| +|commanded\_tool\_pose\_x\(\)|float32|void|Returns the current value of commanded\_tool\_pose\_x. If the commanded\_tool\_pose\_x is not set, returns 0.| +|set\_commanded\_tool\_pose\_x\(\)|void|float32|Sets the value of commanded\_tool\_pose\_x. After calling this, commanded\_tool\_pose\_x\(\) will return value.| +|clear\_commanded\_tool\_pose\_x\(\)|void|void|Clears the value of commanded\_tool\_pose\_x. After calling this, commanded\_tool\_pose\_x\(\) will return 0.| +|commanded\_tool\_pose\_y\(\)|float32|void|Returns the current value of commanded\_tool\_pose\_y. If the commanded\_tool\_pose\_y is not set, returns 0.| +|set\_commanded\_tool\_pose\_y\(\)|void|float32|Sets the value of commanded\_tool\_pose\_y. After calling this, commanded\_tool\_pose\_y\(\) will return value.| +|clear\_commanded\_tool\_pose\_y\(\)|void|void|Clears the value of commanded\_tool\_pose\_y. After calling this, commanded\_tool\_pose\_y\(\) will return 0.| +|commanded\_tool\_pose\_z\(\)|float32|void|Returns the current value of commanded\_tool\_pose\_z. If the commanded\_tool\_pose\_z is not set, returns 0.| +|set\_commanded\_tool\_pose\_z\(\)|void|float32|Sets the value of commanded\_tool\_pose\_z. After calling this, commanded\_tool\_pose\_z\(\) will return value.| +|clear\_commanded\_tool\_pose\_z\(\)|void|void|Clears the value of commanded\_tool\_pose\_z. After calling this, commanded\_tool\_pose\_z\(\) will return 0.| +|commanded\_tool\_pose\_theta\_x\(\)|float32|void|Returns the current value of commanded\_tool\_pose\_theta\_x. If the commanded\_tool\_pose\_theta\_x is not set, returns 0.| +|set\_commanded\_tool\_pose\_theta\_x\(\)|void|float32|Sets the value of commanded\_tool\_pose\_theta\_x. After calling this, commanded\_tool\_pose\_theta\_x\(\) will return value.| +|clear\_commanded\_tool\_pose\_theta\_x\(\)|void|void|Clears the value of commanded\_tool\_pose\_theta\_x. After calling this, commanded\_tool\_pose\_theta\_x\(\) will return 0.| +|commanded\_tool\_pose\_theta\_y\(\)|float32|void|Returns the current value of commanded\_tool\_pose\_theta\_y. If the commanded\_tool\_pose\_theta\_y is not set, returns 0.| +|set\_commanded\_tool\_pose\_theta\_y\(\)|void|float32|Sets the value of commanded\_tool\_pose\_theta\_y. After calling this, commanded\_tool\_pose\_theta\_y\(\) will return value.| +|clear\_commanded\_tool\_pose\_theta\_y\(\)|void|void|Clears the value of commanded\_tool\_pose\_theta\_y. After calling this, commanded\_tool\_pose\_theta\_y\(\) will return 0.| +|commanded\_tool\_pose\_theta\_z\(\)|float32|void|Returns the current value of commanded\_tool\_pose\_theta\_z. If the commanded\_tool\_pose\_theta\_z is not set, returns 0.| +|set\_commanded\_tool\_pose\_theta\_z\(\)|void|float32|Sets the value of commanded\_tool\_pose\_theta\_z. After calling this, commanded\_tool\_pose\_theta\_z\(\) will return value.| +|clear\_commanded\_tool\_pose\_theta\_z\(\)|void|void|Clears the value of commanded\_tool\_pose\_theta\_z. After calling this, commanded\_tool\_pose\_theta\_z\(\) will return 0.| -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) +**Parent topic:** [BaseCyclic \(C++\)](../../summary_pages/BaseCyclic.md) diff --git a/api_cpp/doc/markdown/messages/BaseCyclic/Command.md b/api_cpp/doc/markdown/messages/BaseCyclic/Command.md new file mode 100644 index 00000000..71ddd697 --- /dev/null +++ b/api_cpp/doc/markdown/messages/BaseCyclic/Command.md @@ -0,0 +1,33 @@ +# class Command + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|frame\_id|uint32|Frame ID| +|actuators| [ActuatorCommand](ActuatorCommand.md#)|Actuator command \(repeated\)| +|interconnect| [Command](../InterconnectCyclic/Command.md#)|Interface command| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|frame\_id\(\)|uint32|void|Returns the current value of frame\_id. If the frame\_id is not set, returns 0.| +|set\_frame\_id\(\)|void|uint32|Sets the value of frame\_id. After calling this, frame\_id\(\) will return value.| +|clear\_frame\_id\(\)|void|void|Clears the value of frame\_id. After calling this, frame\_id\(\) will return 0.| +|actuators\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|actuators\(\) const|const [ActuatorCommand](ActuatorCommand.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, actuators\_size\(\)\) yields undefined behavior.| +|mutable\_actuators\(\)| [ActuatorCommand](ActuatorCommand.md#)\*|int index|Returns a pointer to the mutable [ActuatorCommand](ActuatorCommand.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, actuators\_size\(\)\) yields undefined behavior.| +|add\_actuators\(\)| [ActuatorCommand](ActuatorCommand.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ActuatorCommand](ActuatorCommand.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ActuatorCommand](ActuatorCommand.md#)\).| +|clear\_actuators\(\)|void|void|Removes all elements from the field. After calling this, actuators\_size\(\) will return zero.| +|actuators\(\) const|const RepeatedPtrField< [ActuatorCommand](ActuatorCommand.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_actuators\(\)|RepeatedPtrField< [ActuatorCommand](ActuatorCommand.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|has\_interconnect\(\) const|bool|void|Returns true if interconnect is set.| +|interconnect\(\)|const [Command](../InterconnectCyclic/Command.md#)&|void|Returns the current value of interconnect. If interconnect is not set, returns a [Command](../InterconnectCyclic/Command.md#) with none of its fields set \(possibly interconnect::default\_instance\(\)\).| +|mutable\_interconnect\(\)| [Command](../InterconnectCyclic/Command.md#) \*|void|Returns a pointer to the mutable [Command](../InterconnectCyclic/Command.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Command](../InterconnectCyclic/Command.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Command](../InterconnectCyclic/Command.md#)\). After calling this, has\_interconnect\(\) will return true and interconnect\(\) will return a reference to the same instance of [Command](../InterconnectCyclic/Command.md#).| +|clear\_interconnect\(\)|void|void|Clears the value of the field. After calling this, has\_interconnect\(\) will return false and interconnect\(\) will return the default value.| +|set\_allocated\_interconnect\(\)|void| [Command](../InterconnectCyclic/Command.md#) \*|Sets the [Command](../InterconnectCyclic/Command.md#) object to the field and frees the previous field value if it exists. If the [Command](../InterconnectCyclic/Command.md#) pointer is not NULL, the message takes ownership of the allocated [Command](../InterconnectCyclic/Command.md#) object and has\_ [Command](../InterconnectCyclic/Command.md#)\(\) will return true. Otherwise, if the interconnect is NULL, the behavior is the same as calling clear\_interconnect\(\).| +|release\_interconnect\(\)| [Command](../InterconnectCyclic/Command.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Command](../InterconnectCyclic/Command.md#) object. After calling this, caller takes the ownership of the allocated [Command](../InterconnectCyclic/Command.md#) object, has\_interconnect\(\) will return false, and interconnect\(\) will return the default value.| + +**Parent topic:** [BaseCyclic \(C++\)](../../summary_pages/BaseCyclic.md) + diff --git a/api_cpp/doc/markdown/messages/BaseCyclic/CustomData.md b/api_cpp/doc/markdown/messages/BaseCyclic/CustomData.md new file mode 100644 index 00000000..7721ae8c --- /dev/null +++ b/api_cpp/doc/markdown/messages/BaseCyclic/CustomData.md @@ -0,0 +1,65 @@ +# class CustomData + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|frame\_id|uint32|Frame ID| +|custom\_data\_0|uint32|Custom data word 0| +|custom\_data\_1|uint32|Custom data word 1| +|custom\_data\_2|uint32|Custom data word 2| +|custom\_data\_3|uint32|Custom data word 3| +|custom\_data\_4|uint32|Custom data word 4| +|custom\_data\_5|uint32|Custom data word 5| +|custom\_data\_6|uint32|Custom data word 6| +|custom\_data\_7|uint32|Custom data word 7| +|actuators\_custom\_data| [ActuatorCustomData](ActuatorCustomData.md#)|Actuator custom data \(repeated\)| +|interconnect\_custom\_data| [CustomData](../InterconnectCyclic/CustomData.md#)|Interconnect custom data| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|frame\_id\(\)|uint32|void|Returns the current value of frame\_id. If the frame\_id is not set, returns 0.| +|set\_frame\_id\(\)|void|uint32|Sets the value of frame\_id. After calling this, frame\_id\(\) will return value.| +|clear\_frame\_id\(\)|void|void|Clears the value of frame\_id. After calling this, frame\_id\(\) will return 0.| +|custom\_data\_0\(\)|uint32|void|Returns the current value of custom\_data\_0. If the custom\_data\_0 is not set, returns 0.| +|set\_custom\_data\_0\(\)|void|uint32|Sets the value of custom\_data\_0. After calling this, custom\_data\_0\(\) will return value.| +|clear\_custom\_data\_0\(\)|void|void|Clears the value of custom\_data\_0. After calling this, custom\_data\_0\(\) will return 0.| +|custom\_data\_1\(\)|uint32|void|Returns the current value of custom\_data\_1. If the custom\_data\_1 is not set, returns 0.| +|set\_custom\_data\_1\(\)|void|uint32|Sets the value of custom\_data\_1. After calling this, custom\_data\_1\(\) will return value.| +|clear\_custom\_data\_1\(\)|void|void|Clears the value of custom\_data\_1. After calling this, custom\_data\_1\(\) will return 0.| +|custom\_data\_2\(\)|uint32|void|Returns the current value of custom\_data\_2. If the custom\_data\_2 is not set, returns 0.| +|set\_custom\_data\_2\(\)|void|uint32|Sets the value of custom\_data\_2. After calling this, custom\_data\_2\(\) will return value.| +|clear\_custom\_data\_2\(\)|void|void|Clears the value of custom\_data\_2. After calling this, custom\_data\_2\(\) will return 0.| +|custom\_data\_3\(\)|uint32|void|Returns the current value of custom\_data\_3. If the custom\_data\_3 is not set, returns 0.| +|set\_custom\_data\_3\(\)|void|uint32|Sets the value of custom\_data\_3. After calling this, custom\_data\_3\(\) will return value.| +|clear\_custom\_data\_3\(\)|void|void|Clears the value of custom\_data\_3. After calling this, custom\_data\_3\(\) will return 0.| +|custom\_data\_4\(\)|uint32|void|Returns the current value of custom\_data\_4. If the custom\_data\_4 is not set, returns 0.| +|set\_custom\_data\_4\(\)|void|uint32|Sets the value of custom\_data\_4. After calling this, custom\_data\_4\(\) will return value.| +|clear\_custom\_data\_4\(\)|void|void|Clears the value of custom\_data\_4. After calling this, custom\_data\_4\(\) will return 0.| +|custom\_data\_5\(\)|uint32|void|Returns the current value of custom\_data\_5. If the custom\_data\_5 is not set, returns 0.| +|set\_custom\_data\_5\(\)|void|uint32|Sets the value of custom\_data\_5. After calling this, custom\_data\_5\(\) will return value.| +|clear\_custom\_data\_5\(\)|void|void|Clears the value of custom\_data\_5. After calling this, custom\_data\_5\(\) will return 0.| +|custom\_data\_6\(\)|uint32|void|Returns the current value of custom\_data\_6. If the custom\_data\_6 is not set, returns 0.| +|set\_custom\_data\_6\(\)|void|uint32|Sets the value of custom\_data\_6. After calling this, custom\_data\_6\(\) will return value.| +|clear\_custom\_data\_6\(\)|void|void|Clears the value of custom\_data\_6. After calling this, custom\_data\_6\(\) will return 0.| +|custom\_data\_7\(\)|uint32|void|Returns the current value of custom\_data\_7. If the custom\_data\_7 is not set, returns 0.| +|set\_custom\_data\_7\(\)|void|uint32|Sets the value of custom\_data\_7. After calling this, custom\_data\_7\(\) will return value.| +|clear\_custom\_data\_7\(\)|void|void|Clears the value of custom\_data\_7. After calling this, custom\_data\_7\(\) will return 0.| +|actuators\_custom\_data\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|actuators\_custom\_data\(\) const|const [ActuatorCustomData](ActuatorCustomData.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, actuators\_custom\_data\_size\(\)\) yields undefined behavior.| +|mutable\_actuators\_custom\_data\(\)| [ActuatorCustomData](ActuatorCustomData.md#)\*|int index|Returns a pointer to the mutable [ActuatorCustomData](ActuatorCustomData.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, actuators\_custom\_data\_size\(\)\) yields undefined behavior.| +|add\_actuators\_custom\_data\(\)| [ActuatorCustomData](ActuatorCustomData.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ActuatorCustomData](ActuatorCustomData.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ActuatorCustomData](ActuatorCustomData.md#)\).| +|clear\_actuators\_custom\_data\(\)|void|void|Removes all elements from the field. After calling this, actuators\_custom\_data\_size\(\) will return zero.| +|actuators\_custom\_data\(\) const|const RepeatedPtrField< [ActuatorCustomData](ActuatorCustomData.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_actuators\_custom\_data\(\)|RepeatedPtrField< [ActuatorCustomData](ActuatorCustomData.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|has\_interconnect\_custom\_data\(\) const|bool|void|Returns true if interconnect\_custom\_data is set.| +|interconnect\_custom\_data\(\)|const [CustomData](../InterconnectCyclic/CustomData.md#)&|void|Returns the current value of interconnect\_custom\_data. If interconnect\_custom\_data is not set, returns a [CustomData](../InterconnectCyclic/CustomData.md#) with none of its fields set \(possibly interconnect\_custom\_data::default\_instance\(\)\).| +|mutable\_interconnect\_custom\_data\(\)| [CustomData](../InterconnectCyclic/CustomData.md#) \*|void|Returns a pointer to the mutable [CustomData](../InterconnectCyclic/CustomData.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [CustomData](../InterconnectCyclic/CustomData.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [CustomData](../InterconnectCyclic/CustomData.md#)\). After calling this, has\_interconnect\_custom\_data\(\) will return true and interconnect\_custom\_data\(\) will return a reference to the same instance of [CustomData](../InterconnectCyclic/CustomData.md#).| +|clear\_interconnect\_custom\_data\(\)|void|void|Clears the value of the field. After calling this, has\_interconnect\_custom\_data\(\) will return false and interconnect\_custom\_data\(\) will return the default value.| +|set\_allocated\_interconnect\_custom\_data\(\)|void| [CustomData](../InterconnectCyclic/CustomData.md#) \*|Sets the [CustomData](../InterconnectCyclic/CustomData.md#) object to the field and frees the previous field value if it exists. If the [CustomData](../InterconnectCyclic/CustomData.md#) pointer is not NULL, the message takes ownership of the allocated [CustomData](../InterconnectCyclic/CustomData.md#) object and has\_ [CustomData](../InterconnectCyclic/CustomData.md#)\(\) will return true. Otherwise, if the interconnect\_custom\_data is NULL, the behavior is the same as calling clear\_interconnect\_custom\_data\(\).| +|release\_interconnect\_custom\_data\(\)| [CustomData](../InterconnectCyclic/CustomData.md#) \*|void|Releases the ownership of the field and returns the pointer of the [CustomData](../InterconnectCyclic/CustomData.md#) object. After calling this, caller takes the ownership of the allocated [CustomData](../InterconnectCyclic/CustomData.md#) object, has\_interconnect\_custom\_data\(\) will return false, and interconnect\_custom\_data\(\) will return the default value.| + +**Parent topic:** [BaseCyclic \(C++\)](../../summary_pages/BaseCyclic.md) + diff --git a/api_cpp/doc/markdown/messages/BaseCyclic/Feedback.md b/api_cpp/doc/markdown/messages/BaseCyclic/Feedback.md new file mode 100644 index 00000000..94b776a7 --- /dev/null +++ b/api_cpp/doc/markdown/messages/BaseCyclic/Feedback.md @@ -0,0 +1,40 @@ +# class Feedback + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|frame\_id|uint32|Frame ID| +|base| [BaseFeedback](BaseFeedback.md#)|Base feedback| +|actuators| [ActuatorFeedback](ActuatorFeedback.md#)|Actuator feedback| +|interconnect| [Feedback](../InterconnectCyclic/Feedback.md#)|Interface feedback| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|frame\_id\(\)|uint32|void|Returns the current value of frame\_id. If the frame\_id is not set, returns 0.| +|set\_frame\_id\(\)|void|uint32|Sets the value of frame\_id. After calling this, frame\_id\(\) will return value.| +|clear\_frame\_id\(\)|void|void|Clears the value of frame\_id. After calling this, frame\_id\(\) will return 0.| +|has\_base\(\) const|bool|void|Returns true if base is set.| +|base\(\)|const [BaseFeedback](BaseFeedback.md#)&|void|Returns the current value of base. If base is not set, returns a [BaseFeedback](BaseFeedback.md#) with none of its fields set \(possibly base::default\_instance\(\)\).| +|mutable\_base\(\)| [BaseFeedback](BaseFeedback.md#) \*|void|Returns a pointer to the mutable [BaseFeedback](BaseFeedback.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [BaseFeedback](BaseFeedback.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [BaseFeedback](BaseFeedback.md#)\). After calling this, has\_base\(\) will return true and base\(\) will return a reference to the same instance of [BaseFeedback](BaseFeedback.md#).| +|clear\_base\(\)|void|void|Clears the value of the field. After calling this, has\_base\(\) will return false and base\(\) will return the default value.| +|set\_allocated\_base\(\)|void| [BaseFeedback](BaseFeedback.md#) \*|Sets the [BaseFeedback](BaseFeedback.md#) object to the field and frees the previous field value if it exists. If the [BaseFeedback](BaseFeedback.md#) pointer is not NULL, the message takes ownership of the allocated [BaseFeedback](BaseFeedback.md#) object and has\_ [BaseFeedback](BaseFeedback.md#)\(\) will return true. Otherwise, if the base is NULL, the behavior is the same as calling clear\_base\(\).| +|release\_base\(\)| [BaseFeedback](BaseFeedback.md#) \*|void|Releases the ownership of the field and returns the pointer of the [BaseFeedback](BaseFeedback.md#) object. After calling this, caller takes the ownership of the allocated [BaseFeedback](BaseFeedback.md#) object, has\_base\(\) will return false, and base\(\) will return the default value.| +|actuators\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|actuators\(\) const|const [ActuatorFeedback](ActuatorFeedback.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, actuators\_size\(\)\) yields undefined behavior.| +|mutable\_actuators\(\)| [ActuatorFeedback](ActuatorFeedback.md#)\*|int index|Returns a pointer to the mutable [ActuatorFeedback](ActuatorFeedback.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, actuators\_size\(\)\) yields undefined behavior.| +|add\_actuators\(\)| [ActuatorFeedback](ActuatorFeedback.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ActuatorFeedback](ActuatorFeedback.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ActuatorFeedback](ActuatorFeedback.md#)\).| +|clear\_actuators\(\)|void|void|Removes all elements from the field. After calling this, actuators\_size\(\) will return zero.| +|actuators\(\) const|const RepeatedPtrField< [ActuatorFeedback](ActuatorFeedback.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_actuators\(\)|RepeatedPtrField< [ActuatorFeedback](ActuatorFeedback.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|has\_interconnect\(\) const|bool|void|Returns true if interconnect is set.| +|interconnect\(\)|const [Feedback](../InterconnectCyclic/Feedback.md#)&|void|Returns the current value of interconnect. If interconnect is not set, returns a [Feedback](../InterconnectCyclic/Feedback.md#) with none of its fields set \(possibly interconnect::default\_instance\(\)\).| +|mutable\_interconnect\(\)| [Feedback](../InterconnectCyclic/Feedback.md#) \*|void|Returns a pointer to the mutable [Feedback](../InterconnectCyclic/Feedback.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Feedback](../InterconnectCyclic/Feedback.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Feedback](../InterconnectCyclic/Feedback.md#)\). After calling this, has\_interconnect\(\) will return true and interconnect\(\) will return a reference to the same instance of [Feedback](../InterconnectCyclic/Feedback.md#).| +|clear\_interconnect\(\)|void|void|Clears the value of the field. After calling this, has\_interconnect\(\) will return false and interconnect\(\) will return the default value.| +|set\_allocated\_interconnect\(\)|void| [Feedback](../InterconnectCyclic/Feedback.md#) \*|Sets the [Feedback](../InterconnectCyclic/Feedback.md#) object to the field and frees the previous field value if it exists. If the [Feedback](../InterconnectCyclic/Feedback.md#) pointer is not NULL, the message takes ownership of the allocated [Feedback](../InterconnectCyclic/Feedback.md#) object and has\_ [Feedback](../InterconnectCyclic/Feedback.md#)\(\) will return true. Otherwise, if the interconnect is NULL, the behavior is the same as calling clear\_interconnect\(\).| +|release\_interconnect\(\)| [Feedback](../InterconnectCyclic/Feedback.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Feedback](../InterconnectCyclic/Feedback.md#) object. After calling this, caller takes the ownership of the allocated [Feedback](../InterconnectCyclic/Feedback.md#) object, has\_interconnect\(\) will return false, and interconnect\(\) will return the default value.| + +**Parent topic:** [BaseCyclic \(C++\)](../../summary_pages/BaseCyclic.md) + diff --git a/api_cpp/doc/markdown/references/msg_Common_Connection.md b/api_cpp/doc/markdown/messages/Common/Connection.md similarity index 54% rename from api_cpp/doc/markdown/references/msg_Common_Connection.md rename to api_cpp/doc/markdown/messages/Common/Connection.md index 037ffe0f..f52c17a2 100644 --- a/api_cpp/doc/markdown/references/msg_Common_Connection.md +++ b/api_cpp/doc/markdown/messages/Common/Connection.md @@ -1,33 +1,23 @@ -# Message Connection +# class Connection -This page describes the C++ Kinova::Api::Common::Connection message. - -## Overview / Purpose - -Idenfities a connection - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User profile handle, or set to zero if no user logged in| +|user\_handle| [UserProfileHandle](UserProfileHandle.md#)|User profile handle, or set to zero if no user logged in| |connection\_information|string|Connection info \(e.g. IP address with port number\)| |connection\_identifier|uint32|Connection identifier| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| -|user\_handle\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| -|mutable\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| +|user\_handle\(\)|const [UserProfileHandle](UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| +|mutable\_user\_handle\(\)| [UserProfileHandle](UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](UserProfileHandle.md#).| |clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| -|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| -|release\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| +|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](UserProfileHandle.md#) \*|Sets the [UserProfileHandle](UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](UserProfileHandle.md#) object and has\_ [UserProfileHandle](UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| +|release\_user\_handle\(\)| [UserProfileHandle](UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| |connection\_information\(\)|const string&|void|Returns the current value of connection\_information. If connection\_information is not set, returns the empty string/empty bytes.| |set\_connection\_information\(\)|void|const string&|Sets the value of connection\_information. After calling this, connection\_information\(\) will return a copy of value.| |set\_connection\_information\(\)|void|string&&|\(C++11 and beyond\): Sets the value of connection\_information, moving from the passed string. After calling this, connection\_information\(\) will return a copy of value.| @@ -40,5 +30,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_connection\_identifier\(\)|void|uint32|Sets the value of connection\_identifier. After calling this, connection\_identifier\(\) will return value.| |clear\_connection\_identifier\(\)|void|void|Clears the value of connection\_identifier. After calling this, connection\_identifier\(\) will return 0.| -**Parent topic:** [Common](../references/summary_Common.md) +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) diff --git a/api_cpp/doc/markdown/messages/Common/CountryCode.md b/api_cpp/doc/markdown/messages/Common/CountryCode.md new file mode 100644 index 00000000..87640c58 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Common/CountryCode.md @@ -0,0 +1,18 @@ +# class CountryCode + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|identifier|uint32|ISO3166 country code identifier| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|identifier\(\) const|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| +|set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| +|clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return the empty string/empty bytes.| + +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) + diff --git a/api_cpp/doc/markdown/references/msg_Common_DeviceHandle.md b/api_cpp/doc/markdown/messages/Common/DeviceHandle.md similarity index 56% rename from api_cpp/doc/markdown/references/msg_Common_DeviceHandle.md rename to api_cpp/doc/markdown/messages/Common/DeviceHandle.md index 5776f5bb..5133eed1 100644 --- a/api_cpp/doc/markdown/references/msg_Common_DeviceHandle.md +++ b/api_cpp/doc/markdown/messages/Common/DeviceHandle.md @@ -1,29 +1,19 @@ -# Message DeviceHandle +# class DeviceHandle -This page describes the C++ Kinova::Api::Common::DeviceHandle message. - -## Overview / Purpose - -Identifies a device - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|device\_type| [DeviceTypes](enm_Common_DeviceTypes.md#)|Device type| +|device\_type|uint32|Device type| |device\_identifier|uint32|Unique device identifier \(used with other services\)| |order|uint32|Unique value indicating the order of that device versus the others to facilitate representation| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|device\_type\(\) const| [DeviceTypes](enm_Common_DeviceTypes.md#)|void|Returns the current value of device\_type. If the device\_type is not set, returns 0.| -|set\_device\_type\(\)|void| [DeviceTypes](enm_Common_DeviceTypes.md#)|Sets the value of device\_type. After calling this, device\_type\(\) will return value.| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|device\_type\(\) const|uint32|void|Returns the current value of device\_type. If the device\_type is not set, returns 0.| +|set\_device\_type\(\)|void|uint32|Sets the value of device\_type. After calling this, device\_type\(\) will return value.| |clear\_device\_type\(\)|void|void|Clears the value of device\_type. After calling this, device\_type\(\) will return the empty string/empty bytes.| |device\_identifier\(\)|uint32|void|Returns the current value of device\_identifier. If the device\_identifier is not set, returns 0.| |set\_device\_identifier\(\)|void|uint32|Sets the value of device\_identifier. After calling this, device\_identifier\(\) will return value.| @@ -32,5 +22,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_order\(\)|void|uint32|Sets the value of order. After calling this, order\(\) will return value.| |clear\_order\(\)|void|void|Clears the value of order. After calling this, order\(\) will return 0.| -**Parent topic:** [Common](../references/summary_Common.md) +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) diff --git a/api_cpp/doc/markdown/messages/Common/Empty.md b/api_cpp/doc/markdown/messages/Common/Empty.md new file mode 100644 index 00000000..9a5c1b6a --- /dev/null +++ b/api_cpp/doc/markdown/messages/Common/Empty.md @@ -0,0 +1,4 @@ +# class Empty + +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) + diff --git a/api_cpp/doc/markdown/messages/Common/NotificationHandle.md b/api_cpp/doc/markdown/messages/Common/NotificationHandle.md new file mode 100644 index 00000000..f95540dc --- /dev/null +++ b/api_cpp/doc/markdown/messages/Common/NotificationHandle.md @@ -0,0 +1,18 @@ +# class NotificationHandle + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|identifier|uint32|Notification identifier| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|identifier\(\)|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| +|set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| +|clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return 0.| + +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) + diff --git a/api_cpp/doc/markdown/references/msg_Common_NotificationOptions.md b/api_cpp/doc/markdown/messages/Common/NotificationOptions.md similarity index 54% rename from api_cpp/doc/markdown/references/msg_Common_NotificationOptions.md rename to api_cpp/doc/markdown/messages/Common/NotificationOptions.md index be4bb41a..c5fd8a65 100644 --- a/api_cpp/doc/markdown/references/msg_Common_NotificationOptions.md +++ b/api_cpp/doc/markdown/messages/Common/NotificationOptions.md @@ -1,29 +1,19 @@ -# Message NotificationOptions +# class NotificationOptions -This page describes the C++ Kinova::Api::Common::NotificationOptions message. - -## Overview / Purpose - -Specifies options associated to a notification - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|type| [NotificationType](enm_Common_NotificationType.md#)|Type of notification| +|type|uint32|Type of notification| |rate\_m\_sec|uint32|Rate value \(in meters per second\) \(if applicable\)| |threshold\_value|float32|Threshold value \(if applicable\)| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|type\(\) const| [NotificationType](enm_Common_NotificationType.md#)|void|Returns the current value of type. If the type is not set, returns 0.| -|set\_type\(\)|void| [NotificationType](enm_Common_NotificationType.md#)|Sets the value of type. After calling this, type\(\) will return value.| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|type\(\) const|uint32|void|Returns the current value of type. If the type is not set, returns 0.| +|set\_type\(\)|void|uint32|Sets the value of type. After calling this, type\(\) will return value.| |clear\_type\(\)|void|void|Clears the value of type. After calling this, type\(\) will return the empty string/empty bytes.| |rate\_m\_sec\(\)|uint32|void|Returns the current value of rate\_m\_sec. If the rate\_m\_sec is not set, returns 0.| |set\_rate\_m\_sec\(\)|void|uint32|Sets the value of rate\_m\_sec. After calling this, rate\_m\_sec\(\) will return value.| @@ -32,5 +22,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_threshold\_value\(\)|void|float32|Sets the value of threshold\_value. After calling this, threshold\_value\(\) will return value.| |clear\_threshold\_value\(\)|void|void|Clears the value of threshold\_value. After calling this, threshold\_value\(\) will return 0.| -**Parent topic:** [Common](../references/summary_Common.md) +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) diff --git a/api_cpp/doc/markdown/messages/Common/SafetyHandle.md b/api_cpp/doc/markdown/messages/Common/SafetyHandle.md new file mode 100644 index 00000000..1e54777e --- /dev/null +++ b/api_cpp/doc/markdown/messages/Common/SafetyHandle.md @@ -0,0 +1,18 @@ +# class SafetyHandle + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|identifier|uint32|Safety identifier| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|identifier\(\)|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| +|set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| +|clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return 0.| + +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) + diff --git a/api_cpp/doc/markdown/messages/Common/SafetyNotification.md b/api_cpp/doc/markdown/messages/Common/SafetyNotification.md new file mode 100644 index 00000000..012e4464 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Common/SafetyNotification.md @@ -0,0 +1,46 @@ +# class SafetyNotification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|safety\_handle| [SafetyHandle](SafetyHandle.md#)|Safety handle| +|value|uint32|New safety status| +|timestamp| [Timestamp](Timestamp.md#)|Event timestamp| +|user\_handle| [UserProfileHandle](UserProfileHandle.md#)|User that caused the safety event| +|connection| [Connection](Connection.md#)|Connection that caused the safety event| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_safety\_handle\(\) const|bool|void|Returns true if safety\_handle is set.| +|safety\_handle\(\)|const [SafetyHandle](SafetyHandle.md#)&|void|Returns the current value of safety\_handle. If safety\_handle is not set, returns a [SafetyHandle](SafetyHandle.md#) with none of its fields set \(possibly safety\_handle::default\_instance\(\)\).| +|mutable\_safety\_handle\(\)| [SafetyHandle](SafetyHandle.md#) \*|void|Returns a pointer to the mutable [SafetyHandle](SafetyHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SafetyHandle](SafetyHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyHandle](SafetyHandle.md#)\). After calling this, has\_safety\_handle\(\) will return true and safety\_handle\(\) will return a reference to the same instance of [SafetyHandle](SafetyHandle.md#).| +|clear\_safety\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_safety\_handle\(\) will return false and safety\_handle\(\) will return the default value.| +|set\_allocated\_safety\_handle\(\)|void| [SafetyHandle](SafetyHandle.md#) \*|Sets the [SafetyHandle](SafetyHandle.md#) object to the field and frees the previous field value if it exists. If the [SafetyHandle](SafetyHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SafetyHandle](SafetyHandle.md#) object and has\_ [SafetyHandle](SafetyHandle.md#)\(\) will return true. Otherwise, if the safety\_handle is NULL, the behavior is the same as calling clear\_safety\_handle\(\).| +|release\_safety\_handle\(\)| [SafetyHandle](SafetyHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SafetyHandle](SafetyHandle.md#) object. After calling this, caller takes the ownership of the allocated [SafetyHandle](SafetyHandle.md#) object, has\_safety\_handle\(\) will return false, and safety\_handle\(\) will return the default value.| +|value\(\) const|uint32|void|Returns the current value of value. If the value is not set, returns 0.| +|set\_value\(\)|void|uint32|Sets the value of value. After calling this, value\(\) will return value.| +|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return the empty string/empty bytes.| +|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| +|timestamp\(\)|const [Timestamp](Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| +|mutable\_timestamp\(\)| [Timestamp](Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](Timestamp.md#).| +|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| +|set\_allocated\_timestamp\(\)|void| [Timestamp](Timestamp.md#) \*|Sets the [Timestamp](Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](Timestamp.md#) object and has\_ [Timestamp](Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| +|release\_timestamp\(\)| [Timestamp](Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| +|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| +|user\_handle\(\)|const [UserProfileHandle](UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| +|mutable\_user\_handle\(\)| [UserProfileHandle](UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](UserProfileHandle.md#).| +|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| +|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](UserProfileHandle.md#) \*|Sets the [UserProfileHandle](UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](UserProfileHandle.md#) object and has\_ [UserProfileHandle](UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| +|release\_user\_handle\(\)| [UserProfileHandle](UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| +|has\_connection\(\) const|bool|void|Returns true if connection is set.| +|connection\(\)|const [Connection](Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| +|mutable\_connection\(\)| [Connection](Connection.md#) \*|void|Returns a pointer to the mutable [Connection](Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](Connection.md#).| +|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| +|set\_allocated\_connection\(\)|void| [Connection](Connection.md#) \*|Sets the [Connection](Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](Connection.md#) object and has\_ [Connection](Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| +|release\_connection\(\)| [Connection](Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| + +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) + diff --git a/api_cpp/doc/markdown/references/msg_Common_Timestamp.md b/api_cpp/doc/markdown/messages/Common/Timestamp.md similarity index 60% rename from api_cpp/doc/markdown/references/msg_Common_Timestamp.md rename to api_cpp/doc/markdown/messages/Common/Timestamp.md index 91515b9a..32b12dd7 100644 --- a/api_cpp/doc/markdown/references/msg_Common_Timestamp.md +++ b/api_cpp/doc/markdown/messages/Common/Timestamp.md @@ -1,26 +1,16 @@ -# Message Timestamp +# class Timestamp -This page describes the C++ Kinova::Api::Common::Timestamp message. - -## Overview / Purpose - -Timestamp based on Epoch \(00:00:00 Thursday, January 1, 1970\) - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |sec|uint32|Number of seconds that have elapsed since Epoch| |usec|uint32|Number of microseconds that have elapsed since the last second \(0-999999\)| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |sec\(\)|uint32|void|Returns the current value of sec. If the sec is not set, returns 0.| |set\_sec\(\)|void|uint32|Sets the value of sec. After calling this, sec\(\) will return value.| |clear\_sec\(\)|void|void|Clears the value of sec. After calling this, sec\(\) will return 0.| @@ -28,5 +18,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_usec\(\)|void|uint32|Sets the value of usec. After calling this, usec\(\) will return value.| |clear\_usec\(\)|void|void|Clears the value of usec. After calling this, usec\(\) will return 0.| -**Parent topic:** [Common](../references/summary_Common.md) +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) diff --git a/api_cpp/doc/markdown/messages/Common/UARTConfiguration.md b/api_cpp/doc/markdown/messages/Common/UARTConfiguration.md new file mode 100644 index 00000000..e5e2756c --- /dev/null +++ b/api_cpp/doc/markdown/messages/Common/UARTConfiguration.md @@ -0,0 +1,38 @@ +# class UARTConfiguration + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|port\_id|uint32|UART port identification| +|enabled|bool|True if UART device is enabled, false otherwise| +|speed|uint32|Speed selection| +|word\_length|uint32|Word length| +|stop\_bits|uint32|Stop bits| +|parity|uint32|Parity mode| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|port\_id\(\)|uint32|void|Returns the current value of port\_id. If the port\_id is not set, returns 0.| +|set\_port\_id\(\)|void|uint32|Sets the value of port\_id. After calling this, port\_id\(\) will return value.| +|clear\_port\_id\(\)|void|void|Clears the value of port\_id. After calling this, port\_id\(\) will return 0.| +|enabled\(\)|bool|void|Returns the current value of enabled. If the enabled is not set, returns 0.| +|set\_enabled\(\)|void|bool|Sets the value of enabled. After calling this, enabled\(\) will return value.| +|clear\_enabled\(\)|void|void|Clears the value of enabled. After calling this, enabled\(\) will return 0.| +|speed\(\) const|uint32|void|Returns the current value of speed. If the speed is not set, returns 0.| +|set\_speed\(\)|void|uint32|Sets the value of speed. After calling this, speed\(\) will return value.| +|clear\_speed\(\)|void|void|Clears the value of speed. After calling this, speed\(\) will return the empty string/empty bytes.| +|word\_length\(\) const|uint32|void|Returns the current value of word\_length. If the word\_length is not set, returns 0.| +|set\_word\_length\(\)|void|uint32|Sets the value of word\_length. After calling this, word\_length\(\) will return value.| +|clear\_word\_length\(\)|void|void|Clears the value of word\_length. After calling this, word\_length\(\) will return the empty string/empty bytes.| +|stop\_bits\(\) const|uint32|void|Returns the current value of stop\_bits. If the stop\_bits is not set, returns 0.| +|set\_stop\_bits\(\)|void|uint32|Sets the value of stop\_bits. After calling this, stop\_bits\(\) will return value.| +|clear\_stop\_bits\(\)|void|void|Clears the value of stop\_bits. After calling this, stop\_bits\(\) will return the empty string/empty bytes.| +|parity\(\) const|uint32|void|Returns the current value of parity. If the parity is not set, returns 0.| +|set\_parity\(\)|void|uint32|Sets the value of parity. After calling this, parity\(\) will return value.| +|clear\_parity\(\)|void|void|Clears the value of parity. After calling this, parity\(\) will return the empty string/empty bytes.| + +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) + diff --git a/api_cpp/doc/markdown/messages/Common/UARTDeviceIdentification.md b/api_cpp/doc/markdown/messages/Common/UARTDeviceIdentification.md new file mode 100644 index 00000000..4474d0c9 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Common/UARTDeviceIdentification.md @@ -0,0 +1,18 @@ +# class UARTDeviceIdentification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|port\_id|uint32|UART device port id| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|port\_id\(\)|uint32|void|Returns the current value of port\_id. If the port\_id is not set, returns 0.| +|set\_port\_id\(\)|void|uint32|Sets the value of port\_id. After calling this, port\_id\(\) will return value.| +|clear\_port\_id\(\)|void|void|Clears the value of port\_id. After calling this, port\_id\(\) will return 0.| + +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) + diff --git a/api_cpp/doc/markdown/references/msg_Common_UserProfileHandle.md b/api_cpp/doc/markdown/messages/Common/UserProfileHandle.md similarity index 63% rename from api_cpp/doc/markdown/references/msg_Common_UserProfileHandle.md rename to api_cpp/doc/markdown/messages/Common/UserProfileHandle.md index a37eecde..8463b707 100644 --- a/api_cpp/doc/markdown/references/msg_Common_UserProfileHandle.md +++ b/api_cpp/doc/markdown/messages/Common/UserProfileHandle.md @@ -1,26 +1,16 @@ -# Message UserProfileHandle +# class UserProfileHandle -This page describes the C++ Kinova::Api::Common::UserProfileHandle message. - -## Overview / Purpose - -Identifies a user profile - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |identifier|uint32|User profile identifier| |permission|uint32|Must use 'Permission' as bitwise| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |identifier\(\)|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| |set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| |clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return 0.| @@ -28,5 +18,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_permission\(\)|void|uint32|Sets the value of permission. After calling this, permission\(\) will return value.| |clear\_permission\(\)|void|void|Clears the value of permission. After calling this, permission\(\) will return 0.| -**Parent topic:** [Common](../references/summary_Common.md) +**Parent topic:** [Common \(C++\)](../../summary_pages/Common.md) diff --git a/api_cpp/doc/markdown/messages/ControlConfig/CartesianReferenceFrameInfo.md b/api_cpp/doc/markdown/messages/ControlConfig/CartesianReferenceFrameInfo.md new file mode 100644 index 00000000..30b9b64e --- /dev/null +++ b/api_cpp/doc/markdown/messages/ControlConfig/CartesianReferenceFrameInfo.md @@ -0,0 +1,18 @@ +# class CartesianReferenceFrameInfo + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|reference\_frame|uint32|Reference frame| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|reference\_frame\(\) const|uint32|void|Returns the current value of reference\_frame. If the reference\_frame is not set, returns 0.| +|set\_reference\_frame\(\)|void|uint32|Sets the value of reference\_frame. After calling this, reference\_frame\(\) will return value.| +|clear\_reference\_frame\(\)|void|void|Clears the value of reference\_frame. After calling this, reference\_frame\(\) will return the empty string/empty bytes.| + +**Parent topic:** [ControlConfig \(C++\)](../../summary_pages/ControlConfig.md) + diff --git a/api_cpp/doc/markdown/messages/ControlConfig/CartesianTransform.md b/api_cpp/doc/markdown/messages/ControlConfig/CartesianTransform.md new file mode 100644 index 00000000..1eb2f881 --- /dev/null +++ b/api_cpp/doc/markdown/messages/ControlConfig/CartesianTransform.md @@ -0,0 +1,38 @@ +# class CartesianTransform + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|x|float32|x \(in meters\)| +|y|float32|y \(in meters\)| +|z|float32|z \(in meters\)| +|theta\_x|float32|Theta x \(in degrees\)| +|theta\_y|float32|Theta y \(in degrees\)| +|theta\_z|float32|Theta z \(in degrees\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|x\(\)|float32|void|Returns the current value of x. If the x is not set, returns 0.| +|set\_x\(\)|void|float32|Sets the value of x. After calling this, x\(\) will return value.| +|clear\_x\(\)|void|void|Clears the value of x. After calling this, x\(\) will return 0.| +|y\(\)|float32|void|Returns the current value of y. If the y is not set, returns 0.| +|set\_y\(\)|void|float32|Sets the value of y. After calling this, y\(\) will return value.| +|clear\_y\(\)|void|void|Clears the value of y. After calling this, y\(\) will return 0.| +|z\(\)|float32|void|Returns the current value of z. If the z is not set, returns 0.| +|set\_z\(\)|void|float32|Sets the value of z. After calling this, z\(\) will return value.| +|clear\_z\(\)|void|void|Clears the value of z. After calling this, z\(\) will return 0.| +|theta\_x\(\)|float32|void|Returns the current value of theta\_x. If the theta\_x is not set, returns 0.| +|set\_theta\_x\(\)|void|float32|Sets the value of theta\_x. After calling this, theta\_x\(\) will return value.| +|clear\_theta\_x\(\)|void|void|Clears the value of theta\_x. After calling this, theta\_x\(\) will return 0.| +|theta\_y\(\)|float32|void|Returns the current value of theta\_y. If the theta\_y is not set, returns 0.| +|set\_theta\_y\(\)|void|float32|Sets the value of theta\_y. After calling this, theta\_y\(\) will return value.| +|clear\_theta\_y\(\)|void|void|Clears the value of theta\_y. After calling this, theta\_y\(\) will return 0.| +|theta\_z\(\)|float32|void|Returns the current value of theta\_z. If the theta\_z is not set, returns 0.| +|set\_theta\_z\(\)|void|float32|Sets the value of theta\_z. After calling this, theta\_z\(\) will return value.| +|clear\_theta\_z\(\)|void|void|Clears the value of theta\_z. After calling this, theta\_z\(\) will return 0.| + +**Parent topic:** [ControlConfig \(C++\)](../../summary_pages/ControlConfig.md) + diff --git a/api_cpp/doc/markdown/messages/ControlConfig/ControlConfigurationNotification.md b/api_cpp/doc/markdown/messages/ControlConfig/ControlConfigurationNotification.md new file mode 100644 index 00000000..34a6c695 --- /dev/null +++ b/api_cpp/doc/markdown/messages/ControlConfig/ControlConfigurationNotification.md @@ -0,0 +1,39 @@ +# class ControlConfigurationNotification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|event|uint32| | +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the factory event to occur| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the configuration event| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|event\(\) const|uint32|void|Returns the current value of event. If the event is not set, returns 0.| +|set\_event\(\)|void|uint32|Sets the value of event. After calling this, event\(\) will return value.| +|clear\_event\(\)|void|void|Clears the value of event. After calling this, event\(\) will return the empty string/empty bytes.| +|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| +|timestamp\(\)|const [Timestamp](../Common/Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](../Common/Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| +|mutable\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](../Common/Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](../Common/Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](../Common/Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](../Common/Timestamp.md#).| +|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| +|set\_allocated\_timestamp\(\)|void| [Timestamp](../Common/Timestamp.md#) \*|Sets the [Timestamp](../Common/Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](../Common/Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](../Common/Timestamp.md#) object and has\_ [Timestamp](../Common/Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| +|release\_timestamp\(\)| [Timestamp](../Common/Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](../Common/Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](../Common/Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| +|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| +|user\_handle\(\)|const [UserProfileHandle](../Common/UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](../Common/UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| +|mutable\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](../Common/UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](../Common/UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](../Common/UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](../Common/UserProfileHandle.md#).| +|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| +|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|Sets the [UserProfileHandle](../Common/UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](../Common/UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object and has\_ [UserProfileHandle](../Common/UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| +|release\_user\_handle\(\)| [UserProfileHandle](../Common/UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](../Common/UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](../Common/UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| +|has\_connection\(\) const|bool|void|Returns true if connection is set.| +|connection\(\)|const [Connection](../Common/Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](../Common/Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| +|mutable\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Returns a pointer to the mutable [Connection](../Common/Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](../Common/Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](../Common/Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](../Common/Connection.md#).| +|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| +|set\_allocated\_connection\(\)|void| [Connection](../Common/Connection.md#) \*|Sets the [Connection](../Common/Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](../Common/Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](../Common/Connection.md#) object and has\_ [Connection](../Common/Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| +|release\_connection\(\)| [Connection](../Common/Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](../Common/Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](../Common/Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| + +**Parent topic:** [ControlConfig \(C++\)](../../summary_pages/ControlConfig.md) + diff --git a/api_cpp/doc/markdown/messages/ControlConfig/GravityVector.md b/api_cpp/doc/markdown/messages/ControlConfig/GravityVector.md new file mode 100644 index 00000000..a0c1922b --- /dev/null +++ b/api_cpp/doc/markdown/messages/ControlConfig/GravityVector.md @@ -0,0 +1,26 @@ +# class GravityVector + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|x|float32|x \(meters / second^squared\)| +|y|float32|y \(meters / second^squared\)| +|z|float32|z \(meters / second^squared\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|x\(\)|float32|void|Returns the current value of x. If the x is not set, returns 0.| +|set\_x\(\)|void|float32|Sets the value of x. After calling this, x\(\) will return value.| +|clear\_x\(\)|void|void|Clears the value of x. After calling this, x\(\) will return 0.| +|y\(\)|float32|void|Returns the current value of y. If the y is not set, returns 0.| +|set\_y\(\)|void|float32|Sets the value of y. After calling this, y\(\) will return value.| +|clear\_y\(\)|void|void|Clears the value of y. After calling this, y\(\) will return 0.| +|z\(\)|float32|void|Returns the current value of z. If the z is not set, returns 0.| +|set\_z\(\)|void|float32|Sets the value of z. After calling this, z\(\) will return value.| +|clear\_z\(\)|void|void|Clears the value of z. After calling this, z\(\) will return 0.| + +**Parent topic:** [ControlConfig \(C++\)](../../summary_pages/ControlConfig.md) + diff --git a/api_cpp/doc/markdown/messages/ControlConfig/PayloadInformation.md b/api_cpp/doc/markdown/messages/ControlConfig/PayloadInformation.md new file mode 100644 index 00000000..c25b5ad0 --- /dev/null +++ b/api_cpp/doc/markdown/messages/ControlConfig/PayloadInformation.md @@ -0,0 +1,25 @@ +# class PayloadInformation + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|payload\_mass|float32|Tool mass in kg| +|payload\_mass\_center| [Position](Position.md#)|Tool mass center position relative to the tool reference frame| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|payload\_mass\(\)|float32|void|Returns the current value of payload\_mass. If the payload\_mass is not set, returns 0.| +|set\_payload\_mass\(\)|void|float32|Sets the value of payload\_mass. After calling this, payload\_mass\(\) will return value.| +|clear\_payload\_mass\(\)|void|void|Clears the value of payload\_mass. After calling this, payload\_mass\(\) will return 0.| +|has\_payload\_mass\_center\(\) const|bool|void|Returns true if payload\_mass\_center is set.| +|payload\_mass\_center\(\)|const [Position](Position.md#)&|void|Returns the current value of payload\_mass\_center. If payload\_mass\_center is not set, returns a [Position](Position.md#) with none of its fields set \(possibly payload\_mass\_center::default\_instance\(\)\).| +|mutable\_payload\_mass\_center\(\)| [Position](Position.md#) \*|void|Returns a pointer to the mutable [Position](Position.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Position](Position.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Position](Position.md#)\). After calling this, has\_payload\_mass\_center\(\) will return true and payload\_mass\_center\(\) will return a reference to the same instance of [Position](Position.md#).| +|clear\_payload\_mass\_center\(\)|void|void|Clears the value of the field. After calling this, has\_payload\_mass\_center\(\) will return false and payload\_mass\_center\(\) will return the default value.| +|set\_allocated\_payload\_mass\_center\(\)|void| [Position](Position.md#) \*|Sets the [Position](Position.md#) object to the field and frees the previous field value if it exists. If the [Position](Position.md#) pointer is not NULL, the message takes ownership of the allocated [Position](Position.md#) object and has\_ [Position](Position.md#)\(\) will return true. Otherwise, if the payload\_mass\_center is NULL, the behavior is the same as calling clear\_payload\_mass\_center\(\).| +|release\_payload\_mass\_center\(\)| [Position](Position.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Position](Position.md#) object. After calling this, caller takes the ownership of the allocated [Position](Position.md#) object, has\_payload\_mass\_center\(\) will return false, and payload\_mass\_center\(\) will return the default value.| + +**Parent topic:** [ControlConfig \(C++\)](../../summary_pages/ControlConfig.md) + diff --git a/api_cpp/doc/markdown/messages/ControlConfig/Position.md b/api_cpp/doc/markdown/messages/ControlConfig/Position.md new file mode 100644 index 00000000..c9db8090 --- /dev/null +++ b/api_cpp/doc/markdown/messages/ControlConfig/Position.md @@ -0,0 +1,26 @@ +# class Position + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|x|float32|x position \(in meters\)| +|y|float32|y position \(in meters\)| +|z|float32|z position \(in meters\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|x\(\)|float32|void|Returns the current value of x. If the x is not set, returns 0.| +|set\_x\(\)|void|float32|Sets the value of x. After calling this, x\(\) will return value.| +|clear\_x\(\)|void|void|Clears the value of x. After calling this, x\(\) will return 0.| +|y\(\)|float32|void|Returns the current value of y. If the y is not set, returns 0.| +|set\_y\(\)|void|float32|Sets the value of y. After calling this, y\(\) will return value.| +|clear\_y\(\)|void|void|Clears the value of y. After calling this, y\(\) will return 0.| +|z\(\)|float32|void|Returns the current value of z. If the z is not set, returns 0.| +|set\_z\(\)|void|float32|Sets the value of z. After calling this, z\(\) will return value.| +|clear\_z\(\)|void|void|Clears the value of z. After calling this, z\(\) will return 0.| + +**Parent topic:** [ControlConfig \(C++\)](../../summary_pages/ControlConfig.md) + diff --git a/api_cpp/doc/markdown/messages/ControlConfig/ToolConfiguration.md b/api_cpp/doc/markdown/messages/ControlConfig/ToolConfiguration.md new file mode 100644 index 00000000..51e21220 --- /dev/null +++ b/api_cpp/doc/markdown/messages/ControlConfig/ToolConfiguration.md @@ -0,0 +1,32 @@ +# class ToolConfiguration + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|tool\_transform| [CartesianTransform](CartesianTransform.md#)|Cartesian transform tool| +|tool\_mass|float32|Tool mass \(in kg\)| +|tool\_mass\_center| [Position](Position.md#)|Tool mass center position relative to the interface module reference frame| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_tool\_transform\(\) const|bool|void|Returns true if tool\_transform is set.| +|tool\_transform\(\)|const [CartesianTransform](CartesianTransform.md#)&|void|Returns the current value of tool\_transform. If tool\_transform is not set, returns a [CartesianTransform](CartesianTransform.md#) with none of its fields set \(possibly tool\_transform::default\_instance\(\)\).| +|mutable\_tool\_transform\(\)| [CartesianTransform](CartesianTransform.md#) \*|void|Returns a pointer to the mutable [CartesianTransform](CartesianTransform.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [CartesianTransform](CartesianTransform.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [CartesianTransform](CartesianTransform.md#)\). After calling this, has\_tool\_transform\(\) will return true and tool\_transform\(\) will return a reference to the same instance of [CartesianTransform](CartesianTransform.md#).| +|clear\_tool\_transform\(\)|void|void|Clears the value of the field. After calling this, has\_tool\_transform\(\) will return false and tool\_transform\(\) will return the default value.| +|set\_allocated\_tool\_transform\(\)|void| [CartesianTransform](CartesianTransform.md#) \*|Sets the [CartesianTransform](CartesianTransform.md#) object to the field and frees the previous field value if it exists. If the [CartesianTransform](CartesianTransform.md#) pointer is not NULL, the message takes ownership of the allocated [CartesianTransform](CartesianTransform.md#) object and has\_ [CartesianTransform](CartesianTransform.md#)\(\) will return true. Otherwise, if the tool\_transform is NULL, the behavior is the same as calling clear\_tool\_transform\(\).| +|release\_tool\_transform\(\)| [CartesianTransform](CartesianTransform.md#) \*|void|Releases the ownership of the field and returns the pointer of the [CartesianTransform](CartesianTransform.md#) object. After calling this, caller takes the ownership of the allocated [CartesianTransform](CartesianTransform.md#) object, has\_tool\_transform\(\) will return false, and tool\_transform\(\) will return the default value.| +|tool\_mass\(\)|float32|void|Returns the current value of tool\_mass. If the tool\_mass is not set, returns 0.| +|set\_tool\_mass\(\)|void|float32|Sets the value of tool\_mass. After calling this, tool\_mass\(\) will return value.| +|clear\_tool\_mass\(\)|void|void|Clears the value of tool\_mass. After calling this, tool\_mass\(\) will return 0.| +|has\_tool\_mass\_center\(\) const|bool|void|Returns true if tool\_mass\_center is set.| +|tool\_mass\_center\(\)|const [Position](Position.md#)&|void|Returns the current value of tool\_mass\_center. If tool\_mass\_center is not set, returns a [Position](Position.md#) with none of its fields set \(possibly tool\_mass\_center::default\_instance\(\)\).| +|mutable\_tool\_mass\_center\(\)| [Position](Position.md#) \*|void|Returns a pointer to the mutable [Position](Position.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Position](Position.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Position](Position.md#)\). After calling this, has\_tool\_mass\_center\(\) will return true and tool\_mass\_center\(\) will return a reference to the same instance of [Position](Position.md#).| +|clear\_tool\_mass\_center\(\)|void|void|Clears the value of the field. After calling this, has\_tool\_mass\_center\(\) will return false and tool\_mass\_center\(\) will return the default value.| +|set\_allocated\_tool\_mass\_center\(\)|void| [Position](Position.md#) \*|Sets the [Position](Position.md#) object to the field and frees the previous field value if it exists. If the [Position](Position.md#) pointer is not NULL, the message takes ownership of the allocated [Position](Position.md#) object and has\_ [Position](Position.md#)\(\) will return true. Otherwise, if the tool\_mass\_center is NULL, the behavior is the same as calling clear\_tool\_mass\_center\(\).| +|release\_tool\_mass\_center\(\)| [Position](Position.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Position](Position.md#) object. After calling this, caller takes the ownership of the allocated [Position](Position.md#) object, has\_tool\_mass\_center\(\) will return false, and tool\_mass\_center\(\) will return the default value.| + +**Parent topic:** [ControlConfig \(C++\)](../../summary_pages/ControlConfig.md) + diff --git a/api_cpp/doc/markdown/messages/DeviceConfig/BootloaderVersion.md b/api_cpp/doc/markdown/messages/DeviceConfig/BootloaderVersion.md new file mode 100644 index 00000000..5d39b1ac --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceConfig/BootloaderVersion.md @@ -0,0 +1,18 @@ +# class BootloaderVersion + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|bootloader\_version|uint32|Bootloader version| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|bootloader\_version\(\)|uint32|void|Returns the current value of bootloader\_version. If the bootloader\_version is not set, returns 0.| +|set\_bootloader\_version\(\)|void|uint32|Sets the value of bootloader\_version. After calling this, bootloader\_version\(\) will return value.| +|clear\_bootloader\_version\(\)|void|void|Clears the value of bootloader\_version. After calling this, bootloader\_version\(\) will return 0.| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/messages/DeviceConfig/Calibration.md b/api_cpp/doc/markdown/messages/DeviceConfig/Calibration.md new file mode 100644 index 00000000..7737ba6a --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceConfig/Calibration.md @@ -0,0 +1,26 @@ +# class Calibration + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|calibration\_item|uint32|Item to calibrate| +|calibration\_parameter| [CalibrationParameter](CalibrationParameter.md#)|Parameters associated to calibration item| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|calibration\_item\(\) const|uint32|void|Returns the current value of calibration\_item. If the calibration\_item is not set, returns 0.| +|set\_calibration\_item\(\)|void|uint32|Sets the value of calibration\_item. After calling this, calibration\_item\(\) will return value.| +|clear\_calibration\_item\(\)|void|void|Clears the value of calibration\_item. After calling this, calibration\_item\(\) will return the empty string/empty bytes.| +|calibration\_parameter\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|calibration\_parameter\(\) const|const [CalibrationParameter](CalibrationParameter.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, calibration\_parameter\_size\(\)\) yields undefined behavior.| +|mutable\_calibration\_parameter\(\)| [CalibrationParameter](CalibrationParameter.md#)\*|int index|Returns a pointer to the mutable [CalibrationParameter](CalibrationParameter.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, calibration\_parameter\_size\(\)\) yields undefined behavior.| +|add\_calibration\_parameter\(\)| [CalibrationParameter](CalibrationParameter.md#)\*|void|Adds a new element and returns a pointer to it. The returned [CalibrationParameter](CalibrationParameter.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [CalibrationParameter](CalibrationParameter.md#)\).| +|clear\_calibration\_parameter\(\)|void|void|Removes all elements from the field. After calling this, calibration\_parameter\_size\(\) will return zero.| +|calibration\_parameter\(\) const|const RepeatedPtrField< [CalibrationParameter](CalibrationParameter.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_calibration\_parameter\(\)|RepeatedPtrField< [CalibrationParameter](CalibrationParameter.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/messages/DeviceConfig/CalibrationElement.md b/api_cpp/doc/markdown/messages/DeviceConfig/CalibrationElement.md new file mode 100644 index 00000000..3e258e80 --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceConfig/CalibrationElement.md @@ -0,0 +1,18 @@ +# class CalibrationElement + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|calibration\_item|uint32|Item to get status| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|calibration\_item\(\) const|uint32|void|Returns the current value of calibration\_item. If the calibration\_item is not set, returns 0.| +|set\_calibration\_item\(\)|void|uint32|Sets the value of calibration\_item. After calling this, calibration\_item\(\) will return value.| +|clear\_calibration\_item\(\)|void|void|Clears the value of calibration\_item. After calling this, calibration\_item\(\) will return the empty string/empty bytes.| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/messages/DeviceConfig/CalibrationParameter.md b/api_cpp/doc/markdown/messages/DeviceConfig/CalibrationParameter.md new file mode 100644 index 00000000..793cede4 --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceConfig/CalibrationParameter.md @@ -0,0 +1,30 @@ +# class CalibrationParameter + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|calibration\_parameter\_identifier|uint32|Calibration parameter identifier| +|signedIntValue|oneof:value int32|Signed int calibration value.| +|unsignedIntValue|oneof:value uint32|Unsigned int calibration value.| +|floatValue|oneof:value float32|Float calibration value.| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|calibration\_parameter\_identifier\(\)|uint32|void|Returns the current value of calibration\_parameter\_identifier. If the calibration\_parameter\_identifier is not set, returns 0.| +|set\_calibration\_parameter\_identifier\(\)|void|uint32|Sets the value of calibration\_parameter\_identifier. After calling this, calibration\_parameter\_identifier\(\) will return value.| +|clear\_calibration\_parameter\_identifier\(\)|void|void|Clears the value of calibration\_parameter\_identifier. After calling this, calibration\_parameter\_identifier\(\) will return 0.| +|set\_signedIntValue\(\)|void|oneof:value int32|If any other oneof field in the same oneof is set, calls clear\_value\(\). Sets the value of this field and sets the oneof case to kSignedIntValue.| +|signedIntValue\(\) const|oneof:value int32|void|Returns the current value of the field if oneof case is kSignedIntValue. Otherwise, returns the default value.| +|clear\_signedIntValue\(\)|void|void|Nothing will be changed if the oneof case is not kSignedIntValue. If the oneof case is kSignedIntValue, clears the value of the field and the oneof case| +|set\_unsignedIntValue\(\)|void|oneof:value uint32|If any other oneof field in the same oneof is set, calls clear\_value\(\). Sets the value of this field and sets the oneof case to kUnsignedIntValue.| +|unsignedIntValue\(\) const|oneof:value uint32|void|Returns the current value of the field if oneof case is kUnsignedIntValue. Otherwise, returns the default value.| +|clear\_unsignedIntValue\(\)|void|void|Nothing will be changed if the oneof case is not kUnsignedIntValue. If the oneof case is kUnsignedIntValue, clears the value of the field and the oneof case| +|set\_floatValue\(\)|void|oneof:value float32|If any other oneof field in the same oneof is set, calls clear\_value\(\). Sets the value of this field and sets the oneof case to kFloatValue.| +|floatValue\(\) const|oneof:value float32|void|Returns the current value of the field if oneof case is kFloatValue. Otherwise, returns the default value.| +|clear\_floatValue\(\)|void|void|Nothing will be changed if the oneof case is not kFloatValue. If the oneof case is kFloatValue, clears the value of the field and the oneof case| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/messages/DeviceConfig/CalibrationResult.md b/api_cpp/doc/markdown/messages/DeviceConfig/CalibrationResult.md new file mode 100644 index 00000000..01de12f7 --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceConfig/CalibrationResult.md @@ -0,0 +1,22 @@ +# class CalibrationResult + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|calibration\_status|uint32|Calibration status| +|calibration\_details|uint32|Additional information \(used when status is in fault\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|calibration\_status\(\) const|uint32|void|Returns the current value of calibration\_status. If the calibration\_status is not set, returns 0.| +|set\_calibration\_status\(\)|void|uint32|Sets the value of calibration\_status. After calling this, calibration\_status\(\) will return value.| +|clear\_calibration\_status\(\)|void|void|Clears the value of calibration\_status. After calling this, calibration\_status\(\) will return the empty string/empty bytes.| +|calibration\_details\(\)|uint32|void|Returns the current value of calibration\_details. If the calibration\_details is not set, returns 0.| +|set\_calibration\_details\(\)|void|uint32|Sets the value of calibration\_details. After calling this, calibration\_details\(\) will return value.| +|clear\_calibration\_details\(\)|void|void|Clears the value of calibration\_details. After calling this, calibration\_details\(\) will return 0.| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/messages/DeviceConfig/CapSenseConfig.md b/api_cpp/doc/markdown/messages/DeviceConfig/CapSenseConfig.md new file mode 100644 index 00000000..4c7ef32f --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceConfig/CapSenseConfig.md @@ -0,0 +1,26 @@ +# class CapSenseConfig + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|mode|uint32|Operational mode of the sensor| +|threshold\_a|float32|Sensitivity of the sensor A \(0-100%\).| +|threshold\_b|float32|Sensitivity of the sensor B \(0-100%\).| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|mode\(\) const|uint32|void|Returns the current value of mode. If the mode is not set, returns 0.| +|set\_mode\(\)|void|uint32|Sets the value of mode. After calling this, mode\(\) will return value.| +|clear\_mode\(\)|void|void|Clears the value of mode. After calling this, mode\(\) will return the empty string/empty bytes.| +|threshold\_a\(\)|float32|void|Returns the current value of threshold\_a. If the threshold\_a is not set, returns 0.| +|set\_threshold\_a\(\)|void|float32|Sets the value of threshold\_a. After calling this, threshold\_a\(\) will return value.| +|clear\_threshold\_a\(\)|void|void|Clears the value of threshold\_a. After calling this, threshold\_a\(\) will return 0.| +|threshold\_b\(\)|float32|void|Returns the current value of threshold\_b. If the threshold\_b is not set, returns 0.| +|set\_threshold\_b\(\)|void|float32|Sets the value of threshold\_b. After calling this, threshold\_b\(\) will return value.| +|clear\_threshold\_b\(\)|void|void|Clears the value of threshold\_b. After calling this, threshold\_b\(\) will return 0.| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/messages/DeviceConfig/CapSenseRegister.md b/api_cpp/doc/markdown/messages/DeviceConfig/CapSenseRegister.md new file mode 100644 index 00000000..06c69081 --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceConfig/CapSenseRegister.md @@ -0,0 +1,22 @@ +# class CapSenseRegister + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|address|uint32|Register address| +|value|uint32|Register value| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|address\(\)|uint32|void|Returns the current value of address. If the address is not set, returns 0.| +|set\_address\(\)|void|uint32|Sets the value of address. After calling this, address\(\) will return value.| +|clear\_address\(\)|void|void|Clears the value of address. After calling this, address\(\) will return 0.| +|value\(\)|uint32|void|Returns the current value of value. If the value is not set, returns 0.| +|set\_value\(\)|void|uint32|Sets the value of value. After calling this, value\(\) will return value.| +|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return 0.| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/messages/DeviceConfig/DeviceType.md b/api_cpp/doc/markdown/messages/DeviceConfig/DeviceType.md new file mode 100644 index 00000000..d9803fc9 --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceConfig/DeviceType.md @@ -0,0 +1,18 @@ +# class DeviceType + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|device\_type|uint32|Device type| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|device\_type\(\) const|uint32|void|Returns the current value of device\_type. If the device\_type is not set, returns 0.| +|set\_device\_type\(\)|void|uint32|Sets the value of device\_type. After calling this, device\_type\(\) will return value.| +|clear\_device\_type\(\)|void|void|Clears the value of device\_type. After calling this, device\_type\(\) will return the empty string/empty bytes.| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/messages/DeviceConfig/FirmwareVersion.md b/api_cpp/doc/markdown/messages/DeviceConfig/FirmwareVersion.md new file mode 100644 index 00000000..fdbf4d4b --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceConfig/FirmwareVersion.md @@ -0,0 +1,18 @@ +# class FirmwareVersion + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|firmware\_version|uint32|Firmware version| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|firmware\_version\(\)|uint32|void|Returns the current value of firmware\_version. If the firmware\_version is not set, returns 0.| +|set\_firmware\_version\(\)|void|uint32|Sets the value of firmware\_version. After calling this, firmware\_version\(\) will return value.| +|clear\_firmware\_version\(\)|void|void|Clears the value of firmware\_version. After calling this, firmware\_version\(\) will return 0.| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_IPv4Settings.md b/api_cpp/doc/markdown/messages/DeviceConfig/IPv4Settings.md similarity index 70% rename from api_cpp/doc/markdown/references/msg_DeviceConfig_IPv4Settings.md rename to api_cpp/doc/markdown/messages/DeviceConfig/IPv4Settings.md index 18308e0e..49c0e8e3 100644 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_IPv4Settings.md +++ b/api_cpp/doc/markdown/messages/DeviceConfig/IPv4Settings.md @@ -1,14 +1,6 @@ -# Message IPv4Settings +# class IPv4Settings -This page describes the C++ Kinova::Api::DeviceConfig::IPv4Settings message. - -## Overview / Purpose - -Message containing the IPv4 settings for the device, including address, subnet mask, and default gateway - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| @@ -16,12 +8,10 @@ Message containing the IPv4 settings for the device, including address, subnet m |ipv4\_subnet\_mask|uint32|IPv4SubnetMask| |ipv4\_default\_gateway|uint32|IPv4DefaultGateway| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |ipv4\_address\(\)|uint32|void|Returns the current value of ipv4\_address. If the ipv4\_address is not set, returns 0.| |set\_ipv4\_address\(\)|void|uint32|Sets the value of ipv4\_address. After calling this, ipv4\_address\(\) will return value.| |clear\_ipv4\_address\(\)|void|void|Clears the value of ipv4\_address. After calling this, ipv4\_address\(\) will return 0.| @@ -32,5 +22,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_ipv4\_default\_gateway\(\)|void|uint32|Sets the value of ipv4\_default\_gateway. After calling this, ipv4\_default\_gateway\(\) will return value.| |clear\_ipv4\_default\_gateway\(\)|void|void|Clears the value of ipv4\_default\_gateway. After calling this, ipv4\_default\_gateway\(\) will return 0.| -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_MACAddress.md b/api_cpp/doc/markdown/messages/DeviceConfig/MACAddress.md similarity index 79% rename from api_cpp/doc/markdown/references/msg_DeviceConfig_MACAddress.md rename to api_cpp/doc/markdown/messages/DeviceConfig/MACAddress.md index 426d45fb..1892e15f 100644 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_MACAddress.md +++ b/api_cpp/doc/markdown/messages/DeviceConfig/MACAddress.md @@ -1,25 +1,15 @@ -# Message MACAddress +# class MACAddress -This page describes the C++ Kinova::Api::DeviceConfig::MACAddress message. - -## Overview / Purpose - -MAC address for the device - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |mac\_address|uint8\[\]|MAC address| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |mac\_address\(\)|const string&|void|Returns the current value of mac\_address. If mac\_address is not set, returns the empty string/empty bytes.| |set\_mac\_address\(\)|void|const string&|Sets the value of mac\_address. After calling this, mac\_address\(\) will return a copy of value.| |set\_mac\_address\(\)|void|string&&|\(C++11 and beyond\): Sets the value of mac\_address, moving from the passed string. After calling this, mac\_address\(\) will return a copy of value.| @@ -29,5 +19,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_allocated\_mac\_address\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_mac\_address\(\).| |release\_mac\_address\(\)|string \*|void|Releases the ownership of mac\_address and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and mac\_address\(\) will return the empty string/empty bytes.| -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_ModelNumber.md b/api_cpp/doc/markdown/messages/DeviceConfig/ModelNumber.md similarity index 78% rename from api_cpp/doc/markdown/references/msg_DeviceConfig_ModelNumber.md rename to api_cpp/doc/markdown/messages/DeviceConfig/ModelNumber.md index c591576c..7a779489 100644 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_ModelNumber.md +++ b/api_cpp/doc/markdown/messages/DeviceConfig/ModelNumber.md @@ -1,25 +1,15 @@ -# Message ModelNumber +# class ModelNumber -This page describes the C++ Kinova::Api::DeviceConfig::ModelNumber message. - -## Overview / Purpose - -Message specifying the model number for the device - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |model\_number|string|Model number of size 25 including null character| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |model\_number\(\)|const string&|void|Returns the current value of model\_number. If model\_number is not set, returns the empty string/empty bytes.| |set\_model\_number\(\)|void|const string&|Sets the value of model\_number. After calling this, model\_number\(\) will return a copy of value.| |set\_model\_number\(\)|void|string&&|\(C++11 and beyond\): Sets the value of model\_number, moving from the passed string. After calling this, model\_number\(\) will return a copy of value.| @@ -29,5 +19,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_allocated\_model\_number\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_model\_number\(\).| |release\_model\_number\(\)|string \*|void|Releases the ownership of model\_number and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and model\_number\(\) will return the empty string/empty bytes.| -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_PartNumber.md b/api_cpp/doc/markdown/messages/DeviceConfig/PartNumber.md similarity index 78% rename from api_cpp/doc/markdown/references/msg_DeviceConfig_PartNumber.md rename to api_cpp/doc/markdown/messages/DeviceConfig/PartNumber.md index 51e67e98..69bdd6db 100644 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_PartNumber.md +++ b/api_cpp/doc/markdown/messages/DeviceConfig/PartNumber.md @@ -1,25 +1,15 @@ -# Message PartNumber +# class PartNumber -This page describes the C++ Kinova::Api::DeviceConfig::PartNumber message. - -## Overview / Purpose - -String specifiying the part number for the device - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |part\_number|string|Part number of size 25 including null character| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |part\_number\(\)|const string&|void|Returns the current value of part\_number. If part\_number is not set, returns the empty string/empty bytes.| |set\_part\_number\(\)|void|const string&|Sets the value of part\_number. After calling this, part\_number\(\) will return a copy of value.| |set\_part\_number\(\)|void|string&&|\(C++11 and beyond\): Sets the value of part\_number, moving from the passed string. After calling this, part\_number\(\) will return a copy of value.| @@ -29,5 +19,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_allocated\_part\_number\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_part\_number\(\).| |release\_part\_number\(\)|string \*|void|Releases the ownership of part\_number and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and part\_number\(\) will return the empty string/empty bytes.| -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_PartNumberRevision.md b/api_cpp/doc/markdown/messages/DeviceConfig/PartNumberRevision.md similarity index 79% rename from api_cpp/doc/markdown/references/msg_DeviceConfig_PartNumberRevision.md rename to api_cpp/doc/markdown/messages/DeviceConfig/PartNumberRevision.md index b42a425d..806e3ab0 100644 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_PartNumberRevision.md +++ b/api_cpp/doc/markdown/messages/DeviceConfig/PartNumberRevision.md @@ -1,25 +1,15 @@ -# Message PartNumberRevision +# class PartNumberRevision -This page describes the C++ Kinova::Api::DeviceConfig::PartNumberRevision message. - -## Overview / Purpose - -String specifying part number revision for the device - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |part\_number\_revision|string|Part number revision| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |part\_number\_revision\(\)|const string&|void|Returns the current value of part\_number\_revision. If part\_number\_revision is not set, returns the empty string/empty bytes.| |set\_part\_number\_revision\(\)|void|const string&|Sets the value of part\_number\_revision. After calling this, part\_number\_revision\(\) will return a copy of value.| |set\_part\_number\_revision\(\)|void|string&&|\(C++11 and beyond\): Sets the value of part\_number\_revision, moving from the passed string. After calling this, part\_number\_revision\(\) will return a copy of value.| @@ -29,5 +19,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_allocated\_part\_number\_revision\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_part\_number\_revision\(\).| |release\_part\_number\_revision\(\)|string \*|void|Releases the ownership of part\_number\_revision and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and part\_number\_revision\(\) will return the empty string/empty bytes.| -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_PowerOnSelfTestResult.md b/api_cpp/doc/markdown/messages/DeviceConfig/PowerOnSelfTestResult.md similarity index 55% rename from api_cpp/doc/markdown/references/msg_DeviceConfig_PowerOnSelfTestResult.md rename to api_cpp/doc/markdown/messages/DeviceConfig/PowerOnSelfTestResult.md index 115c62b8..e61eb741 100644 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_PowerOnSelfTestResult.md +++ b/api_cpp/doc/markdown/messages/DeviceConfig/PowerOnSelfTestResult.md @@ -1,28 +1,18 @@ -# Message PowerOnSelfTestResult +# class PowerOnSelfTestResult -This page describes the C++ Kinova::Api::DeviceConfig::PowerOnSelfTestResult message. - -## Overview / Purpose - -Result of power on self test - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |power\_on\_self\_test\_result|uint32|Power on self test result| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |power\_on\_self\_test\_result\(\)|uint32|void|Returns the current value of power\_on\_self\_test\_result. If the power\_on\_self\_test\_result is not set, returns 0.| |set\_power\_on\_self\_test\_result\(\)|void|uint32|Sets the value of power\_on\_self\_test\_result. After calling this, power\_on\_self\_test\_result\(\) will return value.| |clear\_power\_on\_self\_test\_result\(\)|void|void|Clears the value of power\_on\_self\_test\_result. After calling this, power\_on\_self\_test\_result\(\) will return 0.| -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) diff --git a/api_cpp/doc/markdown/messages/DeviceConfig/RebootRqst.md b/api_cpp/doc/markdown/messages/DeviceConfig/RebootRqst.md new file mode 100644 index 00000000..2b918731 --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceConfig/RebootRqst.md @@ -0,0 +1,18 @@ +# class RebootRqst + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|delay|uint32|Bootloader delay| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|delay\(\)|uint32|void|Returns the current value of delay. If the delay is not set, returns 0.| +|set\_delay\(\)|void|uint32|Sets the value of delay. After calling this, delay\(\) will return value.| +|clear\_delay\(\)|void|void|Clears the value of delay. After calling this, delay\(\) will return 0.| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/messages/DeviceConfig/RunMode.md b/api_cpp/doc/markdown/messages/DeviceConfig/RunMode.md new file mode 100644 index 00000000..d574da47 --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceConfig/RunMode.md @@ -0,0 +1,18 @@ +# class RunMode + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|run\_mode|uint32|Run mode| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|run\_mode\(\) const|uint32|void|Returns the current value of run\_mode. If the run\_mode is not set, returns 0.| +|set\_run\_mode\(\)|void|uint32|Sets the value of run\_mode. After calling this, run\_mode\(\) will return value.| +|clear\_run\_mode\(\)|void|void|Clears the value of run\_mode. After calling this, run\_mode\(\) will return the empty string/empty bytes.| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/messages/DeviceConfig/SafetyConfiguration.md b/api_cpp/doc/markdown/messages/DeviceConfig/SafetyConfiguration.md new file mode 100644 index 00000000..48d4e8ea --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceConfig/SafetyConfiguration.md @@ -0,0 +1,36 @@ +# class SafetyConfiguration + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|handle| [SafetyHandle](../Common/SafetyHandle.md#)|Handle to safety to configure| +|error\_threshold|float32|Safety error threshold value| +|warning\_threshold|float32|Safety warning threshold value| +|enable| [SafetyEnable](SafetyEnable.md#)|Safety enable state| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_handle\(\) const|bool|void|Returns true if handle is set.| +|handle\(\)|const [SafetyHandle](../Common/SafetyHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [SafetyHandle](../Common/SafetyHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [SafetyHandle](../Common/SafetyHandle.md#) \*|void|Returns a pointer to the mutable [SafetyHandle](../Common/SafetyHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SafetyHandle](../Common/SafetyHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyHandle](../Common/SafetyHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [SafetyHandle](../Common/SafetyHandle.md#).| +|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [SafetyHandle](../Common/SafetyHandle.md#) \*|Sets the [SafetyHandle](../Common/SafetyHandle.md#) object to the field and frees the previous field value if it exists. If the [SafetyHandle](../Common/SafetyHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SafetyHandle](../Common/SafetyHandle.md#) object and has\_ [SafetyHandle](../Common/SafetyHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [SafetyHandle](../Common/SafetyHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SafetyHandle](../Common/SafetyHandle.md#) object. After calling this, caller takes the ownership of the allocated [SafetyHandle](../Common/SafetyHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|error\_threshold\(\)|float32|void|Returns the current value of error\_threshold. If the error\_threshold is not set, returns 0.| +|set\_error\_threshold\(\)|void|float32|Sets the value of error\_threshold. After calling this, error\_threshold\(\) will return value.| +|clear\_error\_threshold\(\)|void|void|Clears the value of error\_threshold. After calling this, error\_threshold\(\) will return 0.| +|warning\_threshold\(\)|float32|void|Returns the current value of warning\_threshold. If the warning\_threshold is not set, returns 0.| +|set\_warning\_threshold\(\)|void|float32|Sets the value of warning\_threshold. After calling this, warning\_threshold\(\) will return value.| +|clear\_warning\_threshold\(\)|void|void|Clears the value of warning\_threshold. After calling this, warning\_threshold\(\) will return 0.| +|has\_enable\(\) const|bool|void|Returns true if enable is set.| +|enable\(\)|const [SafetyEnable](SafetyEnable.md#)&|void|Returns the current value of enable. If enable is not set, returns a [SafetyEnable](SafetyEnable.md#) with none of its fields set \(possibly enable::default\_instance\(\)\).| +|mutable\_enable\(\)| [SafetyEnable](SafetyEnable.md#) \*|void|Returns a pointer to the mutable [SafetyEnable](SafetyEnable.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SafetyEnable](SafetyEnable.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyEnable](SafetyEnable.md#)\). After calling this, has\_enable\(\) will return true and enable\(\) will return a reference to the same instance of [SafetyEnable](SafetyEnable.md#).| +|clear\_enable\(\)|void|void|Clears the value of the field. After calling this, has\_enable\(\) will return false and enable\(\) will return the default value.| +|set\_allocated\_enable\(\)|void| [SafetyEnable](SafetyEnable.md#) \*|Sets the [SafetyEnable](SafetyEnable.md#) object to the field and frees the previous field value if it exists. If the [SafetyEnable](SafetyEnable.md#) pointer is not NULL, the message takes ownership of the allocated [SafetyEnable](SafetyEnable.md#) object and has\_ [SafetyEnable](SafetyEnable.md#)\(\) will return true. Otherwise, if the enable is NULL, the behavior is the same as calling clear\_enable\(\).| +|release\_enable\(\)| [SafetyEnable](SafetyEnable.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SafetyEnable](SafetyEnable.md#) object. After calling this, caller takes the ownership of the allocated [SafetyEnable](SafetyEnable.md#) object, has\_enable\(\) will return false, and enable\(\) will return the default value.| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/messages/DeviceConfig/SafetyConfigurationList.md b/api_cpp/doc/markdown/messages/DeviceConfig/SafetyConfigurationList.md new file mode 100644 index 00000000..a5b8a305 --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceConfig/SafetyConfigurationList.md @@ -0,0 +1,22 @@ +# class SafetyConfigurationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|configuration| [SafetyConfiguration](SafetyConfiguration.md#)|Safety configuration| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|configuration\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|configuration\(\) const|const [SafetyConfiguration](SafetyConfiguration.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, configuration\_size\(\)\) yields undefined behavior.| +|mutable\_configuration\(\)| [SafetyConfiguration](SafetyConfiguration.md#)\*|int index|Returns a pointer to the mutable [SafetyConfiguration](SafetyConfiguration.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, configuration\_size\(\)\) yields undefined behavior.| +|add\_configuration\(\)| [SafetyConfiguration](SafetyConfiguration.md#)\*|void|Adds a new element and returns a pointer to it. The returned [SafetyConfiguration](SafetyConfiguration.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyConfiguration](SafetyConfiguration.md#)\).| +|clear\_configuration\(\)|void|void|Removes all elements from the field. After calling this, configuration\_size\(\) will return zero.| +|configuration\(\) const|const RepeatedPtrField< [SafetyConfiguration](SafetyConfiguration.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_configuration\(\)|RepeatedPtrField< [SafetyConfiguration](SafetyConfiguration.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/messages/DeviceConfig/SafetyEnable.md b/api_cpp/doc/markdown/messages/DeviceConfig/SafetyEnable.md new file mode 100644 index 00000000..69789cff --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceConfig/SafetyEnable.md @@ -0,0 +1,25 @@ +# class SafetyEnable + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|handle| [SafetyHandle](../Common/SafetyHandle.md#)|Handle to safety to enable or disable| +|enable|bool|Safety enable state| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_handle\(\) const|bool|void|Returns true if handle is set.| +|handle\(\)|const [SafetyHandle](../Common/SafetyHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [SafetyHandle](../Common/SafetyHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [SafetyHandle](../Common/SafetyHandle.md#) \*|void|Returns a pointer to the mutable [SafetyHandle](../Common/SafetyHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SafetyHandle](../Common/SafetyHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyHandle](../Common/SafetyHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [SafetyHandle](../Common/SafetyHandle.md#).| +|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [SafetyHandle](../Common/SafetyHandle.md#) \*|Sets the [SafetyHandle](../Common/SafetyHandle.md#) object to the field and frees the previous field value if it exists. If the [SafetyHandle](../Common/SafetyHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SafetyHandle](../Common/SafetyHandle.md#) object and has\_ [SafetyHandle](../Common/SafetyHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [SafetyHandle](../Common/SafetyHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SafetyHandle](../Common/SafetyHandle.md#) object. After calling this, caller takes the ownership of the allocated [SafetyHandle](../Common/SafetyHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|enable\(\)|bool|void|Returns the current value of enable. If the enable is not set, returns 0.| +|set\_enable\(\)|void|bool|Sets the value of enable. After calling this, enable\(\) will return value.| +|clear\_enable\(\)|void|void|Clears the value of enable. After calling this, enable\(\) will return 0.| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyInformation.md b/api_cpp/doc/markdown/messages/DeviceConfig/SafetyInformation.md similarity index 57% rename from api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyInformation.md rename to api_cpp/doc/markdown/messages/DeviceConfig/SafetyInformation.md index e6d3d740..f26f9fa7 100644 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyInformation.md +++ b/api_cpp/doc/markdown/messages/DeviceConfig/SafetyInformation.md @@ -1,41 +1,31 @@ -# Message SafetyInformation +# class SafetyInformation -This page describes the C++ Kinova::Api::DeviceConfig::SafetyInformation message. - -## Overview / Purpose - -Information about a particular safety - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|handle| [SafetyHandle](msg_Common_SafetyHandle.md#)|Safety handle that this information is about| +|handle| [SafetyHandle](../Common/SafetyHandle.md#)|Safety handle that this information is about| |can\_change\_safety\_state|bool|True if related safety configuration can be modified| |has\_warning\_threshold|bool|True if safety status can go in Warning| |has\_error\_threshold|bool|True if safety status can go in Error| -|limit\_type| [SafetyLimitType](enm_DeviceConfig_SafetyLimitType.md#)|Safety limit type| +|limit\_type|uint32|Safety limit type| |default\_warning\_threshold|float32|Default warning threshold \(if 'limit\_type' is either MINIMAL\_LIMIT or MAXIMAL\_LIMIT and 'has\_warning\_threshold' is true\)| |default\_error\_threshold|float32|Default error threshold \(if 'limit\_type' is either MINIMAL\_LIMIT or MAXIMAL\_LIMIT and 'has\_error\_threshold' is true\)| |upper\_hard\_limit|float32|Maximal threshold value \(if 'limit\_type' is either MINIMAL\_LIMIT or MAXIMAL\_LIMIT\)| |lower\_hard\_limit|float32|Minimal threshold value \(if 'limit\_type' is either MINIMAL\_LIMIT or MAXIMAL\_LIMIT\)| -|status| [SafetyStatusValue](enm_Common_SafetyStatusValue.md#)|Current Safety status| -|unit| [Unit](enm_Common_Unit.md#)|Unit that the safety status is in| - - **Methods** +|status|uint32|Current Safety status| +|unit|uint32|Unit that the safety status is in| -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [SafetyHandle](msg_Common_SafetyHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [SafetyHandle](msg_Common_SafetyHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|void|Returns a pointer to the mutable [SafetyHandle](msg_Common_SafetyHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SafetyHandle](msg_Common_SafetyHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyHandle](msg_Common_SafetyHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [SafetyHandle](msg_Common_SafetyHandle.md#).| +|handle\(\)|const [SafetyHandle](../Common/SafetyHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [SafetyHandle](../Common/SafetyHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [SafetyHandle](../Common/SafetyHandle.md#) \*|void|Returns a pointer to the mutable [SafetyHandle](../Common/SafetyHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SafetyHandle](../Common/SafetyHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyHandle](../Common/SafetyHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [SafetyHandle](../Common/SafetyHandle.md#).| |clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|Sets the [SafetyHandle](msg_Common_SafetyHandle.md#) object to the field and frees the previous field value if it exists. If the [SafetyHandle](msg_Common_SafetyHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SafetyHandle](msg_Common_SafetyHandle.md#) object and has\_ [SafetyHandle](msg_Common_SafetyHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SafetyHandle](msg_Common_SafetyHandle.md#) object. After calling this, caller takes the ownership of the allocated [SafetyHandle](msg_Common_SafetyHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [SafetyHandle](../Common/SafetyHandle.md#) \*|Sets the [SafetyHandle](../Common/SafetyHandle.md#) object to the field and frees the previous field value if it exists. If the [SafetyHandle](../Common/SafetyHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SafetyHandle](../Common/SafetyHandle.md#) object and has\_ [SafetyHandle](../Common/SafetyHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [SafetyHandle](../Common/SafetyHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SafetyHandle](../Common/SafetyHandle.md#) object. After calling this, caller takes the ownership of the allocated [SafetyHandle](../Common/SafetyHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| |can\_change\_safety\_state\(\)|bool|void|Returns the current value of can\_change\_safety\_state. If the can\_change\_safety\_state is not set, returns 0.| |set\_can\_change\_safety\_state\(\)|void|bool|Sets the value of can\_change\_safety\_state. After calling this, can\_change\_safety\_state\(\) will return value.| |clear\_can\_change\_safety\_state\(\)|void|void|Clears the value of can\_change\_safety\_state. After calling this, can\_change\_safety\_state\(\) will return 0.| @@ -45,8 +35,8 @@ The methods listed below are some of the most commonly used. Please refer to Goo |has\_error\_threshold\(\)|bool|void|Returns the current value of has\_error\_threshold. If the has\_error\_threshold is not set, returns 0.| |set\_has\_error\_threshold\(\)|void|bool|Sets the value of has\_error\_threshold. After calling this, has\_error\_threshold\(\) will return value.| |clear\_has\_error\_threshold\(\)|void|void|Clears the value of has\_error\_threshold. After calling this, has\_error\_threshold\(\) will return 0.| -|limit\_type\(\) const| [SafetyLimitType](enm_DeviceConfig_SafetyLimitType.md#)|void|Returns the current value of limit\_type. If the limit\_type is not set, returns 0.| -|set\_limit\_type\(\)|void| [SafetyLimitType](enm_DeviceConfig_SafetyLimitType.md#)|Sets the value of limit\_type. After calling this, limit\_type\(\) will return value.| +|limit\_type\(\) const|uint32|void|Returns the current value of limit\_type. If the limit\_type is not set, returns 0.| +|set\_limit\_type\(\)|void|uint32|Sets the value of limit\_type. After calling this, limit\_type\(\) will return value.| |clear\_limit\_type\(\)|void|void|Clears the value of limit\_type. After calling this, limit\_type\(\) will return the empty string/empty bytes.| |default\_warning\_threshold\(\)|float32|void|Returns the current value of default\_warning\_threshold. If the default\_warning\_threshold is not set, returns 0.| |set\_default\_warning\_threshold\(\)|void|float32|Sets the value of default\_warning\_threshold. After calling this, default\_warning\_threshold\(\) will return value.| @@ -60,12 +50,12 @@ The methods listed below are some of the most commonly used. Please refer to Goo |lower\_hard\_limit\(\)|float32|void|Returns the current value of lower\_hard\_limit. If the lower\_hard\_limit is not set, returns 0.| |set\_lower\_hard\_limit\(\)|void|float32|Sets the value of lower\_hard\_limit. After calling this, lower\_hard\_limit\(\) will return value.| |clear\_lower\_hard\_limit\(\)|void|void|Clears the value of lower\_hard\_limit. After calling this, lower\_hard\_limit\(\) will return 0.| -|status\(\) const| [SafetyStatusValue](enm_Common_SafetyStatusValue.md#)|void|Returns the current value of status. If the status is not set, returns 0.| -|set\_status\(\)|void| [SafetyStatusValue](enm_Common_SafetyStatusValue.md#)|Sets the value of status. After calling this, status\(\) will return value.| +|status\(\) const|uint32|void|Returns the current value of status. If the status is not set, returns 0.| +|set\_status\(\)|void|uint32|Sets the value of status. After calling this, status\(\) will return value.| |clear\_status\(\)|void|void|Clears the value of status. After calling this, status\(\) will return the empty string/empty bytes.| -|unit\(\) const| [Unit](enm_Common_Unit.md#)|void|Returns the current value of unit. If the unit is not set, returns 0.| -|set\_unit\(\)|void| [Unit](enm_Common_Unit.md#)|Sets the value of unit. After calling this, unit\(\) will return value.| +|unit\(\) const|uint32|void|Returns the current value of unit. If the unit is not set, returns 0.| +|set\_unit\(\)|void|uint32|Sets the value of unit. After calling this, unit\(\) will return value.| |clear\_unit\(\)|void|void|Clears the value of unit. After calling this, unit\(\) will return the empty string/empty bytes.| -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) diff --git a/api_cpp/doc/markdown/messages/DeviceConfig/SafetyInformationList.md b/api_cpp/doc/markdown/messages/DeviceConfig/SafetyInformationList.md new file mode 100644 index 00000000..05a25686 --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceConfig/SafetyInformationList.md @@ -0,0 +1,22 @@ +# class SafetyInformationList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|information| [SafetyInformation](SafetyInformation.md#)| | + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|information\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|information\(\) const|const [SafetyInformation](SafetyInformation.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, information\_size\(\)\) yields undefined behavior.| +|mutable\_information\(\)| [SafetyInformation](SafetyInformation.md#)\*|int index|Returns a pointer to the mutable [SafetyInformation](SafetyInformation.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, information\_size\(\)\) yields undefined behavior.| +|add\_information\(\)| [SafetyInformation](SafetyInformation.md#)\*|void|Adds a new element and returns a pointer to it. The returned [SafetyInformation](SafetyInformation.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyInformation](SafetyInformation.md#)\).| +|clear\_information\(\)|void|void|Removes all elements from the field. After calling this, information\_size\(\) will return zero.| +|information\(\) const|const RepeatedPtrField< [SafetyInformation](SafetyInformation.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_information\(\)|RepeatedPtrField< [SafetyInformation](SafetyInformation.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/messages/DeviceConfig/SafetyStatus.md b/api_cpp/doc/markdown/messages/DeviceConfig/SafetyStatus.md new file mode 100644 index 00000000..95eb8c43 --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceConfig/SafetyStatus.md @@ -0,0 +1,18 @@ +# class SafetyStatus + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|value|uint32|Safety status \(e.g. in error, warning or normal state\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|value\(\) const|uint32|void|Returns the current value of value. If the value is not set, returns 0.| +|set\_value\(\)|void|uint32|Sets the value of value. After calling this, value\(\) will return value.| +|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return the empty string/empty bytes.| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/messages/DeviceConfig/SafetyThreshold.md b/api_cpp/doc/markdown/messages/DeviceConfig/SafetyThreshold.md new file mode 100644 index 00000000..d65d8278 --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceConfig/SafetyThreshold.md @@ -0,0 +1,25 @@ +# class SafetyThreshold + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|handle| [SafetyHandle](../Common/SafetyHandle.md#)|Identifies safety to configure| +|value|float32|Safety threshold value| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_handle\(\) const|bool|void|Returns true if handle is set.| +|handle\(\)|const [SafetyHandle](../Common/SafetyHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [SafetyHandle](../Common/SafetyHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| +|mutable\_handle\(\)| [SafetyHandle](../Common/SafetyHandle.md#) \*|void|Returns a pointer to the mutable [SafetyHandle](../Common/SafetyHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SafetyHandle](../Common/SafetyHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyHandle](../Common/SafetyHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [SafetyHandle](../Common/SafetyHandle.md#).| +|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| +|set\_allocated\_handle\(\)|void| [SafetyHandle](../Common/SafetyHandle.md#) \*|Sets the [SafetyHandle](../Common/SafetyHandle.md#) object to the field and frees the previous field value if it exists. If the [SafetyHandle](../Common/SafetyHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SafetyHandle](../Common/SafetyHandle.md#) object and has\_ [SafetyHandle](../Common/SafetyHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| +|release\_handle\(\)| [SafetyHandle](../Common/SafetyHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SafetyHandle](../Common/SafetyHandle.md#) object. After calling this, caller takes the ownership of the allocated [SafetyHandle](../Common/SafetyHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| +|value\(\)|float32|void|Returns the current value of value. If the value is not set, returns 0.| +|set\_value\(\)|void|float32|Sets the value of value. After calling this, value\(\) will return value.| +|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return 0.| + +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_SerialNumber.md b/api_cpp/doc/markdown/messages/DeviceConfig/SerialNumber.md similarity index 78% rename from api_cpp/doc/markdown/references/msg_DeviceConfig_SerialNumber.md rename to api_cpp/doc/markdown/messages/DeviceConfig/SerialNumber.md index c4b52e6d..cdccf1c2 100644 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_SerialNumber.md +++ b/api_cpp/doc/markdown/messages/DeviceConfig/SerialNumber.md @@ -1,25 +1,15 @@ -# Message SerialNumber +# class SerialNumber -This page describes the C++ Kinova::Api::DeviceConfig::SerialNumber message. - -## Overview / Purpose - -String specifying the serial number for the device - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |serial\_number|string|Serial number of size 25 including null character| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |serial\_number\(\)|const string&|void|Returns the current value of serial\_number. If serial\_number is not set, returns the empty string/empty bytes.| |set\_serial\_number\(\)|void|const string&|Sets the value of serial\_number. After calling this, serial\_number\(\) will return a copy of value.| |set\_serial\_number\(\)|void|string&&|\(C++11 and beyond\): Sets the value of serial\_number, moving from the passed string. After calling this, serial\_number\(\) will return a copy of value.| @@ -29,5 +19,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_allocated\_serial\_number\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_serial\_number\(\).| |release\_serial\_number\(\)|string \*|void|Releases the ownership of serial\_number and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and serial\_number\(\) will return the empty string/empty bytes.| -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) +**Parent topic:** [DeviceConfig \(C++\)](../../summary_pages/DeviceConfig.md) diff --git a/api_cpp/doc/markdown/messages/DeviceManager/DeviceHandles.md b/api_cpp/doc/markdown/messages/DeviceManager/DeviceHandles.md new file mode 100644 index 00000000..15a42b55 --- /dev/null +++ b/api_cpp/doc/markdown/messages/DeviceManager/DeviceHandles.md @@ -0,0 +1,22 @@ +# class DeviceHandles + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|device\_handle| [DeviceHandle](../Common/DeviceHandle.md#)|Device handle| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|device\_handle\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|device\_handle\(\) const|const [DeviceHandle](../Common/DeviceHandle.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, device\_handle\_size\(\)\) yields undefined behavior.| +|mutable\_device\_handle\(\)| [DeviceHandle](../Common/DeviceHandle.md#)\*|int index|Returns a pointer to the mutable [DeviceHandle](../Common/DeviceHandle.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, device\_handle\_size\(\)\) yields undefined behavior.| +|add\_device\_handle\(\)| [DeviceHandle](../Common/DeviceHandle.md#)\*|void|Adds a new element and returns a pointer to it. The returned [DeviceHandle](../Common/DeviceHandle.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [DeviceHandle](../Common/DeviceHandle.md#)\).| +|clear\_device\_handle\(\)|void|void|Removes all elements from the field. After calling this, device\_handle\_size\(\) will return zero.| +|device\_handle\(\) const|const RepeatedPtrField< [DeviceHandle](../Common/DeviceHandle.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_device\_handle\(\)|RepeatedPtrField< [DeviceHandle](../Common/DeviceHandle.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [DeviceManager \(C++\)](../../summary_pages/DeviceManager.md) + diff --git a/api_cpp/doc/markdown/messages/GripperCyclic/Command.md b/api_cpp/doc/markdown/messages/GripperCyclic/Command.md new file mode 100644 index 00000000..ed31802e --- /dev/null +++ b/api_cpp/doc/markdown/messages/GripperCyclic/Command.md @@ -0,0 +1,33 @@ +# class Command + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|command\_id| [MessageId](MessageId.md#)|MessageId| +|flags|uint32|Flags| +|motor\_cmd| [MotorCommand](MotorCommand.md#)|Array of finger commands, one for each finger of the gripper.| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_command\_id\(\) const|bool|void|Returns true if command\_id is set.| +|command\_id\(\)|const [MessageId](MessageId.md#)&|void|Returns the current value of command\_id. If command\_id is not set, returns a [MessageId](MessageId.md#) with none of its fields set \(possibly command\_id::default\_instance\(\)\).| +|mutable\_command\_id\(\)| [MessageId](MessageId.md#) \*|void|Returns a pointer to the mutable [MessageId](MessageId.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MessageId](MessageId.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MessageId](MessageId.md#)\). After calling this, has\_command\_id\(\) will return true and command\_id\(\) will return a reference to the same instance of [MessageId](MessageId.md#).| +|clear\_command\_id\(\)|void|void|Clears the value of the field. After calling this, has\_command\_id\(\) will return false and command\_id\(\) will return the default value.| +|set\_allocated\_command\_id\(\)|void| [MessageId](MessageId.md#) \*|Sets the [MessageId](MessageId.md#) object to the field and frees the previous field value if it exists. If the [MessageId](MessageId.md#) pointer is not NULL, the message takes ownership of the allocated [MessageId](MessageId.md#) object and has\_ [MessageId](MessageId.md#)\(\) will return true. Otherwise, if the command\_id is NULL, the behavior is the same as calling clear\_command\_id\(\).| +|release\_command\_id\(\)| [MessageId](MessageId.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MessageId](MessageId.md#) object. After calling this, caller takes the ownership of the allocated [MessageId](MessageId.md#) object, has\_command\_id\(\) will return false, and command\_id\(\) will return the default value.| +|flags\(\)|uint32|void|Returns the current value of flags. If the flags is not set, returns 0.| +|set\_flags\(\)|void|uint32|Sets the value of flags. After calling this, flags\(\) will return value.| +|clear\_flags\(\)|void|void|Clears the value of flags. After calling this, flags\(\) will return 0.| +|motor\_cmd\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|motor\_cmd\(\) const|const [MotorCommand](MotorCommand.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, motor\_cmd\_size\(\)\) yields undefined behavior.| +|mutable\_motor\_cmd\(\)| [MotorCommand](MotorCommand.md#)\*|int index|Returns a pointer to the mutable [MotorCommand](MotorCommand.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, motor\_cmd\_size\(\)\) yields undefined behavior.| +|add\_motor\_cmd\(\)| [MotorCommand](MotorCommand.md#)\*|void|Adds a new element and returns a pointer to it. The returned [MotorCommand](MotorCommand.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [MotorCommand](MotorCommand.md#)\).| +|clear\_motor\_cmd\(\)|void|void|Removes all elements from the field. After calling this, motor\_cmd\_size\(\) will return zero.| +|motor\_cmd\(\) const|const RepeatedPtrField< [MotorCommand](MotorCommand.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_motor\_cmd\(\)|RepeatedPtrField< [MotorCommand](MotorCommand.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [GripperCyclic \(C++\)](../../summary_pages/GripperCyclic.md) + diff --git a/api_cpp/doc/markdown/messages/GripperCyclic/CustomData.md b/api_cpp/doc/markdown/messages/GripperCyclic/CustomData.md new file mode 100644 index 00000000..acb7ac12 --- /dev/null +++ b/api_cpp/doc/markdown/messages/GripperCyclic/CustomData.md @@ -0,0 +1,36 @@ +# class CustomData + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|custom\_data\_id| [MessageId](MessageId.md#)|MessageId| +|gripper\_custom\_data| [CustomDataUnit](CustomDataUnit.md#)| | +|motor\_custom\_data| [CustomDataUnit](CustomDataUnit.md#)| | + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_custom\_data\_id\(\) const|bool|void|Returns true if custom\_data\_id is set.| +|custom\_data\_id\(\)|const [MessageId](MessageId.md#)&|void|Returns the current value of custom\_data\_id. If custom\_data\_id is not set, returns a [MessageId](MessageId.md#) with none of its fields set \(possibly custom\_data\_id::default\_instance\(\)\).| +|mutable\_custom\_data\_id\(\)| [MessageId](MessageId.md#) \*|void|Returns a pointer to the mutable [MessageId](MessageId.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MessageId](MessageId.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MessageId](MessageId.md#)\). After calling this, has\_custom\_data\_id\(\) will return true and custom\_data\_id\(\) will return a reference to the same instance of [MessageId](MessageId.md#).| +|clear\_custom\_data\_id\(\)|void|void|Clears the value of the field. After calling this, has\_custom\_data\_id\(\) will return false and custom\_data\_id\(\) will return the default value.| +|set\_allocated\_custom\_data\_id\(\)|void| [MessageId](MessageId.md#) \*|Sets the [MessageId](MessageId.md#) object to the field and frees the previous field value if it exists. If the [MessageId](MessageId.md#) pointer is not NULL, the message takes ownership of the allocated [MessageId](MessageId.md#) object and has\_ [MessageId](MessageId.md#)\(\) will return true. Otherwise, if the custom\_data\_id is NULL, the behavior is the same as calling clear\_custom\_data\_id\(\).| +|release\_custom\_data\_id\(\)| [MessageId](MessageId.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MessageId](MessageId.md#) object. After calling this, caller takes the ownership of the allocated [MessageId](MessageId.md#) object, has\_custom\_data\_id\(\) will return false, and custom\_data\_id\(\) will return the default value.| +|has\_gripper\_custom\_data\(\) const|bool|void|Returns true if gripper\_custom\_data is set.| +|gripper\_custom\_data\(\)|const [CustomDataUnit](CustomDataUnit.md#)&|void|Returns the current value of gripper\_custom\_data. If gripper\_custom\_data is not set, returns a [CustomDataUnit](CustomDataUnit.md#) with none of its fields set \(possibly gripper\_custom\_data::default\_instance\(\)\).| +|mutable\_gripper\_custom\_data\(\)| [CustomDataUnit](CustomDataUnit.md#) \*|void|Returns a pointer to the mutable [CustomDataUnit](CustomDataUnit.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [CustomDataUnit](CustomDataUnit.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [CustomDataUnit](CustomDataUnit.md#)\). After calling this, has\_gripper\_custom\_data\(\) will return true and gripper\_custom\_data\(\) will return a reference to the same instance of [CustomDataUnit](CustomDataUnit.md#).| +|clear\_gripper\_custom\_data\(\)|void|void|Clears the value of the field. After calling this, has\_gripper\_custom\_data\(\) will return false and gripper\_custom\_data\(\) will return the default value.| +|set\_allocated\_gripper\_custom\_data\(\)|void| [CustomDataUnit](CustomDataUnit.md#) \*|Sets the [CustomDataUnit](CustomDataUnit.md#) object to the field and frees the previous field value if it exists. If the [CustomDataUnit](CustomDataUnit.md#) pointer is not NULL, the message takes ownership of the allocated [CustomDataUnit](CustomDataUnit.md#) object and has\_ [CustomDataUnit](CustomDataUnit.md#)\(\) will return true. Otherwise, if the gripper\_custom\_data is NULL, the behavior is the same as calling clear\_gripper\_custom\_data\(\).| +|release\_gripper\_custom\_data\(\)| [CustomDataUnit](CustomDataUnit.md#) \*|void|Releases the ownership of the field and returns the pointer of the [CustomDataUnit](CustomDataUnit.md#) object. After calling this, caller takes the ownership of the allocated [CustomDataUnit](CustomDataUnit.md#) object, has\_gripper\_custom\_data\(\) will return false, and gripper\_custom\_data\(\) will return the default value.| +|motor\_custom\_data\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|motor\_custom\_data\(\) const|const [CustomDataUnit](CustomDataUnit.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, motor\_custom\_data\_size\(\)\) yields undefined behavior.| +|mutable\_motor\_custom\_data\(\)| [CustomDataUnit](CustomDataUnit.md#)\*|int index|Returns a pointer to the mutable [CustomDataUnit](CustomDataUnit.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, motor\_custom\_data\_size\(\)\) yields undefined behavior.| +|add\_motor\_custom\_data\(\)| [CustomDataUnit](CustomDataUnit.md#)\*|void|Adds a new element and returns a pointer to it. The returned [CustomDataUnit](CustomDataUnit.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [CustomDataUnit](CustomDataUnit.md#)\).| +|clear\_motor\_custom\_data\(\)|void|void|Removes all elements from the field. After calling this, motor\_custom\_data\_size\(\) will return zero.| +|motor\_custom\_data\(\) const|const RepeatedPtrField< [CustomDataUnit](CustomDataUnit.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_motor\_custom\_data\(\)|RepeatedPtrField< [CustomDataUnit](CustomDataUnit.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [GripperCyclic \(C++\)](../../summary_pages/GripperCyclic.md) + diff --git a/api_cpp/doc/markdown/references/msg_BaseCyclic_InterconnectCustomData.md b/api_cpp/doc/markdown/messages/GripperCyclic/CustomDataUnit.md similarity index 87% rename from api_cpp/doc/markdown/references/msg_BaseCyclic_InterconnectCustomData.md rename to api_cpp/doc/markdown/messages/GripperCyclic/CustomDataUnit.md index 78d6c31d..d2f2d388 100644 --- a/api_cpp/doc/markdown/references/msg_BaseCyclic_InterconnectCustomData.md +++ b/api_cpp/doc/markdown/messages/GripperCyclic/CustomDataUnit.md @@ -1,18 +1,9 @@ -# Message InterconnectCustomData +# class CustomDataUnit -This page describes the C++ Kinova::Api::BaseCyclic::InterconnectCustomData message. - -## Overview / Purpose - -Custom development data from an interconnect module, content varies according to debug needs - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|command\_id|uint32|Command ID \(first 2 bytes: device ID, last 2 bytes: sequence number\)| |custom\_data\_0|uint32|Custom data word 0| |custom\_data\_1|uint32|Custom data word 1| |custom\_data\_2|uint32|Custom data word 2| @@ -30,15 +21,10 @@ Custom development data from an interconnect module, content varies according to |custom\_data\_14|uint32|Custom data word 14| |custom\_data\_15|uint32|Custom data word 15| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|command\_id\(\)|uint32|void|Returns the current value of command\_id. If the command\_id is not set, returns 0.| -|set\_command\_id\(\)|void|uint32|Sets the value of command\_id. After calling this, command\_id\(\) will return value.| -|clear\_command\_id\(\)|void|void|Clears the value of command\_id. After calling this, command\_id\(\) will return 0.| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |custom\_data\_0\(\)|uint32|void|Returns the current value of custom\_data\_0. If the custom\_data\_0 is not set, returns 0.| |set\_custom\_data\_0\(\)|void|uint32|Sets the value of custom\_data\_0. After calling this, custom\_data\_0\(\) will return value.| |clear\_custom\_data\_0\(\)|void|void|Clears the value of custom\_data\_0. After calling this, custom\_data\_0\(\) will return 0.| @@ -88,5 +74,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_custom\_data\_15\(\)|void|uint32|Sets the value of custom\_data\_15. After calling this, custom\_data\_15\(\) will return value.| |clear\_custom\_data\_15\(\)|void|void|Clears the value of custom\_data\_15. After calling this, custom\_data\_15\(\) will return 0.| -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) +**Parent topic:** [GripperCyclic \(C++\)](../../summary_pages/GripperCyclic.md) diff --git a/api_cpp/doc/markdown/messages/GripperCyclic/Feedback.md b/api_cpp/doc/markdown/messages/GripperCyclic/Feedback.md new file mode 100644 index 00000000..8f95d660 --- /dev/null +++ b/api_cpp/doc/markdown/messages/GripperCyclic/Feedback.md @@ -0,0 +1,49 @@ +# class Feedback + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|feedback\_id| [MessageId](MessageId.md#)|MessageId| +|status\_flags|uint32|Status flags \(see GripperConfig.RobotiqGripperStatusFlags\)| +|fault\_bank\_a|uint32|Fault bank A \(see GripperConfig.SafetyIdentifier\)| +|fault\_bank\_b|uint32|Fault bank B \(see GripperConfig.SafetyIdentifier\)| +|warning\_bank\_a|uint32|Warning bank A \(see GripperConfig.SafetyIdentifier\)| +|warning\_bank\_b|uint32|Warning bank B \(see GripperConfig.SafetyIdentifier\)| +|motor| [MotorFeedback](MotorFeedback.md#)| | + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_feedback\_id\(\) const|bool|void|Returns true if feedback\_id is set.| +|feedback\_id\(\)|const [MessageId](MessageId.md#)&|void|Returns the current value of feedback\_id. If feedback\_id is not set, returns a [MessageId](MessageId.md#) with none of its fields set \(possibly feedback\_id::default\_instance\(\)\).| +|mutable\_feedback\_id\(\)| [MessageId](MessageId.md#) \*|void|Returns a pointer to the mutable [MessageId](MessageId.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MessageId](MessageId.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MessageId](MessageId.md#)\). After calling this, has\_feedback\_id\(\) will return true and feedback\_id\(\) will return a reference to the same instance of [MessageId](MessageId.md#).| +|clear\_feedback\_id\(\)|void|void|Clears the value of the field. After calling this, has\_feedback\_id\(\) will return false and feedback\_id\(\) will return the default value.| +|set\_allocated\_feedback\_id\(\)|void| [MessageId](MessageId.md#) \*|Sets the [MessageId](MessageId.md#) object to the field and frees the previous field value if it exists. If the [MessageId](MessageId.md#) pointer is not NULL, the message takes ownership of the allocated [MessageId](MessageId.md#) object and has\_ [MessageId](MessageId.md#)\(\) will return true. Otherwise, if the feedback\_id is NULL, the behavior is the same as calling clear\_feedback\_id\(\).| +|release\_feedback\_id\(\)| [MessageId](MessageId.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MessageId](MessageId.md#) object. After calling this, caller takes the ownership of the allocated [MessageId](MessageId.md#) object, has\_feedback\_id\(\) will return false, and feedback\_id\(\) will return the default value.| +|status\_flags\(\)|uint32|void|Returns the current value of status\_flags. If the status\_flags is not set, returns 0.| +|set\_status\_flags\(\)|void|uint32|Sets the value of status\_flags. After calling this, status\_flags\(\) will return value.| +|clear\_status\_flags\(\)|void|void|Clears the value of status\_flags. After calling this, status\_flags\(\) will return 0.| +|fault\_bank\_a\(\)|uint32|void|Returns the current value of fault\_bank\_a. If the fault\_bank\_a is not set, returns 0.| +|set\_fault\_bank\_a\(\)|void|uint32|Sets the value of fault\_bank\_a. After calling this, fault\_bank\_a\(\) will return value.| +|clear\_fault\_bank\_a\(\)|void|void|Clears the value of fault\_bank\_a. After calling this, fault\_bank\_a\(\) will return 0.| +|fault\_bank\_b\(\)|uint32|void|Returns the current value of fault\_bank\_b. If the fault\_bank\_b is not set, returns 0.| +|set\_fault\_bank\_b\(\)|void|uint32|Sets the value of fault\_bank\_b. After calling this, fault\_bank\_b\(\) will return value.| +|clear\_fault\_bank\_b\(\)|void|void|Clears the value of fault\_bank\_b. After calling this, fault\_bank\_b\(\) will return 0.| +|warning\_bank\_a\(\)|uint32|void|Returns the current value of warning\_bank\_a. If the warning\_bank\_a is not set, returns 0.| +|set\_warning\_bank\_a\(\)|void|uint32|Sets the value of warning\_bank\_a. After calling this, warning\_bank\_a\(\) will return value.| +|clear\_warning\_bank\_a\(\)|void|void|Clears the value of warning\_bank\_a. After calling this, warning\_bank\_a\(\) will return 0.| +|warning\_bank\_b\(\)|uint32|void|Returns the current value of warning\_bank\_b. If the warning\_bank\_b is not set, returns 0.| +|set\_warning\_bank\_b\(\)|void|uint32|Sets the value of warning\_bank\_b. After calling this, warning\_bank\_b\(\) will return value.| +|clear\_warning\_bank\_b\(\)|void|void|Clears the value of warning\_bank\_b. After calling this, warning\_bank\_b\(\) will return 0.| +|motor\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|motor\(\) const|const [MotorFeedback](MotorFeedback.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, motor\_size\(\)\) yields undefined behavior.| +|mutable\_motor\(\)| [MotorFeedback](MotorFeedback.md#)\*|int index|Returns a pointer to the mutable [MotorFeedback](MotorFeedback.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, motor\_size\(\)\) yields undefined behavior.| +|add\_motor\(\)| [MotorFeedback](MotorFeedback.md#)\*|void|Adds a new element and returns a pointer to it. The returned [MotorFeedback](MotorFeedback.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [MotorFeedback](MotorFeedback.md#)\).| +|clear\_motor\(\)|void|void|Removes all elements from the field. After calling this, motor\_size\(\) will return zero.| +|motor\(\) const|const RepeatedPtrField< [MotorFeedback](MotorFeedback.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_motor\(\)|RepeatedPtrField< [MotorFeedback](MotorFeedback.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [GripperCyclic \(C++\)](../../summary_pages/GripperCyclic.md) + diff --git a/api_cpp/doc/markdown/messages/GripperCyclic/MessageId.md b/api_cpp/doc/markdown/messages/GripperCyclic/MessageId.md new file mode 100644 index 00000000..2e480b8d --- /dev/null +++ b/api_cpp/doc/markdown/messages/GripperCyclic/MessageId.md @@ -0,0 +1,18 @@ +# class MessageId + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|identifier|uint32|Message ID \(first 2 bytes : device ID, last 2 bytes : sequence number\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|identifier\(\)|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| +|set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| +|clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return 0.| + +**Parent topic:** [GripperCyclic \(C++\)](../../summary_pages/GripperCyclic.md) + diff --git a/api_cpp/doc/markdown/messages/GripperCyclic/MotorCommand.md b/api_cpp/doc/markdown/messages/GripperCyclic/MotorCommand.md new file mode 100644 index 00000000..bb7cf914 --- /dev/null +++ b/api_cpp/doc/markdown/messages/GripperCyclic/MotorCommand.md @@ -0,0 +1,30 @@ +# class MotorCommand + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|motor\_id|uint32|Motor ID \(1, nb\_motor\)| +|position|float32|Desired position of the gripper fingers in percentage \(0-100%\)| +|velocity|float32|Desired velocity in percentage \(0-100%\) with which position will be set| +|force|float32|Desired force limit of the gripper fingers in percentage \(0-100%\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|motor\_id\(\)|uint32|void|Returns the current value of motor\_id. If the motor\_id is not set, returns 0.| +|set\_motor\_id\(\)|void|uint32|Sets the value of motor\_id. After calling this, motor\_id\(\) will return value.| +|clear\_motor\_id\(\)|void|void|Clears the value of motor\_id. After calling this, motor\_id\(\) will return 0.| +|position\(\)|float32|void|Returns the current value of position. If the position is not set, returns 0.| +|set\_position\(\)|void|float32|Sets the value of position. After calling this, position\(\) will return value.| +|clear\_position\(\)|void|void|Clears the value of position. After calling this, position\(\) will return 0.| +|velocity\(\)|float32|void|Returns the current value of velocity. If the velocity is not set, returns 0.| +|set\_velocity\(\)|void|float32|Sets the value of velocity. After calling this, velocity\(\) will return value.| +|clear\_velocity\(\)|void|void|Clears the value of velocity. After calling this, velocity\(\) will return 0.| +|force\(\)|float32|void|Returns the current value of force. If the force is not set, returns 0.| +|set\_force\(\)|void|float32|Sets the value of force. After calling this, force\(\) will return value.| +|clear\_force\(\)|void|void|Clears the value of force. After calling this, force\(\) will return 0.| + +**Parent topic:** [GripperCyclic \(C++\)](../../summary_pages/GripperCyclic.md) + diff --git a/api_cpp/doc/markdown/messages/GripperCyclic/MotorFeedback.md b/api_cpp/doc/markdown/messages/GripperCyclic/MotorFeedback.md new file mode 100644 index 00000000..fab410b1 --- /dev/null +++ b/api_cpp/doc/markdown/messages/GripperCyclic/MotorFeedback.md @@ -0,0 +1,38 @@ +# class MotorFeedback + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|motor\_id|uint32|Motor ID \(1, nb\_motor\)| +|position|float32|Position of the gripper fingers in percentage \(0-100%\)| +|velocity|float32|Velocity of the gripper fingers in percentage \(0-100%\)| +|current\_motor|float32|Current comsumed by the gripper motor \(mA\)| +|voltage|float32|Motor Voltage \(V\)| +|temperature\_motor|float32|Motor temperature. \(degrees Celsius\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|motor\_id\(\)|uint32|void|Returns the current value of motor\_id. If the motor\_id is not set, returns 0.| +|set\_motor\_id\(\)|void|uint32|Sets the value of motor\_id. After calling this, motor\_id\(\) will return value.| +|clear\_motor\_id\(\)|void|void|Clears the value of motor\_id. After calling this, motor\_id\(\) will return 0.| +|position\(\)|float32|void|Returns the current value of position. If the position is not set, returns 0.| +|set\_position\(\)|void|float32|Sets the value of position. After calling this, position\(\) will return value.| +|clear\_position\(\)|void|void|Clears the value of position. After calling this, position\(\) will return 0.| +|velocity\(\)|float32|void|Returns the current value of velocity. If the velocity is not set, returns 0.| +|set\_velocity\(\)|void|float32|Sets the value of velocity. After calling this, velocity\(\) will return value.| +|clear\_velocity\(\)|void|void|Clears the value of velocity. After calling this, velocity\(\) will return 0.| +|current\_motor\(\)|float32|void|Returns the current value of current\_motor. If the current\_motor is not set, returns 0.| +|set\_current\_motor\(\)|void|float32|Sets the value of current\_motor. After calling this, current\_motor\(\) will return value.| +|clear\_current\_motor\(\)|void|void|Clears the value of current\_motor. After calling this, current\_motor\(\) will return 0.| +|voltage\(\)|float32|void|Returns the current value of voltage. If the voltage is not set, returns 0.| +|set\_voltage\(\)|void|float32|Sets the value of voltage. After calling this, voltage\(\) will return value.| +|clear\_voltage\(\)|void|void|Clears the value of voltage. After calling this, voltage\(\) will return 0.| +|temperature\_motor\(\)|float32|void|Returns the current value of temperature\_motor. If the temperature\_motor is not set, returns 0.| +|set\_temperature\_motor\(\)|void|float32|Sets the value of temperature\_motor. After calling this, temperature\_motor\(\) will return value.| +|clear\_temperature\_motor\(\)|void|void|Clears the value of temperature\_motor. After calling this, temperature\_motor\(\) will return 0.| + +**Parent topic:** [GripperCyclic \(C++\)](../../summary_pages/GripperCyclic.md) + diff --git a/api_cpp/doc/markdown/messages/InterconnectConfig/EthernetConfiguration.md b/api_cpp/doc/markdown/messages/InterconnectConfig/EthernetConfiguration.md new file mode 100644 index 00000000..21c12e9f --- /dev/null +++ b/api_cpp/doc/markdown/messages/InterconnectConfig/EthernetConfiguration.md @@ -0,0 +1,30 @@ +# class EthernetConfiguration + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|device|uint32|Device identification| +|enabled|bool|True if the ethernet device is enabled, false otherwise| +|speed|uint32|Speed selection| +|duplex|uint32|Duplex mode| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|device\(\) const|uint32|void|Returns the current value of device. If the device is not set, returns 0.| +|set\_device\(\)|void|uint32|Sets the value of device. After calling this, device\(\) will return value.| +|clear\_device\(\)|void|void|Clears the value of device. After calling this, device\(\) will return the empty string/empty bytes.| +|enabled\(\)|bool|void|Returns the current value of enabled. If the enabled is not set, returns 0.| +|set\_enabled\(\)|void|bool|Sets the value of enabled. After calling this, enabled\(\) will return value.| +|clear\_enabled\(\)|void|void|Clears the value of enabled. After calling this, enabled\(\) will return 0.| +|speed\(\) const|uint32|void|Returns the current value of speed. If the speed is not set, returns 0.| +|set\_speed\(\)|void|uint32|Sets the value of speed. After calling this, speed\(\) will return value.| +|clear\_speed\(\)|void|void|Clears the value of speed. After calling this, speed\(\) will return the empty string/empty bytes.| +|duplex\(\) const|uint32|void|Returns the current value of duplex. If the duplex is not set, returns 0.| +|set\_duplex\(\)|void|uint32|Sets the value of duplex. After calling this, duplex\(\) will return value.| +|clear\_duplex\(\)|void|void|Clears the value of duplex. After calling this, duplex\(\) will return the empty string/empty bytes.| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/messages/InterconnectConfig/EthernetDeviceIdentification.md b/api_cpp/doc/markdown/messages/InterconnectConfig/EthernetDeviceIdentification.md new file mode 100644 index 00000000..d436c365 --- /dev/null +++ b/api_cpp/doc/markdown/messages/InterconnectConfig/EthernetDeviceIdentification.md @@ -0,0 +1,18 @@ +# class EthernetDeviceIdentification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|device|uint32|Ethernet device| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|device\(\) const|uint32|void|Returns the current value of device. If the device is not set, returns 0.| +|set\_device\(\)|void|uint32|Sets the value of device. After calling this, device\(\) will return value.| +|clear\_device\(\)|void|void|Clears the value of device. After calling this, device\(\) will return the empty string/empty bytes.| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/messages/InterconnectConfig/GPIOConfiguration.md b/api_cpp/doc/markdown/messages/InterconnectConfig/GPIOConfiguration.md new file mode 100644 index 00000000..4c385553 --- /dev/null +++ b/api_cpp/doc/markdown/messages/InterconnectConfig/GPIOConfiguration.md @@ -0,0 +1,30 @@ +# class GPIOConfiguration + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|identifier|uint32|GPIO identifier| +|mode|uint32|Mode| +|pull|uint32|Pull mode| +|default\_value|uint32|Default value at power on| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|identifier\(\) const|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| +|set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| +|clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return the empty string/empty bytes.| +|mode\(\) const|uint32|void|Returns the current value of mode. If the mode is not set, returns 0.| +|set\_mode\(\)|void|uint32|Sets the value of mode. After calling this, mode\(\) will return value.| +|clear\_mode\(\)|void|void|Clears the value of mode. After calling this, mode\(\) will return the empty string/empty bytes.| +|pull\(\) const|uint32|void|Returns the current value of pull. If the pull is not set, returns 0.| +|set\_pull\(\)|void|uint32|Sets the value of pull. After calling this, pull\(\) will return value.| +|clear\_pull\(\)|void|void|Clears the value of pull. After calling this, pull\(\) will return the empty string/empty bytes.| +|default\_value\(\) const|uint32|void|Returns the current value of default\_value. If the default\_value is not set, returns 0.| +|set\_default\_value\(\)|void|uint32|Sets the value of default\_value. After calling this, default\_value\(\) will return value.| +|clear\_default\_value\(\)|void|void|Clears the value of default\_value. After calling this, default\_value\(\) will return the empty string/empty bytes.| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/messages/InterconnectConfig/GPIOIdentification.md b/api_cpp/doc/markdown/messages/InterconnectConfig/GPIOIdentification.md new file mode 100644 index 00000000..45a12780 --- /dev/null +++ b/api_cpp/doc/markdown/messages/InterconnectConfig/GPIOIdentification.md @@ -0,0 +1,18 @@ +# class GPIOIdentification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|identifier|uint32|GPIO identifier| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|identifier\(\) const|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| +|set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| +|clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return the empty string/empty bytes.| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/messages/InterconnectConfig/GPIOState.md b/api_cpp/doc/markdown/messages/InterconnectConfig/GPIOState.md new file mode 100644 index 00000000..8f87cf0d --- /dev/null +++ b/api_cpp/doc/markdown/messages/InterconnectConfig/GPIOState.md @@ -0,0 +1,22 @@ +# class GPIOState + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|identifier|uint32|GPIO identifier| +|value|uint32|Value| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|identifier\(\) const|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| +|set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| +|clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return the empty string/empty bytes.| +|value\(\) const|uint32|void|Returns the current value of value. If the value is not set, returns 0.| +|set\_value\(\)|void|uint32|Sets the value of value. After calling this, value\(\) will return value.| +|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return the empty string/empty bytes.| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/messages/InterconnectConfig/I2CConfiguration.md b/api_cpp/doc/markdown/messages/InterconnectConfig/I2CConfiguration.md new file mode 100644 index 00000000..1e2e464b --- /dev/null +++ b/api_cpp/doc/markdown/messages/InterconnectConfig/I2CConfiguration.md @@ -0,0 +1,30 @@ +# class I2CConfiguration + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|device|uint32|I2C device identification| +|enabled|bool|True if I2C device is enabled, false otherwise| +|mode|uint32|Mode| +|addressing|uint32|Addressing mode| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|device\(\) const|uint32|void|Returns the current value of device. If the device is not set, returns 0.| +|set\_device\(\)|void|uint32|Sets the value of device. After calling this, device\(\) will return value.| +|clear\_device\(\)|void|void|Clears the value of device. After calling this, device\(\) will return the empty string/empty bytes.| +|enabled\(\)|bool|void|Returns the current value of enabled. If the enabled is not set, returns 0.| +|set\_enabled\(\)|void|bool|Sets the value of enabled. After calling this, enabled\(\) will return value.| +|clear\_enabled\(\)|void|void|Clears the value of enabled. After calling this, enabled\(\) will return 0.| +|mode\(\) const|uint32|void|Returns the current value of mode. If the mode is not set, returns 0.| +|set\_mode\(\)|void|uint32|Sets the value of mode. After calling this, mode\(\) will return value.| +|clear\_mode\(\)|void|void|Clears the value of mode. After calling this, mode\(\) will return the empty string/empty bytes.| +|addressing\(\) const|uint32|void|Returns the current value of addressing. If the addressing is not set, returns 0.| +|set\_addressing\(\)|void|uint32|Sets the value of addressing. After calling this, addressing\(\) will return value.| +|clear\_addressing\(\)|void|void|Clears the value of addressing. After calling this, addressing\(\) will return the empty string/empty bytes.| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/messages/InterconnectConfig/I2CData.md b/api_cpp/doc/markdown/messages/InterconnectConfig/I2CData.md new file mode 100644 index 00000000..aedcbd1e --- /dev/null +++ b/api_cpp/doc/markdown/messages/InterconnectConfig/I2CData.md @@ -0,0 +1,27 @@ +# class I2CData + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|data|uint8\[\]|Data byte\(s\) array \(max 128 bytes\)| +|size|uint32|Data byte\(s\) array size| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|data\(\)|const string&|void|Returns the current value of data. If data is not set, returns the empty string/empty bytes.| +|set\_data\(\)|void|const string&|Sets the value of data. After calling this, data\(\) will return a copy of value.| +|set\_data\(\)|void|string&&|\(C++11 and beyond\): Sets the value of data, moving from the passed string. After calling this, data\(\) will return a copy of value.| +|set\_data\(\)|void|const char\*|Sets the value of data using a C-style null-terminated string. After calling this, data\(\) will return a copy of value.| +|mutable\_data\(\)|string \*|void|Returns a pointer to the mutable string object that stores data's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, data\(\) will return whatever value is written into the given string.| +|clear\_data\(\)|void|void|Clears the value of data. After calling this, data\(\) will return the empty string/empty bytes.| +|set\_allocated\_data\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_data\(\).| +|release\_data\(\)|string \*|void|Releases the ownership of data and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and data\(\) will return the empty string/empty bytes.| +|size\(\)|uint32|void|Returns the current value of size. If the size is not set, returns 0.| +|set\_size\(\)|void|uint32|Sets the value of size. After calling this, size\(\) will return value.| +|clear\_size\(\)|void|void|Clears the value of size. After calling this, size\(\) will return 0.| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/messages/InterconnectConfig/I2CDeviceIdentification.md b/api_cpp/doc/markdown/messages/InterconnectConfig/I2CDeviceIdentification.md new file mode 100644 index 00000000..09ced6c3 --- /dev/null +++ b/api_cpp/doc/markdown/messages/InterconnectConfig/I2CDeviceIdentification.md @@ -0,0 +1,18 @@ +# class I2CDeviceIdentification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|device|uint32|I2C device| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|device\(\) const|uint32|void|Returns the current value of device. If the device is not set, returns 0.| +|set\_device\(\)|void|uint32|Sets the value of device. After calling this, device\(\) will return value.| +|clear\_device\(\)|void|void|Clears the value of device. After calling this, device\(\) will return the empty string/empty bytes.| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/messages/InterconnectConfig/I2CReadParameter.md b/api_cpp/doc/markdown/messages/InterconnectConfig/I2CReadParameter.md new file mode 100644 index 00000000..29edc324 --- /dev/null +++ b/api_cpp/doc/markdown/messages/InterconnectConfig/I2CReadParameter.md @@ -0,0 +1,30 @@ +# class I2CReadParameter + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|device|uint32|I2C device identification| +|device\_address|uint32|I2C device address| +|size|uint32|I2C number of bytes to read \(max 128 bytes\)| +|timeout|uint32|Request timeout in milliseconds| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|device\(\) const|uint32|void|Returns the current value of device. If the device is not set, returns 0.| +|set\_device\(\)|void|uint32|Sets the value of device. After calling this, device\(\) will return value.| +|clear\_device\(\)|void|void|Clears the value of device. After calling this, device\(\) will return the empty string/empty bytes.| +|device\_address\(\)|uint32|void|Returns the current value of device\_address. If the device\_address is not set, returns 0.| +|set\_device\_address\(\)|void|uint32|Sets the value of device\_address. After calling this, device\_address\(\) will return value.| +|clear\_device\_address\(\)|void|void|Clears the value of device\_address. After calling this, device\_address\(\) will return 0.| +|size\(\)|uint32|void|Returns the current value of size. If the size is not set, returns 0.| +|set\_size\(\)|void|uint32|Sets the value of size. After calling this, size\(\) will return value.| +|clear\_size\(\)|void|void|Clears the value of size. After calling this, size\(\) will return 0.| +|timeout\(\)|uint32|void|Returns the current value of timeout. If the timeout is not set, returns 0.| +|set\_timeout\(\)|void|uint32|Sets the value of timeout. After calling this, timeout\(\) will return value.| +|clear\_timeout\(\)|void|void|Clears the value of timeout. After calling this, timeout\(\) will return 0.| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/messages/InterconnectConfig/I2CReadRegisterParameter.md b/api_cpp/doc/markdown/messages/InterconnectConfig/I2CReadRegisterParameter.md new file mode 100644 index 00000000..0f0c0082 --- /dev/null +++ b/api_cpp/doc/markdown/messages/InterconnectConfig/I2CReadRegisterParameter.md @@ -0,0 +1,38 @@ +# class I2CReadRegisterParameter + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|device|uint32|I2C device identification| +|device\_address|uint32|I2C device address| +|register\_address|uint32|I2C register address \(8 or 16 bits\)| +|register\_address\_size|uint32|I2C register address size| +|size|uint32|I2C number of bytes to read \(max 128 bytes\)| +|timeout|uint32|Request timeout in milliseconds| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|device\(\) const|uint32|void|Returns the current value of device. If the device is not set, returns 0.| +|set\_device\(\)|void|uint32|Sets the value of device. After calling this, device\(\) will return value.| +|clear\_device\(\)|void|void|Clears the value of device. After calling this, device\(\) will return the empty string/empty bytes.| +|device\_address\(\)|uint32|void|Returns the current value of device\_address. If the device\_address is not set, returns 0.| +|set\_device\_address\(\)|void|uint32|Sets the value of device\_address. After calling this, device\_address\(\) will return value.| +|clear\_device\_address\(\)|void|void|Clears the value of device\_address. After calling this, device\_address\(\) will return 0.| +|register\_address\(\)|uint32|void|Returns the current value of register\_address. If the register\_address is not set, returns 0.| +|set\_register\_address\(\)|void|uint32|Sets the value of register\_address. After calling this, register\_address\(\) will return value.| +|clear\_register\_address\(\)|void|void|Clears the value of register\_address. After calling this, register\_address\(\) will return 0.| +|register\_address\_size\(\) const|uint32|void|Returns the current value of register\_address\_size. If the register\_address\_size is not set, returns 0.| +|set\_register\_address\_size\(\)|void|uint32|Sets the value of register\_address\_size. After calling this, register\_address\_size\(\) will return value.| +|clear\_register\_address\_size\(\)|void|void|Clears the value of register\_address\_size. After calling this, register\_address\_size\(\) will return the empty string/empty bytes.| +|size\(\)|uint32|void|Returns the current value of size. If the size is not set, returns 0.| +|set\_size\(\)|void|uint32|Sets the value of size. After calling this, size\(\) will return value.| +|clear\_size\(\)|void|void|Clears the value of size. After calling this, size\(\) will return 0.| +|timeout\(\)|uint32|void|Returns the current value of timeout. If the timeout is not set, returns 0.| +|set\_timeout\(\)|void|uint32|Sets the value of timeout. After calling this, timeout\(\) will return value.| +|clear\_timeout\(\)|void|void|Clears the value of timeout. After calling this, timeout\(\) will return 0.| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/messages/InterconnectConfig/I2CWriteParameter.md b/api_cpp/doc/markdown/messages/InterconnectConfig/I2CWriteParameter.md new file mode 100644 index 00000000..b1d83874 --- /dev/null +++ b/api_cpp/doc/markdown/messages/InterconnectConfig/I2CWriteParameter.md @@ -0,0 +1,33 @@ +# class I2CWriteParameter + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|device|uint32|I2C device identification| +|device\_address|uint32|I2C device address| +|timeout|uint32|Request timeout in milliseconds| +|data| [I2CData](I2CData.md#)|Data to write| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|device\(\) const|uint32|void|Returns the current value of device. If the device is not set, returns 0.| +|set\_device\(\)|void|uint32|Sets the value of device. After calling this, device\(\) will return value.| +|clear\_device\(\)|void|void|Clears the value of device. After calling this, device\(\) will return the empty string/empty bytes.| +|device\_address\(\)|uint32|void|Returns the current value of device\_address. If the device\_address is not set, returns 0.| +|set\_device\_address\(\)|void|uint32|Sets the value of device\_address. After calling this, device\_address\(\) will return value.| +|clear\_device\_address\(\)|void|void|Clears the value of device\_address. After calling this, device\_address\(\) will return 0.| +|timeout\(\)|uint32|void|Returns the current value of timeout. If the timeout is not set, returns 0.| +|set\_timeout\(\)|void|uint32|Sets the value of timeout. After calling this, timeout\(\) will return value.| +|clear\_timeout\(\)|void|void|Clears the value of timeout. After calling this, timeout\(\) will return 0.| +|has\_data\(\) const|bool|void|Returns true if data is set.| +|data\(\)|const [I2CData](I2CData.md#)&|void|Returns the current value of data. If data is not set, returns a [I2CData](I2CData.md#) with none of its fields set \(possibly data::default\_instance\(\)\).| +|mutable\_data\(\)| [I2CData](I2CData.md#) \*|void|Returns a pointer to the mutable [I2CData](I2CData.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [I2CData](I2CData.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [I2CData](I2CData.md#)\). After calling this, has\_data\(\) will return true and data\(\) will return a reference to the same instance of [I2CData](I2CData.md#).| +|clear\_data\(\)|void|void|Clears the value of the field. After calling this, has\_data\(\) will return false and data\(\) will return the default value.| +|set\_allocated\_data\(\)|void| [I2CData](I2CData.md#) \*|Sets the [I2CData](I2CData.md#) object to the field and frees the previous field value if it exists. If the [I2CData](I2CData.md#) pointer is not NULL, the message takes ownership of the allocated [I2CData](I2CData.md#) object and has\_ [I2CData](I2CData.md#)\(\) will return true. Otherwise, if the data is NULL, the behavior is the same as calling clear\_data\(\).| +|release\_data\(\)| [I2CData](I2CData.md#) \*|void|Releases the ownership of the field and returns the pointer of the [I2CData](I2CData.md#) object. After calling this, caller takes the ownership of the allocated [I2CData](I2CData.md#) object, has\_data\(\) will return false, and data\(\) will return the default value.| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/messages/InterconnectConfig/I2CWriteRegisterParameter.md b/api_cpp/doc/markdown/messages/InterconnectConfig/I2CWriteRegisterParameter.md new file mode 100644 index 00000000..f7ce2d0d --- /dev/null +++ b/api_cpp/doc/markdown/messages/InterconnectConfig/I2CWriteRegisterParameter.md @@ -0,0 +1,41 @@ +# class I2CWriteRegisterParameter + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|device|uint32|I2C device identification| +|device\_address|uint32|I2C device address| +|register\_address|uint32|I2C register address \(8 or 16 bits\)| +|register\_address\_size|uint32|I2C register address size| +|timeout|uint32|Request timeout in milliseconds| +|data| [I2CData](I2CData.md#)|Data to write| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|device\(\) const|uint32|void|Returns the current value of device. If the device is not set, returns 0.| +|set\_device\(\)|void|uint32|Sets the value of device. After calling this, device\(\) will return value.| +|clear\_device\(\)|void|void|Clears the value of device. After calling this, device\(\) will return the empty string/empty bytes.| +|device\_address\(\)|uint32|void|Returns the current value of device\_address. If the device\_address is not set, returns 0.| +|set\_device\_address\(\)|void|uint32|Sets the value of device\_address. After calling this, device\_address\(\) will return value.| +|clear\_device\_address\(\)|void|void|Clears the value of device\_address. After calling this, device\_address\(\) will return 0.| +|register\_address\(\)|uint32|void|Returns the current value of register\_address. If the register\_address is not set, returns 0.| +|set\_register\_address\(\)|void|uint32|Sets the value of register\_address. After calling this, register\_address\(\) will return value.| +|clear\_register\_address\(\)|void|void|Clears the value of register\_address. After calling this, register\_address\(\) will return 0.| +|register\_address\_size\(\) const|uint32|void|Returns the current value of register\_address\_size. If the register\_address\_size is not set, returns 0.| +|set\_register\_address\_size\(\)|void|uint32|Sets the value of register\_address\_size. After calling this, register\_address\_size\(\) will return value.| +|clear\_register\_address\_size\(\)|void|void|Clears the value of register\_address\_size. After calling this, register\_address\_size\(\) will return the empty string/empty bytes.| +|timeout\(\)|uint32|void|Returns the current value of timeout. If the timeout is not set, returns 0.| +|set\_timeout\(\)|void|uint32|Sets the value of timeout. After calling this, timeout\(\) will return value.| +|clear\_timeout\(\)|void|void|Clears the value of timeout. After calling this, timeout\(\) will return 0.| +|has\_data\(\) const|bool|void|Returns true if data is set.| +|data\(\)|const [I2CData](I2CData.md#)&|void|Returns the current value of data. If data is not set, returns a [I2CData](I2CData.md#) with none of its fields set \(possibly data::default\_instance\(\)\).| +|mutable\_data\(\)| [I2CData](I2CData.md#) \*|void|Returns a pointer to the mutable [I2CData](I2CData.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [I2CData](I2CData.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [I2CData](I2CData.md#)\). After calling this, has\_data\(\) will return true and data\(\) will return a reference to the same instance of [I2CData](I2CData.md#).| +|clear\_data\(\)|void|void|Clears the value of the field. After calling this, has\_data\(\) will return false and data\(\) will return the default value.| +|set\_allocated\_data\(\)|void| [I2CData](I2CData.md#) \*|Sets the [I2CData](I2CData.md#) object to the field and frees the previous field value if it exists. If the [I2CData](I2CData.md#) pointer is not NULL, the message takes ownership of the allocated [I2CData](I2CData.md#) object and has\_ [I2CData](I2CData.md#)\(\) will return true. Otherwise, if the data is NULL, the behavior is the same as calling clear\_data\(\).| +|release\_data\(\)| [I2CData](I2CData.md#) \*|void|Releases the ownership of the field and returns the pointer of the [I2CData](I2CData.md#) object. After calling this, caller takes the ownership of the allocated [I2CData](I2CData.md#) object, has\_data\(\) will return false, and data\(\) will return the default value.| + +**Parent topic:** [InterconnectConfig \(C++\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/messages/InterconnectCyclic/Command.md b/api_cpp/doc/markdown/messages/InterconnectCyclic/Command.md new file mode 100644 index 00000000..1d598847 --- /dev/null +++ b/api_cpp/doc/markdown/messages/InterconnectCyclic/Command.md @@ -0,0 +1,32 @@ +# class Command + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|command\_id| [MessageId](MessageId.md#)|MessageId| +|flags|uint32|Flags| +|gripper\_command|oneof:tool\_command [Command](../GripperCyclic/Command.md#)|Gripper command| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_command\_id\(\) const|bool|void|Returns true if command\_id is set.| +|command\_id\(\)|const [MessageId](MessageId.md#)&|void|Returns the current value of command\_id. If command\_id is not set, returns a [MessageId](MessageId.md#) with none of its fields set \(possibly command\_id::default\_instance\(\)\).| +|mutable\_command\_id\(\)| [MessageId](MessageId.md#) \*|void|Returns a pointer to the mutable [MessageId](MessageId.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MessageId](MessageId.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MessageId](MessageId.md#)\). After calling this, has\_command\_id\(\) will return true and command\_id\(\) will return a reference to the same instance of [MessageId](MessageId.md#).| +|clear\_command\_id\(\)|void|void|Clears the value of the field. After calling this, has\_command\_id\(\) will return false and command\_id\(\) will return the default value.| +|set\_allocated\_command\_id\(\)|void| [MessageId](MessageId.md#) \*|Sets the [MessageId](MessageId.md#) object to the field and frees the previous field value if it exists. If the [MessageId](MessageId.md#) pointer is not NULL, the message takes ownership of the allocated [MessageId](MessageId.md#) object and has\_ [MessageId](MessageId.md#)\(\) will return true. Otherwise, if the command\_id is NULL, the behavior is the same as calling clear\_command\_id\(\).| +|release\_command\_id\(\)| [MessageId](MessageId.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MessageId](MessageId.md#) object. After calling this, caller takes the ownership of the allocated [MessageId](MessageId.md#) object, has\_command\_id\(\) will return false, and command\_id\(\) will return the default value.| +|flags\(\)|uint32|void|Returns the current value of flags. If the flags is not set, returns 0.| +|set\_flags\(\)|void|uint32|Sets the value of flags. After calling this, flags\(\) will return value.| +|clear\_flags\(\)|void|void|Clears the value of flags. After calling this, flags\(\) will return 0.| +|has\_gripper\_command\(\) const|void|void|Returns the current value of the field if oneof case is kGripper\_command. Otherwise, returns oneof:tool\_command [Command](../GripperCyclic/Command.md#)::default\_instance\(\)| +|gripper\_command\(\) const|const oneof:tool\_command [Command](../GripperCyclic/Command.md#)&|void|Returns the current value of the field if oneof case is kGripper\_command| +|mutable\_gripper\_command\(\)|oneof:tool\_command [Command](../GripperCyclic/Command.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_tool\_command\(\). Sets the oneof case to kGripper\_command and returns a pointer to the mutable oneof:tool\_command [Command](../GripperCyclic/Command.md#) object that stores the field's value. If the oneof case was not kGripper\_command prior to the call, then the returned oneof:tool\_command [Command](../GripperCyclic/Command.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:tool\_command [Command](../GripperCyclic/Command.md#)\). After calling this, has\_gripper\_command\(\) will return true, gripper\_command\(\) will return a reference to the same instance of oneof:tool\_command [Command](../GripperCyclic/Command.md#) and tool\_command\_case\(\) will return kGripper\_command| +|clear\_gripper\_command\(\)|void|void|Nothing will be changed if the oneof case is not kGripper\_command. If the oneof case equals kGripper\_command, frees the field and clears the oneof case. has\_gripper\_command\(\) will return false, gripper\_command\(\) will return the default value and tool\_command\_case\(\) will return TOOL\_COMMAND\_NOT\_SET.| +|set\_allocated\_gripper\_command\(\)|void|oneof:tool\_command [Command](../GripperCyclic/Command.md#)\*|Calls clear\_tool\_command\(\). If the oneof:tool\_command [Command](../GripperCyclic/Command.md#) pointer is not NULL: Sets the oneof:tool\_command [Command](../GripperCyclic/Command.md#) object to the field and sets the oneof case to kGripper\_command. The message takes ownership of the allocated oneof:tool\_command [Command](../GripperCyclic/Command.md#) object, has\_gripper\_command\(\) will return true and tool\_command\_case\(\) will return kGripper\_command. If the pointer is NULL, has\_gripper\_command\(\) will return false and tool\_command\_case\(\) will return TOOL\_COMMAND\_NOT\_SET. \(The behavior is like calling clear\_tool\_command\(\)\)| +|release\_gripper\_command\(\)|oneof:tool\_command [Command](../GripperCyclic/Command.md#)\*|void|Returns NULL if oneof case is not kGripper\_command. If the oneof case is kGripper\_command, clears the oneof case, releases the ownership of the field and returns the pointer of the tool\_command object. After calling this, caller takes the ownership of the allocated tool\_command object, has\_gripper\_command\(\) will return false, gripper\_command\(\) will return the default value and tool\_command\_case\(\) will return TOOL\_COMMAND\_NOT\_SET.| + +**Parent topic:** [InterconnectCyclic \(C++\)](../../summary_pages/InterconnectCyclic.md) + diff --git a/api_cpp/doc/markdown/references/msg_InterconnectCyclic_CustomData.md b/api_cpp/doc/markdown/messages/InterconnectCyclic/CustomData.md similarity index 58% rename from api_cpp/doc/markdown/references/msg_InterconnectCyclic_CustomData.md rename to api_cpp/doc/markdown/messages/InterconnectCyclic/CustomData.md index 03c0e58c..0d1d8806 100644 --- a/api_cpp/doc/markdown/references/msg_InterconnectCyclic_CustomData.md +++ b/api_cpp/doc/markdown/messages/InterconnectCyclic/CustomData.md @@ -1,18 +1,10 @@ -# Message CustomData +# class CustomData -This page describes the C++ Kinova::Api::InterconnectCyclic::CustomData message. - -## Overview / Purpose - -Custom development data, content varies according to debug needs - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|custom\_data\_id| [MessageId](msg_InterconnectCyclic_MessageId.md#)|MessageId| +|custom\_data\_id| [MessageId](MessageId.md#)|MessageId| |custom\_data\_0|uint32|Custom data word 0| |custom\_data\_1|uint32|Custom data word 1| |custom\_data\_2|uint32|Custom data word 2| @@ -29,19 +21,18 @@ Custom development data, content varies according to debug needs |custom\_data\_13|uint32|Custom data word 13| |custom\_data\_14|uint32|Custom data word 14| |custom\_data\_15|uint32|Custom data word 15| +|gripper\_custom\_data|oneof:tool\_customData [CustomData](../GripperCyclic/CustomData.md#)| | - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |has\_custom\_data\_id\(\) const|bool|void|Returns true if custom\_data\_id is set.| -|custom\_data\_id\(\)|const [MessageId](msg_InterconnectCyclic_MessageId.md#)&|void|Returns the current value of custom\_data\_id. If custom\_data\_id is not set, returns a [MessageId](msg_InterconnectCyclic_MessageId.md#) with none of its fields set \(possibly custom\_data\_id::default\_instance\(\)\).| -|mutable\_custom\_data\_id\(\)| [MessageId](msg_InterconnectCyclic_MessageId.md#) \*|void|Returns a pointer to the mutable [MessageId](msg_InterconnectCyclic_MessageId.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MessageId](msg_InterconnectCyclic_MessageId.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MessageId](msg_InterconnectCyclic_MessageId.md#)\). After calling this, has\_custom\_data\_id\(\) will return true and custom\_data\_id\(\) will return a reference to the same instance of [MessageId](msg_InterconnectCyclic_MessageId.md#).| +|custom\_data\_id\(\)|const [MessageId](MessageId.md#)&|void|Returns the current value of custom\_data\_id. If custom\_data\_id is not set, returns a [MessageId](MessageId.md#) with none of its fields set \(possibly custom\_data\_id::default\_instance\(\)\).| +|mutable\_custom\_data\_id\(\)| [MessageId](MessageId.md#) \*|void|Returns a pointer to the mutable [MessageId](MessageId.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MessageId](MessageId.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MessageId](MessageId.md#)\). After calling this, has\_custom\_data\_id\(\) will return true and custom\_data\_id\(\) will return a reference to the same instance of [MessageId](MessageId.md#).| |clear\_custom\_data\_id\(\)|void|void|Clears the value of the field. After calling this, has\_custom\_data\_id\(\) will return false and custom\_data\_id\(\) will return the default value.| -|set\_allocated\_custom\_data\_id\(\)|void| [MessageId](msg_InterconnectCyclic_MessageId.md#) \*|Sets the [MessageId](msg_InterconnectCyclic_MessageId.md#) object to the field and frees the previous field value if it exists. If the [MessageId](msg_InterconnectCyclic_MessageId.md#) pointer is not NULL, the message takes ownership of the allocated [MessageId](msg_InterconnectCyclic_MessageId.md#) object and has\_ [MessageId](msg_InterconnectCyclic_MessageId.md#)\(\) will return true. Otherwise, if the custom\_data\_id is NULL, the behavior is the same as calling clear\_custom\_data\_id\(\).| -|release\_custom\_data\_id\(\)| [MessageId](msg_InterconnectCyclic_MessageId.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MessageId](msg_InterconnectCyclic_MessageId.md#) object. After calling this, caller takes the ownership of the allocated [MessageId](msg_InterconnectCyclic_MessageId.md#) object, has\_custom\_data\_id\(\) will return false, and custom\_data\_id\(\) will return the default value.| +|set\_allocated\_custom\_data\_id\(\)|void| [MessageId](MessageId.md#) \*|Sets the [MessageId](MessageId.md#) object to the field and frees the previous field value if it exists. If the [MessageId](MessageId.md#) pointer is not NULL, the message takes ownership of the allocated [MessageId](MessageId.md#) object and has\_ [MessageId](MessageId.md#)\(\) will return true. Otherwise, if the custom\_data\_id is NULL, the behavior is the same as calling clear\_custom\_data\_id\(\).| +|release\_custom\_data\_id\(\)| [MessageId](MessageId.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MessageId](MessageId.md#) object. After calling this, caller takes the ownership of the allocated [MessageId](MessageId.md#) object, has\_custom\_data\_id\(\) will return false, and custom\_data\_id\(\) will return the default value.| |custom\_data\_0\(\)|uint32|void|Returns the current value of custom\_data\_0. If the custom\_data\_0 is not set, returns 0.| |set\_custom\_data\_0\(\)|void|uint32|Sets the value of custom\_data\_0. After calling this, custom\_data\_0\(\) will return value.| |clear\_custom\_data\_0\(\)|void|void|Clears the value of custom\_data\_0. After calling this, custom\_data\_0\(\) will return 0.| @@ -90,6 +81,12 @@ The methods listed below are some of the most commonly used. Please refer to Goo |custom\_data\_15\(\)|uint32|void|Returns the current value of custom\_data\_15. If the custom\_data\_15 is not set, returns 0.| |set\_custom\_data\_15\(\)|void|uint32|Sets the value of custom\_data\_15. After calling this, custom\_data\_15\(\) will return value.| |clear\_custom\_data\_15\(\)|void|void|Clears the value of custom\_data\_15. After calling this, custom\_data\_15\(\) will return 0.| +|has\_gripper\_custom\_data\(\) const|void|void|Returns the current value of the field if oneof case is kGripper\_custom\_data. Otherwise, returns oneof:tool\_customData [CustomData](../GripperCyclic/CustomData.md#)::default\_instance\(\)| +|gripper\_custom\_data\(\) const|const oneof:tool\_customData [CustomData](../GripperCyclic/CustomData.md#)&|void|Returns the current value of the field if oneof case is kGripper\_custom\_data| +|mutable\_gripper\_custom\_data\(\)|oneof:tool\_customData [CustomData](../GripperCyclic/CustomData.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_tool\_customData\(\). Sets the oneof case to kGripper\_custom\_data and returns a pointer to the mutable oneof:tool\_customData [CustomData](../GripperCyclic/CustomData.md#) object that stores the field's value. If the oneof case was not kGripper\_custom\_data prior to the call, then the returned oneof:tool\_customData [CustomData](../GripperCyclic/CustomData.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:tool\_customData [CustomData](../GripperCyclic/CustomData.md#)\). After calling this, has\_gripper\_custom\_data\(\) will return true, gripper\_custom\_data\(\) will return a reference to the same instance of oneof:tool\_customData [CustomData](../GripperCyclic/CustomData.md#) and tool\_customData\_case\(\) will return kGripper\_custom\_data| +|clear\_gripper\_custom\_data\(\)|void|void|Nothing will be changed if the oneof case is not kGripper\_custom\_data. If the oneof case equals kGripper\_custom\_data, frees the field and clears the oneof case. has\_gripper\_custom\_data\(\) will return false, gripper\_custom\_data\(\) will return the default value and tool\_customData\_case\(\) will return TOOL\_CUSTOMDATA\_NOT\_SET.| +|set\_allocated\_gripper\_custom\_data\(\)|void|oneof:tool\_customData [CustomData](../GripperCyclic/CustomData.md#)\*|Calls clear\_tool\_customData\(\). If the oneof:tool\_customData [CustomData](../GripperCyclic/CustomData.md#) pointer is not NULL: Sets the oneof:tool\_customData [CustomData](../GripperCyclic/CustomData.md#) object to the field and sets the oneof case to kGripper\_custom\_data. The message takes ownership of the allocated oneof:tool\_customData [CustomData](../GripperCyclic/CustomData.md#) object, has\_gripper\_custom\_data\(\) will return true and tool\_customData\_case\(\) will return kGripper\_custom\_data. If the pointer is NULL, has\_gripper\_custom\_data\(\) will return false and tool\_customData\_case\(\) will return TOOL\_CUSTOMDATA\_NOT\_SET. \(The behavior is like calling clear\_tool\_customData\(\)\)| +|release\_gripper\_custom\_data\(\)|oneof:tool\_customData [CustomData](../GripperCyclic/CustomData.md#)\*|void|Returns NULL if oneof case is not kGripper\_custom\_data. If the oneof case is kGripper\_custom\_data, clears the oneof case, releases the ownership of the field and returns the pointer of the tool\_customData object. After calling this, caller takes the ownership of the allocated tool\_customData object, has\_gripper\_custom\_data\(\) will return false, gripper\_custom\_data\(\) will return the default value and tool\_customData\_case\(\) will return TOOL\_CUSTOMDATA\_NOT\_SET.| -**Parent topic:** [InterconnectCyclic](../references/summary_InterconnectCyclic.md) +**Parent topic:** [InterconnectCyclic \(C++\)](../../summary_pages/InterconnectCyclic.md) diff --git a/api_cpp/doc/markdown/references/msg_InterconnectCyclic_Feedback.md b/api_cpp/doc/markdown/messages/InterconnectCyclic/Feedback.md similarity index 57% rename from api_cpp/doc/markdown/references/msg_InterconnectCyclic_Feedback.md rename to api_cpp/doc/markdown/messages/InterconnectCyclic/Feedback.md index 6ddaf8bd..621d6b9a 100644 --- a/api_cpp/doc/markdown/references/msg_InterconnectCyclic_Feedback.md +++ b/api_cpp/doc/markdown/messages/InterconnectCyclic/Feedback.md @@ -1,63 +1,42 @@ -# Message Feedback +# class Feedback -This page describes the C++ Kinova::Api::InterconnectCyclic::Feedback message. - -## Overview / Purpose - -Defines the feedback provided by an interconnect module - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|feedback\_id| [MessageId](msg_InterconnectCyclic_MessageId.md#)|MessageId| +|feedback\_id| [MessageId](MessageId.md#)|MessageId| |status\_flags|uint32|Status flags| -|jitter\_comm|uint32|Jitter from the communication \(in microsecond\)| -|position|float32|Position of the gripper fingers \(0-100%\)| -|velocity|float32|Velocity of the gripper fingers \(0-100%\)| -|force|float32|Force of the gripper fingers \(0-100%\)| -|imu\_acceleration\_x|float32|IMU Measured acceleration \(X-Axis\) of the interconnect \(in meters per second ^ squared\)| -|imu\_acceleration\_y|float32|IMU Measured acceleration \(Y-Axis\) of the interconnect \(in meters per second ^ squared\)| -|imu\_acceleration\_z|float32|IMU Measured acceleration \(Z-Axis\) of the interconnect \(in meters per second ^ squared\)| -|imu\_angular\_velocity\_x|float32|IMU Measured angular velocity \(X-Axis\) of the interconnect \(in degrees per second\)| -|imu\_angular\_velocity\_y|float32|IMU Measured angular velocity \(Y-Axis\) of the interconnect \(in degrees per second\)| -|imu\_angular\_velocity\_z|float32|IMU Measured angular velocity \(Z-Axis\) of the interconnect \(in degrees per second\)| +|jitter\_comm|uint32|Jitter from the communication \(in microseconds\)| +|imu\_acceleration\_x|float32|IMU Measured acceleration \(X-Axis\) of the interface module \(in meters per second ^ squared\)| +|imu\_acceleration\_y|float32|IMU Measured acceleration \(Y-Axis\) of the interface module \(in meters per second ^ squared\)| +|imu\_acceleration\_z|float32|IMU Measured acceleration \(Z-Axis\) of the interface module \(in meters per second ^ squared\)| +|imu\_angular\_velocity\_x|float32|IMU Measured angular velocity \(X-Axis\) of the interface module \(in degrees per second\)| +|imu\_angular\_velocity\_y|float32|IMU Measured angular velocity \(Y-Axis\) of the interface module \(in degrees per second\)| +|imu\_angular\_velocity\_z|float32|IMU Measured angular velocity \(Z-Axis\) of the interface module \(in degrees per second\)| |voltage|float32|Voltage of the main board \(in Volt\)| |temperature\_core|float32|Microcontroller temperature \(in degrees Celsius\)| |fault\_bank\_a|uint32|Fault bank A \(see InterconnectConfig.SafetyIdentifier\)| |fault\_bank\_b|uint32|Fault bank B \(see InterconnectConfig.SafetyIdentifier\)| |warning\_bank\_a|uint32|Warning bank A \(see InterconnectConfig.SafetyIdentifier\)| |warning\_bank\_b|uint32|Warning bank B \(see InterconnectConfig.SafetyIdentifier\)| +|gripper\_feedback|oneof:tool\_feedback [Feedback](../GripperCyclic/Feedback.md#)|Gripper model tool feedback| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |has\_feedback\_id\(\) const|bool|void|Returns true if feedback\_id is set.| -|feedback\_id\(\)|const [MessageId](msg_InterconnectCyclic_MessageId.md#)&|void|Returns the current value of feedback\_id. If feedback\_id is not set, returns a [MessageId](msg_InterconnectCyclic_MessageId.md#) with none of its fields set \(possibly feedback\_id::default\_instance\(\)\).| -|mutable\_feedback\_id\(\)| [MessageId](msg_InterconnectCyclic_MessageId.md#) \*|void|Returns a pointer to the mutable [MessageId](msg_InterconnectCyclic_MessageId.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MessageId](msg_InterconnectCyclic_MessageId.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MessageId](msg_InterconnectCyclic_MessageId.md#)\). After calling this, has\_feedback\_id\(\) will return true and feedback\_id\(\) will return a reference to the same instance of [MessageId](msg_InterconnectCyclic_MessageId.md#).| +|feedback\_id\(\)|const [MessageId](MessageId.md#)&|void|Returns the current value of feedback\_id. If feedback\_id is not set, returns a [MessageId](MessageId.md#) with none of its fields set \(possibly feedback\_id::default\_instance\(\)\).| +|mutable\_feedback\_id\(\)| [MessageId](MessageId.md#) \*|void|Returns a pointer to the mutable [MessageId](MessageId.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MessageId](MessageId.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MessageId](MessageId.md#)\). After calling this, has\_feedback\_id\(\) will return true and feedback\_id\(\) will return a reference to the same instance of [MessageId](MessageId.md#).| |clear\_feedback\_id\(\)|void|void|Clears the value of the field. After calling this, has\_feedback\_id\(\) will return false and feedback\_id\(\) will return the default value.| -|set\_allocated\_feedback\_id\(\)|void| [MessageId](msg_InterconnectCyclic_MessageId.md#) \*|Sets the [MessageId](msg_InterconnectCyclic_MessageId.md#) object to the field and frees the previous field value if it exists. If the [MessageId](msg_InterconnectCyclic_MessageId.md#) pointer is not NULL, the message takes ownership of the allocated [MessageId](msg_InterconnectCyclic_MessageId.md#) object and has\_ [MessageId](msg_InterconnectCyclic_MessageId.md#)\(\) will return true. Otherwise, if the feedback\_id is NULL, the behavior is the same as calling clear\_feedback\_id\(\).| -|release\_feedback\_id\(\)| [MessageId](msg_InterconnectCyclic_MessageId.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MessageId](msg_InterconnectCyclic_MessageId.md#) object. After calling this, caller takes the ownership of the allocated [MessageId](msg_InterconnectCyclic_MessageId.md#) object, has\_feedback\_id\(\) will return false, and feedback\_id\(\) will return the default value.| +|set\_allocated\_feedback\_id\(\)|void| [MessageId](MessageId.md#) \*|Sets the [MessageId](MessageId.md#) object to the field and frees the previous field value if it exists. If the [MessageId](MessageId.md#) pointer is not NULL, the message takes ownership of the allocated [MessageId](MessageId.md#) object and has\_ [MessageId](MessageId.md#)\(\) will return true. Otherwise, if the feedback\_id is NULL, the behavior is the same as calling clear\_feedback\_id\(\).| +|release\_feedback\_id\(\)| [MessageId](MessageId.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MessageId](MessageId.md#) object. After calling this, caller takes the ownership of the allocated [MessageId](MessageId.md#) object, has\_feedback\_id\(\) will return false, and feedback\_id\(\) will return the default value.| |status\_flags\(\)|uint32|void|Returns the current value of status\_flags. If the status\_flags is not set, returns 0.| |set\_status\_flags\(\)|void|uint32|Sets the value of status\_flags. After calling this, status\_flags\(\) will return value.| |clear\_status\_flags\(\)|void|void|Clears the value of status\_flags. After calling this, status\_flags\(\) will return 0.| |jitter\_comm\(\)|uint32|void|Returns the current value of jitter\_comm. If the jitter\_comm is not set, returns 0.| |set\_jitter\_comm\(\)|void|uint32|Sets the value of jitter\_comm. After calling this, jitter\_comm\(\) will return value.| |clear\_jitter\_comm\(\)|void|void|Clears the value of jitter\_comm. After calling this, jitter\_comm\(\) will return 0.| -|position\(\)|float32|void|Returns the current value of position. If the position is not set, returns 0.| -|set\_position\(\)|void|float32|Sets the value of position. After calling this, position\(\) will return value.| -|clear\_position\(\)|void|void|Clears the value of position. After calling this, position\(\) will return 0.| -|velocity\(\)|float32|void|Returns the current value of velocity. If the velocity is not set, returns 0.| -|set\_velocity\(\)|void|float32|Sets the value of velocity. After calling this, velocity\(\) will return value.| -|clear\_velocity\(\)|void|void|Clears the value of velocity. After calling this, velocity\(\) will return 0.| -|force\(\)|float32|void|Returns the current value of force. If the force is not set, returns 0.| -|set\_force\(\)|void|float32|Sets the value of force. After calling this, force\(\) will return value.| -|clear\_force\(\)|void|void|Clears the value of force. After calling this, force\(\) will return 0.| |imu\_acceleration\_x\(\)|float32|void|Returns the current value of imu\_acceleration\_x. If the imu\_acceleration\_x is not set, returns 0.| |set\_imu\_acceleration\_x\(\)|void|float32|Sets the value of imu\_acceleration\_x. After calling this, imu\_acceleration\_x\(\) will return value.| |clear\_imu\_acceleration\_x\(\)|void|void|Clears the value of imu\_acceleration\_x. After calling this, imu\_acceleration\_x\(\) will return 0.| @@ -94,6 +73,12 @@ The methods listed below are some of the most commonly used. Please refer to Goo |warning\_bank\_b\(\)|uint32|void|Returns the current value of warning\_bank\_b. If the warning\_bank\_b is not set, returns 0.| |set\_warning\_bank\_b\(\)|void|uint32|Sets the value of warning\_bank\_b. After calling this, warning\_bank\_b\(\) will return value.| |clear\_warning\_bank\_b\(\)|void|void|Clears the value of warning\_bank\_b. After calling this, warning\_bank\_b\(\) will return 0.| +|has\_gripper\_feedback\(\) const|void|void|Returns the current value of the field if oneof case is kGripper\_feedback. Otherwise, returns oneof:tool\_feedback [Feedback](../GripperCyclic/Feedback.md#)::default\_instance\(\)| +|gripper\_feedback\(\) const|const oneof:tool\_feedback [Feedback](../GripperCyclic/Feedback.md#)&|void|Returns the current value of the field if oneof case is kGripper\_feedback| +|mutable\_gripper\_feedback\(\)|oneof:tool\_feedback [Feedback](../GripperCyclic/Feedback.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_tool\_feedback\(\). Sets the oneof case to kGripper\_feedback and returns a pointer to the mutable oneof:tool\_feedback [Feedback](../GripperCyclic/Feedback.md#) object that stores the field's value. If the oneof case was not kGripper\_feedback prior to the call, then the returned oneof:tool\_feedback [Feedback](../GripperCyclic/Feedback.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:tool\_feedback [Feedback](../GripperCyclic/Feedback.md#)\). After calling this, has\_gripper\_feedback\(\) will return true, gripper\_feedback\(\) will return a reference to the same instance of oneof:tool\_feedback [Feedback](../GripperCyclic/Feedback.md#) and tool\_feedback\_case\(\) will return kGripper\_feedback| +|clear\_gripper\_feedback\(\)|void|void|Nothing will be changed if the oneof case is not kGripper\_feedback. If the oneof case equals kGripper\_feedback, frees the field and clears the oneof case. has\_gripper\_feedback\(\) will return false, gripper\_feedback\(\) will return the default value and tool\_feedback\_case\(\) will return TOOL\_FEEDBACK\_NOT\_SET.| +|set\_allocated\_gripper\_feedback\(\)|void|oneof:tool\_feedback [Feedback](../GripperCyclic/Feedback.md#)\*|Calls clear\_tool\_feedback\(\). If the oneof:tool\_feedback [Feedback](../GripperCyclic/Feedback.md#) pointer is not NULL: Sets the oneof:tool\_feedback [Feedback](../GripperCyclic/Feedback.md#) object to the field and sets the oneof case to kGripper\_feedback. The message takes ownership of the allocated oneof:tool\_feedback [Feedback](../GripperCyclic/Feedback.md#) object, has\_gripper\_feedback\(\) will return true and tool\_feedback\_case\(\) will return kGripper\_feedback. If the pointer is NULL, has\_gripper\_feedback\(\) will return false and tool\_feedback\_case\(\) will return TOOL\_FEEDBACK\_NOT\_SET. \(The behavior is like calling clear\_tool\_feedback\(\)\)| +|release\_gripper\_feedback\(\)|oneof:tool\_feedback [Feedback](../GripperCyclic/Feedback.md#)\*|void|Returns NULL if oneof case is not kGripper\_feedback. If the oneof case is kGripper\_feedback, clears the oneof case, releases the ownership of the field and returns the pointer of the tool\_feedback object. After calling this, caller takes the ownership of the allocated tool\_feedback object, has\_gripper\_feedback\(\) will return false, gripper\_feedback\(\) will return the default value and tool\_feedback\_case\(\) will return TOOL\_FEEDBACK\_NOT\_SET.| -**Parent topic:** [InterconnectCyclic](../references/summary_InterconnectCyclic.md) +**Parent topic:** [InterconnectCyclic \(C++\)](../../summary_pages/InterconnectCyclic.md) diff --git a/api_cpp/doc/markdown/messages/InterconnectCyclic/MessageId.md b/api_cpp/doc/markdown/messages/InterconnectCyclic/MessageId.md new file mode 100644 index 00000000..4f9499b0 --- /dev/null +++ b/api_cpp/doc/markdown/messages/InterconnectCyclic/MessageId.md @@ -0,0 +1,18 @@ +# class MessageId + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|identifier|uint32|Message ID \(first 2 bytes : device ID, last 2 bytes : sequence number\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|identifier\(\)|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| +|set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| +|clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return 0.| + +**Parent topic:** [InterconnectCyclic \(C++\)](../../summary_pages/InterconnectCyclic.md) + diff --git a/api_cpp/doc/markdown/messages/ProductConfiguration/CompleteProductConfiguration.md b/api_cpp/doc/markdown/messages/ProductConfiguration/CompleteProductConfiguration.md new file mode 100644 index 00000000..6a992e4f --- /dev/null +++ b/api_cpp/doc/markdown/messages/ProductConfiguration/CompleteProductConfiguration.md @@ -0,0 +1,80 @@ +# class CompleteProductConfiguration + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|kin|string|Kinova Identification Number of the device| +|model|uint32|Model of the device| +|country\_code| [CountryCode](../Common/CountryCode.md#)|Country code for the device| +|assembly\_plant|string|Assembly plant of the device| +|model\_year|string|Year of the model| +|degree\_of\_freedom|uint32|Number of DOF for the device| +|base\_type|uint32|Type of base for the device| +|end\_effector\_type|uint32|End-effector type of the device| +|vision\_module\_type|uint32|Vision module type of the device| +|interface\_module\_type|uint32|Interface module type of the device| +|arm\_laterality|uint32|Arm laterality of the device| +|wrist\_type|uint32|Wrist type of the device| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|kin\(\)|const string&|void|Returns the current value of kin. If kin is not set, returns the empty string/empty bytes.| +|set\_kin\(\)|void|const string&|Sets the value of kin. After calling this, kin\(\) will return a copy of value.| +|set\_kin\(\)|void|string&&|\(C++11 and beyond\): Sets the value of kin, moving from the passed string. After calling this, kin\(\) will return a copy of value.| +|set\_kin\(\)|void|const char\*|Sets the value of kin using a C-style null-terminated string. After calling this, kin\(\) will return a copy of value.| +|mutable\_kin\(\)|string \*|void|Returns a pointer to the mutable string object that stores kin's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, kin\(\) will return whatever value is written into the given string.| +|clear\_kin\(\)|void|void|Clears the value of kin. After calling this, kin\(\) will return the empty string/empty bytes.| +|set\_allocated\_kin\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_kin\(\).| +|release\_kin\(\)|string \*|void|Releases the ownership of kin and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and kin\(\) will return the empty string/empty bytes.| +|model\(\) const|uint32|void|Returns the current value of model. If the model is not set, returns 0.| +|set\_model\(\)|void|uint32|Sets the value of model. After calling this, model\(\) will return value.| +|clear\_model\(\)|void|void|Clears the value of model. After calling this, model\(\) will return the empty string/empty bytes.| +|has\_country\_code\(\) const|bool|void|Returns true if country\_code is set.| +|country\_code\(\)|const [CountryCode](../Common/CountryCode.md#)&|void|Returns the current value of country\_code. If country\_code is not set, returns a [CountryCode](../Common/CountryCode.md#) with none of its fields set \(possibly country\_code::default\_instance\(\)\).| +|mutable\_country\_code\(\)| [CountryCode](../Common/CountryCode.md#) \*|void|Returns a pointer to the mutable [CountryCode](../Common/CountryCode.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [CountryCode](../Common/CountryCode.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [CountryCode](../Common/CountryCode.md#)\). After calling this, has\_country\_code\(\) will return true and country\_code\(\) will return a reference to the same instance of [CountryCode](../Common/CountryCode.md#).| +|clear\_country\_code\(\)|void|void|Clears the value of the field. After calling this, has\_country\_code\(\) will return false and country\_code\(\) will return the default value.| +|set\_allocated\_country\_code\(\)|void| [CountryCode](../Common/CountryCode.md#) \*|Sets the [CountryCode](../Common/CountryCode.md#) object to the field and frees the previous field value if it exists. If the [CountryCode](../Common/CountryCode.md#) pointer is not NULL, the message takes ownership of the allocated [CountryCode](../Common/CountryCode.md#) object and has\_ [CountryCode](../Common/CountryCode.md#)\(\) will return true. Otherwise, if the country\_code is NULL, the behavior is the same as calling clear\_country\_code\(\).| +|release\_country\_code\(\)| [CountryCode](../Common/CountryCode.md#) \*|void|Releases the ownership of the field and returns the pointer of the [CountryCode](../Common/CountryCode.md#) object. After calling this, caller takes the ownership of the allocated [CountryCode](../Common/CountryCode.md#) object, has\_country\_code\(\) will return false, and country\_code\(\) will return the default value.| +|assembly\_plant\(\)|const string&|void|Returns the current value of assembly\_plant. If assembly\_plant is not set, returns the empty string/empty bytes.| +|set\_assembly\_plant\(\)|void|const string&|Sets the value of assembly\_plant. After calling this, assembly\_plant\(\) will return a copy of value.| +|set\_assembly\_plant\(\)|void|string&&|\(C++11 and beyond\): Sets the value of assembly\_plant, moving from the passed string. After calling this, assembly\_plant\(\) will return a copy of value.| +|set\_assembly\_plant\(\)|void|const char\*|Sets the value of assembly\_plant using a C-style null-terminated string. After calling this, assembly\_plant\(\) will return a copy of value.| +|mutable\_assembly\_plant\(\)|string \*|void|Returns a pointer to the mutable string object that stores assembly\_plant's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, assembly\_plant\(\) will return whatever value is written into the given string.| +|clear\_assembly\_plant\(\)|void|void|Clears the value of assembly\_plant. After calling this, assembly\_plant\(\) will return the empty string/empty bytes.| +|set\_allocated\_assembly\_plant\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_assembly\_plant\(\).| +|release\_assembly\_plant\(\)|string \*|void|Releases the ownership of assembly\_plant and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and assembly\_plant\(\) will return the empty string/empty bytes.| +|model\_year\(\)|const string&|void|Returns the current value of model\_year. If model\_year is not set, returns the empty string/empty bytes.| +|set\_model\_year\(\)|void|const string&|Sets the value of model\_year. After calling this, model\_year\(\) will return a copy of value.| +|set\_model\_year\(\)|void|string&&|\(C++11 and beyond\): Sets the value of model\_year, moving from the passed string. After calling this, model\_year\(\) will return a copy of value.| +|set\_model\_year\(\)|void|const char\*|Sets the value of model\_year using a C-style null-terminated string. After calling this, model\_year\(\) will return a copy of value.| +|mutable\_model\_year\(\)|string \*|void|Returns a pointer to the mutable string object that stores model\_year's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, model\_year\(\) will return whatever value is written into the given string.| +|clear\_model\_year\(\)|void|void|Clears the value of model\_year. After calling this, model\_year\(\) will return the empty string/empty bytes.| +|set\_allocated\_model\_year\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_model\_year\(\).| +|release\_model\_year\(\)|string \*|void|Releases the ownership of model\_year and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and model\_year\(\) will return the empty string/empty bytes.| +|degree\_of\_freedom\(\)|uint32|void|Returns the current value of degree\_of\_freedom. If the degree\_of\_freedom is not set, returns 0.| +|set\_degree\_of\_freedom\(\)|void|uint32|Sets the value of degree\_of\_freedom. After calling this, degree\_of\_freedom\(\) will return value.| +|clear\_degree\_of\_freedom\(\)|void|void|Clears the value of degree\_of\_freedom. After calling this, degree\_of\_freedom\(\) will return 0.| +|base\_type\(\) const|uint32|void|Returns the current value of base\_type. If the base\_type is not set, returns 0.| +|set\_base\_type\(\)|void|uint32|Sets the value of base\_type. After calling this, base\_type\(\) will return value.| +|clear\_base\_type\(\)|void|void|Clears the value of base\_type. After calling this, base\_type\(\) will return the empty string/empty bytes.| +|end\_effector\_type\(\) const|uint32|void|Returns the current value of end\_effector\_type. If the end\_effector\_type is not set, returns 0.| +|set\_end\_effector\_type\(\)|void|uint32|Sets the value of end\_effector\_type. After calling this, end\_effector\_type\(\) will return value.| +|clear\_end\_effector\_type\(\)|void|void|Clears the value of end\_effector\_type. After calling this, end\_effector\_type\(\) will return the empty string/empty bytes.| +|vision\_module\_type\(\) const|uint32|void|Returns the current value of vision\_module\_type. If the vision\_module\_type is not set, returns 0.| +|set\_vision\_module\_type\(\)|void|uint32|Sets the value of vision\_module\_type. After calling this, vision\_module\_type\(\) will return value.| +|clear\_vision\_module\_type\(\)|void|void|Clears the value of vision\_module\_type. After calling this, vision\_module\_type\(\) will return the empty string/empty bytes.| +|interface\_module\_type\(\) const|uint32|void|Returns the current value of interface\_module\_type. If the interface\_module\_type is not set, returns 0.| +|set\_interface\_module\_type\(\)|void|uint32|Sets the value of interface\_module\_type. After calling this, interface\_module\_type\(\) will return value.| +|clear\_interface\_module\_type\(\)|void|void|Clears the value of interface\_module\_type. After calling this, interface\_module\_type\(\) will return the empty string/empty bytes.| +|arm\_laterality\(\) const|uint32|void|Returns the current value of arm\_laterality. If the arm\_laterality is not set, returns 0.| +|set\_arm\_laterality\(\)|void|uint32|Sets the value of arm\_laterality. After calling this, arm\_laterality\(\) will return value.| +|clear\_arm\_laterality\(\)|void|void|Clears the value of arm\_laterality. After calling this, arm\_laterality\(\) will return the empty string/empty bytes.| +|wrist\_type\(\) const|uint32|void|Returns the current value of wrist\_type. If the wrist\_type is not set, returns 0.| +|set\_wrist\_type\(\)|void|uint32|Sets the value of wrist\_type. After calling this, wrist\_type\(\) will return value.| +|clear\_wrist\_type\(\)|void|void|Clears the value of wrist\_type. After calling this, wrist\_type\(\) will return the empty string/empty bytes.| + +**Parent topic:** [ProductConfiguration \(C++\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationBaseType.md b/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationBaseType.md new file mode 100644 index 00000000..63fbc014 --- /dev/null +++ b/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationBaseType.md @@ -0,0 +1,18 @@ +# class ProductConfigurationBaseType + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|base\_type|uint32|New base type| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|base\_type\(\) const|uint32|void|Returns the current value of base\_type. If the base\_type is not set, returns 0.| +|set\_base\_type\(\)|void|uint32|Sets the value of base\_type. After calling this, base\_type\(\) will return value.| +|clear\_base\_type\(\)|void|void|Clears the value of base\_type. After calling this, base\_type\(\) will return the empty string/empty bytes.| + +**Parent topic:** [ProductConfiguration \(C++\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationDegreeOfFreedom.md b/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationDegreeOfFreedom.md new file mode 100644 index 00000000..2ff10020 --- /dev/null +++ b/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationDegreeOfFreedom.md @@ -0,0 +1,18 @@ +# class ProductConfigurationDegreeOfFreedom + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|degree\_of\_freedom|uint32|New degree of freedom| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|degree\_of\_freedom\(\)|uint32|void|Returns the current value of degree\_of\_freedom. If the degree\_of\_freedom is not set, returns 0.| +|set\_degree\_of\_freedom\(\)|void|uint32|Sets the value of degree\_of\_freedom. After calling this, degree\_of\_freedom\(\) will return value.| +|clear\_degree\_of\_freedom\(\)|void|void|Clears the value of degree\_of\_freedom. After calling this, degree\_of\_freedom\(\) will return 0.| + +**Parent topic:** [ProductConfiguration \(C++\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationEndEffectorType.md b/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationEndEffectorType.md new file mode 100644 index 00000000..d8160478 --- /dev/null +++ b/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationEndEffectorType.md @@ -0,0 +1,18 @@ +# class ProductConfigurationEndEffectorType + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|end\_effector\_type|uint32|New end-effector type| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|end\_effector\_type\(\) const|uint32|void|Returns the current value of end\_effector\_type. If the end\_effector\_type is not set, returns 0.| +|set\_end\_effector\_type\(\)|void|uint32|Sets the value of end\_effector\_type. After calling this, end\_effector\_type\(\) will return value.| +|clear\_end\_effector\_type\(\)|void|void|Clears the value of end\_effector\_type. After calling this, end\_effector\_type\(\) will return the empty string/empty bytes.| + +**Parent topic:** [ProductConfiguration \(C++\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationInterfaceModuleType.md b/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationInterfaceModuleType.md new file mode 100644 index 00000000..af644bee --- /dev/null +++ b/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationInterfaceModuleType.md @@ -0,0 +1,18 @@ +# class ProductConfigurationInterfaceModuleType + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|interface\_module\_type|uint32|New interface module type| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|interface\_module\_type\(\) const|uint32|void|Returns the current value of interface\_module\_type. If the interface\_module\_type is not set, returns 0.| +|set\_interface\_module\_type\(\)|void|uint32|Sets the value of interface\_module\_type. After calling this, interface\_module\_type\(\) will return value.| +|clear\_interface\_module\_type\(\)|void|void|Clears the value of interface\_module\_type. After calling this, interface\_module\_type\(\) will return the empty string/empty bytes.| + +**Parent topic:** [ProductConfiguration \(C++\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationLaterality.md b/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationLaterality.md new file mode 100644 index 00000000..796d52bc --- /dev/null +++ b/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationLaterality.md @@ -0,0 +1,18 @@ +# class ProductConfigurationLaterality + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|arm\_laterality|uint32|New arm laterality| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|arm\_laterality\(\) const|uint32|void|Returns the current value of arm\_laterality. If the arm\_laterality is not set, returns 0.| +|set\_arm\_laterality\(\)|void|uint32|Sets the value of arm\_laterality. After calling this, arm\_laterality\(\) will return value.| +|clear\_arm\_laterality\(\)|void|void|Clears the value of arm\_laterality. After calling this, arm\_laterality\(\) will return the empty string/empty bytes.| + +**Parent topic:** [ProductConfiguration \(C++\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationVisionModuleType.md b/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationVisionModuleType.md new file mode 100644 index 00000000..c8f1e2f4 --- /dev/null +++ b/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationVisionModuleType.md @@ -0,0 +1,18 @@ +# class ProductConfigurationVisionModuleType + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|vision\_module\_type|uint32|New vision module type| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|vision\_module\_type\(\) const|uint32|void|Returns the current value of vision\_module\_type. If the vision\_module\_type is not set, returns 0.| +|set\_vision\_module\_type\(\)|void|uint32|Sets the value of vision\_module\_type. After calling this, vision\_module\_type\(\) will return value.| +|clear\_vision\_module\_type\(\)|void|void|Clears the value of vision\_module\_type. After calling this, vision\_module\_type\(\) will return the empty string/empty bytes.| + +**Parent topic:** [ProductConfiguration \(C++\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationWristType.md b/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationWristType.md new file mode 100644 index 00000000..4ca13507 --- /dev/null +++ b/api_cpp/doc/markdown/messages/ProductConfiguration/ProductConfigurationWristType.md @@ -0,0 +1,18 @@ +# class ProductConfigurationWristType + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|wrist\_type|uint32|New wrist type| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|wrist\_type\(\) const|uint32|void|Returns the current value of wrist\_type. If the wrist\_type is not set, returns 0.| +|set\_wrist\_type\(\)|void|uint32|Sets the value of wrist\_type. After calling this, wrist\_type\(\) will return value.| +|clear\_wrist\_type\(\)|void|void|Clears the value of wrist\_type. After calling this, wrist\_type\(\) will return the empty string/empty bytes.| + +**Parent topic:** [ProductConfiguration \(C++\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_cpp/doc/markdown/messages/Session/ConnectionList.md b/api_cpp/doc/markdown/messages/Session/ConnectionList.md new file mode 100644 index 00000000..ac321bd3 --- /dev/null +++ b/api_cpp/doc/markdown/messages/Session/ConnectionList.md @@ -0,0 +1,22 @@ +# class ConnectionList + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|connection| [Connection](../Common/Connection.md#)|Connection| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|connection\_size\(\) const|int|void|Returns the number of elements currently in the field.| +|connection\(\) const|const [Connection](../Common/Connection.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, connection\_size\(\)\) yields undefined behavior.| +|mutable\_connection\(\)| [Connection](../Common/Connection.md#)\*|int index|Returns a pointer to the mutable [Connection](../Common/Connection.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, connection\_size\(\)\) yields undefined behavior.| +|add\_connection\(\)| [Connection](../Common/Connection.md#)\*|void|Adds a new element and returns a pointer to it. The returned [Connection](../Common/Connection.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](../Common/Connection.md#)\).| +|clear\_connection\(\)|void|void|Removes all elements from the field. After calling this, connection\_size\(\) will return zero.| +|connection\(\) const|const RepeatedPtrField< [Connection](../Common/Connection.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| +|mutable\_connection\(\)|RepeatedPtrField< [Connection](../Common/Connection.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| + +**Parent topic:** [Session \(C++\)](../../summary_pages/Session.md) + diff --git a/api_cpp/doc/markdown/references/msg_Session_CreateSessionInfo.md b/api_cpp/doc/markdown/messages/Session/CreateSessionInfo.md similarity index 87% rename from api_cpp/doc/markdown/references/msg_Session_CreateSessionInfo.md rename to api_cpp/doc/markdown/messages/Session/CreateSessionInfo.md index 329ec721..3eb8fba1 100644 --- a/api_cpp/doc/markdown/references/msg_Session_CreateSessionInfo.md +++ b/api_cpp/doc/markdown/messages/Session/CreateSessionInfo.md @@ -1,28 +1,18 @@ -# Message CreateSessionInfo +# class CreateSessionInfo -This page describes the C++ Kinova::Api::Session::CreateSessionInfo message. - -## Overview / Purpose - -Contains parameters to create a new session - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| |username|string|User name| -|session\_inactivity\_timeout|uint32|Inactivity period \(in millisecond\) allowed before the session times out and closes on its own| +|session\_inactivity\_timeout|uint32|Inactivity period \(in milliseconds\) allowed before the session times out and closes on its own| |password|string|Password for the user| -|connection\_inactivity\_timeout|uint32|Inactivity period \(in millisecond\) allowed before the robot stops any movement initiated from this session| - - **Methods** +|connection\_inactivity\_timeout|uint32|Inactivity period \(in milliseconds\) allowed before the robot stops any movements initiated from this session| -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| |username\(\)|const string&|void|Returns the current value of username. If username is not set, returns the empty string/empty bytes.| |set\_username\(\)|void|const string&|Sets the value of username. After calling this, username\(\) will return a copy of value.| |set\_username\(\)|void|string&&|\(C++11 and beyond\): Sets the value of username, moving from the passed string. After calling this, username\(\) will return a copy of value.| @@ -46,5 +36,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_connection\_inactivity\_timeout\(\)|void|uint32|Sets the value of connection\_inactivity\_timeout. After calling this, connection\_inactivity\_timeout\(\) will return value.| |clear\_connection\_inactivity\_timeout\(\)|void|void|Clears the value of connection\_inactivity\_timeout. After calling this, connection\_inactivity\_timeout\(\) will return 0.| -**Parent topic:** [Session](../references/summary_Session.md) +**Parent topic:** [Session \(C++\)](../../summary_pages/Session.md) diff --git a/api_cpp/doc/markdown/messages/VisionConfig/DistortionCoefficients.md b/api_cpp/doc/markdown/messages/VisionConfig/DistortionCoefficients.md new file mode 100644 index 00000000..6d8bb61e --- /dev/null +++ b/api_cpp/doc/markdown/messages/VisionConfig/DistortionCoefficients.md @@ -0,0 +1,34 @@ +# class DistortionCoefficients + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|k1|float32|First radial distortion coefficient| +|k2|float32|Second radial distortion coefficient| +|k3|float32|Third radial distortion coefficient| +|p1|float32|First tangential distortion coefficient| +|p2|float32|Second tangential distortion coefficient| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|k1\(\)|float32|void|Returns the current value of k1. If the k1 is not set, returns 0.| +|set\_k1\(\)|void|float32|Sets the value of k1. After calling this, k1\(\) will return value.| +|clear\_k1\(\)|void|void|Clears the value of k1. After calling this, k1\(\) will return 0.| +|k2\(\)|float32|void|Returns the current value of k2. If the k2 is not set, returns 0.| +|set\_k2\(\)|void|float32|Sets the value of k2. After calling this, k2\(\) will return value.| +|clear\_k2\(\)|void|void|Clears the value of k2. After calling this, k2\(\) will return 0.| +|k3\(\)|float32|void|Returns the current value of k3. If the k3 is not set, returns 0.| +|set\_k3\(\)|void|float32|Sets the value of k3. After calling this, k3\(\) will return value.| +|clear\_k3\(\)|void|void|Clears the value of k3. After calling this, k3\(\) will return 0.| +|p1\(\)|float32|void|Returns the current value of p1. If the p1 is not set, returns 0.| +|set\_p1\(\)|void|float32|Sets the value of p1. After calling this, p1\(\) will return value.| +|clear\_p1\(\)|void|void|Clears the value of p1. After calling this, p1\(\) will return 0.| +|p2\(\)|float32|void|Returns the current value of p2. If the p2 is not set, returns 0.| +|set\_p2\(\)|void|float32|Sets the value of p2. After calling this, p2\(\) will return value.| +|clear\_p2\(\)|void|void|Clears the value of p2. After calling this, p2\(\) will return 0.| + +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) + diff --git a/api_cpp/doc/markdown/messages/VisionConfig/ExtrinsicParameters.md b/api_cpp/doc/markdown/messages/VisionConfig/ExtrinsicParameters.md new file mode 100644 index 00000000..c48084ae --- /dev/null +++ b/api_cpp/doc/markdown/messages/VisionConfig/ExtrinsicParameters.md @@ -0,0 +1,28 @@ +# class ExtrinsicParameters + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|rotation| [RotationMatrix](RotationMatrix.md#)|The rotation matrix from depth sensor reference frame to color sensor reference frame| +|translation| [TranslationVector](TranslationVector.md#)|The translation vector from depth sensor reference frame to color sensor reference frame| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_rotation\(\) const|bool|void|Returns true if rotation is set.| +|rotation\(\)|const [RotationMatrix](RotationMatrix.md#)&|void|Returns the current value of rotation. If rotation is not set, returns a [RotationMatrix](RotationMatrix.md#) with none of its fields set \(possibly rotation::default\_instance\(\)\).| +|mutable\_rotation\(\)| [RotationMatrix](RotationMatrix.md#) \*|void|Returns a pointer to the mutable [RotationMatrix](RotationMatrix.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [RotationMatrix](RotationMatrix.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [RotationMatrix](RotationMatrix.md#)\). After calling this, has\_rotation\(\) will return true and rotation\(\) will return a reference to the same instance of [RotationMatrix](RotationMatrix.md#).| +|clear\_rotation\(\)|void|void|Clears the value of the field. After calling this, has\_rotation\(\) will return false and rotation\(\) will return the default value.| +|set\_allocated\_rotation\(\)|void| [RotationMatrix](RotationMatrix.md#) \*|Sets the [RotationMatrix](RotationMatrix.md#) object to the field and frees the previous field value if it exists. If the [RotationMatrix](RotationMatrix.md#) pointer is not NULL, the message takes ownership of the allocated [RotationMatrix](RotationMatrix.md#) object and has\_ [RotationMatrix](RotationMatrix.md#)\(\) will return true. Otherwise, if the rotation is NULL, the behavior is the same as calling clear\_rotation\(\).| +|release\_rotation\(\)| [RotationMatrix](RotationMatrix.md#) \*|void|Releases the ownership of the field and returns the pointer of the [RotationMatrix](RotationMatrix.md#) object. After calling this, caller takes the ownership of the allocated [RotationMatrix](RotationMatrix.md#) object, has\_rotation\(\) will return false, and rotation\(\) will return the default value.| +|has\_translation\(\) const|bool|void|Returns true if translation is set.| +|translation\(\)|const [TranslationVector](TranslationVector.md#)&|void|Returns the current value of translation. If translation is not set, returns a [TranslationVector](TranslationVector.md#) with none of its fields set \(possibly translation::default\_instance\(\)\).| +|mutable\_translation\(\)| [TranslationVector](TranslationVector.md#) \*|void|Returns a pointer to the mutable [TranslationVector](TranslationVector.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [TranslationVector](TranslationVector.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [TranslationVector](TranslationVector.md#)\). After calling this, has\_translation\(\) will return true and translation\(\) will return a reference to the same instance of [TranslationVector](TranslationVector.md#).| +|clear\_translation\(\)|void|void|Clears the value of the field. After calling this, has\_translation\(\) will return false and translation\(\) will return the default value.| +|set\_allocated\_translation\(\)|void| [TranslationVector](TranslationVector.md#) \*|Sets the [TranslationVector](TranslationVector.md#) object to the field and frees the previous field value if it exists. If the [TranslationVector](TranslationVector.md#) pointer is not NULL, the message takes ownership of the allocated [TranslationVector](TranslationVector.md#) object and has\_ [TranslationVector](TranslationVector.md#)\(\) will return true. Otherwise, if the translation is NULL, the behavior is the same as calling clear\_translation\(\).| +|release\_translation\(\)| [TranslationVector](TranslationVector.md#) \*|void|Releases the ownership of the field and returns the pointer of the [TranslationVector](TranslationVector.md#) object. After calling this, caller takes the ownership of the allocated [TranslationVector](TranslationVector.md#) object, has\_translation\(\) will return false, and translation\(\) will return the default value.| + +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) + diff --git a/api_cpp/doc/markdown/messages/VisionConfig/FocusPoint.md b/api_cpp/doc/markdown/messages/VisionConfig/FocusPoint.md new file mode 100644 index 00000000..3115d796 --- /dev/null +++ b/api_cpp/doc/markdown/messages/VisionConfig/FocusPoint.md @@ -0,0 +1,22 @@ +# class FocusPoint + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|x|uint32|Pixel value on the X axis, between 0 and the current resolution width - 1| +|y|uint32|Pixel value on the Y axis, between 0 and the current resolution height - 1| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|x\(\)|uint32|void|Returns the current value of x. If the x is not set, returns 0.| +|set\_x\(\)|void|uint32|Sets the value of x. After calling this, x\(\) will return value.| +|clear\_x\(\)|void|void|Clears the value of x. After calling this, x\(\) will return 0.| +|y\(\)|uint32|void|Returns the current value of y. If the y is not set, returns 0.| +|set\_y\(\)|void|uint32|Sets the value of y. After calling this, y\(\) will return value.| +|clear\_y\(\)|void|void|Clears the value of y. After calling this, y\(\) will return 0.| + +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) + diff --git a/api_cpp/doc/markdown/messages/VisionConfig/IntrinsicParameters.md b/api_cpp/doc/markdown/messages/VisionConfig/IntrinsicParameters.md new file mode 100644 index 00000000..f58a3355 --- /dev/null +++ b/api_cpp/doc/markdown/messages/VisionConfig/IntrinsicParameters.md @@ -0,0 +1,45 @@ +# class IntrinsicParameters + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|sensor|uint32|The sensor for which the parameters apply to| +|resolution|uint32|The resolution for which the parameters apply to| +|principal\_point\_x|float32|Horizontal coordinate of the principal point of the image, as a pixel offset from the left edge| +|principal\_point\_y|float32|Vertical coordinate of the principal point of the image, as a pixel offset from the top edge| +|focal\_length\_x|float32|Focal length of the image plane, as a multiple of pixel width| +|focal\_length\_y|float32|Focal length of the image plane, as a multiple of pixel height| +|distortion\_coeffs| [DistortionCoefficients](DistortionCoefficients.md#)|Distortion coefficients| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|sensor\(\) const|uint32|void|Returns the current value of sensor. If the sensor is not set, returns 0.| +|set\_sensor\(\)|void|uint32|Sets the value of sensor. After calling this, sensor\(\) will return value.| +|clear\_sensor\(\)|void|void|Clears the value of sensor. After calling this, sensor\(\) will return the empty string/empty bytes.| +|resolution\(\) const|uint32|void|Returns the current value of resolution. If the resolution is not set, returns 0.| +|set\_resolution\(\)|void|uint32|Sets the value of resolution. After calling this, resolution\(\) will return value.| +|clear\_resolution\(\)|void|void|Clears the value of resolution. After calling this, resolution\(\) will return the empty string/empty bytes.| +|principal\_point\_x\(\)|float32|void|Returns the current value of principal\_point\_x. If the principal\_point\_x is not set, returns 0.| +|set\_principal\_point\_x\(\)|void|float32|Sets the value of principal\_point\_x. After calling this, principal\_point\_x\(\) will return value.| +|clear\_principal\_point\_x\(\)|void|void|Clears the value of principal\_point\_x. After calling this, principal\_point\_x\(\) will return 0.| +|principal\_point\_y\(\)|float32|void|Returns the current value of principal\_point\_y. If the principal\_point\_y is not set, returns 0.| +|set\_principal\_point\_y\(\)|void|float32|Sets the value of principal\_point\_y. After calling this, principal\_point\_y\(\) will return value.| +|clear\_principal\_point\_y\(\)|void|void|Clears the value of principal\_point\_y. After calling this, principal\_point\_y\(\) will return 0.| +|focal\_length\_x\(\)|float32|void|Returns the current value of focal\_length\_x. If the focal\_length\_x is not set, returns 0.| +|set\_focal\_length\_x\(\)|void|float32|Sets the value of focal\_length\_x. After calling this, focal\_length\_x\(\) will return value.| +|clear\_focal\_length\_x\(\)|void|void|Clears the value of focal\_length\_x. After calling this, focal\_length\_x\(\) will return 0.| +|focal\_length\_y\(\)|float32|void|Returns the current value of focal\_length\_y. If the focal\_length\_y is not set, returns 0.| +|set\_focal\_length\_y\(\)|void|float32|Sets the value of focal\_length\_y. After calling this, focal\_length\_y\(\) will return value.| +|clear\_focal\_length\_y\(\)|void|void|Clears the value of focal\_length\_y. After calling this, focal\_length\_y\(\) will return 0.| +|has\_distortion\_coeffs\(\) const|bool|void|Returns true if distortion\_coeffs is set.| +|distortion\_coeffs\(\)|const [DistortionCoefficients](DistortionCoefficients.md#)&|void|Returns the current value of distortion\_coeffs. If distortion\_coeffs is not set, returns a [DistortionCoefficients](DistortionCoefficients.md#) with none of its fields set \(possibly distortion\_coeffs::default\_instance\(\)\).| +|mutable\_distortion\_coeffs\(\)| [DistortionCoefficients](DistortionCoefficients.md#) \*|void|Returns a pointer to the mutable [DistortionCoefficients](DistortionCoefficients.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [DistortionCoefficients](DistortionCoefficients.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [DistortionCoefficients](DistortionCoefficients.md#)\). After calling this, has\_distortion\_coeffs\(\) will return true and distortion\_coeffs\(\) will return a reference to the same instance of [DistortionCoefficients](DistortionCoefficients.md#).| +|clear\_distortion\_coeffs\(\)|void|void|Clears the value of the field. After calling this, has\_distortion\_coeffs\(\) will return false and distortion\_coeffs\(\) will return the default value.| +|set\_allocated\_distortion\_coeffs\(\)|void| [DistortionCoefficients](DistortionCoefficients.md#) \*|Sets the [DistortionCoefficients](DistortionCoefficients.md#) object to the field and frees the previous field value if it exists. If the [DistortionCoefficients](DistortionCoefficients.md#) pointer is not NULL, the message takes ownership of the allocated [DistortionCoefficients](DistortionCoefficients.md#) object and has\_ [DistortionCoefficients](DistortionCoefficients.md#)\(\) will return true. Otherwise, if the distortion\_coeffs is NULL, the behavior is the same as calling clear\_distortion\_coeffs\(\).| +|release\_distortion\_coeffs\(\)| [DistortionCoefficients](DistortionCoefficients.md#) \*|void|Releases the ownership of the field and returns the pointer of the [DistortionCoefficients](DistortionCoefficients.md#) object. After calling this, caller takes the ownership of the allocated [DistortionCoefficients](DistortionCoefficients.md#) object, has\_distortion\_coeffs\(\) will return false, and distortion\_coeffs\(\) will return the default value.| + +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) + diff --git a/api_cpp/doc/markdown/messages/VisionConfig/IntrinsicProfileIdentifier.md b/api_cpp/doc/markdown/messages/VisionConfig/IntrinsicProfileIdentifier.md new file mode 100644 index 00000000..63cbe8f8 --- /dev/null +++ b/api_cpp/doc/markdown/messages/VisionConfig/IntrinsicProfileIdentifier.md @@ -0,0 +1,22 @@ +# class IntrinsicProfileIdentifier + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|sensor|uint32|Sensor| +|resolution|uint32|Resolution| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|sensor\(\) const|uint32|void|Returns the current value of sensor. If the sensor is not set, returns 0.| +|set\_sensor\(\)|void|uint32|Sets the value of sensor. After calling this, sensor\(\) will return value.| +|clear\_sensor\(\)|void|void|Clears the value of sensor. After calling this, sensor\(\) will return the empty string/empty bytes.| +|resolution\(\) const|uint32|void|Returns the current value of resolution. If the resolution is not set, returns 0.| +|set\_resolution\(\)|void|uint32|Sets the value of resolution. After calling this, resolution\(\) will return value.| +|clear\_resolution\(\)|void|void|Clears the value of resolution. After calling this, resolution\(\) will return the empty string/empty bytes.| + +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) + diff --git a/api_cpp/doc/markdown/messages/VisionConfig/ManualFocus.md b/api_cpp/doc/markdown/messages/VisionConfig/ManualFocus.md new file mode 100644 index 00000000..4b8cc89a --- /dev/null +++ b/api_cpp/doc/markdown/messages/VisionConfig/ManualFocus.md @@ -0,0 +1,18 @@ +# class ManualFocus + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|value|uint32|Abstract value allowing to change the focus distance, between 0 \(infinity\) and 1023 \(close plane\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|value\(\)|uint32|void|Returns the current value of value. If the value is not set, returns 0.| +|set\_value\(\)|void|uint32|Sets the value of value. After calling this, value\(\) will return value.| +|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return 0.| + +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) + diff --git a/api_cpp/doc/markdown/messages/VisionConfig/OptionIdentifier.md b/api_cpp/doc/markdown/messages/VisionConfig/OptionIdentifier.md new file mode 100644 index 00000000..de87750a --- /dev/null +++ b/api_cpp/doc/markdown/messages/VisionConfig/OptionIdentifier.md @@ -0,0 +1,22 @@ +# class OptionIdentifier + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|sensor|uint32|The sensor to configure| +|option|uint32|The option to configure on the sensor| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|sensor\(\) const|uint32|void|Returns the current value of sensor. If the sensor is not set, returns 0.| +|set\_sensor\(\)|void|uint32|Sets the value of sensor. After calling this, sensor\(\) will return value.| +|clear\_sensor\(\)|void|void|Clears the value of sensor. After calling this, sensor\(\) will return the empty string/empty bytes.| +|option\(\) const|uint32|void|Returns the current value of option. If the option is not set, returns 0.| +|set\_option\(\)|void|uint32|Sets the value of option. After calling this, option\(\) will return value.| +|clear\_option\(\)|void|void|Clears the value of option. After calling this, option\(\) will return the empty string/empty bytes.| + +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) + diff --git a/api_cpp/doc/markdown/references/msg_VisionConfig_OptionInformation.md b/api_cpp/doc/markdown/messages/VisionConfig/OptionInformation.md similarity index 68% rename from api_cpp/doc/markdown/references/msg_VisionConfig_OptionInformation.md rename to api_cpp/doc/markdown/messages/VisionConfig/OptionInformation.md index 8d0fcbef..87f6e91a 100644 --- a/api_cpp/doc/markdown/references/msg_VisionConfig_OptionInformation.md +++ b/api_cpp/doc/markdown/messages/VisionConfig/OptionInformation.md @@ -1,19 +1,11 @@ -# Message OptionInformation +# class OptionInformation -This page describes the C++ Kinova::Api::VisionConfig::OptionInformation message. - -## Overview / Purpose - -Packages information about the optional settings for the chosen sensor - -## Class members - - **Member variables** + **Member values** |Member name|Data type|Description| |-----------|---------|-----------| -|sensor| [Sensor](enm_VisionConfig_Sensor.md#)|The sensor \(color or depth\)| -|option| [Option](enm_VisionConfig_Option.md#)|The option| +|sensor|uint32|The sensor \(color or depth\)| +|option|uint32|The option| |supported|bool|Is the option supported by the chosen sensor?| |read\_only|bool|Is the option read-only, or can it be changed?| |minimum|float32|Minimum value for the option| @@ -21,17 +13,15 @@ Packages information about the optional settings for the chosen sensor |step|float32|Step size for the option value \(if it takes on discrete values\)| |default\_value|float32|Default value for the option| - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. + **Member functions** -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|sensor\(\) const| [Sensor](enm_VisionConfig_Sensor.md#)|void|Returns the current value of sensor. If the sensor is not set, returns 0.| -|set\_sensor\(\)|void| [Sensor](enm_VisionConfig_Sensor.md#)|Sets the value of sensor. After calling this, sensor\(\) will return value.| +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|sensor\(\) const|uint32|void|Returns the current value of sensor. If the sensor is not set, returns 0.| +|set\_sensor\(\)|void|uint32|Sets the value of sensor. After calling this, sensor\(\) will return value.| |clear\_sensor\(\)|void|void|Clears the value of sensor. After calling this, sensor\(\) will return the empty string/empty bytes.| -|option\(\) const| [Option](enm_VisionConfig_Option.md#)|void|Returns the current value of option. If the option is not set, returns 0.| -|set\_option\(\)|void| [Option](enm_VisionConfig_Option.md#)|Sets the value of option. After calling this, option\(\) will return value.| +|option\(\) const|uint32|void|Returns the current value of option. If the option is not set, returns 0.| +|set\_option\(\)|void|uint32|Sets the value of option. After calling this, option\(\) will return value.| |clear\_option\(\)|void|void|Clears the value of option. After calling this, option\(\) will return the empty string/empty bytes.| |supported\(\)|bool|void|Returns the current value of supported. If the supported is not set, returns 0.| |set\_supported\(\)|void|bool|Sets the value of supported. After calling this, supported\(\) will return value.| @@ -52,5 +42,5 @@ The methods listed below are some of the most commonly used. Please refer to Goo |set\_default\_value\(\)|void|float32|Sets the value of default\_value. After calling this, default\_value\(\) will return value.| |clear\_default\_value\(\)|void|void|Clears the value of default\_value. After calling this, default\_value\(\) will return 0.| -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) diff --git a/api_cpp/doc/markdown/messages/VisionConfig/OptionValue.md b/api_cpp/doc/markdown/messages/VisionConfig/OptionValue.md new file mode 100644 index 00000000..a8aa9780 --- /dev/null +++ b/api_cpp/doc/markdown/messages/VisionConfig/OptionValue.md @@ -0,0 +1,26 @@ +# class OptionValue + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|sensor|uint32|The sensor to configure \(color or depth\)| +|option|uint32|The option to configure| +|value|float32|The desired value for the option| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|sensor\(\) const|uint32|void|Returns the current value of sensor. If the sensor is not set, returns 0.| +|set\_sensor\(\)|void|uint32|Sets the value of sensor. After calling this, sensor\(\) will return value.| +|clear\_sensor\(\)|void|void|Clears the value of sensor. After calling this, sensor\(\) will return the empty string/empty bytes.| +|option\(\) const|uint32|void|Returns the current value of option. If the option is not set, returns 0.| +|set\_option\(\)|void|uint32|Sets the value of option. After calling this, option\(\) will return value.| +|clear\_option\(\)|void|void|Clears the value of option. After calling this, option\(\) will return the empty string/empty bytes.| +|value\(\)|float32|void|Returns the current value of value. If the value is not set, returns 0.| +|set\_value\(\)|void|float32|Sets the value of value. After calling this, value\(\) will return value.| +|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return 0.| + +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) + diff --git a/api_cpp/doc/markdown/messages/VisionConfig/RotationMatrix.md b/api_cpp/doc/markdown/messages/VisionConfig/RotationMatrix.md new file mode 100644 index 00000000..a7ad0f0e --- /dev/null +++ b/api_cpp/doc/markdown/messages/VisionConfig/RotationMatrix.md @@ -0,0 +1,35 @@ +# class RotationMatrix + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|row1| [RotationMatrixRow](RotationMatrixRow.md#)|First rotation matrix row| +|row2| [RotationMatrixRow](RotationMatrixRow.md#)|Second rotation matrix row| +|row3| [RotationMatrixRow](RotationMatrixRow.md#)|Third rotation matrix row| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|has\_row1\(\) const|bool|void|Returns true if row1 is set.| +|row1\(\)|const [RotationMatrixRow](RotationMatrixRow.md#)&|void|Returns the current value of row1. If row1 is not set, returns a [RotationMatrixRow](RotationMatrixRow.md#) with none of its fields set \(possibly row1::default\_instance\(\)\).| +|mutable\_row1\(\)| [RotationMatrixRow](RotationMatrixRow.md#) \*|void|Returns a pointer to the mutable [RotationMatrixRow](RotationMatrixRow.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [RotationMatrixRow](RotationMatrixRow.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [RotationMatrixRow](RotationMatrixRow.md#)\). After calling this, has\_row1\(\) will return true and row1\(\) will return a reference to the same instance of [RotationMatrixRow](RotationMatrixRow.md#).| +|clear\_row1\(\)|void|void|Clears the value of the field. After calling this, has\_row1\(\) will return false and row1\(\) will return the default value.| +|set\_allocated\_row1\(\)|void| [RotationMatrixRow](RotationMatrixRow.md#) \*|Sets the [RotationMatrixRow](RotationMatrixRow.md#) object to the field and frees the previous field value if it exists. If the [RotationMatrixRow](RotationMatrixRow.md#) pointer is not NULL, the message takes ownership of the allocated [RotationMatrixRow](RotationMatrixRow.md#) object and has\_ [RotationMatrixRow](RotationMatrixRow.md#)\(\) will return true. Otherwise, if the row1 is NULL, the behavior is the same as calling clear\_row1\(\).| +|release\_row1\(\)| [RotationMatrixRow](RotationMatrixRow.md#) \*|void|Releases the ownership of the field and returns the pointer of the [RotationMatrixRow](RotationMatrixRow.md#) object. After calling this, caller takes the ownership of the allocated [RotationMatrixRow](RotationMatrixRow.md#) object, has\_row1\(\) will return false, and row1\(\) will return the default value.| +|has\_row2\(\) const|bool|void|Returns true if row2 is set.| +|row2\(\)|const [RotationMatrixRow](RotationMatrixRow.md#)&|void|Returns the current value of row2. If row2 is not set, returns a [RotationMatrixRow](RotationMatrixRow.md#) with none of its fields set \(possibly row2::default\_instance\(\)\).| +|mutable\_row2\(\)| [RotationMatrixRow](RotationMatrixRow.md#) \*|void|Returns a pointer to the mutable [RotationMatrixRow](RotationMatrixRow.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [RotationMatrixRow](RotationMatrixRow.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [RotationMatrixRow](RotationMatrixRow.md#)\). After calling this, has\_row2\(\) will return true and row2\(\) will return a reference to the same instance of [RotationMatrixRow](RotationMatrixRow.md#).| +|clear\_row2\(\)|void|void|Clears the value of the field. After calling this, has\_row2\(\) will return false and row2\(\) will return the default value.| +|set\_allocated\_row2\(\)|void| [RotationMatrixRow](RotationMatrixRow.md#) \*|Sets the [RotationMatrixRow](RotationMatrixRow.md#) object to the field and frees the previous field value if it exists. If the [RotationMatrixRow](RotationMatrixRow.md#) pointer is not NULL, the message takes ownership of the allocated [RotationMatrixRow](RotationMatrixRow.md#) object and has\_ [RotationMatrixRow](RotationMatrixRow.md#)\(\) will return true. Otherwise, if the row2 is NULL, the behavior is the same as calling clear\_row2\(\).| +|release\_row2\(\)| [RotationMatrixRow](RotationMatrixRow.md#) \*|void|Releases the ownership of the field and returns the pointer of the [RotationMatrixRow](RotationMatrixRow.md#) object. After calling this, caller takes the ownership of the allocated [RotationMatrixRow](RotationMatrixRow.md#) object, has\_row2\(\) will return false, and row2\(\) will return the default value.| +|has\_row3\(\) const|bool|void|Returns true if row3 is set.| +|row3\(\)|const [RotationMatrixRow](RotationMatrixRow.md#)&|void|Returns the current value of row3. If row3 is not set, returns a [RotationMatrixRow](RotationMatrixRow.md#) with none of its fields set \(possibly row3::default\_instance\(\)\).| +|mutable\_row3\(\)| [RotationMatrixRow](RotationMatrixRow.md#) \*|void|Returns a pointer to the mutable [RotationMatrixRow](RotationMatrixRow.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [RotationMatrixRow](RotationMatrixRow.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [RotationMatrixRow](RotationMatrixRow.md#)\). After calling this, has\_row3\(\) will return true and row3\(\) will return a reference to the same instance of [RotationMatrixRow](RotationMatrixRow.md#).| +|clear\_row3\(\)|void|void|Clears the value of the field. After calling this, has\_row3\(\) will return false and row3\(\) will return the default value.| +|set\_allocated\_row3\(\)|void| [RotationMatrixRow](RotationMatrixRow.md#) \*|Sets the [RotationMatrixRow](RotationMatrixRow.md#) object to the field and frees the previous field value if it exists. If the [RotationMatrixRow](RotationMatrixRow.md#) pointer is not NULL, the message takes ownership of the allocated [RotationMatrixRow](RotationMatrixRow.md#) object and has\_ [RotationMatrixRow](RotationMatrixRow.md#)\(\) will return true. Otherwise, if the row3 is NULL, the behavior is the same as calling clear\_row3\(\).| +|release\_row3\(\)| [RotationMatrixRow](RotationMatrixRow.md#) \*|void|Releases the ownership of the field and returns the pointer of the [RotationMatrixRow](RotationMatrixRow.md#) object. After calling this, caller takes the ownership of the allocated [RotationMatrixRow](RotationMatrixRow.md#) object, has\_row3\(\) will return false, and row3\(\) will return the default value.| + +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) + diff --git a/api_cpp/doc/markdown/messages/VisionConfig/RotationMatrixRow.md b/api_cpp/doc/markdown/messages/VisionConfig/RotationMatrixRow.md new file mode 100644 index 00000000..0dd9d98c --- /dev/null +++ b/api_cpp/doc/markdown/messages/VisionConfig/RotationMatrixRow.md @@ -0,0 +1,26 @@ +# class RotationMatrixRow + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|column1|float32|Value between -1.0 and 1.0| +|column2|float32|Value between -1.0 and 1.0| +|column3|float32|Value between -1.0 and 1.0| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|column1\(\)|float32|void|Returns the current value of column1. If the column1 is not set, returns 0.| +|set\_column1\(\)|void|float32|Sets the value of column1. After calling this, column1\(\) will return value.| +|clear\_column1\(\)|void|void|Clears the value of column1. After calling this, column1\(\) will return 0.| +|column2\(\)|float32|void|Returns the current value of column2. If the column2 is not set, returns 0.| +|set\_column2\(\)|void|float32|Sets the value of column2. After calling this, column2\(\) will return value.| +|clear\_column2\(\)|void|void|Clears the value of column2. After calling this, column2\(\) will return 0.| +|column3\(\)|float32|void|Returns the current value of column3. If the column3 is not set, returns 0.| +|set\_column3\(\)|void|float32|Sets the value of column3. After calling this, column3\(\) will return value.| +|clear\_column3\(\)|void|void|Clears the value of column3. After calling this, column3\(\) will return 0.| + +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) + diff --git a/api_cpp/doc/markdown/messages/VisionConfig/SensorFocusAction.md b/api_cpp/doc/markdown/messages/VisionConfig/SensorFocusAction.md new file mode 100644 index 00000000..72bb8bb9 --- /dev/null +++ b/api_cpp/doc/markdown/messages/VisionConfig/SensorFocusAction.md @@ -0,0 +1,36 @@ +# class SensorFocusAction + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|sensor|uint32|The sensor on which to perform the focus action| +|focus\_action|uint32|The focus action to perform on the sensor| +|focus\_point|oneof:action\_parameters [FocusPoint](FocusPoint.md#)|The X-Y point on which to focus| +|manual\_focus|oneof:action\_parameters [ManualFocus](ManualFocus.md#)|The manual focus abstract value| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|sensor\(\) const|uint32|void|Returns the current value of sensor. If the sensor is not set, returns 0.| +|set\_sensor\(\)|void|uint32|Sets the value of sensor. After calling this, sensor\(\) will return value.| +|clear\_sensor\(\)|void|void|Clears the value of sensor. After calling this, sensor\(\) will return the empty string/empty bytes.| +|focus\_action\(\) const|uint32|void|Returns the current value of focus\_action. If the focus\_action is not set, returns 0.| +|set\_focus\_action\(\)|void|uint32|Sets the value of focus\_action. After calling this, focus\_action\(\) will return value.| +|clear\_focus\_action\(\)|void|void|Clears the value of focus\_action. After calling this, focus\_action\(\) will return the empty string/empty bytes.| +|has\_focus\_point\(\) const|void|void|Returns the current value of the field if oneof case is kFocus\_point. Otherwise, returns oneof:action\_parameters [FocusPoint](FocusPoint.md#)::default\_instance\(\)| +|focus\_point\(\) const|const oneof:action\_parameters [FocusPoint](FocusPoint.md#)&|void|Returns the current value of the field if oneof case is kFocus\_point| +|mutable\_focus\_point\(\)|oneof:action\_parameters [FocusPoint](FocusPoint.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kFocus\_point and returns a pointer to the mutable oneof:action\_parameters [FocusPoint](FocusPoint.md#) object that stores the field's value. If the oneof case was not kFocus\_point prior to the call, then the returned oneof:action\_parameters [FocusPoint](FocusPoint.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [FocusPoint](FocusPoint.md#)\). After calling this, has\_focus\_point\(\) will return true, focus\_point\(\) will return a reference to the same instance of oneof:action\_parameters [FocusPoint](FocusPoint.md#) and action\_parameters\_case\(\) will return kFocus\_point| +|clear\_focus\_point\(\)|void|void|Nothing will be changed if the oneof case is not kFocus\_point. If the oneof case equals kFocus\_point, frees the field and clears the oneof case. has\_focus\_point\(\) will return false, focus\_point\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_focus\_point\(\)|void|oneof:action\_parameters [FocusPoint](FocusPoint.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [FocusPoint](FocusPoint.md#) pointer is not NULL: Sets the oneof:action\_parameters [FocusPoint](FocusPoint.md#) object to the field and sets the oneof case to kFocus\_point. The message takes ownership of the allocated oneof:action\_parameters [FocusPoint](FocusPoint.md#) object, has\_focus\_point\(\) will return true and action\_parameters\_case\(\) will return kFocus\_point. If the pointer is NULL, has\_focus\_point\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_focus\_point\(\)|oneof:action\_parameters [FocusPoint](FocusPoint.md#)\*|void|Returns NULL if oneof case is not kFocus\_point. If the oneof case is kFocus\_point, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_focus\_point\(\) will return false, focus\_point\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|has\_manual\_focus\(\) const|void|void|Returns the current value of the field if oneof case is kManual\_focus. Otherwise, returns oneof:action\_parameters [ManualFocus](ManualFocus.md#)::default\_instance\(\)| +|manual\_focus\(\) const|const oneof:action\_parameters [ManualFocus](ManualFocus.md#)&|void|Returns the current value of the field if oneof case is kManual\_focus| +|mutable\_manual\_focus\(\)|oneof:action\_parameters [ManualFocus](ManualFocus.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kManual\_focus and returns a pointer to the mutable oneof:action\_parameters [ManualFocus](ManualFocus.md#) object that stores the field's value. If the oneof case was not kManual\_focus prior to the call, then the returned oneof:action\_parameters [ManualFocus](ManualFocus.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated oneof:action\_parameters [ManualFocus](ManualFocus.md#)\). After calling this, has\_manual\_focus\(\) will return true, manual\_focus\(\) will return a reference to the same instance of oneof:action\_parameters [ManualFocus](ManualFocus.md#) and action\_parameters\_case\(\) will return kManual\_focus| +|clear\_manual\_focus\(\)|void|void|Nothing will be changed if the oneof case is not kManual\_focus. If the oneof case equals kManual\_focus, frees the field and clears the oneof case. has\_manual\_focus\(\) will return false, manual\_focus\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| +|set\_allocated\_manual\_focus\(\)|void|oneof:action\_parameters [ManualFocus](ManualFocus.md#)\*|Calls clear\_action\_parameters\(\). If the oneof:action\_parameters [ManualFocus](ManualFocus.md#) pointer is not NULL: Sets the oneof:action\_parameters [ManualFocus](ManualFocus.md#) object to the field and sets the oneof case to kManual\_focus. The message takes ownership of the allocated oneof:action\_parameters [ManualFocus](ManualFocus.md#) object, has\_manual\_focus\(\) will return true and action\_parameters\_case\(\) will return kManual\_focus. If the pointer is NULL, has\_manual\_focus\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| +|release\_manual\_focus\(\)|oneof:action\_parameters [ManualFocus](ManualFocus.md#)\*|void|Returns NULL if oneof case is not kManual\_focus. If the oneof case is kManual\_focus, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_manual\_focus\(\) will return false, manual\_focus\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| + +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) + diff --git a/api_cpp/doc/markdown/messages/VisionConfig/SensorIdentifier.md b/api_cpp/doc/markdown/messages/VisionConfig/SensorIdentifier.md new file mode 100644 index 00000000..144d337a --- /dev/null +++ b/api_cpp/doc/markdown/messages/VisionConfig/SensorIdentifier.md @@ -0,0 +1,18 @@ +# class SensorIdentifier + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|sensor|uint32|Sensor| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|sensor\(\) const|uint32|void|Returns the current value of sensor. If the sensor is not set, returns 0.| +|set\_sensor\(\)|void|uint32|Sets the value of sensor. After calling this, sensor\(\) will return value.| +|clear\_sensor\(\)|void|void|Clears the value of sensor. After calling this, sensor\(\) will return the empty string/empty bytes.| + +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) + diff --git a/api_cpp/doc/markdown/messages/VisionConfig/SensorSettings.md b/api_cpp/doc/markdown/messages/VisionConfig/SensorSettings.md new file mode 100644 index 00000000..0e4573c2 --- /dev/null +++ b/api_cpp/doc/markdown/messages/VisionConfig/SensorSettings.md @@ -0,0 +1,30 @@ +# class SensorSettings + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|sensor|uint32|The sensor \(color or depth\)| +|resolution|uint32|The resolution setting| +|frame\_rate|uint32|Frame rate setting| +|bit\_rate|uint32|Maximum encoded bit rate| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|sensor\(\) const|uint32|void|Returns the current value of sensor. If the sensor is not set, returns 0.| +|set\_sensor\(\)|void|uint32|Sets the value of sensor. After calling this, sensor\(\) will return value.| +|clear\_sensor\(\)|void|void|Clears the value of sensor. After calling this, sensor\(\) will return the empty string/empty bytes.| +|resolution\(\) const|uint32|void|Returns the current value of resolution. If the resolution is not set, returns 0.| +|set\_resolution\(\)|void|uint32|Sets the value of resolution. After calling this, resolution\(\) will return value.| +|clear\_resolution\(\)|void|void|Clears the value of resolution. After calling this, resolution\(\) will return the empty string/empty bytes.| +|frame\_rate\(\) const|uint32|void|Returns the current value of frame\_rate. If the frame\_rate is not set, returns 0.| +|set\_frame\_rate\(\)|void|uint32|Sets the value of frame\_rate. After calling this, frame\_rate\(\) will return value.| +|clear\_frame\_rate\(\)|void|void|Clears the value of frame\_rate. After calling this, frame\_rate\(\) will return the empty string/empty bytes.| +|bit\_rate\(\) const|uint32|void|Returns the current value of bit\_rate. If the bit\_rate is not set, returns 0.| +|set\_bit\_rate\(\)|void|uint32|Sets the value of bit\_rate. After calling this, bit\_rate\(\) will return value.| +|clear\_bit\_rate\(\)|void|void|Clears the value of bit\_rate. After calling this, bit\_rate\(\) will return the empty string/empty bytes.| + +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) + diff --git a/api_cpp/doc/markdown/messages/VisionConfig/TranslationVector.md b/api_cpp/doc/markdown/messages/VisionConfig/TranslationVector.md new file mode 100644 index 00000000..5cab8e86 --- /dev/null +++ b/api_cpp/doc/markdown/messages/VisionConfig/TranslationVector.md @@ -0,0 +1,26 @@ +# class TranslationVector + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|t\_x|float32|Translation in meters in the x axis| +|t\_y|float32|Translation in meters in the y axis| +|t\_z|float32|Translation in meters in the z axis| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|t\_x\(\)|float32|void|Returns the current value of t\_x. If the t\_x is not set, returns 0.| +|set\_t\_x\(\)|void|float32|Sets the value of t\_x. After calling this, t\_x\(\) will return value.| +|clear\_t\_x\(\)|void|void|Clears the value of t\_x. After calling this, t\_x\(\) will return 0.| +|t\_y\(\)|float32|void|Returns the current value of t\_y. If the t\_y is not set, returns 0.| +|set\_t\_y\(\)|void|float32|Sets the value of t\_y. After calling this, t\_y\(\) will return value.| +|clear\_t\_y\(\)|void|void|Clears the value of t\_y. After calling this, t\_y\(\) will return 0.| +|t\_z\(\)|float32|void|Returns the current value of t\_z. If the t\_z is not set, returns 0.| +|set\_t\_z\(\)|void|float32|Sets the value of t\_z. After calling this, t\_z\(\) will return value.| +|clear\_t\_z\(\)|void|void|Clears the value of t\_z. After calling this, t\_z\(\) will return 0.| + +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) + diff --git a/api_cpp/doc/markdown/messages/VisionConfig/VisionNotification.md b/api_cpp/doc/markdown/messages/VisionConfig/VisionNotification.md new file mode 100644 index 00000000..b8add5d5 --- /dev/null +++ b/api_cpp/doc/markdown/messages/VisionConfig/VisionNotification.md @@ -0,0 +1,26 @@ +# class VisionNotification + + **Member values** + +|Member name|Data type|Description| +|-----------|---------|-----------| +|event|uint32|Vision event| +|sensor|uint32|The sensor that caused the notification \(if applicable\)| +|option|uint32|The option that caused the notification \(if applicable\)| + + **Member functions** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|event\(\) const|uint32|void|Returns the current value of event. If the event is not set, returns 0.| +|set\_event\(\)|void|uint32|Sets the value of event. After calling this, event\(\) will return value.| +|clear\_event\(\)|void|void|Clears the value of event. After calling this, event\(\) will return the empty string/empty bytes.| +|sensor\(\) const|uint32|void|Returns the current value of sensor. If the sensor is not set, returns 0.| +|set\_sensor\(\)|void|uint32|Sets the value of sensor. After calling this, sensor\(\) will return value.| +|clear\_sensor\(\)|void|void|Clears the value of sensor. After calling this, sensor\(\) will return the empty string/empty bytes.| +|option\(\) const|uint32|void|Returns the current value of option. If the option is not set, returns 0.| +|set\_option\(\)|void|uint32|Sets the value of option. After calling this, option\(\) will return value.| +|clear\_option\(\)|void|void|Clears the value of option. After calling this, option\(\) will return the empty string/empty bytes.| + +**Parent topic:** [VisionConfig \(C++\)](../../summary_pages/VisionConfig.md) + diff --git a/api_cpp/doc/markdown/references/enm_ActuatorConfig_ControlMode.md b/api_cpp/doc/markdown/references/enm_ActuatorConfig_ControlMode.md deleted file mode 100644 index 07a61a78..00000000 --- a/api_cpp/doc/markdown/references/enm_ActuatorConfig_ControlMode.md +++ /dev/null @@ -1,21 +0,0 @@ -# Enum ControlMode - -This page describes the C++ Kinova::Api::ActuatorConfig::ControlMode enumeration. - -## Overview / Purpose - -List of admissible control modes - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|NONE|0|None| -|POSITION|1|Position mode| -|VELOCITY|2|Velocity mode| -|TORQUE|3|Torque mode| -|CURRENT|4|Current mode| -|CUSTOM|5|Custom mode| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_cpp/doc/markdown/references/enm_ActuatorConfig_SafetyLimitType.md b/api_cpp/doc/markdown/references/enm_ActuatorConfig_SafetyLimitType.md deleted file mode 100644 index 17ce373a..00000000 --- a/api_cpp/doc/markdown/references/enm_ActuatorConfig_SafetyLimitType.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum SafetyLimitType - -This page describes the C++ Kinova::Api::ActuatorConfig::SafetyLimitType enumeration. - -## Overview / Purpose - -List of of admissible limit types - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|MAXIMAL\_LIMIT|0|Maximal limit| -|MINIMAL\_LIMIT|1|Minimal limit| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_cpp/doc/markdown/references/enm_ActuatorConfig_ServiceVersion.md b/api_cpp/doc/markdown/references/enm_ActuatorConfig_ServiceVersion.md deleted file mode 100644 index 927e7ef1..00000000 --- a/api_cpp/doc/markdown/references/enm_ActuatorConfig_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the C++ Kinova::Api::ActuatorConfig::ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify ActuatorConfig service current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_cpp/doc/markdown/references/enm_ActuatorCyclic_ServiceVersion.md b/api_cpp/doc/markdown/references/enm_ActuatorCyclic_ServiceVersion.md deleted file mode 100644 index 02c95e13..00000000 --- a/api_cpp/doc/markdown/references/enm_ActuatorCyclic_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the C++ Kinova::Api::ActuatorCyclic::ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify ActuatorCyclic current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [ActuatorCyclic](../references/summary_ActuatorCyclic.md) - diff --git a/api_cpp/doc/markdown/references/enm_BaseCyclic_ServiceVersion.md b/api_cpp/doc/markdown/references/enm_BaseCyclic_ServiceVersion.md deleted file mode 100644 index 2e21de05..00000000 --- a/api_cpp/doc/markdown/references/enm_BaseCyclic_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the C++ Kinova::Api::BaseCyclic::ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify BaseCyclic current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) - diff --git a/api_cpp/doc/markdown/references/enm_Base_ActionEvent.md b/api_cpp/doc/markdown/references/enm_Base_ActionEvent.md deleted file mode 100644 index 2ee3c850..00000000 --- a/api_cpp/doc/markdown/references/enm_Base_ActionEvent.md +++ /dev/null @@ -1,20 +0,0 @@ -# Enum ActionEvent - -This page describes the C++ Kinova::Api::Base::ActionEvent enumeration. - -## Overview / Purpose - -List of admissible action event types - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_ACTION\_EVENT|0|Unspecified action event| -|ACTION\_END|1|Action execution end reached| -|ACTION\_ABORT|2|Action execution aborted| -|ACTION\_PAUSE|3|Action execution paused| -|ACTION\_START|4|Action execution started| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/enm_Base_ActionType.md b/api_cpp/doc/markdown/references/enm_Base_ActionType.md deleted file mode 100644 index 56225ad3..00000000 --- a/api_cpp/doc/markdown/references/enm_Base_ActionType.md +++ /dev/null @@ -1,32 +0,0 @@ -# Enum ActionType - -This page describes the C++ Kinova::Api::Base::ActionType enumeration. - -## Overview / Purpose - -List of admissible action types - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_ACTION|0|Unspecified action type| -|SEND\_TWIST\_COMMAND|1|Action to control the robot in velocity| -|SEND\_JOINT\_SPEEDS|4|Action to control each joint speed| -|REACH\_POSE|6|Action to reach a pose| -|REACH\_JOINT\_ANGLES|7|Action to reach a series of joint angles| -|TOGGLE\_ADMITTANCE\_MODE|13|Action to enable or disable the admittance mode| -|SWITCH\_CONTROL\_MAPPING|16|Action to switch the active controller map| -|NAVIGATE\_JOINTS|17|Action to select the next actuator to control from control mapping| -|NAVIGATE\_MAPPINGS|18|Action to select a different map| -|CHANGE\_TWIST|22|Action to change the twist| -|CHANGE\_JOINT\_SPEEDS|23|Action to change the joint speeds individually| -|APPLY\_EMERGENCY\_STOP|28|Action to apply robot emergency stop| -|CLEAR\_FAULTS|29|Action to clear faults. Robot will be able to move if there is no more fault \(see BaseCyclic.BaseFeedback.\[fault\_bank\_a | fault\_bank\_b\]\)| -|TIME\_DELAY|31|Action to apply a delay| -|EXECUTE\_ACTION|32|Action to execute an existing action| -|SEND\_GRIPPER\_COMMAND|33|Action to execute a gripper command| -|STOP\_ACTION|35|Action to stop movement| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/enm_Base_CartesianReferenceFrame.md b/api_cpp/doc/markdown/references/enm_Base_CartesianReferenceFrame.md deleted file mode 100644 index 9a73c557..00000000 --- a/api_cpp/doc/markdown/references/enm_Base_CartesianReferenceFrame.md +++ /dev/null @@ -1,18 +0,0 @@ -# Enum CartesianReferenceFrame - -This page describes the C++ Kinova::Api::Base::CartesianReferenceFrame enumeration. - -## Overview / Purpose - -List of admissible Cartesian reference frame modes - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_CARTESIAN\_REFERENCE\_FRAME|0|Unspecified Cartesian reference frame| -|MIXED|1|Mixed reference frame where translation reference = base and orientation reference = tool| -|TOOL|2|Tool reference frame where translation reference = tool and orientation reference = tool| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/enm_Base_ControllerType.md b/api_cpp/doc/markdown/references/enm_Base_ControllerType.md deleted file mode 100644 index 1aeffe70..00000000 --- a/api_cpp/doc/markdown/references/enm_Base_ControllerType.md +++ /dev/null @@ -1,18 +0,0 @@ -# Enum ControllerType - -This page describes the C++ Kinova::Api::Base::ControllerType enumeration. - -## Overview / Purpose - -List of admissible controller types - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_CONTROLLER\_TYPE|0|Unspecified controller type| -|XBOX\_CONTROLLER|1|Xbox controller| -|WRIST\_CONTROLLER|2|Wrist controller on Kinova Arm| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/enm_Base_CountryCodeIdentifier.md b/api_cpp/doc/markdown/references/enm_Base_CountryCodeIdentifier.md deleted file mode 100644 index 39ce922e..00000000 --- a/api_cpp/doc/markdown/references/enm_Base_CountryCodeIdentifier.md +++ /dev/null @@ -1,128 +0,0 @@ -# Enum CountryCodeIdentifier - -This page describes the C++ Kinova::Api::Base::CountryCodeIdentifier enumeration. - -## Overview / Purpose - -List of supported ISO3166 country identifiers - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_COUNTRY\_CODE|0| | -|UNITED\_ARAB\_EMIRATES\_AE|1| | -|ANTIGUA\_AND\_BARBUDA\_AG|2| | -|ANGUILLA\_AI|3| | -|ALBANIA\_AL|4| | -|AMERICAN\_SAMOA\_AS|5| | -|AUSTRIA\_AT|6| | -|AUSTRALIA\_AU|7| | -|ARUBA\_AW|8| | -|AZERBAIJAN\_AZ|9| | -|BOSNIA\_AND\_HERZEGOVINA\_BA|10| | -|BANGLADESH\_BD|11| | -|BELGIUM\_BE|12| | -|BULGARIA\_BG|13| | -|BAHRAIN\_BH|14| | -|BERMUDA\_BM|15| | -|BRUNEI\_DARUSSALAM\_BN|16| | -|BRAZIL\_BR|17| | -|BAHAMAS\_BS|18| | -|BELARUS\_BY|19| | -|SWITZERLAND\_CH|20| | -|CANADA\_CA|21| | -|CHINA\_CN|22| | -|COLOMBIA\_CO|23| | -|COSTA\_RICA\_CR|24| | -|CYPRUS\_CY|25| | -|CZECH\_REPUBLIC\_CZ|26| | -|GERMANY\_DE|27| | -|DENMARK\_DK|28| | -|ECUADOR\_EC|29| | -|ESTONIA\_EE|30| | -|EGYPT\_EG|31| | -|SPAIN\_ES|32| | -|ETHIOPIA\_ET|33| | -|FINLAND\_FI|34| | -|FRANCE\_FR|35| | -|UNITED\_KINGDOM\_GB|36| | -|GRENADA\_GD|37| | -|FRENCH\_GUIANA\_GF|38| | -|GUADELOUPE\_GP|39| | -|GREECE\_GR|40| | -|GUATEMALA\_GT|41| | -|GUAM\_GU|42| | -|HONG\_KONG\_HK|43| | -|CROATIA\_HR|44| | -|HUNGARY\_HU|45| | -|INDIA\_IN|46| | -|INDONESIA\_ID|47| | -|IRELAND\_IE|48| | -|ISRAEL\_IL|49| | -|ICELAND\_IS|50| | -|ITALY\_IT|51| | -|JORDAN\_JO|52| | -|JAPAN\_JP|53| | -|CAMBODIA\_KH|54| | -|REPUBLIC\_OF\_KOREA\_KR|55| | -|KUWAIT\_KW|56| | -|CAYMAN\_ISLANDS\_KY|57| | -|LAO\_PDR\_LA|58| | -|LEBANON\_LB|59| | -|LIECHTENSTEIN\_LI|60| | -|SRI\_LANKA\_LK|61| | -|LESOTHO\_LS|62| | -|LITHUANIA\_LT|63| | -|LUXEMBOURG\_LU|64| | -|LATVIA\_LV|65| | -|MOROCCO\_MA|66| | -|MONACO\_MC|67| | -|MOLDOVA\_MD|68| | -|MONTENEGRO\_ME|69| | -|REPUBLIC\_OF\_MACEDONIA\_MK|70| | -|MONGOLIA\_MN|71| | -|MARTINIQUE\_MQ|72| | -|MAURITANIA\_MR|73| | -|MALTA\_MT|74| | -|MAURITIUS\_MU|75| | -|MALDIVES\_MV|76| | -|MALAWI\_MW|77| | -|MEXICO\_MX|78| | -|MALAYSIA\_MY|79| | -|NICARAGUA\_NI|80| | -|NETHERLANDS\_NL|81| | -|NORWAY\_NO|82| | -|NEW\_ZEALAND\_NZ|83| | -|OMAN\_OM|84| | -|PANAMA\_PA|85| | -|PERU\_PE|86| | -|PHILIPPINES\_PH|87| | -|POLAND\_PL|88| | -|PUERTO\_RICO\_PR|89| | -|PORTUGAL\_PT|90| | -|PARAGUAY\_PY|91| | -|REUNION\_RE|92| | -|ROMANIA\_RO|93| | -|SERBIA\_RS|94| | -|RUSSIAN\_FEDERATION\_RU|95| | -|SWEDEN\_SE|96| | -|SINGAPORE\_SI|97| | -|SLOVAKIA\_SK|98| | -|EL\_SALVADOR\_SV|99| | -|THAILAND\_TH|100| | -|TUNISIA\_TN|101| | -|TURKEY\_TR|102| | -|TRINIDAD\_AND\_TOBAGO\_TT|103| | -|TAIWAN\_PROVINCE\_OF\_CHINA\_TW|104| | -|UKRAINE\_UA|105| | -|UNITED\_STATES\_US|106| | -|HOLY\_SEE\_VATICAN\_CITY\_STATE\_VA|107| | -|BOLIVARIAN\_REPUBLIC\_OF\_VENEZUELA\_VE|108| | -|BRITISH\_VIRGIN\_ISLANDS\_VG|109| | -|VIETNAM\_VN|110| | -|MAYOTTE\_YT|111| | -|SOUTH\_AFRICA\_ZA|112| | - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/enm_Base_GripperMode.md b/api_cpp/doc/markdown/references/enm_Base_GripperMode.md deleted file mode 100644 index b31454fd..00000000 --- a/api_cpp/doc/markdown/references/enm_Base_GripperMode.md +++ /dev/null @@ -1,19 +0,0 @@ -# Enum GripperMode - -This page describes the C++ Kinova::Api::Base::GripperMode enumeration. - -## Overview / Purpose - -List of admissible gripper control mode - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_GRIPPER\_MODE|0|Unspecified gripper mode| -|GRIPPER\_FORCE|1|Force control \(in Newton\) \(future\)| -|GRIPPER\_SPEED|2|Speed control \(in meters per second\) \(future\)| -|GRIPPER\_POSITION|3|position control \(in meters\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/enm_Base_LimitationType.md b/api_cpp/doc/markdown/references/enm_Base_LimitationType.md deleted file mode 100644 index 28ca4801..00000000 --- a/api_cpp/doc/markdown/references/enm_Base_LimitationType.md +++ /dev/null @@ -1,19 +0,0 @@ -# Enum LimitationType - -This page describes the C++ Kinova::Api::Base::LimitationType enumeration. - -## Overview / Purpose - -List of admisible limitation types - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_LIMITATION|0|Unspecified limitation| -|FORCE\_LIMITATION|1|Force limitation \(future\)| -|ACCELERATION\_LIMITATION|2|Acceleration limitation \(future\)| -|VELOCITY\_LIMITATION|3|Velocity limitation| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/enm_Base_NavigationDirection.md b/api_cpp/doc/markdown/references/enm_Base_NavigationDirection.md deleted file mode 100644 index 0e1a8693..00000000 --- a/api_cpp/doc/markdown/references/enm_Base_NavigationDirection.md +++ /dev/null @@ -1,20 +0,0 @@ -# Enum NavigationDirection - -This page describes the C++ Kinova::Api::Base::NavigationDirection enumeration. - -## Overview / Purpose - -List of admissible map navigation directions - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_NAVIGATION\_DIRECTION|0|Unspecified navigation direction| -|NEXT|1|Go to next map| -|UP|2|Go to parent map group \(future\)| -|DOWN|3|Go to children map group \(future\)| -|PREVIOUS|4|Go to previous map| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/enm_Base_RobotEvent.md b/api_cpp/doc/markdown/references/enm_Base_RobotEvent.md deleted file mode 100644 index 516eec09..00000000 --- a/api_cpp/doc/markdown/references/enm_Base_RobotEvent.md +++ /dev/null @@ -1,20 +0,0 @@ -# Enum RobotEvent - -This page describes the C++ Kinova::Api::Base::RobotEvent enumeration. - -## Overview / Purpose - -List of admissible robot events - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_ROBOT\_EVENT|0|Unspecified robot event| -|ARM\_CONNECTED|1|Arm is connected| -|ARM\_DISCONNECTED|2|Arm is disconnected| -|TOOL\_CONNECTED|5|Tool is connected to the end effector \(future\)| -|TOOL\_DISCONNECTED|6|Tool is disconnected from end effector \(future\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/enm_Base_ServiceVersion.md b/api_cpp/doc/markdown/references/enm_Base_ServiceVersion.md deleted file mode 100644 index 1962f08b..00000000 --- a/api_cpp/doc/markdown/references/enm_Base_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the C++ Kinova::Api::Base::ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify Base service current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/enm_Base_TwistMode.md b/api_cpp/doc/markdown/references/enm_Base_TwistMode.md deleted file mode 100644 index 2961d052..00000000 --- a/api_cpp/doc/markdown/references/enm_Base_TwistMode.md +++ /dev/null @@ -1,19 +0,0 @@ -# Enum TwistMode - -This page describes the C++ Kinova::Api::Base::TwistMode enumeration. - -## Overview / Purpose - -List of admissible twist \(velocity\) modes - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_TWIST\_MODE|0|Unspecified twist mode| -|TWIST\_TOOL\_JOYSTICK|1|Twist tool joystick mode| -|TWIST\_BASE\_FRAME\_JOYSTICK|2|Twist base frame joystick mode| -|TWIST\_CARTESIAN\_JOYSTICK|3|Twist Cartesian joystick mode| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/enm_Base_WifiEncryptionType.md b/api_cpp/doc/markdown/references/enm_Base_WifiEncryptionType.md deleted file mode 100644 index 18f55da5..00000000 --- a/api_cpp/doc/markdown/references/enm_Base_WifiEncryptionType.md +++ /dev/null @@ -1,19 +0,0 @@ -# Enum WifiEncryptionType - -This page describes the C++ Kinova::Api::Base::WifiEncryptionType enumeration. - -## Overview / Purpose - -List of admissible Wi-Fi encryption types - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_ENCRYPTION|0|Unspecified wifi encryption type| -|AES\_ENCRYPTION|1|AES encryption| -|TKIP\_ENCRYPTION|2|TKIP encryption| -|WEP\_ENCRYPTION|4|WEP encryption| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/enm_DeviceConfig_RunModes.md b/api_cpp/doc/markdown/references/enm_DeviceConfig_RunModes.md deleted file mode 100644 index 7f71c625..00000000 --- a/api_cpp/doc/markdown/references/enm_DeviceConfig_RunModes.md +++ /dev/null @@ -1,20 +0,0 @@ -# Enum RunModes - -This page describes the C++ Kinova::Api::DeviceConfig::RunModes enumeration. - -## Overview / Purpose - -Options for the run mode for the device - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RUN\_MODE|0| | -|CALIBRATION\_MODE|1|calibration mode| -|CONFIGURATION\_MODE|2|configuration mode| -|DEBUG\_MODE|3|debug mode| -|TUNING\_MODE|4|tuning mode| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_cpp/doc/markdown/references/enm_DeviceConfig_ServiceVersion.md b/api_cpp/doc/markdown/references/enm_DeviceConfig_ServiceVersion.md deleted file mode 100644 index 8c053caa..00000000 --- a/api_cpp/doc/markdown/references/enm_DeviceConfig_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the C++ Kinova::Api::DeviceConfig::ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify DeviceConfig current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_cpp/doc/markdown/references/enm_DeviceManager_ServiceVersion.md b/api_cpp/doc/markdown/references/enm_DeviceManager_ServiceVersion.md deleted file mode 100644 index 88f4b120..00000000 --- a/api_cpp/doc/markdown/references/enm_DeviceManager_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the C++ Kinova::Api::DeviceManager::ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify DeviceManager current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [DeviceManager](../references/summary_DeviceManager.md) - diff --git a/api_cpp/doc/markdown/references/enm_InterconnectConfig_ServiceVersion.md b/api_cpp/doc/markdown/references/enm_InterconnectConfig_ServiceVersion.md deleted file mode 100644 index 4252970d..00000000 --- a/api_cpp/doc/markdown/references/enm_InterconnectConfig_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the C++ Kinova::Api::InterconnectConfig::ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify InterconnectConfig current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [InterconnectConfig](../references/summary_InterconnectConfig.md) - diff --git a/api_cpp/doc/markdown/references/enm_InterconnectCyclic_ServiceVersion.md b/api_cpp/doc/markdown/references/enm_InterconnectCyclic_ServiceVersion.md deleted file mode 100644 index d6a36313..00000000 --- a/api_cpp/doc/markdown/references/enm_InterconnectCyclic_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the C++ Kinova::Api::InterconnectCyclic::ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify InterconnectCyclic current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [InterconnectCyclic](../references/summary_InterconnectCyclic.md) - diff --git a/api_cpp/doc/markdown/references/enm_Session_ServiceVersion.md b/api_cpp/doc/markdown/references/enm_Session_ServiceVersion.md deleted file mode 100644 index f74a8b49..00000000 --- a/api_cpp/doc/markdown/references/enm_Session_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the C++ Kinova::Api::Session::ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify Session current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [Session](../references/summary_Session.md) - diff --git a/api_cpp/doc/markdown/references/enm_VisionConfig_ServiceVersion.md b/api_cpp/doc/markdown/references/enm_VisionConfig_ServiceVersion.md deleted file mode 100644 index 47ab343c..00000000 --- a/api_cpp/doc/markdown/references/enm_VisionConfig_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the C++ Kinova::Api::VisionConfig::ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify VisionConfig current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_AxisPosition.md b/api_cpp/doc/markdown/references/msg_ActuatorConfig_AxisPosition.md deleted file mode 100644 index 771bd026..00000000 --- a/api_cpp/doc/markdown/references/msg_ActuatorConfig_AxisPosition.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message AxisPosition - -This page describes the C++ Kinova::Api::ActuatorConfig::AxisPosition message. - -## Overview / Purpose - -Defines an axis position - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|position|float32|Axis position| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|position\(\)|float32|void|Returns the current value of position. If the position is not set, returns 0.| -|set\_position\(\)|void|float32|Sets the value of position. After calling this, position\(\) will return value.| -|clear\_position\(\)|void|void|Clears the value of position. After calling this, position\(\) will return 0.| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_CommandModeInformation.md b/api_cpp/doc/markdown/references/msg_ActuatorConfig_CommandModeInformation.md deleted file mode 100644 index 9295cf11..00000000 --- a/api_cpp/doc/markdown/references/msg_ActuatorConfig_CommandModeInformation.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message CommandModeInformation - -This page describes the C++ Kinova::Api::ActuatorConfig::CommandModeInformation message. - -## Overview / Purpose - -Selects command mode - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|command\_mode| [CommandMode](enm_ActuatorConfig_CommandMode.md#)|Command mode| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|command\_mode\(\) const| [CommandMode](enm_ActuatorConfig_CommandMode.md#)|void|Returns the current value of command\_mode. If the command\_mode is not set, returns 0.| -|set\_command\_mode\(\)|void| [CommandMode](enm_ActuatorConfig_CommandMode.md#)|Sets the value of command\_mode. After calling this, command\_mode\(\) will return value.| -|clear\_command\_mode\(\)|void|void|Clears the value of command\_mode. After calling this, command\_mode\(\) will return the empty string/empty bytes.| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_ControlModeInformation.md b/api_cpp/doc/markdown/references/msg_ActuatorConfig_ControlModeInformation.md deleted file mode 100644 index 5233ce94..00000000 --- a/api_cpp/doc/markdown/references/msg_ActuatorConfig_ControlModeInformation.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message ControlModeInformation - -This page describes the C++ Kinova::Api::ActuatorConfig::ControlModeInformation message. - -## Overview / Purpose - -Defines the control mode - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|control\_mode| [ControlMode](enm_ActuatorConfig_ControlMode.md#)|Control mode| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|control\_mode\(\) const| [ControlMode](enm_ActuatorConfig_ControlMode.md#)|void|Returns the current value of control\_mode. If the control\_mode is not set, returns 0.| -|set\_control\_mode\(\)|void| [ControlMode](enm_ActuatorConfig_ControlMode.md#)|Sets the value of control\_mode. After calling this, control\_mode\(\) will return value.| -|clear\_control\_mode\(\)|void|void|Clears the value of control\_mode. After calling this, control\_mode\(\) will return the empty string/empty bytes.| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_CustomDataSelection.md b/api_cpp/doc/markdown/references/msg_ActuatorConfig_CustomDataSelection.md deleted file mode 100644 index cbfc2fc3..00000000 --- a/api_cpp/doc/markdown/references/msg_ActuatorConfig_CustomDataSelection.md +++ /dev/null @@ -1,26 +0,0 @@ -# Message CustomDataSelection - -This page describes the C++ Kinova::Api::ActuatorConfig::CustomDataSelection message. - -## Overview / Purpose - -Selects custom data channels content - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|channel|Collection of [CustomDataIndex](enm_ActuatorConfig_CustomDataIndex.md#)|16 channels maximum| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|UNKNOWN\_TO\_DOC: channel|UNKNOWN\_TO\_DOC: channel|UNKNOWN\_TO\_DOC: channel|The message documentation tool does not treat repeated enums.: 14| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_LoopSelection.md b/api_cpp/doc/markdown/references/msg_ActuatorConfig_LoopSelection.md deleted file mode 100644 index 8549ed5e..00000000 --- a/api_cpp/doc/markdown/references/msg_ActuatorConfig_LoopSelection.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message LoopSelection - -This page describes the C++ Kinova::Api::ActuatorConfig::LoopSelection message. - -## Overview / Purpose - -Defines the loop selection - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|loop\_selection| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|ControlLoopSelection enum| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|loop\_selection\(\) const| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|void|Returns the current value of loop\_selection. If the loop\_selection is not set, returns 0.| -|set\_loop\_selection\(\)|void| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|Sets the value of loop\_selection. After calling this, loop\_selection\(\) will return value.| -|clear\_loop\_selection\(\)|void|void|Clears the value of loop\_selection. After calling this, loop\_selection\(\) will return the empty string/empty bytes.| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_Servoing.md b/api_cpp/doc/markdown/references/msg_ActuatorConfig_Servoing.md deleted file mode 100644 index 3c72bfcb..00000000 --- a/api_cpp/doc/markdown/references/msg_ActuatorConfig_Servoing.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message Servoing - -This page describes the C++ Kinova::Api::ActuatorConfig::Servoing message. - -## Overview / Purpose - -Enables/disables servoing - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|enabled|bool|Servoing enabled| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|enabled\(\)|bool|void|Returns the current value of enabled. If the enabled is not set, returns 0.| -|set\_enabled\(\)|void|bool|Sets the value of enabled. After calling this, enabled\(\) will return value.| -|clear\_enabled\(\)|void|void|Clears the value of enabled. After calling this, enabled\(\) will return 0.| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_TorqueOffset.md b/api_cpp/doc/markdown/references/msg_ActuatorConfig_TorqueOffset.md deleted file mode 100644 index d5ba99b5..00000000 --- a/api_cpp/doc/markdown/references/msg_ActuatorConfig_TorqueOffset.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message TorqueOffset - -This page describes the C++ Kinova::Api::ActuatorConfig::TorqueOffset message. - -## Overview / Purpose - -Defines torque offset - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|torque\_offset|float32|Torque offset value| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|torque\_offset\(\)|float32|void|Returns the current value of torque\_offset. If the torque\_offset is not set, returns 0.| -|set\_torque\_offset\(\)|void|float32|Sets the value of torque\_offset. After calling this, torque\_offset\(\) will return value.| -|clear\_torque\_offset\(\)|void|void|Clears the value of torque\_offset. After calling this, torque\_offset\(\) will return 0.| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_ActuatorCyclic_Command.md b/api_cpp/doc/markdown/references/msg_ActuatorCyclic_Command.md deleted file mode 100644 index 5516c7c0..00000000 --- a/api_cpp/doc/markdown/references/msg_ActuatorCyclic_Command.md +++ /dev/null @@ -1,51 +0,0 @@ -# Message Command - -This page describes the C++ Kinova::Api::ActuatorCyclic::Command message. - -## Overview / Purpose - -Defines an actuator module command - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|command\_id| [MessageId](msg_ActuatorCyclic_MessageId.md#)|MessageId| -|flags|uint32|Command flags \(see enum CommandFlags\)| -|position|float32|Desired position of the actuator \(degrees\)| -|velocity|float32|Desired velocity of the actuator \(degrees per second\)| -|torque\_joint|float32|Desired torque of the actuator \(Newton-meters\)| -|current\_motor|float32|Desired current of the motor \(Amperes\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_command\_id\(\) const|bool|void|Returns true if command\_id is set.| -|command\_id\(\)|const [MessageId](msg_ActuatorCyclic_MessageId.md#)&|void|Returns the current value of command\_id. If command\_id is not set, returns a [MessageId](msg_ActuatorCyclic_MessageId.md#) with none of its fields set \(possibly command\_id::default\_instance\(\)\).| -|mutable\_command\_id\(\)| [MessageId](msg_ActuatorCyclic_MessageId.md#) \*|void|Returns a pointer to the mutable [MessageId](msg_ActuatorCyclic_MessageId.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MessageId](msg_ActuatorCyclic_MessageId.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MessageId](msg_ActuatorCyclic_MessageId.md#)\). After calling this, has\_command\_id\(\) will return true and command\_id\(\) will return a reference to the same instance of [MessageId](msg_ActuatorCyclic_MessageId.md#).| -|clear\_command\_id\(\)|void|void|Clears the value of the field. After calling this, has\_command\_id\(\) will return false and command\_id\(\) will return the default value.| -|set\_allocated\_command\_id\(\)|void| [MessageId](msg_ActuatorCyclic_MessageId.md#) \*|Sets the [MessageId](msg_ActuatorCyclic_MessageId.md#) object to the field and frees the previous field value if it exists. If the [MessageId](msg_ActuatorCyclic_MessageId.md#) pointer is not NULL, the message takes ownership of the allocated [MessageId](msg_ActuatorCyclic_MessageId.md#) object and has\_ [MessageId](msg_ActuatorCyclic_MessageId.md#)\(\) will return true. Otherwise, if the command\_id is NULL, the behavior is the same as calling clear\_command\_id\(\).| -|release\_command\_id\(\)| [MessageId](msg_ActuatorCyclic_MessageId.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MessageId](msg_ActuatorCyclic_MessageId.md#) object. After calling this, caller takes the ownership of the allocated [MessageId](msg_ActuatorCyclic_MessageId.md#) object, has\_command\_id\(\) will return false, and command\_id\(\) will return the default value.| -|flags\(\)|uint32|void|Returns the current value of flags. If the flags is not set, returns 0.| -|set\_flags\(\)|void|uint32|Sets the value of flags. After calling this, flags\(\) will return value.| -|clear\_flags\(\)|void|void|Clears the value of flags. After calling this, flags\(\) will return 0.| -|position\(\)|float32|void|Returns the current value of position. If the position is not set, returns 0.| -|set\_position\(\)|void|float32|Sets the value of position. After calling this, position\(\) will return value.| -|clear\_position\(\)|void|void|Clears the value of position. After calling this, position\(\) will return 0.| -|velocity\(\)|float32|void|Returns the current value of velocity. If the velocity is not set, returns 0.| -|set\_velocity\(\)|void|float32|Sets the value of velocity. After calling this, velocity\(\) will return value.| -|clear\_velocity\(\)|void|void|Clears the value of velocity. After calling this, velocity\(\) will return 0.| -|torque\_joint\(\)|float32|void|Returns the current value of torque\_joint. If the torque\_joint is not set, returns 0.| -|set\_torque\_joint\(\)|void|float32|Sets the value of torque\_joint. After calling this, torque\_joint\(\) will return value.| -|clear\_torque\_joint\(\)|void|void|Clears the value of torque\_joint. After calling this, torque\_joint\(\) will return 0.| -|current\_motor\(\)|float32|void|Returns the current value of current\_motor. If the current\_motor is not set, returns 0.| -|set\_current\_motor\(\)|void|float32|Sets the value of current\_motor. After calling this, current\_motor\(\) will return value.| -|clear\_current\_motor\(\)|void|void|Clears the value of current\_motor. After calling this, current\_motor\(\) will return 0.| - -**Parent topic:** [ActuatorCyclic](../references/summary_ActuatorCyclic.md) - diff --git a/api_cpp/doc/markdown/references/msg_BaseCyclic_Command.md b/api_cpp/doc/markdown/references/msg_BaseCyclic_Command.md deleted file mode 100644 index b6450f35..00000000 --- a/api_cpp/doc/markdown/references/msg_BaseCyclic_Command.md +++ /dev/null @@ -1,43 +0,0 @@ -# Message Command - -This page describes the C++ Kinova::Api::BaseCyclic::Command message. - -## Overview / Purpose - -Defines a command for many modules \(actuactors and interconnect\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|frame\_id|uint32|Frame ID| -|actuators|Collection of [ActuatorCommand](msg_BaseCyclic_ActuatorCommand.md#)|Actuator command \(repeated\)| -|interconnect| [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#)|Interconnect command| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|frame\_id\(\)|uint32|void|Returns the current value of frame\_id. If the frame\_id is not set, returns 0.| -|set\_frame\_id\(\)|void|uint32|Sets the value of frame\_id. After calling this, frame\_id\(\) will return value.| -|clear\_frame\_id\(\)|void|void|Clears the value of frame\_id. After calling this, frame\_id\(\) will return 0.| -|actuators\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|actuators\(\) const|const [ActuatorCommand](msg_BaseCyclic_ActuatorCommand.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, actuators\_size\(\)\) yields undefined behavior.| -|mutable\_actuators\(\)| [ActuatorCommand](msg_BaseCyclic_ActuatorCommand.md#)\*|int index|Returns a pointer to the mutable [ActuatorCommand](msg_BaseCyclic_ActuatorCommand.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, actuators\_size\(\)\) yields undefined behavior.| -|add\_actuators\(\)| [ActuatorCommand](msg_BaseCyclic_ActuatorCommand.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ActuatorCommand](msg_BaseCyclic_ActuatorCommand.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ActuatorCommand](msg_BaseCyclic_ActuatorCommand.md#)\).| -|clear\_actuators\(\)|void|void|Removes all elements from the field. After calling this, actuators\_size\(\) will return zero.| -|actuators\(\) const|const RepeatedPtrField< [ActuatorCommand](msg_BaseCyclic_ActuatorCommand.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_actuators\(\)|RepeatedPtrField< [ActuatorCommand](msg_BaseCyclic_ActuatorCommand.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|has\_interconnect\(\) const|bool|void|Returns true if interconnect is set.| -|interconnect\(\)|const [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#)&|void|Returns the current value of interconnect. If interconnect is not set, returns a [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#) with none of its fields set \(possibly interconnect::default\_instance\(\)\).| -|mutable\_interconnect\(\)| [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#) \*|void|Returns a pointer to the mutable [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#)\). After calling this, has\_interconnect\(\) will return true and interconnect\(\) will return a reference to the same instance of [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#).| -|clear\_interconnect\(\)|void|void|Clears the value of the field. After calling this, has\_interconnect\(\) will return false and interconnect\(\) will return the default value.| -|set\_allocated\_interconnect\(\)|void| [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#) \*|Sets the [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#) object to the field and frees the previous field value if it exists. If the [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#) pointer is not NULL, the message takes ownership of the allocated [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#) object and has\_ [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#)\(\) will return true. Otherwise, if the interconnect is NULL, the behavior is the same as calling clear\_interconnect\(\).| -|release\_interconnect\(\)| [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#) \*|void|Releases the ownership of the field and returns the pointer of the [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#) object. After calling this, caller takes the ownership of the allocated [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#) object, has\_interconnect\(\) will return false, and interconnect\(\) will return the default value.| - -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) - diff --git a/api_cpp/doc/markdown/references/msg_BaseCyclic_CustomData.md b/api_cpp/doc/markdown/references/msg_BaseCyclic_CustomData.md deleted file mode 100644 index 265d6ce3..00000000 --- a/api_cpp/doc/markdown/references/msg_BaseCyclic_CustomData.md +++ /dev/null @@ -1,75 +0,0 @@ -# Message CustomData - -This page describes the C++ Kinova::Api::BaseCyclic::CustomData message. - -## Overview / Purpose - -Custom development data, content varies according to debug needs - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|frame\_id|uint32|Frame ID| -|custom\_data\_0|uint32|Custom data word 0| -|custom\_data\_1|uint32|Custom data word 1| -|custom\_data\_2|uint32|Custom data word 2| -|custom\_data\_3|uint32|Custom data word 3| -|custom\_data\_4|uint32|Custom data word 4| -|custom\_data\_5|uint32|Custom data word 5| -|custom\_data\_6|uint32|Custom data word 6| -|custom\_data\_7|uint32|Custom data word 7| -|actuators\_custom\_data|Collection of [ActuatorCustomData](msg_BaseCyclic_ActuatorCustomData.md#)|Actuator custom data \(repeated\)| -|interconnect\_custom\_data| [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#)|Interconnect custom data| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|frame\_id\(\)|uint32|void|Returns the current value of frame\_id. If the frame\_id is not set, returns 0.| -|set\_frame\_id\(\)|void|uint32|Sets the value of frame\_id. After calling this, frame\_id\(\) will return value.| -|clear\_frame\_id\(\)|void|void|Clears the value of frame\_id. After calling this, frame\_id\(\) will return 0.| -|custom\_data\_0\(\)|uint32|void|Returns the current value of custom\_data\_0. If the custom\_data\_0 is not set, returns 0.| -|set\_custom\_data\_0\(\)|void|uint32|Sets the value of custom\_data\_0. After calling this, custom\_data\_0\(\) will return value.| -|clear\_custom\_data\_0\(\)|void|void|Clears the value of custom\_data\_0. After calling this, custom\_data\_0\(\) will return 0.| -|custom\_data\_1\(\)|uint32|void|Returns the current value of custom\_data\_1. If the custom\_data\_1 is not set, returns 0.| -|set\_custom\_data\_1\(\)|void|uint32|Sets the value of custom\_data\_1. After calling this, custom\_data\_1\(\) will return value.| -|clear\_custom\_data\_1\(\)|void|void|Clears the value of custom\_data\_1. After calling this, custom\_data\_1\(\) will return 0.| -|custom\_data\_2\(\)|uint32|void|Returns the current value of custom\_data\_2. If the custom\_data\_2 is not set, returns 0.| -|set\_custom\_data\_2\(\)|void|uint32|Sets the value of custom\_data\_2. After calling this, custom\_data\_2\(\) will return value.| -|clear\_custom\_data\_2\(\)|void|void|Clears the value of custom\_data\_2. After calling this, custom\_data\_2\(\) will return 0.| -|custom\_data\_3\(\)|uint32|void|Returns the current value of custom\_data\_3. If the custom\_data\_3 is not set, returns 0.| -|set\_custom\_data\_3\(\)|void|uint32|Sets the value of custom\_data\_3. After calling this, custom\_data\_3\(\) will return value.| -|clear\_custom\_data\_3\(\)|void|void|Clears the value of custom\_data\_3. After calling this, custom\_data\_3\(\) will return 0.| -|custom\_data\_4\(\)|uint32|void|Returns the current value of custom\_data\_4. If the custom\_data\_4 is not set, returns 0.| -|set\_custom\_data\_4\(\)|void|uint32|Sets the value of custom\_data\_4. After calling this, custom\_data\_4\(\) will return value.| -|clear\_custom\_data\_4\(\)|void|void|Clears the value of custom\_data\_4. After calling this, custom\_data\_4\(\) will return 0.| -|custom\_data\_5\(\)|uint32|void|Returns the current value of custom\_data\_5. If the custom\_data\_5 is not set, returns 0.| -|set\_custom\_data\_5\(\)|void|uint32|Sets the value of custom\_data\_5. After calling this, custom\_data\_5\(\) will return value.| -|clear\_custom\_data\_5\(\)|void|void|Clears the value of custom\_data\_5. After calling this, custom\_data\_5\(\) will return 0.| -|custom\_data\_6\(\)|uint32|void|Returns the current value of custom\_data\_6. If the custom\_data\_6 is not set, returns 0.| -|set\_custom\_data\_6\(\)|void|uint32|Sets the value of custom\_data\_6. After calling this, custom\_data\_6\(\) will return value.| -|clear\_custom\_data\_6\(\)|void|void|Clears the value of custom\_data\_6. After calling this, custom\_data\_6\(\) will return 0.| -|custom\_data\_7\(\)|uint32|void|Returns the current value of custom\_data\_7. If the custom\_data\_7 is not set, returns 0.| -|set\_custom\_data\_7\(\)|void|uint32|Sets the value of custom\_data\_7. After calling this, custom\_data\_7\(\) will return value.| -|clear\_custom\_data\_7\(\)|void|void|Clears the value of custom\_data\_7. After calling this, custom\_data\_7\(\) will return 0.| -|actuators\_custom\_data\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|actuators\_custom\_data\(\) const|const [ActuatorCustomData](msg_BaseCyclic_ActuatorCustomData.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, actuators\_custom\_data\_size\(\)\) yields undefined behavior.| -|mutable\_actuators\_custom\_data\(\)| [ActuatorCustomData](msg_BaseCyclic_ActuatorCustomData.md#)\*|int index|Returns a pointer to the mutable [ActuatorCustomData](msg_BaseCyclic_ActuatorCustomData.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, actuators\_custom\_data\_size\(\)\) yields undefined behavior.| -|add\_actuators\_custom\_data\(\)| [ActuatorCustomData](msg_BaseCyclic_ActuatorCustomData.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ActuatorCustomData](msg_BaseCyclic_ActuatorCustomData.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ActuatorCustomData](msg_BaseCyclic_ActuatorCustomData.md#)\).| -|clear\_actuators\_custom\_data\(\)|void|void|Removes all elements from the field. After calling this, actuators\_custom\_data\_size\(\) will return zero.| -|actuators\_custom\_data\(\) const|const RepeatedPtrField< [ActuatorCustomData](msg_BaseCyclic_ActuatorCustomData.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_actuators\_custom\_data\(\)|RepeatedPtrField< [ActuatorCustomData](msg_BaseCyclic_ActuatorCustomData.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|has\_interconnect\_custom\_data\(\) const|bool|void|Returns true if interconnect\_custom\_data is set.| -|interconnect\_custom\_data\(\)|const [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#)&|void|Returns the current value of interconnect\_custom\_data. If interconnect\_custom\_data is not set, returns a [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#) with none of its fields set \(possibly interconnect\_custom\_data::default\_instance\(\)\).| -|mutable\_interconnect\_custom\_data\(\)| [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#) \*|void|Returns a pointer to the mutable [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#)\). After calling this, has\_interconnect\_custom\_data\(\) will return true and interconnect\_custom\_data\(\) will return a reference to the same instance of [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#).| -|clear\_interconnect\_custom\_data\(\)|void|void|Clears the value of the field. After calling this, has\_interconnect\_custom\_data\(\) will return false and interconnect\_custom\_data\(\) will return the default value.| -|set\_allocated\_interconnect\_custom\_data\(\)|void| [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#) \*|Sets the [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#) object to the field and frees the previous field value if it exists. If the [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#) pointer is not NULL, the message takes ownership of the allocated [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#) object and has\_ [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#)\(\) will return true. Otherwise, if the interconnect\_custom\_data is NULL, the behavior is the same as calling clear\_interconnect\_custom\_data\(\).| -|release\_interconnect\_custom\_data\(\)| [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#) \*|void|Releases the ownership of the field and returns the pointer of the [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#) object. After calling this, caller takes the ownership of the allocated [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#) object, has\_interconnect\_custom\_data\(\) will return false, and interconnect\_custom\_data\(\) will return the default value.| - -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) - diff --git a/api_cpp/doc/markdown/references/msg_BaseCyclic_Feedback.md b/api_cpp/doc/markdown/references/msg_BaseCyclic_Feedback.md deleted file mode 100644 index 3b7acdd7..00000000 --- a/api_cpp/doc/markdown/references/msg_BaseCyclic_Feedback.md +++ /dev/null @@ -1,50 +0,0 @@ -# Message Feedback - -This page describes the C++ Kinova::Api::BaseCyclic::Feedback message. - -## Overview / Purpose - -Defines the feedback provided by many modules \(base, actuactors and interconnect\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|frame\_id|uint32|Frame ID| -|base| [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#)|Base feedback| -|actuators|Collection of [ActuatorFeedback](msg_BaseCyclic_ActuatorFeedback.md#)|Actuator feedback| -|interconnect| [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#)|Interconnect feedback| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|frame\_id\(\)|uint32|void|Returns the current value of frame\_id. If the frame\_id is not set, returns 0.| -|set\_frame\_id\(\)|void|uint32|Sets the value of frame\_id. After calling this, frame\_id\(\) will return value.| -|clear\_frame\_id\(\)|void|void|Clears the value of frame\_id. After calling this, frame\_id\(\) will return 0.| -|has\_base\(\) const|bool|void|Returns true if base is set.| -|base\(\)|const [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#)&|void|Returns the current value of base. If base is not set, returns a [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#) with none of its fields set \(possibly base::default\_instance\(\)\).| -|mutable\_base\(\)| [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#) \*|void|Returns a pointer to the mutable [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#)\). After calling this, has\_base\(\) will return true and base\(\) will return a reference to the same instance of [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#).| -|clear\_base\(\)|void|void|Clears the value of the field. After calling this, has\_base\(\) will return false and base\(\) will return the default value.| -|set\_allocated\_base\(\)|void| [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#) \*|Sets the [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#) object to the field and frees the previous field value if it exists. If the [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#) pointer is not NULL, the message takes ownership of the allocated [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#) object and has\_ [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#)\(\) will return true. Otherwise, if the base is NULL, the behavior is the same as calling clear\_base\(\).| -|release\_base\(\)| [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#) \*|void|Releases the ownership of the field and returns the pointer of the [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#) object. After calling this, caller takes the ownership of the allocated [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#) object, has\_base\(\) will return false, and base\(\) will return the default value.| -|actuators\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|actuators\(\) const|const [ActuatorFeedback](msg_BaseCyclic_ActuatorFeedback.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, actuators\_size\(\)\) yields undefined behavior.| -|mutable\_actuators\(\)| [ActuatorFeedback](msg_BaseCyclic_ActuatorFeedback.md#)\*|int index|Returns a pointer to the mutable [ActuatorFeedback](msg_BaseCyclic_ActuatorFeedback.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, actuators\_size\(\)\) yields undefined behavior.| -|add\_actuators\(\)| [ActuatorFeedback](msg_BaseCyclic_ActuatorFeedback.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ActuatorFeedback](msg_BaseCyclic_ActuatorFeedback.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ActuatorFeedback](msg_BaseCyclic_ActuatorFeedback.md#)\).| -|clear\_actuators\(\)|void|void|Removes all elements from the field. After calling this, actuators\_size\(\) will return zero.| -|actuators\(\) const|const RepeatedPtrField< [ActuatorFeedback](msg_BaseCyclic_ActuatorFeedback.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_actuators\(\)|RepeatedPtrField< [ActuatorFeedback](msg_BaseCyclic_ActuatorFeedback.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|has\_interconnect\(\) const|bool|void|Returns true if interconnect is set.| -|interconnect\(\)|const [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#)&|void|Returns the current value of interconnect. If interconnect is not set, returns a [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#) with none of its fields set \(possibly interconnect::default\_instance\(\)\).| -|mutable\_interconnect\(\)| [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#) \*|void|Returns a pointer to the mutable [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#)\). After calling this, has\_interconnect\(\) will return true and interconnect\(\) will return a reference to the same instance of [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#).| -|clear\_interconnect\(\)|void|void|Clears the value of the field. After calling this, has\_interconnect\(\) will return false and interconnect\(\) will return the default value.| -|set\_allocated\_interconnect\(\)|void| [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#) \*|Sets the [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#) object to the field and frees the previous field value if it exists. If the [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#) pointer is not NULL, the message takes ownership of the allocated [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#) object and has\_ [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#)\(\) will return true. Otherwise, if the interconnect is NULL, the behavior is the same as calling clear\_interconnect\(\).| -|release\_interconnect\(\)| [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#) \*|void|Releases the ownership of the field and returns the pointer of the [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#) object. After calling this, caller takes the ownership of the allocated [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#) object, has\_interconnect\(\) will return false, and interconnect\(\) will return the default value.| - -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) - diff --git a/api_cpp/doc/markdown/references/msg_BaseCyclic_InterconnectCommand.md b/api_cpp/doc/markdown/references/msg_BaseCyclic_InterconnectCommand.md deleted file mode 100644 index 3f216db3..00000000 --- a/api_cpp/doc/markdown/references/msg_BaseCyclic_InterconnectCommand.md +++ /dev/null @@ -1,44 +0,0 @@ -# Message InterconnectCommand - -This page describes the C++ Kinova::Api::BaseCyclic::InterconnectCommand message. - -## Overview / Purpose - -Defines an interconnect module command - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|command\_id|uint32|Command ID \(first 2 bytes: device ID, last 2 bytes: sequence number\)| -|flags|uint32|Flags| -|position|float32|Desired position of the gripper fingers \(0-100%\)| -|velocity|float32|Desired velocity of the gripper fingers \(0-100%\)| -|force|float32|Desired force of the gripper fingers \(0-100%\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|command\_id\(\)|uint32|void|Returns the current value of command\_id. If the command\_id is not set, returns 0.| -|set\_command\_id\(\)|void|uint32|Sets the value of command\_id. After calling this, command\_id\(\) will return value.| -|clear\_command\_id\(\)|void|void|Clears the value of command\_id. After calling this, command\_id\(\) will return 0.| -|flags\(\)|uint32|void|Returns the current value of flags. If the flags is not set, returns 0.| -|set\_flags\(\)|void|uint32|Sets the value of flags. After calling this, flags\(\) will return value.| -|clear\_flags\(\)|void|void|Clears the value of flags. After calling this, flags\(\) will return 0.| -|position\(\)|float32|void|Returns the current value of position. If the position is not set, returns 0.| -|set\_position\(\)|void|float32|Sets the value of position. After calling this, position\(\) will return value.| -|clear\_position\(\)|void|void|Clears the value of position. After calling this, position\(\) will return 0.| -|velocity\(\)|float32|void|Returns the current value of velocity. If the velocity is not set, returns 0.| -|set\_velocity\(\)|void|float32|Sets the value of velocity. After calling this, velocity\(\) will return value.| -|clear\_velocity\(\)|void|void|Clears the value of velocity. After calling this, velocity\(\) will return 0.| -|force\(\)|float32|void|Returns the current value of force. If the force is not set, returns 0.| -|set\_force\(\)|void|float32|Sets the value of force. After calling this, force\(\) will return value.| -|clear\_force\(\)|void|void|Clears the value of force. After calling this, force\(\) will return 0.| - -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) - diff --git a/api_cpp/doc/markdown/references/msg_BaseCyclic_InterconnectFeedback.md b/api_cpp/doc/markdown/references/msg_BaseCyclic_InterconnectFeedback.md deleted file mode 100644 index ff69eb62..00000000 --- a/api_cpp/doc/markdown/references/msg_BaseCyclic_InterconnectFeedback.md +++ /dev/null @@ -1,96 +0,0 @@ -# Message InterconnectFeedback - -This page describes the C++ Kinova::Api::BaseCyclic::InterconnectFeedback message. - -## Overview / Purpose - -Defines the feedback provided by an interconnect module - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|command\_id|uint32|Command ID \(first 2 bytes: device ID, last 2 bytes: sequence number\)| -|status\_flags|uint32|Status flags| -|jitter\_comm|uint32|Jitter from the communication \(in microseconds\)| -|position|float32|Position of the gripper fingers \(0-100%\)| -|velocity|float32|Velocity of the gripper fingers \(0-100%\)| -|force|float32|Force of the gripper fingers \(0-100%\)| -|imu\_acceleration\_x|float32|IMU Measured acceleration \(X-Axis\) of the interconnect \(in meters per second ^ squared\)| -|imu\_acceleration\_y|float32|IMU Measured acceleration \(Y-Axis\) of the interconnect \(in meters per second ^ squared\)| -|imu\_acceleration\_z|float32|IMU Measured acceleration \(Z-Axis\) of the interconnect \(in meters per second ^ squared\)| -|imu\_angular\_velocity\_x|float32|IMU Measured angular velocity \(X-Axis\) of the interconnect \(in degrees per second\)| -|imu\_angular\_velocity\_y|float32|IMU Measured angular velocity \(Y-Axis\) of the interconnect \(in degrees per second\)| -|imu\_angular\_velocity\_z|float32|IMU Measured angular velocity \(Z-Axis\) of the interconnect \(in degrees per second\)| -|voltage|float32|Voltage of the main board \(in Volt\)| -|temperature\_core|float32|Microcontroller temperature \(in degrees Celsius\)| -|fault\_bank\_a|uint32|Fault bank A| -|fault\_bank\_b|uint32|Fault bank B| -|warning\_bank\_a|uint32|Warning bank A| -|warning\_bank\_b|uint32|Warning bank B| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|command\_id\(\)|uint32|void|Returns the current value of command\_id. If the command\_id is not set, returns 0.| -|set\_command\_id\(\)|void|uint32|Sets the value of command\_id. After calling this, command\_id\(\) will return value.| -|clear\_command\_id\(\)|void|void|Clears the value of command\_id. After calling this, command\_id\(\) will return 0.| -|status\_flags\(\)|uint32|void|Returns the current value of status\_flags. If the status\_flags is not set, returns 0.| -|set\_status\_flags\(\)|void|uint32|Sets the value of status\_flags. After calling this, status\_flags\(\) will return value.| -|clear\_status\_flags\(\)|void|void|Clears the value of status\_flags. After calling this, status\_flags\(\) will return 0.| -|jitter\_comm\(\)|uint32|void|Returns the current value of jitter\_comm. If the jitter\_comm is not set, returns 0.| -|set\_jitter\_comm\(\)|void|uint32|Sets the value of jitter\_comm. After calling this, jitter\_comm\(\) will return value.| -|clear\_jitter\_comm\(\)|void|void|Clears the value of jitter\_comm. After calling this, jitter\_comm\(\) will return 0.| -|position\(\)|float32|void|Returns the current value of position. If the position is not set, returns 0.| -|set\_position\(\)|void|float32|Sets the value of position. After calling this, position\(\) will return value.| -|clear\_position\(\)|void|void|Clears the value of position. After calling this, position\(\) will return 0.| -|velocity\(\)|float32|void|Returns the current value of velocity. If the velocity is not set, returns 0.| -|set\_velocity\(\)|void|float32|Sets the value of velocity. After calling this, velocity\(\) will return value.| -|clear\_velocity\(\)|void|void|Clears the value of velocity. After calling this, velocity\(\) will return 0.| -|force\(\)|float32|void|Returns the current value of force. If the force is not set, returns 0.| -|set\_force\(\)|void|float32|Sets the value of force. After calling this, force\(\) will return value.| -|clear\_force\(\)|void|void|Clears the value of force. After calling this, force\(\) will return 0.| -|imu\_acceleration\_x\(\)|float32|void|Returns the current value of imu\_acceleration\_x. If the imu\_acceleration\_x is not set, returns 0.| -|set\_imu\_acceleration\_x\(\)|void|float32|Sets the value of imu\_acceleration\_x. After calling this, imu\_acceleration\_x\(\) will return value.| -|clear\_imu\_acceleration\_x\(\)|void|void|Clears the value of imu\_acceleration\_x. After calling this, imu\_acceleration\_x\(\) will return 0.| -|imu\_acceleration\_y\(\)|float32|void|Returns the current value of imu\_acceleration\_y. If the imu\_acceleration\_y is not set, returns 0.| -|set\_imu\_acceleration\_y\(\)|void|float32|Sets the value of imu\_acceleration\_y. After calling this, imu\_acceleration\_y\(\) will return value.| -|clear\_imu\_acceleration\_y\(\)|void|void|Clears the value of imu\_acceleration\_y. After calling this, imu\_acceleration\_y\(\) will return 0.| -|imu\_acceleration\_z\(\)|float32|void|Returns the current value of imu\_acceleration\_z. If the imu\_acceleration\_z is not set, returns 0.| -|set\_imu\_acceleration\_z\(\)|void|float32|Sets the value of imu\_acceleration\_z. After calling this, imu\_acceleration\_z\(\) will return value.| -|clear\_imu\_acceleration\_z\(\)|void|void|Clears the value of imu\_acceleration\_z. After calling this, imu\_acceleration\_z\(\) will return 0.| -|imu\_angular\_velocity\_x\(\)|float32|void|Returns the current value of imu\_angular\_velocity\_x. If the imu\_angular\_velocity\_x is not set, returns 0.| -|set\_imu\_angular\_velocity\_x\(\)|void|float32|Sets the value of imu\_angular\_velocity\_x. After calling this, imu\_angular\_velocity\_x\(\) will return value.| -|clear\_imu\_angular\_velocity\_x\(\)|void|void|Clears the value of imu\_angular\_velocity\_x. After calling this, imu\_angular\_velocity\_x\(\) will return 0.| -|imu\_angular\_velocity\_y\(\)|float32|void|Returns the current value of imu\_angular\_velocity\_y. If the imu\_angular\_velocity\_y is not set, returns 0.| -|set\_imu\_angular\_velocity\_y\(\)|void|float32|Sets the value of imu\_angular\_velocity\_y. After calling this, imu\_angular\_velocity\_y\(\) will return value.| -|clear\_imu\_angular\_velocity\_y\(\)|void|void|Clears the value of imu\_angular\_velocity\_y. After calling this, imu\_angular\_velocity\_y\(\) will return 0.| -|imu\_angular\_velocity\_z\(\)|float32|void|Returns the current value of imu\_angular\_velocity\_z. If the imu\_angular\_velocity\_z is not set, returns 0.| -|set\_imu\_angular\_velocity\_z\(\)|void|float32|Sets the value of imu\_angular\_velocity\_z. After calling this, imu\_angular\_velocity\_z\(\) will return value.| -|clear\_imu\_angular\_velocity\_z\(\)|void|void|Clears the value of imu\_angular\_velocity\_z. After calling this, imu\_angular\_velocity\_z\(\) will return 0.| -|voltage\(\)|float32|void|Returns the current value of voltage. If the voltage is not set, returns 0.| -|set\_voltage\(\)|void|float32|Sets the value of voltage. After calling this, voltage\(\) will return value.| -|clear\_voltage\(\)|void|void|Clears the value of voltage. After calling this, voltage\(\) will return 0.| -|temperature\_core\(\)|float32|void|Returns the current value of temperature\_core. If the temperature\_core is not set, returns 0.| -|set\_temperature\_core\(\)|void|float32|Sets the value of temperature\_core. After calling this, temperature\_core\(\) will return value.| -|clear\_temperature\_core\(\)|void|void|Clears the value of temperature\_core. After calling this, temperature\_core\(\) will return 0.| -|fault\_bank\_a\(\)|uint32|void|Returns the current value of fault\_bank\_a. If the fault\_bank\_a is not set, returns 0.| -|set\_fault\_bank\_a\(\)|void|uint32|Sets the value of fault\_bank\_a. After calling this, fault\_bank\_a\(\) will return value.| -|clear\_fault\_bank\_a\(\)|void|void|Clears the value of fault\_bank\_a. After calling this, fault\_bank\_a\(\) will return 0.| -|fault\_bank\_b\(\)|uint32|void|Returns the current value of fault\_bank\_b. If the fault\_bank\_b is not set, returns 0.| -|set\_fault\_bank\_b\(\)|void|uint32|Sets the value of fault\_bank\_b. After calling this, fault\_bank\_b\(\) will return value.| -|clear\_fault\_bank\_b\(\)|void|void|Clears the value of fault\_bank\_b. After calling this, fault\_bank\_b\(\) will return 0.| -|warning\_bank\_a\(\)|uint32|void|Returns the current value of warning\_bank\_a. If the warning\_bank\_a is not set, returns 0.| -|set\_warning\_bank\_a\(\)|void|uint32|Sets the value of warning\_bank\_a. After calling this, warning\_bank\_a\(\) will return value.| -|clear\_warning\_bank\_a\(\)|void|void|Clears the value of warning\_bank\_a. After calling this, warning\_bank\_a\(\) will return 0.| -|warning\_bank\_b\(\)|uint32|void|Returns the current value of warning\_bank\_b. If the warning\_bank\_b is not set, returns 0.| -|set\_warning\_bank\_b\(\)|void|uint32|Sets the value of warning\_bank\_b. After calling this, warning\_bank\_b\(\) will return value.| -|clear\_warning\_bank\_b\(\)|void|void|Clears the value of warning\_bank\_b. After calling this, warning\_bank\_b\(\) will return 0.| - -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_Action.md b/api_cpp/doc/markdown/references/msg_Base_Action.md deleted file mode 100644 index 89abebc9..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_Action.md +++ /dev/null @@ -1,152 +0,0 @@ -# Message Action - -This page describes the C++ Kinova::Api::Base::Action message. - -## Overview / Purpose - -Defines an action - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [ActionHandle](msg_Base_ActionHandle.md#)|Action handle \(useful when updating an existing action\)| -|name|string|Action friendly name| -|application\_data|string|Application data \(reserved for use by Web App\)| -|oneof action\_parameters : send\_twist\_command| [TwistCommand](msg_Base_TwistCommand.md#)|Action to control the robot in velocity| -|oneof action\_parameters : send\_joint\_speeds| [JointSpeeds](msg_Base_JointSpeeds.md#)|Action to control each joint speed| -|oneof action\_parameters : reach\_pose| [ConstrainedPose](msg_Base_ConstrainedPose.md#)|Action to reach a pose| -|oneof action\_parameters : reach\_joint\_angles| [ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#)|Action to reach a series of joint angles| -|oneof action\_parameters : toggle\_admittance\_mode| [AdmittanceMode](enm_Base_AdmittanceMode.md#)|Action to enable or disable the admittance mode| -|oneof action\_parameters : switch\_control\_mapping| [SwitchControlMapping](msg_Base_SwitchControlMapping.md#)|Action to switch the active controller map| -|oneof action\_parameters : navigate\_joints| [JointNavigationDirection](enm_Base_JointNavigationDirection.md#)|Action to select the next actuator to control in a map| -|oneof action\_parameters : navigate\_mappings| [NavigationDirection](enm_Base_NavigationDirection.md#)|Action to select a different map| -|oneof action\_parameters : change\_twist| [ChangeTwist](msg_Base_ChangeTwist.md#)|Action to change twist| -|oneof action\_parameters : change\_joint\_speeds| [ChangeJointSpeeds](msg_Base_ChangeJointSpeeds.md#)|Action to change the joint speeds individually| -|oneof action\_parameters : apply\_emergency\_stop| [EmergencyStop](msg_Base_EmergencyStop.md#)|Action to apply robot emergency stop| -|oneof action\_parameters : clear\_faults| [Faults](msg_Base_Faults.md#)|Action to clear faults. Robot will be able to move if there is no more fault \(see BaseCyclic.BaseFeedback.\[fault\_bank\_a | fault\_bank\_b\]\)| -|oneof action\_parameters : delay| [Delay](msg_Base_Delay.md#)|Action to apply a delay| -|oneof action\_parameters : execute\_action| [ActionHandle](msg_Base_ActionHandle.md#)|Action to execute an existing action| -|oneof action\_parameters : send\_gripper\_command| [GripperCommand](msg_Base_GripperCommand.md#)|Action to execute a gripper movement| -|oneof action\_parameters : stop\_action| [Stop](msg_Base_Stop.md#)|Action to stop movement| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [ActionHandle](msg_Base_ActionHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [ActionHandle](msg_Base_ActionHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [ActionHandle](msg_Base_ActionHandle.md#) \*|void|Returns a pointer to the mutable [ActionHandle](msg_Base_ActionHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ActionHandle](msg_Base_ActionHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ActionHandle](msg_Base_ActionHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [ActionHandle](msg_Base_ActionHandle.md#).| -|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [ActionHandle](msg_Base_ActionHandle.md#) \*|Sets the [ActionHandle](msg_Base_ActionHandle.md#) object to the field and frees the previous field value if it exists. If the [ActionHandle](msg_Base_ActionHandle.md#) pointer is not NULL, the message takes ownership of the allocated [ActionHandle](msg_Base_ActionHandle.md#) object and has\_ [ActionHandle](msg_Base_ActionHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [ActionHandle](msg_Base_ActionHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ActionHandle](msg_Base_ActionHandle.md#) object. After calling this, caller takes the ownership of the allocated [ActionHandle](msg_Base_ActionHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| -|name\(\)|const string&|void|Returns the current value of name. If name is not set, returns the empty string/empty bytes.| -|set\_name\(\)|void|const string&|Sets the value of name. After calling this, name\(\) will return a copy of value.| -|set\_name\(\)|void|string&&|\(C++11 and beyond\): Sets the value of name, moving from the passed string. After calling this, name\(\) will return a copy of value.| -|set\_name\(\)|void|const char\*|Sets the value of name using a C-style null-terminated string. After calling this, name\(\) will return a copy of value.| -|mutable\_name\(\)|string \*|void|Returns a pointer to the mutable string object that stores name's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, name\(\) will return whatever value is written into the given string.| -|clear\_name\(\)|void|void|Clears the value of name. After calling this, name\(\) will return the empty string/empty bytes.| -|set\_allocated\_name\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_name\(\).| -|release\_name\(\)|string \*|void|Releases the ownership of name and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and name\(\) will return the empty string/empty bytes.| -|application\_data\(\)|const string&|void|Returns the current value of application\_data. If application\_data is not set, returns the empty string/empty bytes.| -|set\_application\_data\(\)|void|const string&|Sets the value of application\_data. After calling this, application\_data\(\) will return a copy of value.| -|set\_application\_data\(\)|void|string&&|\(C++11 and beyond\): Sets the value of application\_data, moving from the passed string. After calling this, application\_data\(\) will return a copy of value.| -|set\_application\_data\(\)|void|const char\*|Sets the value of application\_data using a C-style null-terminated string. After calling this, application\_data\(\) will return a copy of value.| -|mutable\_application\_data\(\)|string \*|void|Returns a pointer to the mutable string object that stores application\_data's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, application\_data\(\) will return whatever value is written into the given string.| -|clear\_application\_data\(\)|void|void|Clears the value of application\_data. After calling this, application\_data\(\) will return the empty string/empty bytes.| -|set\_allocated\_application\_data\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_application\_data\(\).| -|release\_application\_data\(\)|string \*|void|Releases the ownership of application\_data and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and application\_data\(\) will return the empty string/empty bytes.| -|has\_send\_twist\_command\(\) const|void|void|Returns the current value of the field if oneof case is kSend\_twist\_command. Otherwise, returns [TwistCommand](msg_Base_TwistCommand.md#)::default\_instance\(\)| -|send\_twist\_command\(\) const|const [TwistCommand](msg_Base_TwistCommand.md#)&|void|Returns the current value of the field if oneof case is kSend\_twist\_command| -|mutable\_send\_twist\_command\(\)| [TwistCommand](msg_Base_TwistCommand.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kSend\_twist\_command and returns a pointer to the mutable [TwistCommand](msg_Base_TwistCommand.md#) object that stores the field's value. If the oneof case was not kSend\_twist\_command prior to the call, then the returned [TwistCommand](msg_Base_TwistCommand.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [TwistCommand](msg_Base_TwistCommand.md#)\). After calling this, has\_send\_twist\_command\(\) will return true, send\_twist\_command\(\) will return a reference to the same instance of [TwistCommand](msg_Base_TwistCommand.md#) and action\_parameters\_case\(\) will return kSend\_twist\_command| -|clear\_send\_twist\_command\(\)|void|void|Nothing will be changed if the oneof case is not kSend\_twist\_command. If the oneof case equals kSend\_twist\_command, frees the field and clears the oneof case. has\_send\_twist\_command\(\) will return false, send\_twist\_command\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|set\_allocated\_send\_twist\_command\(\)|void| [TwistCommand](msg_Base_TwistCommand.md#)\*|Calls clear\_action\_parameters\(\). If the [TwistCommand](msg_Base_TwistCommand.md#) pointer is not NULL: Sets the [TwistCommand](msg_Base_TwistCommand.md#) object to the field and sets the oneof case to kSend\_twist\_command. The message takes ownership of the allocated [TwistCommand](msg_Base_TwistCommand.md#) object, has\_send\_twist\_command\(\) will return true and action\_parameters\_case\(\) will return kSend\_twist\_command. If the pointer is NULL, has\_send\_twist\_command\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| -|release\_send\_twist\_command\(\)| [TwistCommand](msg_Base_TwistCommand.md#)\*|void|Returns NULL if oneof case is not kSend\_twist\_command. If the oneof case is kSend\_twist\_command, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_send\_twist\_command\(\) will return false, send\_twist\_command\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|has\_send\_joint\_speeds\(\) const|void|void|Returns the current value of the field if oneof case is kSend\_joint\_speeds. Otherwise, returns [JointSpeeds](msg_Base_JointSpeeds.md#)::default\_instance\(\)| -|send\_joint\_speeds\(\) const|const [JointSpeeds](msg_Base_JointSpeeds.md#)&|void|Returns the current value of the field if oneof case is kSend\_joint\_speeds| -|mutable\_send\_joint\_speeds\(\)| [JointSpeeds](msg_Base_JointSpeeds.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kSend\_joint\_speeds and returns a pointer to the mutable [JointSpeeds](msg_Base_JointSpeeds.md#) object that stores the field's value. If the oneof case was not kSend\_joint\_speeds prior to the call, then the returned [JointSpeeds](msg_Base_JointSpeeds.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [JointSpeeds](msg_Base_JointSpeeds.md#)\). After calling this, has\_send\_joint\_speeds\(\) will return true, send\_joint\_speeds\(\) will return a reference to the same instance of [JointSpeeds](msg_Base_JointSpeeds.md#) and action\_parameters\_case\(\) will return kSend\_joint\_speeds| -|clear\_send\_joint\_speeds\(\)|void|void|Nothing will be changed if the oneof case is not kSend\_joint\_speeds. If the oneof case equals kSend\_joint\_speeds, frees the field and clears the oneof case. has\_send\_joint\_speeds\(\) will return false, send\_joint\_speeds\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|set\_allocated\_send\_joint\_speeds\(\)|void| [JointSpeeds](msg_Base_JointSpeeds.md#)\*|Calls clear\_action\_parameters\(\). If the [JointSpeeds](msg_Base_JointSpeeds.md#) pointer is not NULL: Sets the [JointSpeeds](msg_Base_JointSpeeds.md#) object to the field and sets the oneof case to kSend\_joint\_speeds. The message takes ownership of the allocated [JointSpeeds](msg_Base_JointSpeeds.md#) object, has\_send\_joint\_speeds\(\) will return true and action\_parameters\_case\(\) will return kSend\_joint\_speeds. If the pointer is NULL, has\_send\_joint\_speeds\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| -|release\_send\_joint\_speeds\(\)| [JointSpeeds](msg_Base_JointSpeeds.md#)\*|void|Returns NULL if oneof case is not kSend\_joint\_speeds. If the oneof case is kSend\_joint\_speeds, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_send\_joint\_speeds\(\) will return false, send\_joint\_speeds\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|has\_reach\_pose\(\) const|void|void|Returns the current value of the field if oneof case is kReach\_pose. Otherwise, returns [ConstrainedPose](msg_Base_ConstrainedPose.md#)::default\_instance\(\)| -|reach\_pose\(\) const|const [ConstrainedPose](msg_Base_ConstrainedPose.md#)&|void|Returns the current value of the field if oneof case is kReach\_pose| -|mutable\_reach\_pose\(\)| [ConstrainedPose](msg_Base_ConstrainedPose.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kReach\_pose and returns a pointer to the mutable [ConstrainedPose](msg_Base_ConstrainedPose.md#) object that stores the field's value. If the oneof case was not kReach\_pose prior to the call, then the returned [ConstrainedPose](msg_Base_ConstrainedPose.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ConstrainedPose](msg_Base_ConstrainedPose.md#)\). After calling this, has\_reach\_pose\(\) will return true, reach\_pose\(\) will return a reference to the same instance of [ConstrainedPose](msg_Base_ConstrainedPose.md#) and action\_parameters\_case\(\) will return kReach\_pose| -|clear\_reach\_pose\(\)|void|void|Nothing will be changed if the oneof case is not kReach\_pose. If the oneof case equals kReach\_pose, frees the field and clears the oneof case. has\_reach\_pose\(\) will return false, reach\_pose\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|set\_allocated\_reach\_pose\(\)|void| [ConstrainedPose](msg_Base_ConstrainedPose.md#)\*|Calls clear\_action\_parameters\(\). If the [ConstrainedPose](msg_Base_ConstrainedPose.md#) pointer is not NULL: Sets the [ConstrainedPose](msg_Base_ConstrainedPose.md#) object to the field and sets the oneof case to kReach\_pose. The message takes ownership of the allocated [ConstrainedPose](msg_Base_ConstrainedPose.md#) object, has\_reach\_pose\(\) will return true and action\_parameters\_case\(\) will return kReach\_pose. If the pointer is NULL, has\_reach\_pose\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| -|release\_reach\_pose\(\)| [ConstrainedPose](msg_Base_ConstrainedPose.md#)\*|void|Returns NULL if oneof case is not kReach\_pose. If the oneof case is kReach\_pose, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_reach\_pose\(\) will return false, reach\_pose\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|has\_reach\_joint\_angles\(\) const|void|void|Returns the current value of the field if oneof case is kReach\_joint\_angles. Otherwise, returns [ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#)::default\_instance\(\)| -|reach\_joint\_angles\(\) const|const [ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#)&|void|Returns the current value of the field if oneof case is kReach\_joint\_angles| -|mutable\_reach\_joint\_angles\(\)| [ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kReach\_joint\_angles and returns a pointer to the mutable [ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#) object that stores the field's value. If the oneof case was not kReach\_joint\_angles prior to the call, then the returned [ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#)\). After calling this, has\_reach\_joint\_angles\(\) will return true, reach\_joint\_angles\(\) will return a reference to the same instance of [ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#) and action\_parameters\_case\(\) will return kReach\_joint\_angles| -|clear\_reach\_joint\_angles\(\)|void|void|Nothing will be changed if the oneof case is not kReach\_joint\_angles. If the oneof case equals kReach\_joint\_angles, frees the field and clears the oneof case. has\_reach\_joint\_angles\(\) will return false, reach\_joint\_angles\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|set\_allocated\_reach\_joint\_angles\(\)|void| [ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#)\*|Calls clear\_action\_parameters\(\). If the [ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#) pointer is not NULL: Sets the [ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#) object to the field and sets the oneof case to kReach\_joint\_angles. The message takes ownership of the allocated [ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#) object, has\_reach\_joint\_angles\(\) will return true and action\_parameters\_case\(\) will return kReach\_joint\_angles. If the pointer is NULL, has\_reach\_joint\_angles\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| -|release\_reach\_joint\_angles\(\)| [ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#)\*|void|Returns NULL if oneof case is not kReach\_joint\_angles. If the oneof case is kReach\_joint\_angles, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_reach\_joint\_angles\(\) will return false, reach\_joint\_angles\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|set\_toggle\_admittance\_mode\(\)|void| [AdmittanceMode](enm_Base_AdmittanceMode.md#)|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the value of this field and sets the oneof case to kToggle\_admittance\_mode.| -|toggle\_admittance\_mode\(\) const| [AdmittanceMode](enm_Base_AdmittanceMode.md#)|void|Returns the current value of the field if oneof case is kToggle\_admittance\_mode. Otherwise, returns the default value.| -|clear\_toggle\_admittance\_mode\(\)|void|void|Nothing will be changed if the oneof case is not kToggle\_admittance\_mode. If the oneof case is kToggle\_admittance\_mode, clears the value of the field and the oneof case| -|has\_switch\_control\_mapping\(\) const|void|void|Returns the current value of the field if oneof case is kSwitch\_control\_mapping. Otherwise, returns [SwitchControlMapping](msg_Base_SwitchControlMapping.md#)::default\_instance\(\)| -|switch\_control\_mapping\(\) const|const [SwitchControlMapping](msg_Base_SwitchControlMapping.md#)&|void|Returns the current value of the field if oneof case is kSwitch\_control\_mapping| -|mutable\_switch\_control\_mapping\(\)| [SwitchControlMapping](msg_Base_SwitchControlMapping.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kSwitch\_control\_mapping and returns a pointer to the mutable [SwitchControlMapping](msg_Base_SwitchControlMapping.md#) object that stores the field's value. If the oneof case was not kSwitch\_control\_mapping prior to the call, then the returned [SwitchControlMapping](msg_Base_SwitchControlMapping.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SwitchControlMapping](msg_Base_SwitchControlMapping.md#)\). After calling this, has\_switch\_control\_mapping\(\) will return true, switch\_control\_mapping\(\) will return a reference to the same instance of [SwitchControlMapping](msg_Base_SwitchControlMapping.md#) and action\_parameters\_case\(\) will return kSwitch\_control\_mapping| -|clear\_switch\_control\_mapping\(\)|void|void|Nothing will be changed if the oneof case is not kSwitch\_control\_mapping. If the oneof case equals kSwitch\_control\_mapping, frees the field and clears the oneof case. has\_switch\_control\_mapping\(\) will return false, switch\_control\_mapping\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|set\_allocated\_switch\_control\_mapping\(\)|void| [SwitchControlMapping](msg_Base_SwitchControlMapping.md#)\*|Calls clear\_action\_parameters\(\). If the [SwitchControlMapping](msg_Base_SwitchControlMapping.md#) pointer is not NULL: Sets the [SwitchControlMapping](msg_Base_SwitchControlMapping.md#) object to the field and sets the oneof case to kSwitch\_control\_mapping. The message takes ownership of the allocated [SwitchControlMapping](msg_Base_SwitchControlMapping.md#) object, has\_switch\_control\_mapping\(\) will return true and action\_parameters\_case\(\) will return kSwitch\_control\_mapping. If the pointer is NULL, has\_switch\_control\_mapping\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| -|release\_switch\_control\_mapping\(\)| [SwitchControlMapping](msg_Base_SwitchControlMapping.md#)\*|void|Returns NULL if oneof case is not kSwitch\_control\_mapping. If the oneof case is kSwitch\_control\_mapping, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_switch\_control\_mapping\(\) will return false, switch\_control\_mapping\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|set\_navigate\_joints\(\)|void| [JointNavigationDirection](enm_Base_JointNavigationDirection.md#)|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the value of this field and sets the oneof case to kNavigate\_joints.| -|navigate\_joints\(\) const| [JointNavigationDirection](enm_Base_JointNavigationDirection.md#)|void|Returns the current value of the field if oneof case is kNavigate\_joints. Otherwise, returns the default value.| -|clear\_navigate\_joints\(\)|void|void|Nothing will be changed if the oneof case is not kNavigate\_joints. If the oneof case is kNavigate\_joints, clears the value of the field and the oneof case| -|set\_navigate\_mappings\(\)|void| [NavigationDirection](enm_Base_NavigationDirection.md#)|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the value of this field and sets the oneof case to kNavigate\_mappings.| -|navigate\_mappings\(\) const| [NavigationDirection](enm_Base_NavigationDirection.md#)|void|Returns the current value of the field if oneof case is kNavigate\_mappings. Otherwise, returns the default value.| -|clear\_navigate\_mappings\(\)|void|void|Nothing will be changed if the oneof case is not kNavigate\_mappings. If the oneof case is kNavigate\_mappings, clears the value of the field and the oneof case| -|has\_change\_twist\(\) const|void|void|Returns the current value of the field if oneof case is kChange\_twist. Otherwise, returns [ChangeTwist](msg_Base_ChangeTwist.md#)::default\_instance\(\)| -|change\_twist\(\) const|const [ChangeTwist](msg_Base_ChangeTwist.md#)&|void|Returns the current value of the field if oneof case is kChange\_twist| -|mutable\_change\_twist\(\)| [ChangeTwist](msg_Base_ChangeTwist.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kChange\_twist and returns a pointer to the mutable [ChangeTwist](msg_Base_ChangeTwist.md#) object that stores the field's value. If the oneof case was not kChange\_twist prior to the call, then the returned [ChangeTwist](msg_Base_ChangeTwist.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ChangeTwist](msg_Base_ChangeTwist.md#)\). After calling this, has\_change\_twist\(\) will return true, change\_twist\(\) will return a reference to the same instance of [ChangeTwist](msg_Base_ChangeTwist.md#) and action\_parameters\_case\(\) will return kChange\_twist| -|clear\_change\_twist\(\)|void|void|Nothing will be changed if the oneof case is not kChange\_twist. If the oneof case equals kChange\_twist, frees the field and clears the oneof case. has\_change\_twist\(\) will return false, change\_twist\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|set\_allocated\_change\_twist\(\)|void| [ChangeTwist](msg_Base_ChangeTwist.md#)\*|Calls clear\_action\_parameters\(\). If the [ChangeTwist](msg_Base_ChangeTwist.md#) pointer is not NULL: Sets the [ChangeTwist](msg_Base_ChangeTwist.md#) object to the field and sets the oneof case to kChange\_twist. The message takes ownership of the allocated [ChangeTwist](msg_Base_ChangeTwist.md#) object, has\_change\_twist\(\) will return true and action\_parameters\_case\(\) will return kChange\_twist. If the pointer is NULL, has\_change\_twist\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| -|release\_change\_twist\(\)| [ChangeTwist](msg_Base_ChangeTwist.md#)\*|void|Returns NULL if oneof case is not kChange\_twist. If the oneof case is kChange\_twist, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_change\_twist\(\) will return false, change\_twist\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|has\_change\_joint\_speeds\(\) const|void|void|Returns the current value of the field if oneof case is kChange\_joint\_speeds. Otherwise, returns [ChangeJointSpeeds](msg_Base_ChangeJointSpeeds.md#)::default\_instance\(\)| -|change\_joint\_speeds\(\) const|const [ChangeJointSpeeds](msg_Base_ChangeJointSpeeds.md#)&|void|Returns the current value of the field if oneof case is kChange\_joint\_speeds| -|mutable\_change\_joint\_speeds\(\)| [ChangeJointSpeeds](msg_Base_ChangeJointSpeeds.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kChange\_joint\_speeds and returns a pointer to the mutable [ChangeJointSpeeds](msg_Base_ChangeJointSpeeds.md#) object that stores the field's value. If the oneof case was not kChange\_joint\_speeds prior to the call, then the returned [ChangeJointSpeeds](msg_Base_ChangeJointSpeeds.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ChangeJointSpeeds](msg_Base_ChangeJointSpeeds.md#)\). After calling this, has\_change\_joint\_speeds\(\) will return true, change\_joint\_speeds\(\) will return a reference to the same instance of [ChangeJointSpeeds](msg_Base_ChangeJointSpeeds.md#) and action\_parameters\_case\(\) will return kChange\_joint\_speeds| -|clear\_change\_joint\_speeds\(\)|void|void|Nothing will be changed if the oneof case is not kChange\_joint\_speeds. If the oneof case equals kChange\_joint\_speeds, frees the field and clears the oneof case. has\_change\_joint\_speeds\(\) will return false, change\_joint\_speeds\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|set\_allocated\_change\_joint\_speeds\(\)|void| [ChangeJointSpeeds](msg_Base_ChangeJointSpeeds.md#)\*|Calls clear\_action\_parameters\(\). If the [ChangeJointSpeeds](msg_Base_ChangeJointSpeeds.md#) pointer is not NULL: Sets the [ChangeJointSpeeds](msg_Base_ChangeJointSpeeds.md#) object to the field and sets the oneof case to kChange\_joint\_speeds. The message takes ownership of the allocated [ChangeJointSpeeds](msg_Base_ChangeJointSpeeds.md#) object, has\_change\_joint\_speeds\(\) will return true and action\_parameters\_case\(\) will return kChange\_joint\_speeds. If the pointer is NULL, has\_change\_joint\_speeds\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| -|release\_change\_joint\_speeds\(\)| [ChangeJointSpeeds](msg_Base_ChangeJointSpeeds.md#)\*|void|Returns NULL if oneof case is not kChange\_joint\_speeds. If the oneof case is kChange\_joint\_speeds, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_change\_joint\_speeds\(\) will return false, change\_joint\_speeds\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|has\_apply\_emergency\_stop\(\) const|void|void|Returns the current value of the field if oneof case is kApply\_emergency\_stop. Otherwise, returns [EmergencyStop](msg_Base_EmergencyStop.md#)::default\_instance\(\)| -|apply\_emergency\_stop\(\) const|const [EmergencyStop](msg_Base_EmergencyStop.md#)&|void|Returns the current value of the field if oneof case is kApply\_emergency\_stop| -|mutable\_apply\_emergency\_stop\(\)| [EmergencyStop](msg_Base_EmergencyStop.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kApply\_emergency\_stop and returns a pointer to the mutable [EmergencyStop](msg_Base_EmergencyStop.md#) object that stores the field's value. If the oneof case was not kApply\_emergency\_stop prior to the call, then the returned [EmergencyStop](msg_Base_EmergencyStop.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [EmergencyStop](msg_Base_EmergencyStop.md#)\). After calling this, has\_apply\_emergency\_stop\(\) will return true, apply\_emergency\_stop\(\) will return a reference to the same instance of [EmergencyStop](msg_Base_EmergencyStop.md#) and action\_parameters\_case\(\) will return kApply\_emergency\_stop| -|clear\_apply\_emergency\_stop\(\)|void|void|Nothing will be changed if the oneof case is not kApply\_emergency\_stop. If the oneof case equals kApply\_emergency\_stop, frees the field and clears the oneof case. has\_apply\_emergency\_stop\(\) will return false, apply\_emergency\_stop\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|set\_allocated\_apply\_emergency\_stop\(\)|void| [EmergencyStop](msg_Base_EmergencyStop.md#)\*|Calls clear\_action\_parameters\(\). If the [EmergencyStop](msg_Base_EmergencyStop.md#) pointer is not NULL: Sets the [EmergencyStop](msg_Base_EmergencyStop.md#) object to the field and sets the oneof case to kApply\_emergency\_stop. The message takes ownership of the allocated [EmergencyStop](msg_Base_EmergencyStop.md#) object, has\_apply\_emergency\_stop\(\) will return true and action\_parameters\_case\(\) will return kApply\_emergency\_stop. If the pointer is NULL, has\_apply\_emergency\_stop\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| -|release\_apply\_emergency\_stop\(\)| [EmergencyStop](msg_Base_EmergencyStop.md#)\*|void|Returns NULL if oneof case is not kApply\_emergency\_stop. If the oneof case is kApply\_emergency\_stop, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_apply\_emergency\_stop\(\) will return false, apply\_emergency\_stop\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|has\_clear\_faults\(\) const|void|void|Returns the current value of the field if oneof case is kClear\_faults. Otherwise, returns [Faults](msg_Base_Faults.md#)::default\_instance\(\)| -|clear\_faults\(\) const|const [Faults](msg_Base_Faults.md#)&|void|Returns the current value of the field if oneof case is kClear\_faults| -|mutable\_clear\_faults\(\)| [Faults](msg_Base_Faults.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kClear\_faults and returns a pointer to the mutable [Faults](msg_Base_Faults.md#) object that stores the field's value. If the oneof case was not kClear\_faults prior to the call, then the returned [Faults](msg_Base_Faults.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Faults](msg_Base_Faults.md#)\). After calling this, has\_clear\_faults\(\) will return true, clear\_faults\(\) will return a reference to the same instance of [Faults](msg_Base_Faults.md#) and action\_parameters\_case\(\) will return kClear\_faults| -|clear\_clear\_faults\(\)|void|void|Nothing will be changed if the oneof case is not kClear\_faults. If the oneof case equals kClear\_faults, frees the field and clears the oneof case. has\_clear\_faults\(\) will return false, clear\_faults\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|set\_allocated\_clear\_faults\(\)|void| [Faults](msg_Base_Faults.md#)\*|Calls clear\_action\_parameters\(\). If the [Faults](msg_Base_Faults.md#) pointer is not NULL: Sets the [Faults](msg_Base_Faults.md#) object to the field and sets the oneof case to kClear\_faults. The message takes ownership of the allocated [Faults](msg_Base_Faults.md#) object, has\_clear\_faults\(\) will return true and action\_parameters\_case\(\) will return kClear\_faults. If the pointer is NULL, has\_clear\_faults\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| -|release\_clear\_faults\(\)| [Faults](msg_Base_Faults.md#)\*|void|Returns NULL if oneof case is not kClear\_faults. If the oneof case is kClear\_faults, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_clear\_faults\(\) will return false, clear\_faults\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|has\_delay\(\) const|void|void|Returns the current value of the field if oneof case is kDelay. Otherwise, returns [Delay](msg_Base_Delay.md#)::default\_instance\(\)| -|delay\(\) const|const [Delay](msg_Base_Delay.md#)&|void|Returns the current value of the field if oneof case is kDelay| -|mutable\_delay\(\)| [Delay](msg_Base_Delay.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kDelay and returns a pointer to the mutable [Delay](msg_Base_Delay.md#) object that stores the field's value. If the oneof case was not kDelay prior to the call, then the returned [Delay](msg_Base_Delay.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Delay](msg_Base_Delay.md#)\). After calling this, has\_delay\(\) will return true, delay\(\) will return a reference to the same instance of [Delay](msg_Base_Delay.md#) and action\_parameters\_case\(\) will return kDelay| -|clear\_delay\(\)|void|void|Nothing will be changed if the oneof case is not kDelay. If the oneof case equals kDelay, frees the field and clears the oneof case. has\_delay\(\) will return false, delay\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|set\_allocated\_delay\(\)|void| [Delay](msg_Base_Delay.md#)\*|Calls clear\_action\_parameters\(\). If the [Delay](msg_Base_Delay.md#) pointer is not NULL: Sets the [Delay](msg_Base_Delay.md#) object to the field and sets the oneof case to kDelay. The message takes ownership of the allocated [Delay](msg_Base_Delay.md#) object, has\_delay\(\) will return true and action\_parameters\_case\(\) will return kDelay. If the pointer is NULL, has\_delay\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| -|release\_delay\(\)| [Delay](msg_Base_Delay.md#)\*|void|Returns NULL if oneof case is not kDelay. If the oneof case is kDelay, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_delay\(\) will return false, delay\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|has\_execute\_action\(\) const|void|void|Returns the current value of the field if oneof case is kExecute\_action. Otherwise, returns [ActionHandle](msg_Base_ActionHandle.md#)::default\_instance\(\)| -|execute\_action\(\) const|const [ActionHandle](msg_Base_ActionHandle.md#)&|void|Returns the current value of the field if oneof case is kExecute\_action| -|mutable\_execute\_action\(\)| [ActionHandle](msg_Base_ActionHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kExecute\_action and returns a pointer to the mutable [ActionHandle](msg_Base_ActionHandle.md#) object that stores the field's value. If the oneof case was not kExecute\_action prior to the call, then the returned [ActionHandle](msg_Base_ActionHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ActionHandle](msg_Base_ActionHandle.md#)\). After calling this, has\_execute\_action\(\) will return true, execute\_action\(\) will return a reference to the same instance of [ActionHandle](msg_Base_ActionHandle.md#) and action\_parameters\_case\(\) will return kExecute\_action| -|clear\_execute\_action\(\)|void|void|Nothing will be changed if the oneof case is not kExecute\_action. If the oneof case equals kExecute\_action, frees the field and clears the oneof case. has\_execute\_action\(\) will return false, execute\_action\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|set\_allocated\_execute\_action\(\)|void| [ActionHandle](msg_Base_ActionHandle.md#)\*|Calls clear\_action\_parameters\(\). If the [ActionHandle](msg_Base_ActionHandle.md#) pointer is not NULL: Sets the [ActionHandle](msg_Base_ActionHandle.md#) object to the field and sets the oneof case to kExecute\_action. The message takes ownership of the allocated [ActionHandle](msg_Base_ActionHandle.md#) object, has\_execute\_action\(\) will return true and action\_parameters\_case\(\) will return kExecute\_action. If the pointer is NULL, has\_execute\_action\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| -|release\_execute\_action\(\)| [ActionHandle](msg_Base_ActionHandle.md#)\*|void|Returns NULL if oneof case is not kExecute\_action. If the oneof case is kExecute\_action, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_execute\_action\(\) will return false, execute\_action\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|has\_send\_gripper\_command\(\) const|void|void|Returns the current value of the field if oneof case is kSend\_gripper\_command. Otherwise, returns [GripperCommand](msg_Base_GripperCommand.md#)::default\_instance\(\)| -|send\_gripper\_command\(\) const|const [GripperCommand](msg_Base_GripperCommand.md#)&|void|Returns the current value of the field if oneof case is kSend\_gripper\_command| -|mutable\_send\_gripper\_command\(\)| [GripperCommand](msg_Base_GripperCommand.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kSend\_gripper\_command and returns a pointer to the mutable [GripperCommand](msg_Base_GripperCommand.md#) object that stores the field's value. If the oneof case was not kSend\_gripper\_command prior to the call, then the returned [GripperCommand](msg_Base_GripperCommand.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [GripperCommand](msg_Base_GripperCommand.md#)\). After calling this, has\_send\_gripper\_command\(\) will return true, send\_gripper\_command\(\) will return a reference to the same instance of [GripperCommand](msg_Base_GripperCommand.md#) and action\_parameters\_case\(\) will return kSend\_gripper\_command| -|clear\_send\_gripper\_command\(\)|void|void|Nothing will be changed if the oneof case is not kSend\_gripper\_command. If the oneof case equals kSend\_gripper\_command, frees the field and clears the oneof case. has\_send\_gripper\_command\(\) will return false, send\_gripper\_command\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|set\_allocated\_send\_gripper\_command\(\)|void| [GripperCommand](msg_Base_GripperCommand.md#)\*|Calls clear\_action\_parameters\(\). If the [GripperCommand](msg_Base_GripperCommand.md#) pointer is not NULL: Sets the [GripperCommand](msg_Base_GripperCommand.md#) object to the field and sets the oneof case to kSend\_gripper\_command. The message takes ownership of the allocated [GripperCommand](msg_Base_GripperCommand.md#) object, has\_send\_gripper\_command\(\) will return true and action\_parameters\_case\(\) will return kSend\_gripper\_command. If the pointer is NULL, has\_send\_gripper\_command\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| -|release\_send\_gripper\_command\(\)| [GripperCommand](msg_Base_GripperCommand.md#)\*|void|Returns NULL if oneof case is not kSend\_gripper\_command. If the oneof case is kSend\_gripper\_command, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_send\_gripper\_command\(\) will return false, send\_gripper\_command\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|has\_stop\_action\(\) const|void|void|Returns the current value of the field if oneof case is kStop\_action. Otherwise, returns [Stop](msg_Base_Stop.md#)::default\_instance\(\)| -|stop\_action\(\) const|const [Stop](msg_Base_Stop.md#)&|void|Returns the current value of the field if oneof case is kStop\_action| -|mutable\_stop\_action\(\)| [Stop](msg_Base_Stop.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_action\_parameters\(\). Sets the oneof case to kStop\_action and returns a pointer to the mutable [Stop](msg_Base_Stop.md#) object that stores the field's value. If the oneof case was not kStop\_action prior to the call, then the returned [Stop](msg_Base_Stop.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Stop](msg_Base_Stop.md#)\). After calling this, has\_stop\_action\(\) will return true, stop\_action\(\) will return a reference to the same instance of [Stop](msg_Base_Stop.md#) and action\_parameters\_case\(\) will return kStop\_action| -|clear\_stop\_action\(\)|void|void|Nothing will be changed if the oneof case is not kStop\_action. If the oneof case equals kStop\_action, frees the field and clears the oneof case. has\_stop\_action\(\) will return false, stop\_action\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| -|set\_allocated\_stop\_action\(\)|void| [Stop](msg_Base_Stop.md#)\*|Calls clear\_action\_parameters\(\). If the [Stop](msg_Base_Stop.md#) pointer is not NULL: Sets the [Stop](msg_Base_Stop.md#) object to the field and sets the oneof case to kStop\_action. The message takes ownership of the allocated [Stop](msg_Base_Stop.md#) object, has\_stop\_action\(\) will return true and action\_parameters\_case\(\) will return kStop\_action. If the pointer is NULL, has\_stop\_action\(\) will return false and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET. \(The behavior is like calling clear\_action\_parameters\(\)\)| -|release\_stop\_action\(\)| [Stop](msg_Base_Stop.md#)\*|void|Returns NULL if oneof case is not kStop\_action. If the oneof case is kStop\_action, clears the oneof case, releases the ownership of the field and returns the pointer of the action\_parameters object. After calling this, caller takes the ownership of the allocated action\_parameters object, has\_stop\_action\(\) will return false, stop\_action\(\) will return the default value and action\_parameters\_case\(\) will return ACTION\_PARAMETERS\_NOT\_SET.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ActionExecutionState.md b/api_cpp/doc/markdown/references/msg_Base_ActionExecutionState.md deleted file mode 100644 index 94b48ab2..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ActionExecutionState.md +++ /dev/null @@ -1,35 +0,0 @@ -# Message ActionExecutionState - -This page describes the C++ Kinova::Api::Base::ActionExecutionState message. - -## Overview / Purpose - -Indicates the execution state of an action \(future\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|action\_event| [ActionEvent](enm_Base_ActionEvent.md#)|Action event type| -|handle| [ActionHandle](msg_Base_ActionHandle.md#)|Identifies the action for which this event occured| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|action\_event\(\) const| [ActionEvent](enm_Base_ActionEvent.md#)|void|Returns the current value of action\_event. If the action\_event is not set, returns 0.| -|set\_action\_event\(\)|void| [ActionEvent](enm_Base_ActionEvent.md#)|Sets the value of action\_event. After calling this, action\_event\(\) will return value.| -|clear\_action\_event\(\)|void|void|Clears the value of action\_event. After calling this, action\_event\(\) will return the empty string/empty bytes.| -|has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [ActionHandle](msg_Base_ActionHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [ActionHandle](msg_Base_ActionHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [ActionHandle](msg_Base_ActionHandle.md#) \*|void|Returns a pointer to the mutable [ActionHandle](msg_Base_ActionHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ActionHandle](msg_Base_ActionHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ActionHandle](msg_Base_ActionHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [ActionHandle](msg_Base_ActionHandle.md#).| -|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [ActionHandle](msg_Base_ActionHandle.md#) \*|Sets the [ActionHandle](msg_Base_ActionHandle.md#) object to the field and frees the previous field value if it exists. If the [ActionHandle](msg_Base_ActionHandle.md#) pointer is not NULL, the message takes ownership of the allocated [ActionHandle](msg_Base_ActionHandle.md#) object and has\_ [ActionHandle](msg_Base_ActionHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [ActionHandle](msg_Base_ActionHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ActionHandle](msg_Base_ActionHandle.md#) object. After calling this, caller takes the ownership of the allocated [ActionHandle](msg_Base_ActionHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ActionList.md b/api_cpp/doc/markdown/references/msg_Base_ActionList.md deleted file mode 100644 index b9c5d8d4..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ActionList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message ActionList - -This page describes the C++ Kinova::Api::Base::ActionList message. - -## Overview / Purpose - -Array of actions - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|action\_list|Collection of [Action](msg_Base_Action.md#)|Action| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|action\_list\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|action\_list\(\) const|const [Action](msg_Base_Action.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, action\_list\_size\(\)\) yields undefined behavior.| -|mutable\_action\_list\(\)| [Action](msg_Base_Action.md#)\*|int index|Returns a pointer to the mutable [Action](msg_Base_Action.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, action\_list\_size\(\)\) yields undefined behavior.| -|add\_action\_list\(\)| [Action](msg_Base_Action.md#)\*|void|Adds a new element and returns a pointer to it. The returned [Action](msg_Base_Action.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [Action](msg_Base_Action.md#)\).| -|clear\_action\_list\(\)|void|void|Removes all elements from the field. After calling this, action\_list\_size\(\) will return zero.| -|action\_list\(\) const|const RepeatedPtrField< [Action](msg_Base_Action.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_action\_list\(\)|RepeatedPtrField< [Action](msg_Base_Action.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ActionNotification.md b/api_cpp/doc/markdown/references/msg_Base_ActionNotification.md deleted file mode 100644 index ec441c8f..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ActionNotification.md +++ /dev/null @@ -1,60 +0,0 @@ -# Message ActionNotification - -This page describes the C++ Kinova::Api::Base::ActionNotification message. - -## Overview / Purpose - -Message that contains an action event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|action\_event| [ActionEvent](enm_Base_ActionEvent.md#)|Action event type| -|handle| [ActionHandle](msg_Base_ActionHandle.md#)|Identifies the action for which this event occured| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the action event| -|abort\_details| [SubErrorCodes](enm_Api_SubErrorCodes.md#)|Details if action\_event is equal to ACTION\_ABORT| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the action event| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|action\_event\(\) const| [ActionEvent](enm_Base_ActionEvent.md#)|void|Returns the current value of action\_event. If the action\_event is not set, returns 0.| -|set\_action\_event\(\)|void| [ActionEvent](enm_Base_ActionEvent.md#)|Sets the value of action\_event. After calling this, action\_event\(\) will return value.| -|clear\_action\_event\(\)|void|void|Clears the value of action\_event. After calling this, action\_event\(\) will return the empty string/empty bytes.| -|has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [ActionHandle](msg_Base_ActionHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [ActionHandle](msg_Base_ActionHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [ActionHandle](msg_Base_ActionHandle.md#) \*|void|Returns a pointer to the mutable [ActionHandle](msg_Base_ActionHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ActionHandle](msg_Base_ActionHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ActionHandle](msg_Base_ActionHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [ActionHandle](msg_Base_ActionHandle.md#).| -|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [ActionHandle](msg_Base_ActionHandle.md#) \*|Sets the [ActionHandle](msg_Base_ActionHandle.md#) object to the field and frees the previous field value if it exists. If the [ActionHandle](msg_Base_ActionHandle.md#) pointer is not NULL, the message takes ownership of the allocated [ActionHandle](msg_Base_ActionHandle.md#) object and has\_ [ActionHandle](msg_Base_ActionHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [ActionHandle](msg_Base_ActionHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ActionHandle](msg_Base_ActionHandle.md#) object. After calling this, caller takes the ownership of the allocated [ActionHandle](msg_Base_ActionHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| -|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| -|timestamp\(\)|const [Timestamp](msg_Common_Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](msg_Common_Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| -|mutable\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](msg_Common_Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](msg_Common_Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](msg_Common_Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](msg_Common_Timestamp.md#).| -|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| -|set\_allocated\_timestamp\(\)|void| [Timestamp](msg_Common_Timestamp.md#) \*|Sets the [Timestamp](msg_Common_Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](msg_Common_Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object and has\_ [Timestamp](msg_Common_Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| -|release\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](msg_Common_Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| -|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| -|user\_handle\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| -|mutable\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| -|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| -|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| -|release\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| -|abort\_details\(\) const| [SubErrorCodes](enm_Api_SubErrorCodes.md#)|void|Returns the current value of abort\_details. If the abort\_details is not set, returns 0.| -|set\_abort\_details\(\)|void| [SubErrorCodes](enm_Api_SubErrorCodes.md#)|Sets the value of abort\_details. After calling this, abort\_details\(\) will return value.| -|clear\_abort\_details\(\)|void|void|Clears the value of abort\_details. After calling this, abort\_details\(\) will return the empty string/empty bytes.| -|has\_connection\(\) const|bool|void|Returns true if connection is set.| -|connection\(\)|const [Connection](msg_Common_Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](msg_Common_Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| -|mutable\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Returns a pointer to the mutable [Connection](msg_Common_Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](msg_Common_Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](msg_Common_Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](msg_Common_Connection.md#).| -|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| -|set\_allocated\_connection\(\)|void| [Connection](msg_Common_Connection.md#) \*|Sets the [Connection](msg_Common_Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](msg_Common_Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](msg_Common_Connection.md#) object and has\_ [Connection](msg_Common_Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| -|release\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](msg_Common_Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](msg_Common_Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ActionNotificationList.md b/api_cpp/doc/markdown/references/msg_Base_ActionNotificationList.md deleted file mode 100644 index b7e0acbf..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ActionNotificationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message ActionNotificationList - -This page describes the C++ Kinova::Api::Base::ActionNotificationList message. - -## Overview / Purpose - -Array of action notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [ActionNotification](msg_Base_ActionNotification.md#)|Notification| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|notifications\(\) const|const [ActionNotification](msg_Base_ActionNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|mutable\_notifications\(\)| [ActionNotification](msg_Base_ActionNotification.md#)\*|int index|Returns a pointer to the mutable [ActionNotification](msg_Base_ActionNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|add\_notifications\(\)| [ActionNotification](msg_Base_ActionNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ActionNotification](msg_Base_ActionNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ActionNotification](msg_Base_ActionNotification.md#)\).| -|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| -|notifications\(\) const|const RepeatedPtrField< [ActionNotification](msg_Base_ActionNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_notifications\(\)|RepeatedPtrField< [ActionNotification](msg_Base_ActionNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ActivateMapHandle.md b/api_cpp/doc/markdown/references/msg_Base_ActivateMapHandle.md deleted file mode 100644 index 9e96d191..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ActivateMapHandle.md +++ /dev/null @@ -1,45 +0,0 @@ -# Message ActivateMapHandle - -This page describes the C++ Kinova::Api::Base::ActivateMapHandle message. - -## Overview / Purpose - -Specifies a new active map for the specified mapping and map group - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|mapping\_handle| [MappingHandle](msg_Base_MappingHandle.md#)|Mapping that the active map is asked for| -|map\_group\_handle| [MapGroupHandle](msg_Base_MapGroupHandle.md#)|Map group that the active map is asked for \(future\)| -|map\_handle| [MapHandle](msg_Base_MapHandle.md#)|New active map| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_mapping\_handle\(\) const|bool|void|Returns true if mapping\_handle is set.| -|mapping\_handle\(\)|const [MappingHandle](msg_Base_MappingHandle.md#)&|void|Returns the current value of mapping\_handle. If mapping\_handle is not set, returns a [MappingHandle](msg_Base_MappingHandle.md#) with none of its fields set \(possibly mapping\_handle::default\_instance\(\)\).| -|mutable\_mapping\_handle\(\)| [MappingHandle](msg_Base_MappingHandle.md#) \*|void|Returns a pointer to the mutable [MappingHandle](msg_Base_MappingHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MappingHandle](msg_Base_MappingHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MappingHandle](msg_Base_MappingHandle.md#)\). After calling this, has\_mapping\_handle\(\) will return true and mapping\_handle\(\) will return a reference to the same instance of [MappingHandle](msg_Base_MappingHandle.md#).| -|clear\_mapping\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_mapping\_handle\(\) will return false and mapping\_handle\(\) will return the default value.| -|set\_allocated\_mapping\_handle\(\)|void| [MappingHandle](msg_Base_MappingHandle.md#) \*|Sets the [MappingHandle](msg_Base_MappingHandle.md#) object to the field and frees the previous field value if it exists. If the [MappingHandle](msg_Base_MappingHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MappingHandle](msg_Base_MappingHandle.md#) object and has\_ [MappingHandle](msg_Base_MappingHandle.md#)\(\) will return true. Otherwise, if the mapping\_handle is NULL, the behavior is the same as calling clear\_mapping\_handle\(\).| -|release\_mapping\_handle\(\)| [MappingHandle](msg_Base_MappingHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MappingHandle](msg_Base_MappingHandle.md#) object. After calling this, caller takes the ownership of the allocated [MappingHandle](msg_Base_MappingHandle.md#) object, has\_mapping\_handle\(\) will return false, and mapping\_handle\(\) will return the default value.| -|has\_map\_group\_handle\(\) const|bool|void|Returns true if map\_group\_handle is set.| -|map\_group\_handle\(\)|const [MapGroupHandle](msg_Base_MapGroupHandle.md#)&|void|Returns the current value of map\_group\_handle. If map\_group\_handle is not set, returns a [MapGroupHandle](msg_Base_MapGroupHandle.md#) with none of its fields set \(possibly map\_group\_handle::default\_instance\(\)\).| -|mutable\_map\_group\_handle\(\)| [MapGroupHandle](msg_Base_MapGroupHandle.md#) \*|void|Returns a pointer to the mutable [MapGroupHandle](msg_Base_MapGroupHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapGroupHandle](msg_Base_MapGroupHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#)\). After calling this, has\_map\_group\_handle\(\) will return true and map\_group\_handle\(\) will return a reference to the same instance of [MapGroupHandle](msg_Base_MapGroupHandle.md#).| -|clear\_map\_group\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_map\_group\_handle\(\) will return false and map\_group\_handle\(\) will return the default value.| -|set\_allocated\_map\_group\_handle\(\)|void| [MapGroupHandle](msg_Base_MapGroupHandle.md#) \*|Sets the [MapGroupHandle](msg_Base_MapGroupHandle.md#) object to the field and frees the previous field value if it exists. If the [MapGroupHandle](msg_Base_MapGroupHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#) object and has\_ [MapGroupHandle](msg_Base_MapGroupHandle.md#)\(\) will return true. Otherwise, if the map\_group\_handle is NULL, the behavior is the same as calling clear\_map\_group\_handle\(\).| -|release\_map\_group\_handle\(\)| [MapGroupHandle](msg_Base_MapGroupHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapGroupHandle](msg_Base_MapGroupHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#) object, has\_map\_group\_handle\(\) will return false, and map\_group\_handle\(\) will return the default value.| -|has\_map\_handle\(\) const|bool|void|Returns true if map\_handle is set.| -|map\_handle\(\)|const [MapHandle](msg_Base_MapHandle.md#)&|void|Returns the current value of map\_handle. If map\_handle is not set, returns a [MapHandle](msg_Base_MapHandle.md#) with none of its fields set \(possibly map\_handle::default\_instance\(\)\).| -|mutable\_map\_handle\(\)| [MapHandle](msg_Base_MapHandle.md#) \*|void|Returns a pointer to the mutable [MapHandle](msg_Base_MapHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapHandle](msg_Base_MapHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapHandle](msg_Base_MapHandle.md#)\). After calling this, has\_map\_handle\(\) will return true and map\_handle\(\) will return a reference to the same instance of [MapHandle](msg_Base_MapHandle.md#).| -|clear\_map\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_map\_handle\(\) will return false and map\_handle\(\) will return the default value.| -|set\_allocated\_map\_handle\(\)|void| [MapHandle](msg_Base_MapHandle.md#) \*|Sets the [MapHandle](msg_Base_MapHandle.md#) object to the field and frees the previous field value if it exists. If the [MapHandle](msg_Base_MapHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapHandle](msg_Base_MapHandle.md#) object and has\_ [MapHandle](msg_Base_MapHandle.md#)\(\) will return true. Otherwise, if the map\_handle is NULL, the behavior is the same as calling clear\_map\_handle\(\).| -|release\_map\_handle\(\)| [MapHandle](msg_Base_MapHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapHandle](msg_Base_MapHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapHandle](msg_Base_MapHandle.md#) object, has\_map\_handle\(\) will return false, and map\_handle\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ActuatorInformation.md b/api_cpp/doc/markdown/references/msg_Base_ActuatorInformation.md deleted file mode 100644 index 8281df82..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ActuatorInformation.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message ActuatorInformation - -This page describes the C++ Kinova::Api::Base::ActuatorInformation message. - -## Overview / Purpose - -Provides information about actuators - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|count|uint32|Number of actuators| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|count\(\)|uint32|void|Returns the current value of count. If the count is not set, returns 0.| -|set\_count\(\)|void|uint32|Sets the value of count. After calling this, count\(\) will return value.| -|clear\_count\(\)|void|void|Clears the value of count. After calling this, count\(\) will return 0.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_Admittance.md b/api_cpp/doc/markdown/references/msg_Base_Admittance.md deleted file mode 100644 index fd1f8c18..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_Admittance.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message Admittance - -This page describes the C++ Kinova::Api::Base::Admittance message. - -## Overview / Purpose - -Defines the admittance mode - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|admittance\_mode| [AdmittanceMode](enm_Base_AdmittanceMode.md#)|mode| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|admittance\_mode\(\) const| [AdmittanceMode](enm_Base_AdmittanceMode.md#)|void|Returns the current value of admittance\_mode. If the admittance\_mode is not set, returns 0.| -|set\_admittance\_mode\(\)|void| [AdmittanceMode](enm_Base_AdmittanceMode.md#)|Sets the value of admittance\_mode. After calling this, admittance\_mode\(\) will return value.| -|clear\_admittance\_mode\(\)|void|void|Clears the value of admittance\_mode. After calling this, admittance\_mode\(\) will return the empty string/empty bytes.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_AdvancedSequenceHandle.md b/api_cpp/doc/markdown/references/msg_Base_AdvancedSequenceHandle.md deleted file mode 100644 index 3b5704ca..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_AdvancedSequenceHandle.md +++ /dev/null @@ -1,35 +0,0 @@ -# Message AdvancedSequenceHandle - -This page describes the C++ Kinova::Api::Base::AdvancedSequenceHandle message. - -## Overview / Purpose - -Associates execution options to a sequence - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [SequenceHandle](msg_Base_SequenceHandle.md#)|Sequence handle| -|in\_loop|bool|Loop execution. Set to true to play the sequence in loop, false otherwise. When a sequence is executed in loop, it will automatically go back to first task within the sequence after completing execution of last task and continue execution forever unless the sequence is explicitely stopped| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [SequenceHandle](msg_Base_SequenceHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [SequenceHandle](msg_Base_SequenceHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [SequenceHandle](msg_Base_SequenceHandle.md#) \*|void|Returns a pointer to the mutable [SequenceHandle](msg_Base_SequenceHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SequenceHandle](msg_Base_SequenceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SequenceHandle](msg_Base_SequenceHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [SequenceHandle](msg_Base_SequenceHandle.md#).| -|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [SequenceHandle](msg_Base_SequenceHandle.md#) \*|Sets the [SequenceHandle](msg_Base_SequenceHandle.md#) object to the field and frees the previous field value if it exists. If the [SequenceHandle](msg_Base_SequenceHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SequenceHandle](msg_Base_SequenceHandle.md#) object and has\_ [SequenceHandle](msg_Base_SequenceHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [SequenceHandle](msg_Base_SequenceHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SequenceHandle](msg_Base_SequenceHandle.md#) object. After calling this, caller takes the ownership of the allocated [SequenceHandle](msg_Base_SequenceHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| -|in\_loop\(\)|bool|void|Returns the current value of in\_loop. If the in\_loop is not set, returns 0.| -|set\_in\_loop\(\)|void|bool|Sets the value of in\_loop. After calling this, in\_loop\(\) will return value.| -|clear\_in\_loop\(\)|void|void|Clears the value of in\_loop. After calling this, in\_loop\(\) will return 0.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_AppendActionInformation.md b/api_cpp/doc/markdown/references/msg_Base_AppendActionInformation.md deleted file mode 100644 index 76e28b8d..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_AppendActionInformation.md +++ /dev/null @@ -1,38 +0,0 @@ -# Message AppendActionInformation - -This page describes the C++ Kinova::Api::Base::AppendActionInformation message. - -## Overview / Purpose - -Appends an action to an existing sequence \(future\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sequence\_handle| [SequenceHandle](msg_Base_SequenceHandle.md#)|Sequence to which action must be appended| -|action| [Action](msg_Base_Action.md#)|Action to append| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_sequence\_handle\(\) const|bool|void|Returns true if sequence\_handle is set.| -|sequence\_handle\(\)|const [SequenceHandle](msg_Base_SequenceHandle.md#)&|void|Returns the current value of sequence\_handle. If sequence\_handle is not set, returns a [SequenceHandle](msg_Base_SequenceHandle.md#) with none of its fields set \(possibly sequence\_handle::default\_instance\(\)\).| -|mutable\_sequence\_handle\(\)| [SequenceHandle](msg_Base_SequenceHandle.md#) \*|void|Returns a pointer to the mutable [SequenceHandle](msg_Base_SequenceHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SequenceHandle](msg_Base_SequenceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SequenceHandle](msg_Base_SequenceHandle.md#)\). After calling this, has\_sequence\_handle\(\) will return true and sequence\_handle\(\) will return a reference to the same instance of [SequenceHandle](msg_Base_SequenceHandle.md#).| -|clear\_sequence\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_sequence\_handle\(\) will return false and sequence\_handle\(\) will return the default value.| -|set\_allocated\_sequence\_handle\(\)|void| [SequenceHandle](msg_Base_SequenceHandle.md#) \*|Sets the [SequenceHandle](msg_Base_SequenceHandle.md#) object to the field and frees the previous field value if it exists. If the [SequenceHandle](msg_Base_SequenceHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SequenceHandle](msg_Base_SequenceHandle.md#) object and has\_ [SequenceHandle](msg_Base_SequenceHandle.md#)\(\) will return true. Otherwise, if the sequence\_handle is NULL, the behavior is the same as calling clear\_sequence\_handle\(\).| -|release\_sequence\_handle\(\)| [SequenceHandle](msg_Base_SequenceHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SequenceHandle](msg_Base_SequenceHandle.md#) object. After calling this, caller takes the ownership of the allocated [SequenceHandle](msg_Base_SequenceHandle.md#) object, has\_sequence\_handle\(\) will return false, and sequence\_handle\(\) will return the default value.| -|has\_action\(\) const|bool|void|Returns true if action is set.| -|action\(\)|const [Action](msg_Base_Action.md#)&|void|Returns the current value of action. If action is not set, returns a [Action](msg_Base_Action.md#) with none of its fields set \(possibly action::default\_instance\(\)\).| -|mutable\_action\(\)| [Action](msg_Base_Action.md#) \*|void|Returns a pointer to the mutable [Action](msg_Base_Action.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Action](msg_Base_Action.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Action](msg_Base_Action.md#)\). After calling this, has\_action\(\) will return true and action\(\) will return a reference to the same instance of [Action](msg_Base_Action.md#).| -|clear\_action\(\)|void|void|Clears the value of the field. After calling this, has\_action\(\) will return false and action\(\) will return the default value.| -|set\_allocated\_action\(\)|void| [Action](msg_Base_Action.md#) \*|Sets the [Action](msg_Base_Action.md#) object to the field and frees the previous field value if it exists. If the [Action](msg_Base_Action.md#) pointer is not NULL, the message takes ownership of the allocated [Action](msg_Base_Action.md#) object and has\_ [Action](msg_Base_Action.md#)\(\) will return true. Otherwise, if the action is NULL, the behavior is the same as calling clear\_action\(\).| -|release\_action\(\)| [Action](msg_Base_Action.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Action](msg_Base_Action.md#) object. After calling this, caller takes the ownership of the allocated [Action](msg_Base_Action.md#) object, has\_action\(\) will return false, and action\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ArmStateInformation.md b/api_cpp/doc/markdown/references/msg_Base_ArmStateInformation.md deleted file mode 100644 index 16968d61..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ArmStateInformation.md +++ /dev/null @@ -1,35 +0,0 @@ -# Message ArmStateInformation - -This page describes the C++ Kinova::Api::Base::ArmStateInformation message. - -## Overview / Purpose - -Provides information about the arm state - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|active\_state| [ArmState](enm_Common_ArmState.md#)|Arm active state| -|connection| [Connection](msg_Common_Connection.md#)|Connection information of the last processed command which triggered an arm state change| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|active\_state\(\) const| [ArmState](enm_Common_ArmState.md#)|void|Returns the current value of active\_state. If the active\_state is not set, returns 0.| -|set\_active\_state\(\)|void| [ArmState](enm_Common_ArmState.md#)|Sets the value of active\_state. After calling this, active\_state\(\) will return value.| -|clear\_active\_state\(\)|void|void|Clears the value of active\_state. After calling this, active\_state\(\) will return the empty string/empty bytes.| -|has\_connection\(\) const|bool|void|Returns true if connection is set.| -|connection\(\)|const [Connection](msg_Common_Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](msg_Common_Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| -|mutable\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Returns a pointer to the mutable [Connection](msg_Common_Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](msg_Common_Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](msg_Common_Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](msg_Common_Connection.md#).| -|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| -|set\_allocated\_connection\(\)|void| [Connection](msg_Common_Connection.md#) \*|Sets the [Connection](msg_Common_Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](msg_Common_Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](msg_Common_Connection.md#) object and has\_ [Connection](msg_Common_Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| -|release\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](msg_Common_Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](msg_Common_Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ArmStateNotification.md b/api_cpp/doc/markdown/references/msg_Base_ArmStateNotification.md deleted file mode 100644 index 499e2086..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ArmStateNotification.md +++ /dev/null @@ -1,42 +0,0 @@ -# Message ArmStateNotification - -This page describes the C++ Kinova::Api::Base::ArmStateNotification message. - -## Overview / Purpose - -Message that contains a arm state event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|active\_state| [ArmState](enm_Common_ArmState.md#)|New arm state| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the arm state event| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|active\_state\(\) const| [ArmState](enm_Common_ArmState.md#)|void|Returns the current value of active\_state. If the active\_state is not set, returns 0.| -|set\_active\_state\(\)|void| [ArmState](enm_Common_ArmState.md#)|Sets the value of active\_state. After calling this, active\_state\(\) will return value.| -|clear\_active\_state\(\)|void|void|Clears the value of active\_state. After calling this, active\_state\(\) will return the empty string/empty bytes.| -|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| -|timestamp\(\)|const [Timestamp](msg_Common_Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](msg_Common_Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| -|mutable\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](msg_Common_Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](msg_Common_Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](msg_Common_Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](msg_Common_Timestamp.md#).| -|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| -|set\_allocated\_timestamp\(\)|void| [Timestamp](msg_Common_Timestamp.md#) \*|Sets the [Timestamp](msg_Common_Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](msg_Common_Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object and has\_ [Timestamp](msg_Common_Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| -|release\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](msg_Common_Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| -|has\_connection\(\) const|bool|void|Returns true if connection is set.| -|connection\(\)|const [Connection](msg_Common_Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](msg_Common_Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| -|mutable\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Returns a pointer to the mutable [Connection](msg_Common_Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](msg_Common_Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](msg_Common_Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](msg_Common_Connection.md#).| -|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| -|set\_allocated\_connection\(\)|void| [Connection](msg_Common_Connection.md#) \*|Sets the [Connection](msg_Common_Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](msg_Common_Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](msg_Common_Connection.md#) object and has\_ [Connection](msg_Common_Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| -|release\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](msg_Common_Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](msg_Common_Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_CartesianLimitationList.md b/api_cpp/doc/markdown/references/msg_Base_CartesianLimitationList.md deleted file mode 100644 index 73fc86a2..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_CartesianLimitationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message CartesianLimitationList - -This page describes the C++ Kinova::Api::Base::CartesianLimitationList message. - -## Overview / Purpose - -Array of Cartesian limitations - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|limitations|Collection of [CartesianLimitation](msg_Base_CartesianLimitation.md#)|Limitation| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|limitations\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|limitations\(\) const|const [CartesianLimitation](msg_Base_CartesianLimitation.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, limitations\_size\(\)\) yields undefined behavior.| -|mutable\_limitations\(\)| [CartesianLimitation](msg_Base_CartesianLimitation.md#)\*|int index|Returns a pointer to the mutable [CartesianLimitation](msg_Base_CartesianLimitation.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, limitations\_size\(\)\) yields undefined behavior.| -|add\_limitations\(\)| [CartesianLimitation](msg_Base_CartesianLimitation.md#)\*|void|Adds a new element and returns a pointer to it. The returned [CartesianLimitation](msg_Base_CartesianLimitation.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [CartesianLimitation](msg_Base_CartesianLimitation.md#)\).| -|clear\_limitations\(\)|void|void|Removes all elements from the field. After calling this, limitations\_size\(\) will return zero.| -|limitations\(\) const|const RepeatedPtrField< [CartesianLimitation](msg_Base_CartesianLimitation.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_limitations\(\)|RepeatedPtrField< [CartesianLimitation](msg_Base_CartesianLimitation.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_CartesianReferenceFrameRequest.md b/api_cpp/doc/markdown/references/msg_Base_CartesianReferenceFrameRequest.md deleted file mode 100644 index dde19c2c..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_CartesianReferenceFrameRequest.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message CartesianReferenceFrameRequest - -This page describes the C++ Kinova::Api::Base::CartesianReferenceFrameRequest message. - -## Overview / Purpose - -Defines a Cartesian reference frame - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|reference\_frame| [CartesianReferenceFrame](enm_Base_CartesianReferenceFrame.md#)|Reference frame| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|reference\_frame\(\) const| [CartesianReferenceFrame](enm_Base_CartesianReferenceFrame.md#)|void|Returns the current value of reference\_frame. If the reference\_frame is not set, returns 0.| -|set\_reference\_frame\(\)|void| [CartesianReferenceFrame](enm_Base_CartesianReferenceFrame.md#)|Sets the value of reference\_frame. After calling this, reference\_frame\(\) will return value.| -|clear\_reference\_frame\(\)|void|void|Clears the value of reference\_frame. After calling this, reference\_frame\(\) will return the empty string/empty bytes.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_CartesianTrajectoryConstraint.md b/api_cpp/doc/markdown/references/msg_Base_CartesianTrajectoryConstraint.md deleted file mode 100644 index 9879f9bc..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_CartesianTrajectoryConstraint.md +++ /dev/null @@ -1,35 +0,0 @@ -# Message CartesianTrajectoryConstraint - -This page describes the C++ Kinova::Api::Base::CartesianTrajectoryConstraint message. - -## Overview / Purpose - -Defines a Cartesian trajectory constraint that can be applied when controlling in Cartesian trajectory mode - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|oneof type : speed| [CartesianSpeed](msg_Base_CartesianSpeed.md#)|Speed constraint \(in meters per second\)| -|oneof type : duration|float32|Duration constraint \(in meters per second\) \(future\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_speed\(\) const|void|void|Returns the current value of the field if oneof case is kSpeed. Otherwise, returns [CartesianSpeed](msg_Base_CartesianSpeed.md#)::default\_instance\(\)| -|speed\(\) const|const [CartesianSpeed](msg_Base_CartesianSpeed.md#)&|void|Returns the current value of the field if oneof case is kSpeed| -|mutable\_speed\(\)| [CartesianSpeed](msg_Base_CartesianSpeed.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_type\(\). Sets the oneof case to kSpeed and returns a pointer to the mutable [CartesianSpeed](msg_Base_CartesianSpeed.md#) object that stores the field's value. If the oneof case was not kSpeed prior to the call, then the returned [CartesianSpeed](msg_Base_CartesianSpeed.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [CartesianSpeed](msg_Base_CartesianSpeed.md#)\). After calling this, has\_speed\(\) will return true, speed\(\) will return a reference to the same instance of [CartesianSpeed](msg_Base_CartesianSpeed.md#) and type\_case\(\) will return kSpeed| -|clear\_speed\(\)|void|void|Nothing will be changed if the oneof case is not kSpeed. If the oneof case equals kSpeed, frees the field and clears the oneof case. has\_speed\(\) will return false, speed\(\) will return the default value and type\_case\(\) will return TYPE\_NOT\_SET.| -|set\_allocated\_speed\(\)|void| [CartesianSpeed](msg_Base_CartesianSpeed.md#)\*|Calls clear\_type\(\). If the [CartesianSpeed](msg_Base_CartesianSpeed.md#) pointer is not NULL: Sets the [CartesianSpeed](msg_Base_CartesianSpeed.md#) object to the field and sets the oneof case to kSpeed. The message takes ownership of the allocated [CartesianSpeed](msg_Base_CartesianSpeed.md#) object, has\_speed\(\) will return true and type\_case\(\) will return kSpeed. If the pointer is NULL, has\_speed\(\) will return false and type\_case\(\) will return TYPE\_NOT\_SET. \(The behavior is like calling clear\_type\(\)\)| -|release\_speed\(\)| [CartesianSpeed](msg_Base_CartesianSpeed.md#)\*|void|Returns NULL if oneof case is not kSpeed. If the oneof case is kSpeed, clears the oneof case, releases the ownership of the field and returns the pointer of the type object. After calling this, caller takes the ownership of the allocated type object, has\_speed\(\) will return false, speed\(\) will return the default value and type\_case\(\) will return TYPE\_NOT\_SET.| -|set\_duration\(\)|void|float32|If any other oneof field in the same oneof is set, calls clear\_type\(\). Sets the value of this field and sets the oneof case to kDuration.| -|duration\(\) const|float32|void|Returns the current value of the field if oneof case is kDuration. Otherwise, returns the default value.| -|clear\_duration\(\)|void|void|Nothing will be changed if the oneof case is not kDuration. If the oneof case is kDuration, clears the value of the field and the oneof case| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ChangeJointSpeeds.md b/api_cpp/doc/markdown/references/msg_Base_ChangeJointSpeeds.md deleted file mode 100644 index 63d864be..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ChangeJointSpeeds.md +++ /dev/null @@ -1,31 +0,0 @@ -# Message ChangeJointSpeeds - -This page describes the C++ Kinova::Api::Base::ChangeJointSpeeds message. - -## Overview / Purpose - -Defines an action to increase \(or reduce\) the maximum angular velocity per joint by a specific increment - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|joint\_speeds| [JointSpeeds](msg_Base_JointSpeeds.md#)|Joint speeds| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_joint\_speeds\(\) const|bool|void|Returns true if joint\_speeds is set.| -|joint\_speeds\(\)|const [JointSpeeds](msg_Base_JointSpeeds.md#)&|void|Returns the current value of joint\_speeds. If joint\_speeds is not set, returns a [JointSpeeds](msg_Base_JointSpeeds.md#) with none of its fields set \(possibly joint\_speeds::default\_instance\(\)\).| -|mutable\_joint\_speeds\(\)| [JointSpeeds](msg_Base_JointSpeeds.md#) \*|void|Returns a pointer to the mutable [JointSpeeds](msg_Base_JointSpeeds.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [JointSpeeds](msg_Base_JointSpeeds.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [JointSpeeds](msg_Base_JointSpeeds.md#)\). After calling this, has\_joint\_speeds\(\) will return true and joint\_speeds\(\) will return a reference to the same instance of [JointSpeeds](msg_Base_JointSpeeds.md#).| -|clear\_joint\_speeds\(\)|void|void|Clears the value of the field. After calling this, has\_joint\_speeds\(\) will return false and joint\_speeds\(\) will return the default value.| -|set\_allocated\_joint\_speeds\(\)|void| [JointSpeeds](msg_Base_JointSpeeds.md#) \*|Sets the [JointSpeeds](msg_Base_JointSpeeds.md#) object to the field and frees the previous field value if it exists. If the [JointSpeeds](msg_Base_JointSpeeds.md#) pointer is not NULL, the message takes ownership of the allocated [JointSpeeds](msg_Base_JointSpeeds.md#) object and has\_ [JointSpeeds](msg_Base_JointSpeeds.md#)\(\) will return true. Otherwise, if the joint\_speeds is NULL, the behavior is the same as calling clear\_joint\_speeds\(\).| -|release\_joint\_speeds\(\)| [JointSpeeds](msg_Base_JointSpeeds.md#) \*|void|Releases the ownership of the field and returns the pointer of the [JointSpeeds](msg_Base_JointSpeeds.md#) object. After calling this, caller takes the ownership of the allocated [JointSpeeds](msg_Base_JointSpeeds.md#) object, has\_joint\_speeds\(\) will return false, and joint\_speeds\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_CommunicationInterfaceConfiguration.md b/api_cpp/doc/markdown/references/msg_Base_CommunicationInterfaceConfiguration.md deleted file mode 100644 index a1ff2e35..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_CommunicationInterfaceConfiguration.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message CommunicationInterfaceConfiguration - -This page describes the C++ Kinova::Api::Base::CommunicationInterfaceConfiguration message. - -## Overview / Purpose - -Enables or disables a specific communication interface \(e.g. Wi-Fi, Wired Ethernet\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|type| [NetworkType](enm_Base_NetworkType.md#)|Network type \(e.g. Wi-Fi, Wired Ethernet\)| -|enable|bool|Enable configuration. Set to true to enable network, false otherwise| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|type\(\) const| [NetworkType](enm_Base_NetworkType.md#)|void|Returns the current value of type. If the type is not set, returns 0.| -|set\_type\(\)|void| [NetworkType](enm_Base_NetworkType.md#)|Sets the value of type. After calling this, type\(\) will return value.| -|clear\_type\(\)|void|void|Clears the value of type. After calling this, type\(\) will return the empty string/empty bytes.| -|enable\(\)|bool|void|Returns the current value of enable. If the enable is not set, returns 0.| -|set\_enable\(\)|void|bool|Sets the value of enable. After calling this, enable\(\) will return value.| -|clear\_enable\(\)|void|void|Clears the value of enable. After calling this, enable\(\) will return 0.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ConfigurationChangeNotification.md b/api_cpp/doc/markdown/references/msg_Base_ConfigurationChangeNotification.md deleted file mode 100644 index 7ac78e8b..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ConfigurationChangeNotification.md +++ /dev/null @@ -1,119 +0,0 @@ -# Message ConfigurationChangeNotification - -This page describes the C++ Kinova::Api::Base::ConfigurationChangeNotification message. - -## Overview / Purpose - -Message that contains a configuration change event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event| [ConfigurationNotificationEvent](enm_Base_ConfigurationNotificationEvent.md#)|Configuration event| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the configuration event| -|oneof configuration\_change : sequence\_handle| [SequenceHandle](msg_Base_SequenceHandle.md#)|Sequence for which the configuration changed| -|oneof configuration\_change : action\_handle| [ActionHandle](msg_Base_ActionHandle.md#)|Action for which the configuration changed| -|oneof configuration\_change : mapping\_handle| [MappingHandle](msg_Base_MappingHandle.md#)|Mapping for which the configuration changed| -|oneof configuration\_change : map\_group\_handle| [MapGroupHandle](msg_Base_MapGroupHandle.md#)|Map group for which the configuration changed| -|oneof configuration\_change : map\_handle| [MapHandle](msg_Base_MapHandle.md#)|Map for which the configuration changed| -|oneof configuration\_change : user\_profile\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User Profile for which the configuration changed| -|oneof configuration\_change : protection\_zone\_handle| [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)|Protection zone for which the configuration changed| -|oneof configuration\_change : safety\_handle| [SafetyHandle](msg_Common_SafetyHandle.md#)|Safety for which the configuration changed| -|oneof configuration\_change : network\_handle| [NetworkHandle](msg_Base_NetworkHandle.md#)|Network element for which the configuration changed| -|oneof configuration\_change : ssid| [Ssid](msg_Base_Ssid.md#)|Wi-Fi instance for which the configuration changed| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the configuration event| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|event\(\) const| [ConfigurationNotificationEvent](enm_Base_ConfigurationNotificationEvent.md#)|void|Returns the current value of event. If the event is not set, returns 0.| -|set\_event\(\)|void| [ConfigurationNotificationEvent](enm_Base_ConfigurationNotificationEvent.md#)|Sets the value of event. After calling this, event\(\) will return value.| -|clear\_event\(\)|void|void|Clears the value of event. After calling this, event\(\) will return the empty string/empty bytes.| -|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| -|timestamp\(\)|const [Timestamp](msg_Common_Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](msg_Common_Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| -|mutable\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](msg_Common_Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](msg_Common_Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](msg_Common_Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](msg_Common_Timestamp.md#).| -|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| -|set\_allocated\_timestamp\(\)|void| [Timestamp](msg_Common_Timestamp.md#) \*|Sets the [Timestamp](msg_Common_Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](msg_Common_Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object and has\_ [Timestamp](msg_Common_Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| -|release\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](msg_Common_Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| -|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| -|user\_handle\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| -|mutable\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| -|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| -|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| -|release\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| -|has\_sequence\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kSequence\_handle. Otherwise, returns [SequenceHandle](msg_Base_SequenceHandle.md#)::default\_instance\(\)| -|sequence\_handle\(\) const|const [SequenceHandle](msg_Base_SequenceHandle.md#)&|void|Returns the current value of the field if oneof case is kSequence\_handle| -|mutable\_sequence\_handle\(\)| [SequenceHandle](msg_Base_SequenceHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kSequence\_handle and returns a pointer to the mutable [SequenceHandle](msg_Base_SequenceHandle.md#) object that stores the field's value. If the oneof case was not kSequence\_handle prior to the call, then the returned [SequenceHandle](msg_Base_SequenceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SequenceHandle](msg_Base_SequenceHandle.md#)\). After calling this, has\_sequence\_handle\(\) will return true, sequence\_handle\(\) will return a reference to the same instance of [SequenceHandle](msg_Base_SequenceHandle.md#) and configuration\_change\_case\(\) will return kSequence\_handle| -|clear\_sequence\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kSequence\_handle. If the oneof case equals kSequence\_handle, frees the field and clears the oneof case. has\_sequence\_handle\(\) will return false, sequence\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|set\_allocated\_sequence\_handle\(\)|void| [SequenceHandle](msg_Base_SequenceHandle.md#)\*|Calls clear\_configuration\_change\(\). If the [SequenceHandle](msg_Base_SequenceHandle.md#) pointer is not NULL: Sets the [SequenceHandle](msg_Base_SequenceHandle.md#) object to the field and sets the oneof case to kSequence\_handle. The message takes ownership of the allocated [SequenceHandle](msg_Base_SequenceHandle.md#) object, has\_sequence\_handle\(\) will return true and configuration\_change\_case\(\) will return kSequence\_handle. If the pointer is NULL, has\_sequence\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| -|release\_sequence\_handle\(\)| [SequenceHandle](msg_Base_SequenceHandle.md#)\*|void|Returns NULL if oneof case is not kSequence\_handle. If the oneof case is kSequence\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_sequence\_handle\(\) will return false, sequence\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|has\_action\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kAction\_handle. Otherwise, returns [ActionHandle](msg_Base_ActionHandle.md#)::default\_instance\(\)| -|action\_handle\(\) const|const [ActionHandle](msg_Base_ActionHandle.md#)&|void|Returns the current value of the field if oneof case is kAction\_handle| -|mutable\_action\_handle\(\)| [ActionHandle](msg_Base_ActionHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kAction\_handle and returns a pointer to the mutable [ActionHandle](msg_Base_ActionHandle.md#) object that stores the field's value. If the oneof case was not kAction\_handle prior to the call, then the returned [ActionHandle](msg_Base_ActionHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ActionHandle](msg_Base_ActionHandle.md#)\). After calling this, has\_action\_handle\(\) will return true, action\_handle\(\) will return a reference to the same instance of [ActionHandle](msg_Base_ActionHandle.md#) and configuration\_change\_case\(\) will return kAction\_handle| -|clear\_action\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kAction\_handle. If the oneof case equals kAction\_handle, frees the field and clears the oneof case. has\_action\_handle\(\) will return false, action\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|set\_allocated\_action\_handle\(\)|void| [ActionHandle](msg_Base_ActionHandle.md#)\*|Calls clear\_configuration\_change\(\). If the [ActionHandle](msg_Base_ActionHandle.md#) pointer is not NULL: Sets the [ActionHandle](msg_Base_ActionHandle.md#) object to the field and sets the oneof case to kAction\_handle. The message takes ownership of the allocated [ActionHandle](msg_Base_ActionHandle.md#) object, has\_action\_handle\(\) will return true and configuration\_change\_case\(\) will return kAction\_handle. If the pointer is NULL, has\_action\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| -|release\_action\_handle\(\)| [ActionHandle](msg_Base_ActionHandle.md#)\*|void|Returns NULL if oneof case is not kAction\_handle. If the oneof case is kAction\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_action\_handle\(\) will return false, action\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|has\_mapping\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kMapping\_handle. Otherwise, returns [MappingHandle](msg_Base_MappingHandle.md#)::default\_instance\(\)| -|mapping\_handle\(\) const|const [MappingHandle](msg_Base_MappingHandle.md#)&|void|Returns the current value of the field if oneof case is kMapping\_handle| -|mutable\_mapping\_handle\(\)| [MappingHandle](msg_Base_MappingHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kMapping\_handle and returns a pointer to the mutable [MappingHandle](msg_Base_MappingHandle.md#) object that stores the field's value. If the oneof case was not kMapping\_handle prior to the call, then the returned [MappingHandle](msg_Base_MappingHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MappingHandle](msg_Base_MappingHandle.md#)\). After calling this, has\_mapping\_handle\(\) will return true, mapping\_handle\(\) will return a reference to the same instance of [MappingHandle](msg_Base_MappingHandle.md#) and configuration\_change\_case\(\) will return kMapping\_handle| -|clear\_mapping\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kMapping\_handle. If the oneof case equals kMapping\_handle, frees the field and clears the oneof case. has\_mapping\_handle\(\) will return false, mapping\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|set\_allocated\_mapping\_handle\(\)|void| [MappingHandle](msg_Base_MappingHandle.md#)\*|Calls clear\_configuration\_change\(\). If the [MappingHandle](msg_Base_MappingHandle.md#) pointer is not NULL: Sets the [MappingHandle](msg_Base_MappingHandle.md#) object to the field and sets the oneof case to kMapping\_handle. The message takes ownership of the allocated [MappingHandle](msg_Base_MappingHandle.md#) object, has\_mapping\_handle\(\) will return true and configuration\_change\_case\(\) will return kMapping\_handle. If the pointer is NULL, has\_mapping\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| -|release\_mapping\_handle\(\)| [MappingHandle](msg_Base_MappingHandle.md#)\*|void|Returns NULL if oneof case is not kMapping\_handle. If the oneof case is kMapping\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_mapping\_handle\(\) will return false, mapping\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|has\_map\_group\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kMap\_group\_handle. Otherwise, returns [MapGroupHandle](msg_Base_MapGroupHandle.md#)::default\_instance\(\)| -|map\_group\_handle\(\) const|const [MapGroupHandle](msg_Base_MapGroupHandle.md#)&|void|Returns the current value of the field if oneof case is kMap\_group\_handle| -|mutable\_map\_group\_handle\(\)| [MapGroupHandle](msg_Base_MapGroupHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kMap\_group\_handle and returns a pointer to the mutable [MapGroupHandle](msg_Base_MapGroupHandle.md#) object that stores the field's value. If the oneof case was not kMap\_group\_handle prior to the call, then the returned [MapGroupHandle](msg_Base_MapGroupHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#)\). After calling this, has\_map\_group\_handle\(\) will return true, map\_group\_handle\(\) will return a reference to the same instance of [MapGroupHandle](msg_Base_MapGroupHandle.md#) and configuration\_change\_case\(\) will return kMap\_group\_handle| -|clear\_map\_group\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kMap\_group\_handle. If the oneof case equals kMap\_group\_handle, frees the field and clears the oneof case. has\_map\_group\_handle\(\) will return false, map\_group\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|set\_allocated\_map\_group\_handle\(\)|void| [MapGroupHandle](msg_Base_MapGroupHandle.md#)\*|Calls clear\_configuration\_change\(\). If the [MapGroupHandle](msg_Base_MapGroupHandle.md#) pointer is not NULL: Sets the [MapGroupHandle](msg_Base_MapGroupHandle.md#) object to the field and sets the oneof case to kMap\_group\_handle. The message takes ownership of the allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#) object, has\_map\_group\_handle\(\) will return true and configuration\_change\_case\(\) will return kMap\_group\_handle. If the pointer is NULL, has\_map\_group\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| -|release\_map\_group\_handle\(\)| [MapGroupHandle](msg_Base_MapGroupHandle.md#)\*|void|Returns NULL if oneof case is not kMap\_group\_handle. If the oneof case is kMap\_group\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_map\_group\_handle\(\) will return false, map\_group\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|has\_map\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kMap\_handle. Otherwise, returns [MapHandle](msg_Base_MapHandle.md#)::default\_instance\(\)| -|map\_handle\(\) const|const [MapHandle](msg_Base_MapHandle.md#)&|void|Returns the current value of the field if oneof case is kMap\_handle| -|mutable\_map\_handle\(\)| [MapHandle](msg_Base_MapHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kMap\_handle and returns a pointer to the mutable [MapHandle](msg_Base_MapHandle.md#) object that stores the field's value. If the oneof case was not kMap\_handle prior to the call, then the returned [MapHandle](msg_Base_MapHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapHandle](msg_Base_MapHandle.md#)\). After calling this, has\_map\_handle\(\) will return true, map\_handle\(\) will return a reference to the same instance of [MapHandle](msg_Base_MapHandle.md#) and configuration\_change\_case\(\) will return kMap\_handle| -|clear\_map\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kMap\_handle. If the oneof case equals kMap\_handle, frees the field and clears the oneof case. has\_map\_handle\(\) will return false, map\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|set\_allocated\_map\_handle\(\)|void| [MapHandle](msg_Base_MapHandle.md#)\*|Calls clear\_configuration\_change\(\). If the [MapHandle](msg_Base_MapHandle.md#) pointer is not NULL: Sets the [MapHandle](msg_Base_MapHandle.md#) object to the field and sets the oneof case to kMap\_handle. The message takes ownership of the allocated [MapHandle](msg_Base_MapHandle.md#) object, has\_map\_handle\(\) will return true and configuration\_change\_case\(\) will return kMap\_handle. If the pointer is NULL, has\_map\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| -|release\_map\_handle\(\)| [MapHandle](msg_Base_MapHandle.md#)\*|void|Returns NULL if oneof case is not kMap\_handle. If the oneof case is kMap\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_map\_handle\(\) will return false, map\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|has\_user\_profile\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kUser\_profile\_handle. Otherwise, returns [UserProfileHandle](msg_Common_UserProfileHandle.md#)::default\_instance\(\)| -|user\_profile\_handle\(\) const|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of the field if oneof case is kUser\_profile\_handle| -|mutable\_user\_profile\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kUser\_profile\_handle and returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the oneof case was not kUser\_profile\_handle prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_user\_profile\_handle\(\) will return true, user\_profile\_handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#) and configuration\_change\_case\(\) will return kUser\_profile\_handle| -|clear\_user\_profile\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kUser\_profile\_handle. If the oneof case equals kUser\_profile\_handle, frees the field and clears the oneof case. has\_user\_profile\_handle\(\) will return false, user\_profile\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|set\_allocated\_user\_profile\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#)\*|Calls clear\_configuration\_change\(\). If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL: Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and sets the oneof case to kUser\_profile\_handle. The message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_user\_profile\_handle\(\) will return true and configuration\_change\_case\(\) will return kUser\_profile\_handle. If the pointer is NULL, has\_user\_profile\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| -|release\_user\_profile\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#)\*|void|Returns NULL if oneof case is not kUser\_profile\_handle. If the oneof case is kUser\_profile\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_user\_profile\_handle\(\) will return false, user\_profile\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|has\_protection\_zone\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kProtection\_zone\_handle. Otherwise, returns [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)::default\_instance\(\)| -|protection\_zone\_handle\(\) const|const [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)&|void|Returns the current value of the field if oneof case is kProtection\_zone\_handle| -|mutable\_protection\_zone\_handle\(\)| [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kProtection\_zone\_handle and returns a pointer to the mutable [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) object that stores the field's value. If the oneof case was not kProtection\_zone\_handle prior to the call, then the returned [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)\). After calling this, has\_protection\_zone\_handle\(\) will return true, protection\_zone\_handle\(\) will return a reference to the same instance of [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) and configuration\_change\_case\(\) will return kProtection\_zone\_handle| -|clear\_protection\_zone\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kProtection\_zone\_handle. If the oneof case equals kProtection\_zone\_handle, frees the field and clears the oneof case. has\_protection\_zone\_handle\(\) will return false, protection\_zone\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|set\_allocated\_protection\_zone\_handle\(\)|void| [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)\*|Calls clear\_configuration\_change\(\). If the [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) pointer is not NULL: Sets the [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) object to the field and sets the oneof case to kProtection\_zone\_handle. The message takes ownership of the allocated [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) object, has\_protection\_zone\_handle\(\) will return true and configuration\_change\_case\(\) will return kProtection\_zone\_handle. If the pointer is NULL, has\_protection\_zone\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| -|release\_protection\_zone\_handle\(\)| [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)\*|void|Returns NULL if oneof case is not kProtection\_zone\_handle. If the oneof case is kProtection\_zone\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_protection\_zone\_handle\(\) will return false, protection\_zone\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|has\_safety\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kSafety\_handle. Otherwise, returns [SafetyHandle](msg_Common_SafetyHandle.md#)::default\_instance\(\)| -|safety\_handle\(\) const|const [SafetyHandle](msg_Common_SafetyHandle.md#)&|void|Returns the current value of the field if oneof case is kSafety\_handle| -|mutable\_safety\_handle\(\)| [SafetyHandle](msg_Common_SafetyHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kSafety\_handle and returns a pointer to the mutable [SafetyHandle](msg_Common_SafetyHandle.md#) object that stores the field's value. If the oneof case was not kSafety\_handle prior to the call, then the returned [SafetyHandle](msg_Common_SafetyHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyHandle](msg_Common_SafetyHandle.md#)\). After calling this, has\_safety\_handle\(\) will return true, safety\_handle\(\) will return a reference to the same instance of [SafetyHandle](msg_Common_SafetyHandle.md#) and configuration\_change\_case\(\) will return kSafety\_handle| -|clear\_safety\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kSafety\_handle. If the oneof case equals kSafety\_handle, frees the field and clears the oneof case. has\_safety\_handle\(\) will return false, safety\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|set\_allocated\_safety\_handle\(\)|void| [SafetyHandle](msg_Common_SafetyHandle.md#)\*|Calls clear\_configuration\_change\(\). If the [SafetyHandle](msg_Common_SafetyHandle.md#) pointer is not NULL: Sets the [SafetyHandle](msg_Common_SafetyHandle.md#) object to the field and sets the oneof case to kSafety\_handle. The message takes ownership of the allocated [SafetyHandle](msg_Common_SafetyHandle.md#) object, has\_safety\_handle\(\) will return true and configuration\_change\_case\(\) will return kSafety\_handle. If the pointer is NULL, has\_safety\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| -|release\_safety\_handle\(\)| [SafetyHandle](msg_Common_SafetyHandle.md#)\*|void|Returns NULL if oneof case is not kSafety\_handle. If the oneof case is kSafety\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_safety\_handle\(\) will return false, safety\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|has\_network\_handle\(\) const|void|void|Returns the current value of the field if oneof case is kNetwork\_handle. Otherwise, returns [NetworkHandle](msg_Base_NetworkHandle.md#)::default\_instance\(\)| -|network\_handle\(\) const|const [NetworkHandle](msg_Base_NetworkHandle.md#)&|void|Returns the current value of the field if oneof case is kNetwork\_handle| -|mutable\_network\_handle\(\)| [NetworkHandle](msg_Base_NetworkHandle.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kNetwork\_handle and returns a pointer to the mutable [NetworkHandle](msg_Base_NetworkHandle.md#) object that stores the field's value. If the oneof case was not kNetwork\_handle prior to the call, then the returned [NetworkHandle](msg_Base_NetworkHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [NetworkHandle](msg_Base_NetworkHandle.md#)\). After calling this, has\_network\_handle\(\) will return true, network\_handle\(\) will return a reference to the same instance of [NetworkHandle](msg_Base_NetworkHandle.md#) and configuration\_change\_case\(\) will return kNetwork\_handle| -|clear\_network\_handle\(\)|void|void|Nothing will be changed if the oneof case is not kNetwork\_handle. If the oneof case equals kNetwork\_handle, frees the field and clears the oneof case. has\_network\_handle\(\) will return false, network\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|set\_allocated\_network\_handle\(\)|void| [NetworkHandle](msg_Base_NetworkHandle.md#)\*|Calls clear\_configuration\_change\(\). If the [NetworkHandle](msg_Base_NetworkHandle.md#) pointer is not NULL: Sets the [NetworkHandle](msg_Base_NetworkHandle.md#) object to the field and sets the oneof case to kNetwork\_handle. The message takes ownership of the allocated [NetworkHandle](msg_Base_NetworkHandle.md#) object, has\_network\_handle\(\) will return true and configuration\_change\_case\(\) will return kNetwork\_handle. If the pointer is NULL, has\_network\_handle\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| -|release\_network\_handle\(\)| [NetworkHandle](msg_Base_NetworkHandle.md#)\*|void|Returns NULL if oneof case is not kNetwork\_handle. If the oneof case is kNetwork\_handle, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_network\_handle\(\) will return false, network\_handle\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|has\_ssid\(\) const|void|void|Returns the current value of the field if oneof case is kSsid. Otherwise, returns [Ssid](msg_Base_Ssid.md#)::default\_instance\(\)| -|ssid\(\) const|const [Ssid](msg_Base_Ssid.md#)&|void|Returns the current value of the field if oneof case is kSsid| -|mutable\_ssid\(\)| [Ssid](msg_Base_Ssid.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_configuration\_change\(\). Sets the oneof case to kSsid and returns a pointer to the mutable [Ssid](msg_Base_Ssid.md#) object that stores the field's value. If the oneof case was not kSsid prior to the call, then the returned [Ssid](msg_Base_Ssid.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Ssid](msg_Base_Ssid.md#)\). After calling this, has\_ssid\(\) will return true, ssid\(\) will return a reference to the same instance of [Ssid](msg_Base_Ssid.md#) and configuration\_change\_case\(\) will return kSsid| -|clear\_ssid\(\)|void|void|Nothing will be changed if the oneof case is not kSsid. If the oneof case equals kSsid, frees the field and clears the oneof case. has\_ssid\(\) will return false, ssid\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|set\_allocated\_ssid\(\)|void| [Ssid](msg_Base_Ssid.md#)\*|Calls clear\_configuration\_change\(\). If the [Ssid](msg_Base_Ssid.md#) pointer is not NULL: Sets the [Ssid](msg_Base_Ssid.md#) object to the field and sets the oneof case to kSsid. The message takes ownership of the allocated [Ssid](msg_Base_Ssid.md#) object, has\_ssid\(\) will return true and configuration\_change\_case\(\) will return kSsid. If the pointer is NULL, has\_ssid\(\) will return false and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET. \(The behavior is like calling clear\_configuration\_change\(\)\)| -|release\_ssid\(\)| [Ssid](msg_Base_Ssid.md#)\*|void|Returns NULL if oneof case is not kSsid. If the oneof case is kSsid, clears the oneof case, releases the ownership of the field and returns the pointer of the configuration\_change object. After calling this, caller takes the ownership of the allocated configuration\_change object, has\_ssid\(\) will return false, ssid\(\) will return the default value and configuration\_change\_case\(\) will return CONFIGURATION\_CHANGE\_NOT\_SET.| -|has\_connection\(\) const|bool|void|Returns true if connection is set.| -|connection\(\)|const [Connection](msg_Common_Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](msg_Common_Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| -|mutable\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Returns a pointer to the mutable [Connection](msg_Common_Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](msg_Common_Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](msg_Common_Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](msg_Common_Connection.md#).| -|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| -|set\_allocated\_connection\(\)|void| [Connection](msg_Common_Connection.md#) \*|Sets the [Connection](msg_Common_Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](msg_Common_Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](msg_Common_Connection.md#) object and has\_ [Connection](msg_Common_Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| -|release\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](msg_Common_Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](msg_Common_Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ConfigurationChangeNotificationList.md b/api_cpp/doc/markdown/references/msg_Base_ConfigurationChangeNotificationList.md deleted file mode 100644 index ed6131ec..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ConfigurationChangeNotificationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message ConfigurationChangeNotificationList - -This page describes the C++ Kinova::Api::Base::ConfigurationChangeNotificationList message. - -## Overview / Purpose - -Array of configuration change notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [ConfigurationChangeNotification](msg_Base_ConfigurationChangeNotification.md#)|Notification| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|notifications\(\) const|const [ConfigurationChangeNotification](msg_Base_ConfigurationChangeNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|mutable\_notifications\(\)| [ConfigurationChangeNotification](msg_Base_ConfigurationChangeNotification.md#)\*|int index|Returns a pointer to the mutable [ConfigurationChangeNotification](msg_Base_ConfigurationChangeNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|add\_notifications\(\)| [ConfigurationChangeNotification](msg_Base_ConfigurationChangeNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ConfigurationChangeNotification](msg_Base_ConfigurationChangeNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ConfigurationChangeNotification](msg_Base_ConfigurationChangeNotification.md#)\).| -|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| -|notifications\(\) const|const RepeatedPtrField< [ConfigurationChangeNotification](msg_Base_ConfigurationChangeNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_notifications\(\)|RepeatedPtrField< [ConfigurationChangeNotification](msg_Base_ConfigurationChangeNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ConstrainedJointAngle.md b/api_cpp/doc/markdown/references/msg_Base_ConstrainedJointAngle.md deleted file mode 100644 index c9e38af1..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ConstrainedJointAngle.md +++ /dev/null @@ -1,39 +0,0 @@ -# Message ConstrainedJointAngle - -This page describes the C++ Kinova::Api::Base::ConstrainedJointAngle message. - -## Overview / Purpose - -Defines a single joint angle value with constraint - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|joint\_identifier|uint32|Joint identifier \(use device\_identifier\)| -|value|float32|Joint value \(in degrees\)| -|constraint| [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#)|Constraint to apply to the joint angle \(optional\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|joint\_identifier\(\)|uint32|void|Returns the current value of joint\_identifier. If the joint\_identifier is not set, returns 0.| -|set\_joint\_identifier\(\)|void|uint32|Sets the value of joint\_identifier. After calling this, joint\_identifier\(\) will return value.| -|clear\_joint\_identifier\(\)|void|void|Clears the value of joint\_identifier. After calling this, joint\_identifier\(\) will return 0.| -|value\(\)|float32|void|Returns the current value of value. If the value is not set, returns 0.| -|set\_value\(\)|void|float32|Sets the value of value. After calling this, value\(\) will return value.| -|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return 0.| -|has\_constraint\(\) const|bool|void|Returns true if constraint is set.| -|constraint\(\)|const [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#)&|void|Returns the current value of constraint. If constraint is not set, returns a [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) with none of its fields set \(possibly constraint::default\_instance\(\)\).| -|mutable\_constraint\(\)| [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) \*|void|Returns a pointer to the mutable [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#)\). After calling this, has\_constraint\(\) will return true and constraint\(\) will return a reference to the same instance of [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#).| -|clear\_constraint\(\)|void|void|Clears the value of the field. After calling this, has\_constraint\(\) will return false and constraint\(\) will return the default value.| -|set\_allocated\_constraint\(\)|void| [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) \*|Sets the [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) object to the field and frees the previous field value if it exists. If the [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) pointer is not NULL, the message takes ownership of the allocated [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) object and has\_ [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#)\(\) will return true. Otherwise, if the constraint is NULL, the behavior is the same as calling clear\_constraint\(\).| -|release\_constraint\(\)| [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) \*|void|Releases the ownership of the field and returns the pointer of the [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) object. After calling this, caller takes the ownership of the allocated [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) object, has\_constraint\(\) will return false, and constraint\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ConstrainedJointAngles.md b/api_cpp/doc/markdown/references/msg_Base_ConstrainedJointAngles.md deleted file mode 100644 index a1d5db3b..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ConstrainedJointAngles.md +++ /dev/null @@ -1,38 +0,0 @@ -# Message ConstrainedJointAngles - -This page describes the C++ Kinova::Api::Base::ConstrainedJointAngles message. - -## Overview / Purpose - -Defines a series of joint angles value with constraint - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|joint\_angles| [JointAngles](msg_Base_JointAngles.md#)|Joint angles value| -|constraint| [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#)|Constraint to apply to all the joint angles \(optional\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_joint\_angles\(\) const|bool|void|Returns true if joint\_angles is set.| -|joint\_angles\(\)|const [JointAngles](msg_Base_JointAngles.md#)&|void|Returns the current value of joint\_angles. If joint\_angles is not set, returns a [JointAngles](msg_Base_JointAngles.md#) with none of its fields set \(possibly joint\_angles::default\_instance\(\)\).| -|mutable\_joint\_angles\(\)| [JointAngles](msg_Base_JointAngles.md#) \*|void|Returns a pointer to the mutable [JointAngles](msg_Base_JointAngles.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [JointAngles](msg_Base_JointAngles.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [JointAngles](msg_Base_JointAngles.md#)\). After calling this, has\_joint\_angles\(\) will return true and joint\_angles\(\) will return a reference to the same instance of [JointAngles](msg_Base_JointAngles.md#).| -|clear\_joint\_angles\(\)|void|void|Clears the value of the field. After calling this, has\_joint\_angles\(\) will return false and joint\_angles\(\) will return the default value.| -|set\_allocated\_joint\_angles\(\)|void| [JointAngles](msg_Base_JointAngles.md#) \*|Sets the [JointAngles](msg_Base_JointAngles.md#) object to the field and frees the previous field value if it exists. If the [JointAngles](msg_Base_JointAngles.md#) pointer is not NULL, the message takes ownership of the allocated [JointAngles](msg_Base_JointAngles.md#) object and has\_ [JointAngles](msg_Base_JointAngles.md#)\(\) will return true. Otherwise, if the joint\_angles is NULL, the behavior is the same as calling clear\_joint\_angles\(\).| -|release\_joint\_angles\(\)| [JointAngles](msg_Base_JointAngles.md#) \*|void|Releases the ownership of the field and returns the pointer of the [JointAngles](msg_Base_JointAngles.md#) object. After calling this, caller takes the ownership of the allocated [JointAngles](msg_Base_JointAngles.md#) object, has\_joint\_angles\(\) will return false, and joint\_angles\(\) will return the default value.| -|has\_constraint\(\) const|bool|void|Returns true if constraint is set.| -|constraint\(\)|const [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#)&|void|Returns the current value of constraint. If constraint is not set, returns a [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) with none of its fields set \(possibly constraint::default\_instance\(\)\).| -|mutable\_constraint\(\)| [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) \*|void|Returns a pointer to the mutable [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#)\). After calling this, has\_constraint\(\) will return true and constraint\(\) will return a reference to the same instance of [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#).| -|clear\_constraint\(\)|void|void|Clears the value of the field. After calling this, has\_constraint\(\) will return false and constraint\(\) will return the default value.| -|set\_allocated\_constraint\(\)|void| [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) \*|Sets the [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) object to the field and frees the previous field value if it exists. If the [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) pointer is not NULL, the message takes ownership of the allocated [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) object and has\_ [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#)\(\) will return true. Otherwise, if the constraint is NULL, the behavior is the same as calling clear\_constraint\(\).| -|release\_constraint\(\)| [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) \*|void|Releases the ownership of the field and returns the pointer of the [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) object. After calling this, caller takes the ownership of the allocated [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#) object, has\_constraint\(\) will return false, and constraint\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ConstrainedOrientation.md b/api_cpp/doc/markdown/references/msg_Base_ConstrainedOrientation.md deleted file mode 100644 index 3e0e96c6..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ConstrainedOrientation.md +++ /dev/null @@ -1,38 +0,0 @@ -# Message ConstrainedOrientation - -This page describes the C++ Kinova::Api::Base::ConstrainedOrientation message. - -## Overview / Purpose - -Defines a Cartesian orientation with constraint - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|target\_orientation| [Orientation](msg_Base_Orientation.md#)|Cartesian orientation| -|constraint| [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#)|Constraint to apply to the target orientation| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_target\_orientation\(\) const|bool|void|Returns true if target\_orientation is set.| -|target\_orientation\(\)|const [Orientation](msg_Base_Orientation.md#)&|void|Returns the current value of target\_orientation. If target\_orientation is not set, returns a [Orientation](msg_Base_Orientation.md#) with none of its fields set \(possibly target\_orientation::default\_instance\(\)\).| -|mutable\_target\_orientation\(\)| [Orientation](msg_Base_Orientation.md#) \*|void|Returns a pointer to the mutable [Orientation](msg_Base_Orientation.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Orientation](msg_Base_Orientation.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Orientation](msg_Base_Orientation.md#)\). After calling this, has\_target\_orientation\(\) will return true and target\_orientation\(\) will return a reference to the same instance of [Orientation](msg_Base_Orientation.md#).| -|clear\_target\_orientation\(\)|void|void|Clears the value of the field. After calling this, has\_target\_orientation\(\) will return false and target\_orientation\(\) will return the default value.| -|set\_allocated\_target\_orientation\(\)|void| [Orientation](msg_Base_Orientation.md#) \*|Sets the [Orientation](msg_Base_Orientation.md#) object to the field and frees the previous field value if it exists. If the [Orientation](msg_Base_Orientation.md#) pointer is not NULL, the message takes ownership of the allocated [Orientation](msg_Base_Orientation.md#) object and has\_ [Orientation](msg_Base_Orientation.md#)\(\) will return true. Otherwise, if the target\_orientation is NULL, the behavior is the same as calling clear\_target\_orientation\(\).| -|release\_target\_orientation\(\)| [Orientation](msg_Base_Orientation.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Orientation](msg_Base_Orientation.md#) object. After calling this, caller takes the ownership of the allocated [Orientation](msg_Base_Orientation.md#) object, has\_target\_orientation\(\) will return false, and target\_orientation\(\) will return the default value.| -|has\_constraint\(\) const|bool|void|Returns true if constraint is set.| -|constraint\(\)|const [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#)&|void|Returns the current value of constraint. If constraint is not set, returns a [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) with none of its fields set \(possibly constraint::default\_instance\(\)\).| -|mutable\_constraint\(\)| [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) \*|void|Returns a pointer to the mutable [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#)\). After calling this, has\_constraint\(\) will return true and constraint\(\) will return a reference to the same instance of [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#).| -|clear\_constraint\(\)|void|void|Clears the value of the field. After calling this, has\_constraint\(\) will return false and constraint\(\) will return the default value.| -|set\_allocated\_constraint\(\)|void| [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) \*|Sets the [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) object to the field and frees the previous field value if it exists. If the [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) pointer is not NULL, the message takes ownership of the allocated [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) object and has\_ [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#)\(\) will return true. Otherwise, if the constraint is NULL, the behavior is the same as calling clear\_constraint\(\).| -|release\_constraint\(\)| [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) \*|void|Releases the ownership of the field and returns the pointer of the [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) object. After calling this, caller takes the ownership of the allocated [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) object, has\_constraint\(\) will return false, and constraint\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ConstrainedPose.md b/api_cpp/doc/markdown/references/msg_Base_ConstrainedPose.md deleted file mode 100644 index 9ba7eba0..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ConstrainedPose.md +++ /dev/null @@ -1,38 +0,0 @@ -# Message ConstrainedPose - -This page describes the C++ Kinova::Api::Base::ConstrainedPose message. - -## Overview / Purpose - -Defines a Cartesian pose with constraint - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|target\_pose| [Pose](msg_Base_Pose.md#)|Cartesian pose| -|constraint| [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#)|Constraint to apply to the target pose| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_target\_pose\(\) const|bool|void|Returns true if target\_pose is set.| -|target\_pose\(\)|const [Pose](msg_Base_Pose.md#)&|void|Returns the current value of target\_pose. If target\_pose is not set, returns a [Pose](msg_Base_Pose.md#) with none of its fields set \(possibly target\_pose::default\_instance\(\)\).| -|mutable\_target\_pose\(\)| [Pose](msg_Base_Pose.md#) \*|void|Returns a pointer to the mutable [Pose](msg_Base_Pose.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Pose](msg_Base_Pose.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Pose](msg_Base_Pose.md#)\). After calling this, has\_target\_pose\(\) will return true and target\_pose\(\) will return a reference to the same instance of [Pose](msg_Base_Pose.md#).| -|clear\_target\_pose\(\)|void|void|Clears the value of the field. After calling this, has\_target\_pose\(\) will return false and target\_pose\(\) will return the default value.| -|set\_allocated\_target\_pose\(\)|void| [Pose](msg_Base_Pose.md#) \*|Sets the [Pose](msg_Base_Pose.md#) object to the field and frees the previous field value if it exists. If the [Pose](msg_Base_Pose.md#) pointer is not NULL, the message takes ownership of the allocated [Pose](msg_Base_Pose.md#) object and has\_ [Pose](msg_Base_Pose.md#)\(\) will return true. Otherwise, if the target\_pose is NULL, the behavior is the same as calling clear\_target\_pose\(\).| -|release\_target\_pose\(\)| [Pose](msg_Base_Pose.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Pose](msg_Base_Pose.md#) object. After calling this, caller takes the ownership of the allocated [Pose](msg_Base_Pose.md#) object, has\_target\_pose\(\) will return false, and target\_pose\(\) will return the default value.| -|has\_constraint\(\) const|bool|void|Returns true if constraint is set.| -|constraint\(\)|const [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#)&|void|Returns the current value of constraint. If constraint is not set, returns a [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) with none of its fields set \(possibly constraint::default\_instance\(\)\).| -|mutable\_constraint\(\)| [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) \*|void|Returns a pointer to the mutable [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#)\). After calling this, has\_constraint\(\) will return true and constraint\(\) will return a reference to the same instance of [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#).| -|clear\_constraint\(\)|void|void|Clears the value of the field. After calling this, has\_constraint\(\) will return false and constraint\(\) will return the default value.| -|set\_allocated\_constraint\(\)|void| [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) \*|Sets the [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) object to the field and frees the previous field value if it exists. If the [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) pointer is not NULL, the message takes ownership of the allocated [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) object and has\_ [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#)\(\) will return true. Otherwise, if the constraint is NULL, the behavior is the same as calling clear\_constraint\(\).| -|release\_constraint\(\)| [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) \*|void|Releases the ownership of the field and returns the pointer of the [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) object. After calling this, caller takes the ownership of the allocated [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) object, has\_constraint\(\) will return false, and constraint\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ConstrainedPosition.md b/api_cpp/doc/markdown/references/msg_Base_ConstrainedPosition.md deleted file mode 100644 index 1bd2765b..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ConstrainedPosition.md +++ /dev/null @@ -1,38 +0,0 @@ -# Message ConstrainedPosition - -This page describes the C++ Kinova::Api::Base::ConstrainedPosition message. - -## Overview / Purpose - -Defines a Cartesian position with constraint - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|target\_position| [Position](msg_Base_Position.md#)|Cartesian position| -|constraint| [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#)|Constraint to apply to the target position| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_target\_position\(\) const|bool|void|Returns true if target\_position is set.| -|target\_position\(\)|const [Position](msg_Base_Position.md#)&|void|Returns the current value of target\_position. If target\_position is not set, returns a [Position](msg_Base_Position.md#) with none of its fields set \(possibly target\_position::default\_instance\(\)\).| -|mutable\_target\_position\(\)| [Position](msg_Base_Position.md#) \*|void|Returns a pointer to the mutable [Position](msg_Base_Position.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Position](msg_Base_Position.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Position](msg_Base_Position.md#)\). After calling this, has\_target\_position\(\) will return true and target\_position\(\) will return a reference to the same instance of [Position](msg_Base_Position.md#).| -|clear\_target\_position\(\)|void|void|Clears the value of the field. After calling this, has\_target\_position\(\) will return false and target\_position\(\) will return the default value.| -|set\_allocated\_target\_position\(\)|void| [Position](msg_Base_Position.md#) \*|Sets the [Position](msg_Base_Position.md#) object to the field and frees the previous field value if it exists. If the [Position](msg_Base_Position.md#) pointer is not NULL, the message takes ownership of the allocated [Position](msg_Base_Position.md#) object and has\_ [Position](msg_Base_Position.md#)\(\) will return true. Otherwise, if the target\_position is NULL, the behavior is the same as calling clear\_target\_position\(\).| -|release\_target\_position\(\)| [Position](msg_Base_Position.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Position](msg_Base_Position.md#) object. After calling this, caller takes the ownership of the allocated [Position](msg_Base_Position.md#) object, has\_target\_position\(\) will return false, and target\_position\(\) will return the default value.| -|has\_constraint\(\) const|bool|void|Returns true if constraint is set.| -|constraint\(\)|const [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#)&|void|Returns the current value of constraint. If constraint is not set, returns a [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) with none of its fields set \(possibly constraint::default\_instance\(\)\).| -|mutable\_constraint\(\)| [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) \*|void|Returns a pointer to the mutable [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#)\). After calling this, has\_constraint\(\) will return true and constraint\(\) will return a reference to the same instance of [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#).| -|clear\_constraint\(\)|void|void|Clears the value of the field. After calling this, has\_constraint\(\) will return false and constraint\(\) will return the default value.| -|set\_allocated\_constraint\(\)|void| [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) \*|Sets the [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) object to the field and frees the previous field value if it exists. If the [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) pointer is not NULL, the message takes ownership of the allocated [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) object and has\_ [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#)\(\) will return true. Otherwise, if the constraint is NULL, the behavior is the same as calling clear\_constraint\(\).| -|release\_constraint\(\)| [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) \*|void|Releases the ownership of the field and returns the pointer of the [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) object. After calling this, caller takes the ownership of the allocated [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#) object, has\_constraint\(\) will return false, and constraint\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ControlModeInformation.md b/api_cpp/doc/markdown/references/msg_Base_ControlModeInformation.md deleted file mode 100644 index 529de0ba..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ControlModeInformation.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message ControlModeInformation - -This page describes the C++ Kinova::Api::Base::ControlModeInformation message. - -## Overview / Purpose - -Provides control mode information - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|mode| [ControlMode](enm_Base_ControlMode.md#)|Control mode| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|mode\(\) const| [ControlMode](enm_Base_ControlMode.md#)|void|Returns the current value of mode. If the mode is not set, returns 0.| -|set\_mode\(\)|void| [ControlMode](enm_Base_ControlMode.md#)|Sets the value of mode. After calling this, mode\(\) will return value.| -|clear\_mode\(\)|void|void|Clears the value of mode. After calling this, mode\(\) will return the empty string/empty bytes.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ControlModeNotification.md b/api_cpp/doc/markdown/references/msg_Base_ControlModeNotification.md deleted file mode 100644 index fe3630b3..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ControlModeNotification.md +++ /dev/null @@ -1,49 +0,0 @@ -# Message ControlModeNotification - -This page describes the C++ Kinova::Api::Base::ControlModeNotification message. - -## Overview / Purpose - -Message that contains a control mode event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|control\_mode| [ControlMode](enm_Base_ControlMode.md#)|New control mode| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the control mode event| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the control mode event| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|control\_mode\(\) const| [ControlMode](enm_Base_ControlMode.md#)|void|Returns the current value of control\_mode. If the control\_mode is not set, returns 0.| -|set\_control\_mode\(\)|void| [ControlMode](enm_Base_ControlMode.md#)|Sets the value of control\_mode. After calling this, control\_mode\(\) will return value.| -|clear\_control\_mode\(\)|void|void|Clears the value of control\_mode. After calling this, control\_mode\(\) will return the empty string/empty bytes.| -|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| -|timestamp\(\)|const [Timestamp](msg_Common_Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](msg_Common_Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| -|mutable\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](msg_Common_Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](msg_Common_Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](msg_Common_Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](msg_Common_Timestamp.md#).| -|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| -|set\_allocated\_timestamp\(\)|void| [Timestamp](msg_Common_Timestamp.md#) \*|Sets the [Timestamp](msg_Common_Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](msg_Common_Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object and has\_ [Timestamp](msg_Common_Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| -|release\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](msg_Common_Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| -|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| -|user\_handle\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| -|mutable\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| -|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| -|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| -|release\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| -|has\_connection\(\) const|bool|void|Returns true if connection is set.| -|connection\(\)|const [Connection](msg_Common_Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](msg_Common_Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| -|mutable\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Returns a pointer to the mutable [Connection](msg_Common_Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](msg_Common_Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](msg_Common_Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](msg_Common_Connection.md#).| -|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| -|set\_allocated\_connection\(\)|void| [Connection](msg_Common_Connection.md#) \*|Sets the [Connection](msg_Common_Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](msg_Common_Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](msg_Common_Connection.md#) object and has\_ [Connection](msg_Common_Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| -|release\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](msg_Common_Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](msg_Common_Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ControlModeNotificationList.md b/api_cpp/doc/markdown/references/msg_Base_ControlModeNotificationList.md deleted file mode 100644 index f974246d..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ControlModeNotificationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message ControlModeNotificationList - -This page describes the C++ Kinova::Api::Base::ControlModeNotificationList message. - -## Overview / Purpose - -Array of control mode notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [ControlModeNotification](msg_Base_ControlModeNotification.md#)|Notification| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|notifications\(\) const|const [ControlModeNotification](msg_Base_ControlModeNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|mutable\_notifications\(\)| [ControlModeNotification](msg_Base_ControlModeNotification.md#)\*|int index|Returns a pointer to the mutable [ControlModeNotification](msg_Base_ControlModeNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|add\_notifications\(\)| [ControlModeNotification](msg_Base_ControlModeNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ControlModeNotification](msg_Base_ControlModeNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ControlModeNotification](msg_Base_ControlModeNotification.md#)\).| -|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| -|notifications\(\) const|const RepeatedPtrField< [ControlModeNotification](msg_Base_ControlModeNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_notifications\(\)|RepeatedPtrField< [ControlModeNotification](msg_Base_ControlModeNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ControllerElementHandle.md b/api_cpp/doc/markdown/references/msg_Base_ControllerElementHandle.md deleted file mode 100644 index 226eb0b2..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ControllerElementHandle.md +++ /dev/null @@ -1,39 +0,0 @@ -# Message ControllerElementHandle - -This page describes the C++ Kinova::Api::Base::ControllerElementHandle message. - -## Overview / Purpose - -Identifies a specific button \(or axis\) of a controller - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|controller\_handle| [ControllerHandle](msg_Base_ControllerHandle.md#)|Controller handle| -|oneof identifier : button|uint32|Button identifier \(only set if 'button' controller event, otherwise zero\)| -|oneof identifier : axis|uint32|Axis identifier \(only set if 'axis' controller event, otherwise zero\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_controller\_handle\(\) const|bool|void|Returns true if controller\_handle is set.| -|controller\_handle\(\)|const [ControllerHandle](msg_Base_ControllerHandle.md#)&|void|Returns the current value of controller\_handle. If controller\_handle is not set, returns a [ControllerHandle](msg_Base_ControllerHandle.md#) with none of its fields set \(possibly controller\_handle::default\_instance\(\)\).| -|mutable\_controller\_handle\(\)| [ControllerHandle](msg_Base_ControllerHandle.md#) \*|void|Returns a pointer to the mutable [ControllerHandle](msg_Base_ControllerHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ControllerHandle](msg_Base_ControllerHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ControllerHandle](msg_Base_ControllerHandle.md#)\). After calling this, has\_controller\_handle\(\) will return true and controller\_handle\(\) will return a reference to the same instance of [ControllerHandle](msg_Base_ControllerHandle.md#).| -|clear\_controller\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_controller\_handle\(\) will return false and controller\_handle\(\) will return the default value.| -|set\_allocated\_controller\_handle\(\)|void| [ControllerHandle](msg_Base_ControllerHandle.md#) \*|Sets the [ControllerHandle](msg_Base_ControllerHandle.md#) object to the field and frees the previous field value if it exists. If the [ControllerHandle](msg_Base_ControllerHandle.md#) pointer is not NULL, the message takes ownership of the allocated [ControllerHandle](msg_Base_ControllerHandle.md#) object and has\_ [ControllerHandle](msg_Base_ControllerHandle.md#)\(\) will return true. Otherwise, if the controller\_handle is NULL, the behavior is the same as calling clear\_controller\_handle\(\).| -|release\_controller\_handle\(\)| [ControllerHandle](msg_Base_ControllerHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ControllerHandle](msg_Base_ControllerHandle.md#) object. After calling this, caller takes the ownership of the allocated [ControllerHandle](msg_Base_ControllerHandle.md#) object, has\_controller\_handle\(\) will return false, and controller\_handle\(\) will return the default value.| -|set\_button\(\)|void|uint32|If any other oneof field in the same oneof is set, calls clear\_identifier\(\). Sets the value of this field and sets the oneof case to kButton.| -|button\(\) const|uint32|void|Returns the current value of the field if oneof case is kButton. Otherwise, returns the default value.| -|clear\_button\(\)|void|void|Nothing will be changed if the oneof case is not kButton. If the oneof case is kButton, clears the value of the field and the oneof case| -|set\_axis\(\)|void|uint32|If any other oneof field in the same oneof is set, calls clear\_identifier\(\). Sets the value of this field and sets the oneof case to kAxis.| -|axis\(\) const|uint32|void|Returns the current value of the field if oneof case is kAxis. Otherwise, returns the default value.| -|clear\_axis\(\)|void|void|Nothing will be changed if the oneof case is not kAxis. If the oneof case is kAxis, clears the value of the field and the oneof case| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ControllerElementState.md b/api_cpp/doc/markdown/references/msg_Base_ControllerElementState.md deleted file mode 100644 index bb74d9db..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ControllerElementState.md +++ /dev/null @@ -1,39 +0,0 @@ -# Message ControllerElementState - -This page describes the C++ Kinova::Api::Base::ControllerElementState message. - -## Overview / Purpose - -Indicates if a specific button \(or axis\) was pressed \(or moved\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [ControllerElementHandle](msg_Base_ControllerElementHandle.md#)|Controller element handle| -|event\_type| [ControllerElementEventType](enm_Base_ControllerElementEventType.md#)|Type of controller element event that occured| -|axis\_value|float32|Axis value \(set between -1.0 and 1.0\); only set if 'axis' controller element, otherwise set to zero| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [ControllerElementHandle](msg_Base_ControllerElementHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [ControllerElementHandle](msg_Base_ControllerElementHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [ControllerElementHandle](msg_Base_ControllerElementHandle.md#) \*|void|Returns a pointer to the mutable [ControllerElementHandle](msg_Base_ControllerElementHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ControllerElementHandle](msg_Base_ControllerElementHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ControllerElementHandle](msg_Base_ControllerElementHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [ControllerElementHandle](msg_Base_ControllerElementHandle.md#).| -|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [ControllerElementHandle](msg_Base_ControllerElementHandle.md#) \*|Sets the [ControllerElementHandle](msg_Base_ControllerElementHandle.md#) object to the field and frees the previous field value if it exists. If the [ControllerElementHandle](msg_Base_ControllerElementHandle.md#) pointer is not NULL, the message takes ownership of the allocated [ControllerElementHandle](msg_Base_ControllerElementHandle.md#) object and has\_ [ControllerElementHandle](msg_Base_ControllerElementHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [ControllerElementHandle](msg_Base_ControllerElementHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ControllerElementHandle](msg_Base_ControllerElementHandle.md#) object. After calling this, caller takes the ownership of the allocated [ControllerElementHandle](msg_Base_ControllerElementHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| -|event\_type\(\) const| [ControllerElementEventType](enm_Base_ControllerElementEventType.md#)|void|Returns the current value of event\_type. If the event\_type is not set, returns 0.| -|set\_event\_type\(\)|void| [ControllerElementEventType](enm_Base_ControllerElementEventType.md#)|Sets the value of event\_type. After calling this, event\_type\(\) will return value.| -|clear\_event\_type\(\)|void|void|Clears the value of event\_type. After calling this, event\_type\(\) will return the empty string/empty bytes.| -|axis\_value\(\)|float32|void|Returns the current value of axis\_value. If the axis\_value is not set, returns 0.| -|set\_axis\_value\(\)|void|float32|Sets the value of axis\_value. After calling this, axis\_value\(\) will return value.| -|clear\_axis\_value\(\)|void|void|Clears the value of axis\_value. After calling this, axis\_value\(\) will return 0.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ControllerEvent.md b/api_cpp/doc/markdown/references/msg_Base_ControllerEvent.md deleted file mode 100644 index 628fc58d..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ControllerEvent.md +++ /dev/null @@ -1,36 +0,0 @@ -# Message ControllerEvent - -This page describes the C++ Kinova::Api::Base::ControllerEvent message. - -## Overview / Purpose - -Identifies a controller event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|input\_type| [ControllerInputType](enm_Base_ControllerInputType.md#)|Type of controller input that caused the event\_identifier| -|behavior| [ControllerBehavior](enm_Base_ControllerBehavior.md#)|Controller behavior that occured| -|input\_identifier|uint32|Controller input that caused the event| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|input\_type\(\) const| [ControllerInputType](enm_Base_ControllerInputType.md#)|void|Returns the current value of input\_type. If the input\_type is not set, returns 0.| -|set\_input\_type\(\)|void| [ControllerInputType](enm_Base_ControllerInputType.md#)|Sets the value of input\_type. After calling this, input\_type\(\) will return value.| -|clear\_input\_type\(\)|void|void|Clears the value of input\_type. After calling this, input\_type\(\) will return the empty string/empty bytes.| -|behavior\(\) const| [ControllerBehavior](enm_Base_ControllerBehavior.md#)|void|Returns the current value of behavior. If the behavior is not set, returns 0.| -|set\_behavior\(\)|void| [ControllerBehavior](enm_Base_ControllerBehavior.md#)|Sets the value of behavior. After calling this, behavior\(\) will return value.| -|clear\_behavior\(\)|void|void|Clears the value of behavior. After calling this, behavior\(\) will return the empty string/empty bytes.| -|input\_identifier\(\)|uint32|void|Returns the current value of input\_identifier. If the input\_identifier is not set, returns 0.| -|set\_input\_identifier\(\)|void|uint32|Sets the value of input\_identifier. After calling this, input\_identifier\(\) will return value.| -|clear\_input\_identifier\(\)|void|void|Clears the value of input\_identifier. After calling this, input\_identifier\(\) will return 0.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ControllerHandle.md b/api_cpp/doc/markdown/references/msg_Base_ControllerHandle.md deleted file mode 100644 index 348edf99..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ControllerHandle.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message ControllerHandle - -This page describes the C++ Kinova::Api::Base::ControllerHandle message. - -## Overview / Purpose - -Identifies a specific controller - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|type| [ControllerType](enm_Base_ControllerType.md#)|Controller type| -|controller\_identifier|uint32|Controller identifier| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|type\(\) const| [ControllerType](enm_Base_ControllerType.md#)|void|Returns the current value of type. If the type is not set, returns 0.| -|set\_type\(\)|void| [ControllerType](enm_Base_ControllerType.md#)|Sets the value of type. After calling this, type\(\) will return value.| -|clear\_type\(\)|void|void|Clears the value of type. After calling this, type\(\) will return the empty string/empty bytes.| -|controller\_identifier\(\)|uint32|void|Returns the current value of controller\_identifier. If the controller\_identifier is not set, returns 0.| -|set\_controller\_identifier\(\)|void|uint32|Sets the value of controller\_identifier. After calling this, controller\_identifier\(\) will return value.| -|clear\_controller\_identifier\(\)|void|void|Clears the value of controller\_identifier. After calling this, controller\_identifier\(\) will return 0.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ControllerList.md b/api_cpp/doc/markdown/references/msg_Base_ControllerList.md deleted file mode 100644 index a6dfd9fe..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ControllerList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message ControllerList - -This page describes the C++ Kinova::Api::Base::ControllerList message. - -## Overview / Purpose - -Array of controllers - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handles|Collection of [ControllerHandle](msg_Base_ControllerHandle.md#)|Controller handle| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|handles\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|handles\(\) const|const [ControllerHandle](msg_Base_ControllerHandle.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, handles\_size\(\)\) yields undefined behavior.| -|mutable\_handles\(\)| [ControllerHandle](msg_Base_ControllerHandle.md#)\*|int index|Returns a pointer to the mutable [ControllerHandle](msg_Base_ControllerHandle.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, handles\_size\(\)\) yields undefined behavior.| -|add\_handles\(\)| [ControllerHandle](msg_Base_ControllerHandle.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ControllerHandle](msg_Base_ControllerHandle.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ControllerHandle](msg_Base_ControllerHandle.md#)\).| -|clear\_handles\(\)|void|void|Removes all elements from the field. After calling this, handles\_size\(\) will return zero.| -|handles\(\) const|const RepeatedPtrField< [ControllerHandle](msg_Base_ControllerHandle.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_handles\(\)|RepeatedPtrField< [ControllerHandle](msg_Base_ControllerHandle.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ControllerNotification.md b/api_cpp/doc/markdown/references/msg_Base_ControllerNotification.md deleted file mode 100644 index 35d9eb87..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ControllerNotification.md +++ /dev/null @@ -1,59 +0,0 @@ -# Message ControllerNotification - -This page describes the C++ Kinova::Api::Base::ControllerNotification message. - -## Overview / Purpose - -Message that contains a controller event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|oneof state : controller\_state| [ControllerState](msg_Base_ControllerState.md#)|Used to indicate if a controller connection or disconnection event occured| -|oneof state : controller\_element| [ControllerElementState](msg_Base_ControllerElementState.md#)|Used to indicate if a specifif button \(or axis\) was pressed \(or moved\) \(future\)| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the controller event| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the controller event| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_controller\_state\(\) const|void|void|Returns the current value of the field if oneof case is kController\_state. Otherwise, returns [ControllerState](msg_Base_ControllerState.md#)::default\_instance\(\)| -|controller\_state\(\) const|const [ControllerState](msg_Base_ControllerState.md#)&|void|Returns the current value of the field if oneof case is kController\_state| -|mutable\_controller\_state\(\)| [ControllerState](msg_Base_ControllerState.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_state\(\). Sets the oneof case to kController\_state and returns a pointer to the mutable [ControllerState](msg_Base_ControllerState.md#) object that stores the field's value. If the oneof case was not kController\_state prior to the call, then the returned [ControllerState](msg_Base_ControllerState.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ControllerState](msg_Base_ControllerState.md#)\). After calling this, has\_controller\_state\(\) will return true, controller\_state\(\) will return a reference to the same instance of [ControllerState](msg_Base_ControllerState.md#) and state\_case\(\) will return kController\_state| -|clear\_controller\_state\(\)|void|void|Nothing will be changed if the oneof case is not kController\_state. If the oneof case equals kController\_state, frees the field and clears the oneof case. has\_controller\_state\(\) will return false, controller\_state\(\) will return the default value and state\_case\(\) will return STATE\_NOT\_SET.| -|set\_allocated\_controller\_state\(\)|void| [ControllerState](msg_Base_ControllerState.md#)\*|Calls clear\_state\(\). If the [ControllerState](msg_Base_ControllerState.md#) pointer is not NULL: Sets the [ControllerState](msg_Base_ControllerState.md#) object to the field and sets the oneof case to kController\_state. The message takes ownership of the allocated [ControllerState](msg_Base_ControllerState.md#) object, has\_controller\_state\(\) will return true and state\_case\(\) will return kController\_state. If the pointer is NULL, has\_controller\_state\(\) will return false and state\_case\(\) will return STATE\_NOT\_SET. \(The behavior is like calling clear\_state\(\)\)| -|release\_controller\_state\(\)| [ControllerState](msg_Base_ControllerState.md#)\*|void|Returns NULL if oneof case is not kController\_state. If the oneof case is kController\_state, clears the oneof case, releases the ownership of the field and returns the pointer of the state object. After calling this, caller takes the ownership of the allocated state object, has\_controller\_state\(\) will return false, controller\_state\(\) will return the default value and state\_case\(\) will return STATE\_NOT\_SET.| -|has\_controller\_element\(\) const|void|void|Returns the current value of the field if oneof case is kController\_element. Otherwise, returns [ControllerElementState](msg_Base_ControllerElementState.md#)::default\_instance\(\)| -|controller\_element\(\) const|const [ControllerElementState](msg_Base_ControllerElementState.md#)&|void|Returns the current value of the field if oneof case is kController\_element| -|mutable\_controller\_element\(\)| [ControllerElementState](msg_Base_ControllerElementState.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_state\(\). Sets the oneof case to kController\_element and returns a pointer to the mutable [ControllerElementState](msg_Base_ControllerElementState.md#) object that stores the field's value. If the oneof case was not kController\_element prior to the call, then the returned [ControllerElementState](msg_Base_ControllerElementState.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ControllerElementState](msg_Base_ControllerElementState.md#)\). After calling this, has\_controller\_element\(\) will return true, controller\_element\(\) will return a reference to the same instance of [ControllerElementState](msg_Base_ControllerElementState.md#) and state\_case\(\) will return kController\_element| -|clear\_controller\_element\(\)|void|void|Nothing will be changed if the oneof case is not kController\_element. If the oneof case equals kController\_element, frees the field and clears the oneof case. has\_controller\_element\(\) will return false, controller\_element\(\) will return the default value and state\_case\(\) will return STATE\_NOT\_SET.| -|set\_allocated\_controller\_element\(\)|void| [ControllerElementState](msg_Base_ControllerElementState.md#)\*|Calls clear\_state\(\). If the [ControllerElementState](msg_Base_ControllerElementState.md#) pointer is not NULL: Sets the [ControllerElementState](msg_Base_ControllerElementState.md#) object to the field and sets the oneof case to kController\_element. The message takes ownership of the allocated [ControllerElementState](msg_Base_ControllerElementState.md#) object, has\_controller\_element\(\) will return true and state\_case\(\) will return kController\_element. If the pointer is NULL, has\_controller\_element\(\) will return false and state\_case\(\) will return STATE\_NOT\_SET. \(The behavior is like calling clear\_state\(\)\)| -|release\_controller\_element\(\)| [ControllerElementState](msg_Base_ControllerElementState.md#)\*|void|Returns NULL if oneof case is not kController\_element. If the oneof case is kController\_element, clears the oneof case, releases the ownership of the field and returns the pointer of the state object. After calling this, caller takes the ownership of the allocated state object, has\_controller\_element\(\) will return false, controller\_element\(\) will return the default value and state\_case\(\) will return STATE\_NOT\_SET.| -|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| -|timestamp\(\)|const [Timestamp](msg_Common_Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](msg_Common_Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| -|mutable\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](msg_Common_Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](msg_Common_Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](msg_Common_Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](msg_Common_Timestamp.md#).| -|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| -|set\_allocated\_timestamp\(\)|void| [Timestamp](msg_Common_Timestamp.md#) \*|Sets the [Timestamp](msg_Common_Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](msg_Common_Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object and has\_ [Timestamp](msg_Common_Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| -|release\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](msg_Common_Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| -|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| -|user\_handle\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| -|mutable\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| -|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| -|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| -|release\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| -|has\_connection\(\) const|bool|void|Returns true if connection is set.| -|connection\(\)|const [Connection](msg_Common_Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](msg_Common_Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| -|mutable\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Returns a pointer to the mutable [Connection](msg_Common_Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](msg_Common_Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](msg_Common_Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](msg_Common_Connection.md#).| -|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| -|set\_allocated\_connection\(\)|void| [Connection](msg_Common_Connection.md#) \*|Sets the [Connection](msg_Common_Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](msg_Common_Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](msg_Common_Connection.md#) object and has\_ [Connection](msg_Common_Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| -|release\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](msg_Common_Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](msg_Common_Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ControllerNotificationList.md b/api_cpp/doc/markdown/references/msg_Base_ControllerNotificationList.md deleted file mode 100644 index 93ccac16..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ControllerNotificationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message ControllerNotificationList - -This page describes the C++ Kinova::Api::Base::ControllerNotificationList message. - -## Overview / Purpose - -Array of controller notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [ControllerNotification](msg_Base_ControllerNotification.md#)|Notifications| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|notifications\(\) const|const [ControllerNotification](msg_Base_ControllerNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|mutable\_notifications\(\)| [ControllerNotification](msg_Base_ControllerNotification.md#)\*|int index|Returns a pointer to the mutable [ControllerNotification](msg_Base_ControllerNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|add\_notifications\(\)| [ControllerNotification](msg_Base_ControllerNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ControllerNotification](msg_Base_ControllerNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ControllerNotification](msg_Base_ControllerNotification.md#)\).| -|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| -|notifications\(\) const|const RepeatedPtrField< [ControllerNotification](msg_Base_ControllerNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_notifications\(\)|RepeatedPtrField< [ControllerNotification](msg_Base_ControllerNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ControllerState.md b/api_cpp/doc/markdown/references/msg_Base_ControllerState.md deleted file mode 100644 index 0f820326..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ControllerState.md +++ /dev/null @@ -1,35 +0,0 @@ -# Message ControllerState - -This page describes the C++ Kinova::Api::Base::ControllerState message. - -## Overview / Purpose - -Indicates if a controller is connected \(or disconnected\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [ControllerHandle](msg_Base_ControllerHandle.md#)|Controller identifier| -|event\_type| [ControllerEventType](enm_Base_ControllerEventType.md#)|Type of controller event that occured| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [ControllerHandle](msg_Base_ControllerHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [ControllerHandle](msg_Base_ControllerHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [ControllerHandle](msg_Base_ControllerHandle.md#) \*|void|Returns a pointer to the mutable [ControllerHandle](msg_Base_ControllerHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ControllerHandle](msg_Base_ControllerHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ControllerHandle](msg_Base_ControllerHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [ControllerHandle](msg_Base_ControllerHandle.md#).| -|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [ControllerHandle](msg_Base_ControllerHandle.md#) \*|Sets the [ControllerHandle](msg_Base_ControllerHandle.md#) object to the field and frees the previous field value if it exists. If the [ControllerHandle](msg_Base_ControllerHandle.md#) pointer is not NULL, the message takes ownership of the allocated [ControllerHandle](msg_Base_ControllerHandle.md#) object and has\_ [ControllerHandle](msg_Base_ControllerHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [ControllerHandle](msg_Base_ControllerHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ControllerHandle](msg_Base_ControllerHandle.md#) object. After calling this, caller takes the ownership of the allocated [ControllerHandle](msg_Base_ControllerHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| -|event\_type\(\) const| [ControllerEventType](enm_Base_ControllerEventType.md#)|void|Returns the current value of event\_type. If the event\_type is not set, returns 0.| -|set\_event\_type\(\)|void| [ControllerEventType](enm_Base_ControllerEventType.md#)|Sets the value of event\_type. After calling this, event\_type\(\) will return value.| -|clear\_event\_type\(\)|void|void|Clears the value of event\_type. After calling this, event\_type\(\) will return the empty string/empty bytes.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_CountryCode.md b/api_cpp/doc/markdown/references/msg_Base_CountryCode.md deleted file mode 100644 index 9a3a2608..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_CountryCode.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message CountryCode - -This page describes the C++ Kinova::Api::Base::CountryCode message. - -## Overview / Purpose - -Country code - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|identifier| [CountryCodeIdentifier](enm_Base_CountryCodeIdentifier.md#)|ISO3166 country code identifier| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|identifier\(\) const| [CountryCodeIdentifier](enm_Base_CountryCodeIdentifier.md#)|void|Returns the current value of identifier. If the identifier is not set, returns 0.| -|set\_identifier\(\)|void| [CountryCodeIdentifier](enm_Base_CountryCodeIdentifier.md#)|Sets the value of identifier. After calling this, identifier\(\) will return value.| -|clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return the empty string/empty bytes.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_Delay.md b/api_cpp/doc/markdown/references/msg_Base_Delay.md deleted file mode 100644 index af8532cc..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_Delay.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message Delay - -This page describes the C++ Kinova::Api::Base::Delay message. - -## Overview / Purpose - -Defines an action to apply a delay - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|duration|uint32|Delay \(in seconds\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|duration\(\)|uint32|void|Returns the current value of duration. If the duration is not set, returns 0.| -|set\_duration\(\)|void|uint32|Sets the value of duration. After calling this, duration\(\) will return value.| -|clear\_duration\(\)|void|void|Clears the value of duration. After calling this, duration\(\) will return 0.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_EmergencyStop.md b/api_cpp/doc/markdown/references/msg_Base_EmergencyStop.md deleted file mode 100644 index 7991a75b..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_EmergencyStop.md +++ /dev/null @@ -1,10 +0,0 @@ -# Message EmergencyStop - -This page describes the C++ Kinova::Api::Base::EmergencyStop message. - -## Overview / Purpose - -Defines an action to force an emergency of the robot - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_FactoryNotification.md b/api_cpp/doc/markdown/references/msg_Base_FactoryNotification.md deleted file mode 100644 index 3f64ba16..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_FactoryNotification.md +++ /dev/null @@ -1,49 +0,0 @@ -# Message FactoryNotification - -This page describes the C++ Kinova::Api::Base::FactoryNotification message. - -## Overview / Purpose - -Message that contains a factory event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event| [FactoryEvent](enm_Base_FactoryEvent.md#)|Event type| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the factory event to occur| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the factory event to occur| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|event\(\) const| [FactoryEvent](enm_Base_FactoryEvent.md#)|void|Returns the current value of event. If the event is not set, returns 0.| -|set\_event\(\)|void| [FactoryEvent](enm_Base_FactoryEvent.md#)|Sets the value of event. After calling this, event\(\) will return value.| -|clear\_event\(\)|void|void|Clears the value of event. After calling this, event\(\) will return the empty string/empty bytes.| -|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| -|timestamp\(\)|const [Timestamp](msg_Common_Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](msg_Common_Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| -|mutable\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](msg_Common_Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](msg_Common_Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](msg_Common_Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](msg_Common_Timestamp.md#).| -|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| -|set\_allocated\_timestamp\(\)|void| [Timestamp](msg_Common_Timestamp.md#) \*|Sets the [Timestamp](msg_Common_Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](msg_Common_Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object and has\_ [Timestamp](msg_Common_Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| -|release\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](msg_Common_Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| -|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| -|user\_handle\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| -|mutable\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| -|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| -|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| -|release\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| -|has\_connection\(\) const|bool|void|Returns true if connection is set.| -|connection\(\)|const [Connection](msg_Common_Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](msg_Common_Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| -|mutable\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Returns a pointer to the mutable [Connection](msg_Common_Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](msg_Common_Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](msg_Common_Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](msg_Common_Connection.md#).| -|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| -|set\_allocated\_connection\(\)|void| [Connection](msg_Common_Connection.md#) \*|Sets the [Connection](msg_Common_Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](msg_Common_Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](msg_Common_Connection.md#) object and has\_ [Connection](msg_Common_Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| -|release\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](msg_Common_Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](msg_Common_Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_Faults.md b/api_cpp/doc/markdown/references/msg_Base_Faults.md deleted file mode 100644 index 878080f3..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_Faults.md +++ /dev/null @@ -1,10 +0,0 @@ -# Message Faults - -This page describes the C++ Kinova::Api::Base::Faults message. - -## Overview / Purpose - -Defines an action to clear faults - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_FullIPv4Configuration.md b/api_cpp/doc/markdown/references/msg_Base_FullIPv4Configuration.md deleted file mode 100644 index b0c3ec22..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_FullIPv4Configuration.md +++ /dev/null @@ -1,38 +0,0 @@ -# Message FullIPv4Configuration - -This page describes the C++ Kinova::Api::Base::FullIPv4Configuration message. - -## Overview / Purpose - -Provides an IPv4 configuration for a specific network - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [NetworkHandle](msg_Base_NetworkHandle.md#)|Network handle| -|ipv4\_configuration| [IPv4Configuration](msg_Base_IPv4Configuration.md#)|IPv4 configuration| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [NetworkHandle](msg_Base_NetworkHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [NetworkHandle](msg_Base_NetworkHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [NetworkHandle](msg_Base_NetworkHandle.md#) \*|void|Returns a pointer to the mutable [NetworkHandle](msg_Base_NetworkHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [NetworkHandle](msg_Base_NetworkHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [NetworkHandle](msg_Base_NetworkHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [NetworkHandle](msg_Base_NetworkHandle.md#).| -|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [NetworkHandle](msg_Base_NetworkHandle.md#) \*|Sets the [NetworkHandle](msg_Base_NetworkHandle.md#) object to the field and frees the previous field value if it exists. If the [NetworkHandle](msg_Base_NetworkHandle.md#) pointer is not NULL, the message takes ownership of the allocated [NetworkHandle](msg_Base_NetworkHandle.md#) object and has\_ [NetworkHandle](msg_Base_NetworkHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [NetworkHandle](msg_Base_NetworkHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [NetworkHandle](msg_Base_NetworkHandle.md#) object. After calling this, caller takes the ownership of the allocated [NetworkHandle](msg_Base_NetworkHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| -|has\_ipv4\_configuration\(\) const|bool|void|Returns true if ipv4\_configuration is set.| -|ipv4\_configuration\(\)|const [IPv4Configuration](msg_Base_IPv4Configuration.md#)&|void|Returns the current value of ipv4\_configuration. If ipv4\_configuration is not set, returns a [IPv4Configuration](msg_Base_IPv4Configuration.md#) with none of its fields set \(possibly ipv4\_configuration::default\_instance\(\)\).| -|mutable\_ipv4\_configuration\(\)| [IPv4Configuration](msg_Base_IPv4Configuration.md#) \*|void|Returns a pointer to the mutable [IPv4Configuration](msg_Base_IPv4Configuration.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [IPv4Configuration](msg_Base_IPv4Configuration.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [IPv4Configuration](msg_Base_IPv4Configuration.md#)\). After calling this, has\_ipv4\_configuration\(\) will return true and ipv4\_configuration\(\) will return a reference to the same instance of [IPv4Configuration](msg_Base_IPv4Configuration.md#).| -|clear\_ipv4\_configuration\(\)|void|void|Clears the value of the field. After calling this, has\_ipv4\_configuration\(\) will return false and ipv4\_configuration\(\) will return the default value.| -|set\_allocated\_ipv4\_configuration\(\)|void| [IPv4Configuration](msg_Base_IPv4Configuration.md#) \*|Sets the [IPv4Configuration](msg_Base_IPv4Configuration.md#) object to the field and frees the previous field value if it exists. If the [IPv4Configuration](msg_Base_IPv4Configuration.md#) pointer is not NULL, the message takes ownership of the allocated [IPv4Configuration](msg_Base_IPv4Configuration.md#) object and has\_ [IPv4Configuration](msg_Base_IPv4Configuration.md#)\(\) will return true. Otherwise, if the ipv4\_configuration is NULL, the behavior is the same as calling clear\_ipv4\_configuration\(\).| -|release\_ipv4\_configuration\(\)| [IPv4Configuration](msg_Base_IPv4Configuration.md#) \*|void|Releases the ownership of the field and returns the pointer of the [IPv4Configuration](msg_Base_IPv4Configuration.md#) object. After calling this, caller takes the ownership of the allocated [IPv4Configuration](msg_Base_IPv4Configuration.md#) object, has\_ipv4\_configuration\(\) will return false, and ipv4\_configuration\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_FullUserProfile.md b/api_cpp/doc/markdown/references/msg_Base_FullUserProfile.md deleted file mode 100644 index a9b9c9ab..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_FullUserProfile.md +++ /dev/null @@ -1,40 +0,0 @@ -# Message FullUserProfile - -This page describes the C++ Kinova::Api::Base::FullUserProfile message. - -## Overview / Purpose - -Provides complete infomation about a user. Used when creating a user profile. - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|user\_profile| [UserProfile](msg_Base_UserProfile.md#)|Information about the user, including its username.| -|password|string|User's password| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_user\_profile\(\) const|bool|void|Returns true if user\_profile is set.| -|user\_profile\(\)|const [UserProfile](msg_Base_UserProfile.md#)&|void|Returns the current value of user\_profile. If user\_profile is not set, returns a [UserProfile](msg_Base_UserProfile.md#) with none of its fields set \(possibly user\_profile::default\_instance\(\)\).| -|mutable\_user\_profile\(\)| [UserProfile](msg_Base_UserProfile.md#) \*|void|Returns a pointer to the mutable [UserProfile](msg_Base_UserProfile.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfile](msg_Base_UserProfile.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfile](msg_Base_UserProfile.md#)\). After calling this, has\_user\_profile\(\) will return true and user\_profile\(\) will return a reference to the same instance of [UserProfile](msg_Base_UserProfile.md#).| -|clear\_user\_profile\(\)|void|void|Clears the value of the field. After calling this, has\_user\_profile\(\) will return false and user\_profile\(\) will return the default value.| -|set\_allocated\_user\_profile\(\)|void| [UserProfile](msg_Base_UserProfile.md#) \*|Sets the [UserProfile](msg_Base_UserProfile.md#) object to the field and frees the previous field value if it exists. If the [UserProfile](msg_Base_UserProfile.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfile](msg_Base_UserProfile.md#) object and has\_ [UserProfile](msg_Base_UserProfile.md#)\(\) will return true. Otherwise, if the user\_profile is NULL, the behavior is the same as calling clear\_user\_profile\(\).| -|release\_user\_profile\(\)| [UserProfile](msg_Base_UserProfile.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfile](msg_Base_UserProfile.md#) object. After calling this, caller takes the ownership of the allocated [UserProfile](msg_Base_UserProfile.md#) object, has\_user\_profile\(\) will return false, and user\_profile\(\) will return the default value.| -|password\(\)|const string&|void|Returns the current value of password. If password is not set, returns the empty string/empty bytes.| -|set\_password\(\)|void|const string&|Sets the value of password. After calling this, password\(\) will return a copy of value.| -|set\_password\(\)|void|string&&|\(C++11 and beyond\): Sets the value of password, moving from the passed string. After calling this, password\(\) will return a copy of value.| -|set\_password\(\)|void|const char\*|Sets the value of password using a C-style null-terminated string. After calling this, password\(\) will return a copy of value.| -|mutable\_password\(\)|string \*|void|Returns a pointer to the mutable string object that stores password's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, password\(\) will return whatever value is written into the given string.| -|clear\_password\(\)|void|void|Clears the value of password. After calling this, password\(\) will return the empty string/empty bytes.| -|set\_allocated\_password\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_password\(\).| -|release\_password\(\)|string \*|void|Releases the ownership of password and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and password\(\) will return the empty string/empty bytes.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_GpioEvent.md b/api_cpp/doc/markdown/references/msg_Base_GpioEvent.md deleted file mode 100644 index 4a948a37..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_GpioEvent.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message GpioEvent - -This page describes the C++ Kinova::Api::Base::GpioEvent message. - -## Overview / Purpose - -Identifies a GPIO event \(future\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|gpio\_state| [GpioState](enm_Base_GpioState.md#)|New GPIO state| -|device\_identifier|uint32|GPIO device identifier for which this event occured| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|gpio\_state\(\) const| [GpioState](enm_Base_GpioState.md#)|void|Returns the current value of gpio\_state. If the gpio\_state is not set, returns 0.| -|set\_gpio\_state\(\)|void| [GpioState](enm_Base_GpioState.md#)|Sets the value of gpio\_state. After calling this, gpio\_state\(\) will return value.| -|clear\_gpio\_state\(\)|void|void|Clears the value of gpio\_state. After calling this, gpio\_state\(\) will return the empty string/empty bytes.| -|device\_identifier\(\)|uint32|void|Returns the current value of device\_identifier. If the device\_identifier is not set, returns 0.| -|set\_device\_identifier\(\)|void|uint32|Sets the value of device\_identifier. After calling this, device\_identifier\(\) will return value.| -|clear\_device\_identifier\(\)|void|void|Clears the value of device\_identifier. After calling this, device\_identifier\(\) will return 0.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_Gripper.md b/api_cpp/doc/markdown/references/msg_Base_Gripper.md deleted file mode 100644 index 3aca9268..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_Gripper.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message Gripper - -This page describes the C++ Kinova::Api::Base::Gripper message. - -## Overview / Purpose - -Defines a gripper movement, which is composed of a series of fingers movement - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|finger|Collection of [Finger](msg_Base_Finger.md#)|Finger movements| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|finger\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|finger\(\) const|const [Finger](msg_Base_Finger.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, finger\_size\(\)\) yields undefined behavior.| -|mutable\_finger\(\)| [Finger](msg_Base_Finger.md#)\*|int index|Returns a pointer to the mutable [Finger](msg_Base_Finger.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, finger\_size\(\)\) yields undefined behavior.| -|add\_finger\(\)| [Finger](msg_Base_Finger.md#)\*|void|Adds a new element and returns a pointer to it. The returned [Finger](msg_Base_Finger.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [Finger](msg_Base_Finger.md#)\).| -|clear\_finger\(\)|void|void|Removes all elements from the field. After calling this, finger\_size\(\) will return zero.| -|finger\(\) const|const RepeatedPtrField< [Finger](msg_Base_Finger.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_finger\(\)|RepeatedPtrField< [Finger](msg_Base_Finger.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_GripperCommand.md b/api_cpp/doc/markdown/references/msg_Base_GripperCommand.md deleted file mode 100644 index 89556708..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_GripperCommand.md +++ /dev/null @@ -1,39 +0,0 @@ -# Message GripperCommand - -This page describes the C++ Kinova::Api::Base::GripperCommand message. - -## Overview / Purpose - -Defines a command to control the gripper movement - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|mode| [GripperMode](enm_Base_GripperMode.md#)|Mode in which to control the gripper| -|gripper| [Gripper](msg_Base_Gripper.md#)|In position, admissible values for each finger is between 0 and 1.0, where 0 is closed and 1.0 is fully open. In speed or torque, admissible values for each finger is between -1.0 and 1.0, where 1.0 corresponds to maximum opening speed and -1.0 corresponds to maximum closing speed. Gripper movement values| -|duration|uint32|Duration constraint. If not 0, allows to set a limit \(in seconds\) to the GripperCommand| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|mode\(\) const| [GripperMode](enm_Base_GripperMode.md#)|void|Returns the current value of mode. If the mode is not set, returns 0.| -|set\_mode\(\)|void| [GripperMode](enm_Base_GripperMode.md#)|Sets the value of mode. After calling this, mode\(\) will return value.| -|clear\_mode\(\)|void|void|Clears the value of mode. After calling this, mode\(\) will return the empty string/empty bytes.| -|has\_gripper\(\) const|bool|void|Returns true if gripper is set.| -|gripper\(\)|const [Gripper](msg_Base_Gripper.md#)&|void|Returns the current value of gripper. If gripper is not set, returns a [Gripper](msg_Base_Gripper.md#) with none of its fields set \(possibly gripper::default\_instance\(\)\).| -|mutable\_gripper\(\)| [Gripper](msg_Base_Gripper.md#) \*|void|Returns a pointer to the mutable [Gripper](msg_Base_Gripper.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Gripper](msg_Base_Gripper.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Gripper](msg_Base_Gripper.md#)\). After calling this, has\_gripper\(\) will return true and gripper\(\) will return a reference to the same instance of [Gripper](msg_Base_Gripper.md#).| -|clear\_gripper\(\)|void|void|Clears the value of the field. After calling this, has\_gripper\(\) will return false and gripper\(\) will return the default value.| -|set\_allocated\_gripper\(\)|void| [Gripper](msg_Base_Gripper.md#) \*|Sets the [Gripper](msg_Base_Gripper.md#) object to the field and frees the previous field value if it exists. If the [Gripper](msg_Base_Gripper.md#) pointer is not NULL, the message takes ownership of the allocated [Gripper](msg_Base_Gripper.md#) object and has\_ [Gripper](msg_Base_Gripper.md#)\(\) will return true. Otherwise, if the gripper is NULL, the behavior is the same as calling clear\_gripper\(\).| -|release\_gripper\(\)| [Gripper](msg_Base_Gripper.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Gripper](msg_Base_Gripper.md#) object. After calling this, caller takes the ownership of the allocated [Gripper](msg_Base_Gripper.md#) object, has\_gripper\(\) will return false, and gripper\(\) will return the default value.| -|duration\(\)|uint32|void|Returns the current value of duration. If the duration is not set, returns 0.| -|set\_duration\(\)|void|uint32|Sets the value of duration. After calling this, duration\(\) will return value.| -|clear\_duration\(\)|void|void|Clears the value of duration. After calling this, duration\(\) will return 0.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_GripperRequest.md b/api_cpp/doc/markdown/references/msg_Base_GripperRequest.md deleted file mode 100644 index 42d7ca8e..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_GripperRequest.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message GripperRequest - -This page describes the C++ Kinova::Api::Base::GripperRequest message. - -## Overview / Purpose - -Message used to request the current gripper movement in either position, force or speed - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|mode| [GripperMode](enm_Base_GripperMode.md#)|Mode for which the gripper movement status is requested| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|mode\(\) const| [GripperMode](enm_Base_GripperMode.md#)|void|Returns the current value of mode. If the mode is not set, returns 0.| -|set\_mode\(\)|void| [GripperMode](enm_Base_GripperMode.md#)|Sets the value of mode. After calling this, mode\(\) will return value.| -|clear\_mode\(\)|void|void|Clears the value of mode. After calling this, mode\(\) will return the empty string/empty bytes.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_JointAngles.md b/api_cpp/doc/markdown/references/msg_Base_JointAngles.md deleted file mode 100644 index f1877fb6..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_JointAngles.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message JointAngles - -This page describes the C++ Kinova::Api::Base::JointAngles message. - -## Overview / Purpose - -Position of a series of joints - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|joint\_angles|Collection of [JointAngle](msg_Base_JointAngle.md#)|Array of joint angle| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|joint\_angles\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|joint\_angles\(\) const|const [JointAngle](msg_Base_JointAngle.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, joint\_angles\_size\(\)\) yields undefined behavior.| -|mutable\_joint\_angles\(\)| [JointAngle](msg_Base_JointAngle.md#)\*|int index|Returns a pointer to the mutable [JointAngle](msg_Base_JointAngle.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, joint\_angles\_size\(\)\) yields undefined behavior.| -|add\_joint\_angles\(\)| [JointAngle](msg_Base_JointAngle.md#)\*|void|Adds a new element and returns a pointer to it. The returned [JointAngle](msg_Base_JointAngle.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [JointAngle](msg_Base_JointAngle.md#)\).| -|clear\_joint\_angles\(\)|void|void|Removes all elements from the field. After calling this, joint\_angles\_size\(\) will return zero.| -|joint\_angles\(\) const|const RepeatedPtrField< [JointAngle](msg_Base_JointAngle.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_joint\_angles\(\)|RepeatedPtrField< [JointAngle](msg_Base_JointAngle.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_JointLimitation.md b/api_cpp/doc/markdown/references/msg_Base_JointLimitation.md deleted file mode 100644 index c8bd4840..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_JointLimitation.md +++ /dev/null @@ -1,35 +0,0 @@ -# Message JointLimitation - -This page describes the C++ Kinova::Api::Base::JointLimitation message. - -## Overview / Purpose - -Defines a joint limitation - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|device\_identifier|uint32|Joint device identifier| -|limitation\_value| [JointLimitationValue](msg_Base_JointLimitationValue.md#)|Joint limitation value| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|device\_identifier\(\)|uint32|void|Returns the current value of device\_identifier. If the device\_identifier is not set, returns 0.| -|set\_device\_identifier\(\)|void|uint32|Sets the value of device\_identifier. After calling this, device\_identifier\(\) will return value.| -|clear\_device\_identifier\(\)|void|void|Clears the value of device\_identifier. After calling this, device\_identifier\(\) will return 0.| -|has\_limitation\_value\(\) const|bool|void|Returns true if limitation\_value is set.| -|limitation\_value\(\)|const [JointLimitationValue](msg_Base_JointLimitationValue.md#)&|void|Returns the current value of limitation\_value. If limitation\_value is not set, returns a [JointLimitationValue](msg_Base_JointLimitationValue.md#) with none of its fields set \(possibly limitation\_value::default\_instance\(\)\).| -|mutable\_limitation\_value\(\)| [JointLimitationValue](msg_Base_JointLimitationValue.md#) \*|void|Returns a pointer to the mutable [JointLimitationValue](msg_Base_JointLimitationValue.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [JointLimitationValue](msg_Base_JointLimitationValue.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [JointLimitationValue](msg_Base_JointLimitationValue.md#)\). After calling this, has\_limitation\_value\(\) will return true and limitation\_value\(\) will return a reference to the same instance of [JointLimitationValue](msg_Base_JointLimitationValue.md#).| -|clear\_limitation\_value\(\)|void|void|Clears the value of the field. After calling this, has\_limitation\_value\(\) will return false and limitation\_value\(\) will return the default value.| -|set\_allocated\_limitation\_value\(\)|void| [JointLimitationValue](msg_Base_JointLimitationValue.md#) \*|Sets the [JointLimitationValue](msg_Base_JointLimitationValue.md#) object to the field and frees the previous field value if it exists. If the [JointLimitationValue](msg_Base_JointLimitationValue.md#) pointer is not NULL, the message takes ownership of the allocated [JointLimitationValue](msg_Base_JointLimitationValue.md#) object and has\_ [JointLimitationValue](msg_Base_JointLimitationValue.md#)\(\) will return true. Otherwise, if the limitation\_value is NULL, the behavior is the same as calling clear\_limitation\_value\(\).| -|release\_limitation\_value\(\)| [JointLimitationValue](msg_Base_JointLimitationValue.md#) \*|void|Releases the ownership of the field and returns the pointer of the [JointLimitationValue](msg_Base_JointLimitationValue.md#) object. After calling this, caller takes the ownership of the allocated [JointLimitationValue](msg_Base_JointLimitationValue.md#) object, has\_limitation\_value\(\) will return false, and limitation\_value\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_JointLimitationTypeIdentifier.md b/api_cpp/doc/markdown/references/msg_Base_JointLimitationTypeIdentifier.md deleted file mode 100644 index 3be8f73a..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_JointLimitationTypeIdentifier.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message JointLimitationTypeIdentifier - -This page describes the C++ Kinova::Api::Base::JointLimitationTypeIdentifier message. - -## Overview / Purpose - -Identifies a joint limitation for a specific joint - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|device\_identifier|uint32|Joint device identifier| -|type| [LimitationType](enm_Base_LimitationType.md#)|Joint limitation type| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|device\_identifier\(\)|uint32|void|Returns the current value of device\_identifier. If the device\_identifier is not set, returns 0.| -|set\_device\_identifier\(\)|void|uint32|Sets the value of device\_identifier. After calling this, device\_identifier\(\) will return value.| -|clear\_device\_identifier\(\)|void|void|Clears the value of device\_identifier. After calling this, device\_identifier\(\) will return 0.| -|type\(\) const| [LimitationType](enm_Base_LimitationType.md#)|void|Returns the current value of type. If the type is not set, returns 0.| -|set\_type\(\)|void| [LimitationType](enm_Base_LimitationType.md#)|Sets the value of type. After calling this, type\(\) will return value.| -|clear\_type\(\)|void|void|Clears the value of type. After calling this, type\(\) will return the empty string/empty bytes.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_JointLimitationValue.md b/api_cpp/doc/markdown/references/msg_Base_JointLimitationValue.md deleted file mode 100644 index a3480f18..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_JointLimitationValue.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message JointLimitationValue - -This page describes the C++ Kinova::Api::Base::JointLimitationValue message. - -## Overview / Purpose - -Defines joint limitation value - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|type| [LimitationType](enm_Base_LimitationType.md#)|Limitation type| -|value|float32|Limitation value| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|type\(\) const| [LimitationType](enm_Base_LimitationType.md#)|void|Returns the current value of type. If the type is not set, returns 0.| -|set\_type\(\)|void| [LimitationType](enm_Base_LimitationType.md#)|Sets the value of type. After calling this, type\(\) will return value.| -|clear\_type\(\)|void|void|Clears the value of type. After calling this, type\(\) will return the empty string/empty bytes.| -|value\(\)|float32|void|Returns the current value of value. If the value is not set, returns 0.| -|set\_value\(\)|void|float32|Sets the value of value. After calling this, value\(\) will return value.| -|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return 0.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_JointLimitationValueList.md b/api_cpp/doc/markdown/references/msg_Base_JointLimitationValueList.md deleted file mode 100644 index df1fd008..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_JointLimitationValueList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message JointLimitationValueList - -This page describes the C++ Kinova::Api::Base::JointLimitationValueList message. - -## Overview / Purpose - -List of joint limitations - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|joint\_limitation\_values|Collection of [JointLimitationValue](msg_Base_JointLimitationValue.md#)|Joint limitation| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|joint\_limitation\_values\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|joint\_limitation\_values\(\) const|const [JointLimitationValue](msg_Base_JointLimitationValue.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, joint\_limitation\_values\_size\(\)\) yields undefined behavior.| -|mutable\_joint\_limitation\_values\(\)| [JointLimitationValue](msg_Base_JointLimitationValue.md#)\*|int index|Returns a pointer to the mutable [JointLimitationValue](msg_Base_JointLimitationValue.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, joint\_limitation\_values\_size\(\)\) yields undefined behavior.| -|add\_joint\_limitation\_values\(\)| [JointLimitationValue](msg_Base_JointLimitationValue.md#)\*|void|Adds a new element and returns a pointer to it. The returned [JointLimitationValue](msg_Base_JointLimitationValue.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [JointLimitationValue](msg_Base_JointLimitationValue.md#)\).| -|clear\_joint\_limitation\_values\(\)|void|void|Removes all elements from the field. After calling this, joint\_limitation\_values\_size\(\) will return zero.| -|joint\_limitation\_values\(\) const|const RepeatedPtrField< [JointLimitationValue](msg_Base_JointLimitationValue.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_joint\_limitation\_values\(\)|RepeatedPtrField< [JointLimitationValue](msg_Base_JointLimitationValue.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_JointSpeeds.md b/api_cpp/doc/markdown/references/msg_Base_JointSpeeds.md deleted file mode 100644 index dd24cfa0..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_JointSpeeds.md +++ /dev/null @@ -1,36 +0,0 @@ -# Message JointSpeeds - -This page describes the C++ Kinova::Api::Base::JointSpeeds message. - -## Overview / Purpose - -Defines a series of joint speeds - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|joint\_speeds|Collection of [JointSpeed](msg_Base_JointSpeed.md#)|Array of joint speed| -|duration|uint32|Duration constraint. If not 0, allows to set a limit \(in seconds\) common to every joint specified in 'joint\_speeds' \(future\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|joint\_speeds\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|joint\_speeds\(\) const|const [JointSpeed](msg_Base_JointSpeed.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, joint\_speeds\_size\(\)\) yields undefined behavior.| -|mutable\_joint\_speeds\(\)| [JointSpeed](msg_Base_JointSpeed.md#)\*|int index|Returns a pointer to the mutable [JointSpeed](msg_Base_JointSpeed.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, joint\_speeds\_size\(\)\) yields undefined behavior.| -|add\_joint\_speeds\(\)| [JointSpeed](msg_Base_JointSpeed.md#)\*|void|Adds a new element and returns a pointer to it. The returned [JointSpeed](msg_Base_JointSpeed.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [JointSpeed](msg_Base_JointSpeed.md#)\).| -|clear\_joint\_speeds\(\)|void|void|Removes all elements from the field. After calling this, joint\_speeds\_size\(\) will return zero.| -|joint\_speeds\(\) const|const RepeatedPtrField< [JointSpeed](msg_Base_JointSpeed.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_joint\_speeds\(\)|RepeatedPtrField< [JointSpeed](msg_Base_JointSpeed.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|duration\(\)|uint32|void|Returns the current value of duration. If the duration is not set, returns 0.| -|set\_duration\(\)|void|uint32|Sets the value of duration. After calling this, duration\(\) will return value.| -|clear\_duration\(\)|void|void|Clears the value of duration. After calling this, duration\(\) will return 0.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_JointTrajectoryConstraint.md b/api_cpp/doc/markdown/references/msg_Base_JointTrajectoryConstraint.md deleted file mode 100644 index 9993e61f..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_JointTrajectoryConstraint.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message JointTrajectoryConstraint - -This page describes the C++ Kinova::Api::Base::JointTrajectoryConstraint message. - -## Overview / Purpose - -Defines a joint trajectory constraint that can be applied when controlling a joint in trajectory mode - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|type| [JointTrajectoryConstraintType](enm_Base_JointTrajectoryConstraintType.md#)|Joint trajectory constraint type| -|value|float32|Constraint value \(in seconds or in meters per second depending on constraint type\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|type\(\) const| [JointTrajectoryConstraintType](enm_Base_JointTrajectoryConstraintType.md#)|void|Returns the current value of type. If the type is not set, returns 0.| -|set\_type\(\)|void| [JointTrajectoryConstraintType](enm_Base_JointTrajectoryConstraintType.md#)|Sets the value of type. After calling this, type\(\) will return value.| -|clear\_type\(\)|void|void|Clears the value of type. After calling this, type\(\) will return the empty string/empty bytes.| -|value\(\)|float32|void|Returns the current value of value. If the value is not set, returns 0.| -|set\_value\(\)|void|float32|Sets the value of value. After calling this, value\(\) will return value.| -|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return 0.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_LimitationTypeIdentifier.md b/api_cpp/doc/markdown/references/msg_Base_LimitationTypeIdentifier.md deleted file mode 100644 index 1709f93f..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_LimitationTypeIdentifier.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message LimitationTypeIdentifier - -This page describes the C++ Kinova::Api::Base::LimitationTypeIdentifier message. - -## Overview / Purpose - -Identifies a limitation - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|type| [LimitationType](enm_Base_LimitationType.md#)|Limitation type| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|type\(\) const| [LimitationType](enm_Base_LimitationType.md#)|void|Returns the current value of type. If the type is not set, returns 0.| -|set\_type\(\)|void| [LimitationType](enm_Base_LimitationType.md#)|Sets the value of type. After calling this, type\(\) will return value.| -|clear\_type\(\)|void|void|Clears the value of type. After calling this, type\(\) will return the empty string/empty bytes.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_Map.md b/api_cpp/doc/markdown/references/msg_Base_Map.md deleted file mode 100644 index 3494e42e..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_Map.md +++ /dev/null @@ -1,48 +0,0 @@ -# Message Map - -This page describes the C++ Kinova::Api::Base::Map message. - -## Overview / Purpose - -Defines a map as an array of map elements - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [MapHandle](msg_Base_MapHandle.md#)|Map handle \(do not set on createMap\(\) call\)| -|name|string|Map friendly name| -|elements|Collection of [MapElement](msg_Base_MapElement.md#)|Array of map elements| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [MapHandle](msg_Base_MapHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [MapHandle](msg_Base_MapHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [MapHandle](msg_Base_MapHandle.md#) \*|void|Returns a pointer to the mutable [MapHandle](msg_Base_MapHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapHandle](msg_Base_MapHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapHandle](msg_Base_MapHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [MapHandle](msg_Base_MapHandle.md#).| -|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [MapHandle](msg_Base_MapHandle.md#) \*|Sets the [MapHandle](msg_Base_MapHandle.md#) object to the field and frees the previous field value if it exists. If the [MapHandle](msg_Base_MapHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapHandle](msg_Base_MapHandle.md#) object and has\_ [MapHandle](msg_Base_MapHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [MapHandle](msg_Base_MapHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapHandle](msg_Base_MapHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapHandle](msg_Base_MapHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| -|name\(\)|const string&|void|Returns the current value of name. If name is not set, returns the empty string/empty bytes.| -|set\_name\(\)|void|const string&|Sets the value of name. After calling this, name\(\) will return a copy of value.| -|set\_name\(\)|void|string&&|\(C++11 and beyond\): Sets the value of name, moving from the passed string. After calling this, name\(\) will return a copy of value.| -|set\_name\(\)|void|const char\*|Sets the value of name using a C-style null-terminated string. After calling this, name\(\) will return a copy of value.| -|mutable\_name\(\)|string \*|void|Returns a pointer to the mutable string object that stores name's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, name\(\) will return whatever value is written into the given string.| -|clear\_name\(\)|void|void|Clears the value of name. After calling this, name\(\) will return the empty string/empty bytes.| -|set\_allocated\_name\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_name\(\).| -|release\_name\(\)|string \*|void|Releases the ownership of name and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and name\(\) will return the empty string/empty bytes.| -|elements\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|elements\(\) const|const [MapElement](msg_Base_MapElement.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, elements\_size\(\)\) yields undefined behavior.| -|mutable\_elements\(\)| [MapElement](msg_Base_MapElement.md#)\*|int index|Returns a pointer to the mutable [MapElement](msg_Base_MapElement.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, elements\_size\(\)\) yields undefined behavior.| -|add\_elements\(\)| [MapElement](msg_Base_MapElement.md#)\*|void|Adds a new element and returns a pointer to it. The returned [MapElement](msg_Base_MapElement.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapElement](msg_Base_MapElement.md#)\).| -|clear\_elements\(\)|void|void|Removes all elements from the field. After calling this, elements\_size\(\) will return zero.| -|elements\(\) const|const RepeatedPtrField< [MapElement](msg_Base_MapElement.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_elements\(\)|RepeatedPtrField< [MapElement](msg_Base_MapElement.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_MapElement.md b/api_cpp/doc/markdown/references/msg_Base_MapElement.md deleted file mode 100644 index b0ce0747..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_MapElement.md +++ /dev/null @@ -1,38 +0,0 @@ -# Message MapElement - -This page describes the C++ Kinova::Api::Base::MapElement message. - -## Overview / Purpose - -Associates a map event to map action - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event| [MapEvent](msg_Base_MapEvent.md#)|Map event that occured| -|action| [Action](msg_Base_Action.md#)|Action to invoke upon event occurence| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_event\(\) const|bool|void|Returns true if event is set.| -|event\(\)|const [MapEvent](msg_Base_MapEvent.md#)&|void|Returns the current value of event. If event is not set, returns a [MapEvent](msg_Base_MapEvent.md#) with none of its fields set \(possibly event::default\_instance\(\)\).| -|mutable\_event\(\)| [MapEvent](msg_Base_MapEvent.md#) \*|void|Returns a pointer to the mutable [MapEvent](msg_Base_MapEvent.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapEvent](msg_Base_MapEvent.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapEvent](msg_Base_MapEvent.md#)\). After calling this, has\_event\(\) will return true and event\(\) will return a reference to the same instance of [MapEvent](msg_Base_MapEvent.md#).| -|clear\_event\(\)|void|void|Clears the value of the field. After calling this, has\_event\(\) will return false and event\(\) will return the default value.| -|set\_allocated\_event\(\)|void| [MapEvent](msg_Base_MapEvent.md#) \*|Sets the [MapEvent](msg_Base_MapEvent.md#) object to the field and frees the previous field value if it exists. If the [MapEvent](msg_Base_MapEvent.md#) pointer is not NULL, the message takes ownership of the allocated [MapEvent](msg_Base_MapEvent.md#) object and has\_ [MapEvent](msg_Base_MapEvent.md#)\(\) will return true. Otherwise, if the event is NULL, the behavior is the same as calling clear\_event\(\).| -|release\_event\(\)| [MapEvent](msg_Base_MapEvent.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapEvent](msg_Base_MapEvent.md#) object. After calling this, caller takes the ownership of the allocated [MapEvent](msg_Base_MapEvent.md#) object, has\_event\(\) will return false, and event\(\) will return the default value.| -|has\_action\(\) const|bool|void|Returns true if action is set.| -|action\(\)|const [Action](msg_Base_Action.md#)&|void|Returns the current value of action. If action is not set, returns a [Action](msg_Base_Action.md#) with none of its fields set \(possibly action::default\_instance\(\)\).| -|mutable\_action\(\)| [Action](msg_Base_Action.md#) \*|void|Returns a pointer to the mutable [Action](msg_Base_Action.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Action](msg_Base_Action.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Action](msg_Base_Action.md#)\). After calling this, has\_action\(\) will return true and action\(\) will return a reference to the same instance of [Action](msg_Base_Action.md#).| -|clear\_action\(\)|void|void|Clears the value of the field. After calling this, has\_action\(\) will return false and action\(\) will return the default value.| -|set\_allocated\_action\(\)|void| [Action](msg_Base_Action.md#) \*|Sets the [Action](msg_Base_Action.md#) object to the field and frees the previous field value if it exists. If the [Action](msg_Base_Action.md#) pointer is not NULL, the message takes ownership of the allocated [Action](msg_Base_Action.md#) object and has\_ [Action](msg_Base_Action.md#)\(\) will return true. Otherwise, if the action is NULL, the behavior is the same as calling clear\_action\(\).| -|release\_action\(\)| [Action](msg_Base_Action.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Action](msg_Base_Action.md#) object. After calling this, caller takes the ownership of the allocated [Action](msg_Base_Action.md#) object, has\_action\(\) will return false, and action\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_MapEvent.md b/api_cpp/doc/markdown/references/msg_Base_MapEvent.md deleted file mode 100644 index 99b4965b..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_MapEvent.md +++ /dev/null @@ -1,54 +0,0 @@ -# Message MapEvent - -This page describes the C++ Kinova::Api::Base::MapEvent message. - -## Overview / Purpose - -Defines a map event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|oneof events : safety\_event| [SafetyEvent](msg_Base_SafetyEvent.md#)|Mapped safety event \(future\)| -|oneof events : gpio\_event| [GpioEvent](msg_Base_GpioEvent.md#)|Mapped GPIO event \(future\)| -|oneof events : controller\_event| [ControllerEvent](msg_Base_ControllerEvent.md#)|Mapped controller event| -|name|string|Map event friendly name| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_safety\_event\(\) const|void|void|Returns the current value of the field if oneof case is kSafety\_event. Otherwise, returns [SafetyEvent](msg_Base_SafetyEvent.md#)::default\_instance\(\)| -|safety\_event\(\) const|const [SafetyEvent](msg_Base_SafetyEvent.md#)&|void|Returns the current value of the field if oneof case is kSafety\_event| -|mutable\_safety\_event\(\)| [SafetyEvent](msg_Base_SafetyEvent.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_events\(\). Sets the oneof case to kSafety\_event and returns a pointer to the mutable [SafetyEvent](msg_Base_SafetyEvent.md#) object that stores the field's value. If the oneof case was not kSafety\_event prior to the call, then the returned [SafetyEvent](msg_Base_SafetyEvent.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyEvent](msg_Base_SafetyEvent.md#)\). After calling this, has\_safety\_event\(\) will return true, safety\_event\(\) will return a reference to the same instance of [SafetyEvent](msg_Base_SafetyEvent.md#) and events\_case\(\) will return kSafety\_event| -|clear\_safety\_event\(\)|void|void|Nothing will be changed if the oneof case is not kSafety\_event. If the oneof case equals kSafety\_event, frees the field and clears the oneof case. has\_safety\_event\(\) will return false, safety\_event\(\) will return the default value and events\_case\(\) will return EVENTS\_NOT\_SET.| -|set\_allocated\_safety\_event\(\)|void| [SafetyEvent](msg_Base_SafetyEvent.md#)\*|Calls clear\_events\(\). If the [SafetyEvent](msg_Base_SafetyEvent.md#) pointer is not NULL: Sets the [SafetyEvent](msg_Base_SafetyEvent.md#) object to the field and sets the oneof case to kSafety\_event. The message takes ownership of the allocated [SafetyEvent](msg_Base_SafetyEvent.md#) object, has\_safety\_event\(\) will return true and events\_case\(\) will return kSafety\_event. If the pointer is NULL, has\_safety\_event\(\) will return false and events\_case\(\) will return EVENTS\_NOT\_SET. \(The behavior is like calling clear\_events\(\)\)| -|release\_safety\_event\(\)| [SafetyEvent](msg_Base_SafetyEvent.md#)\*|void|Returns NULL if oneof case is not kSafety\_event. If the oneof case is kSafety\_event, clears the oneof case, releases the ownership of the field and returns the pointer of the events object. After calling this, caller takes the ownership of the allocated events object, has\_safety\_event\(\) will return false, safety\_event\(\) will return the default value and events\_case\(\) will return EVENTS\_NOT\_SET.| -|has\_gpio\_event\(\) const|void|void|Returns the current value of the field if oneof case is kGpio\_event. Otherwise, returns [GpioEvent](msg_Base_GpioEvent.md#)::default\_instance\(\)| -|gpio\_event\(\) const|const [GpioEvent](msg_Base_GpioEvent.md#)&|void|Returns the current value of the field if oneof case is kGpio\_event| -|mutable\_gpio\_event\(\)| [GpioEvent](msg_Base_GpioEvent.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_events\(\). Sets the oneof case to kGpio\_event and returns a pointer to the mutable [GpioEvent](msg_Base_GpioEvent.md#) object that stores the field's value. If the oneof case was not kGpio\_event prior to the call, then the returned [GpioEvent](msg_Base_GpioEvent.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [GpioEvent](msg_Base_GpioEvent.md#)\). After calling this, has\_gpio\_event\(\) will return true, gpio\_event\(\) will return a reference to the same instance of [GpioEvent](msg_Base_GpioEvent.md#) and events\_case\(\) will return kGpio\_event| -|clear\_gpio\_event\(\)|void|void|Nothing will be changed if the oneof case is not kGpio\_event. If the oneof case equals kGpio\_event, frees the field and clears the oneof case. has\_gpio\_event\(\) will return false, gpio\_event\(\) will return the default value and events\_case\(\) will return EVENTS\_NOT\_SET.| -|set\_allocated\_gpio\_event\(\)|void| [GpioEvent](msg_Base_GpioEvent.md#)\*|Calls clear\_events\(\). If the [GpioEvent](msg_Base_GpioEvent.md#) pointer is not NULL: Sets the [GpioEvent](msg_Base_GpioEvent.md#) object to the field and sets the oneof case to kGpio\_event. The message takes ownership of the allocated [GpioEvent](msg_Base_GpioEvent.md#) object, has\_gpio\_event\(\) will return true and events\_case\(\) will return kGpio\_event. If the pointer is NULL, has\_gpio\_event\(\) will return false and events\_case\(\) will return EVENTS\_NOT\_SET. \(The behavior is like calling clear\_events\(\)\)| -|release\_gpio\_event\(\)| [GpioEvent](msg_Base_GpioEvent.md#)\*|void|Returns NULL if oneof case is not kGpio\_event. If the oneof case is kGpio\_event, clears the oneof case, releases the ownership of the field and returns the pointer of the events object. After calling this, caller takes the ownership of the allocated events object, has\_gpio\_event\(\) will return false, gpio\_event\(\) will return the default value and events\_case\(\) will return EVENTS\_NOT\_SET.| -|has\_controller\_event\(\) const|void|void|Returns the current value of the field if oneof case is kController\_event. Otherwise, returns [ControllerEvent](msg_Base_ControllerEvent.md#)::default\_instance\(\)| -|controller\_event\(\) const|const [ControllerEvent](msg_Base_ControllerEvent.md#)&|void|Returns the current value of the field if oneof case is kController\_event| -|mutable\_controller\_event\(\)| [ControllerEvent](msg_Base_ControllerEvent.md#)\*|void|If any other oneof field in the same oneof is set, calls clear\_events\(\). Sets the oneof case to kController\_event and returns a pointer to the mutable [ControllerEvent](msg_Base_ControllerEvent.md#) object that stores the field's value. If the oneof case was not kController\_event prior to the call, then the returned [ControllerEvent](msg_Base_ControllerEvent.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ControllerEvent](msg_Base_ControllerEvent.md#)\). After calling this, has\_controller\_event\(\) will return true, controller\_event\(\) will return a reference to the same instance of [ControllerEvent](msg_Base_ControllerEvent.md#) and events\_case\(\) will return kController\_event| -|clear\_controller\_event\(\)|void|void|Nothing will be changed if the oneof case is not kController\_event. If the oneof case equals kController\_event, frees the field and clears the oneof case. has\_controller\_event\(\) will return false, controller\_event\(\) will return the default value and events\_case\(\) will return EVENTS\_NOT\_SET.| -|set\_allocated\_controller\_event\(\)|void| [ControllerEvent](msg_Base_ControllerEvent.md#)\*|Calls clear\_events\(\). If the [ControllerEvent](msg_Base_ControllerEvent.md#) pointer is not NULL: Sets the [ControllerEvent](msg_Base_ControllerEvent.md#) object to the field and sets the oneof case to kController\_event. The message takes ownership of the allocated [ControllerEvent](msg_Base_ControllerEvent.md#) object, has\_controller\_event\(\) will return true and events\_case\(\) will return kController\_event. If the pointer is NULL, has\_controller\_event\(\) will return false and events\_case\(\) will return EVENTS\_NOT\_SET. \(The behavior is like calling clear\_events\(\)\)| -|release\_controller\_event\(\)| [ControllerEvent](msg_Base_ControllerEvent.md#)\*|void|Returns NULL if oneof case is not kController\_event. If the oneof case is kController\_event, clears the oneof case, releases the ownership of the field and returns the pointer of the events object. After calling this, caller takes the ownership of the allocated events object, has\_controller\_event\(\) will return false, controller\_event\(\) will return the default value and events\_case\(\) will return EVENTS\_NOT\_SET.| -|name\(\)|const string&|void|Returns the current value of name. If name is not set, returns the empty string/empty bytes.| -|set\_name\(\)|void|const string&|Sets the value of name. After calling this, name\(\) will return a copy of value.| -|set\_name\(\)|void|string&&|\(C++11 and beyond\): Sets the value of name, moving from the passed string. After calling this, name\(\) will return a copy of value.| -|set\_name\(\)|void|const char\*|Sets the value of name using a C-style null-terminated string. After calling this, name\(\) will return a copy of value.| -|mutable\_name\(\)|string \*|void|Returns a pointer to the mutable string object that stores name's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, name\(\) will return whatever value is written into the given string.| -|clear\_name\(\)|void|void|Clears the value of name. After calling this, name\(\) will return the empty string/empty bytes.| -|set\_allocated\_name\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_name\(\).| -|release\_name\(\)|string \*|void|Releases the ownership of name and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and name\(\) will return the empty string/empty bytes.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_MapGroup.md b/api_cpp/doc/markdown/references/msg_Base_MapGroup.md deleted file mode 100644 index c0bbbdde..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_MapGroup.md +++ /dev/null @@ -1,79 +0,0 @@ -# Message MapGroup - -This page describes the C++ Kinova::Api::Base::MapGroup message. - -## Overview / Purpose - -Message that contains all information about a map group including the list of maps that it contains and its relationship versus other map groups \(future\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|group\_handle| [MapGroupHandle](msg_Base_MapGroupHandle.md#)|Map group handle \(do not set on createMapGroup\(\) call\)| -|name|string|Map group friendly name| -|related\_mapping\_handle| [MappingHandle](msg_Base_MappingHandle.md#)|Mapping that this map group belongs to| -|parent\_group\_handle| [MapGroupHandle](msg_Base_MapGroupHandle.md#)|Parent map group \(if any\)| -|children\_map\_group\_handles|Collection of [MapGroupHandle](msg_Base_MapGroupHandle.md#)|Children map groups \(if any\)| -|map\_handles|Collection of [MapHandle](msg_Base_MapHandle.md#)|Array of maps that are included in this map group| -|application\_data|string|Application data \(reserved for use by Web App\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_group\_handle\(\) const|bool|void|Returns true if group\_handle is set.| -|group\_handle\(\)|const [MapGroupHandle](msg_Base_MapGroupHandle.md#)&|void|Returns the current value of group\_handle. If group\_handle is not set, returns a [MapGroupHandle](msg_Base_MapGroupHandle.md#) with none of its fields set \(possibly group\_handle::default\_instance\(\)\).| -|mutable\_group\_handle\(\)| [MapGroupHandle](msg_Base_MapGroupHandle.md#) \*|void|Returns a pointer to the mutable [MapGroupHandle](msg_Base_MapGroupHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapGroupHandle](msg_Base_MapGroupHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#)\). After calling this, has\_group\_handle\(\) will return true and group\_handle\(\) will return a reference to the same instance of [MapGroupHandle](msg_Base_MapGroupHandle.md#).| -|clear\_group\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_group\_handle\(\) will return false and group\_handle\(\) will return the default value.| -|set\_allocated\_group\_handle\(\)|void| [MapGroupHandle](msg_Base_MapGroupHandle.md#) \*|Sets the [MapGroupHandle](msg_Base_MapGroupHandle.md#) object to the field and frees the previous field value if it exists. If the [MapGroupHandle](msg_Base_MapGroupHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#) object and has\_ [MapGroupHandle](msg_Base_MapGroupHandle.md#)\(\) will return true. Otherwise, if the group\_handle is NULL, the behavior is the same as calling clear\_group\_handle\(\).| -|release\_group\_handle\(\)| [MapGroupHandle](msg_Base_MapGroupHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapGroupHandle](msg_Base_MapGroupHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#) object, has\_group\_handle\(\) will return false, and group\_handle\(\) will return the default value.| -|name\(\)|const string&|void|Returns the current value of name. If name is not set, returns the empty string/empty bytes.| -|set\_name\(\)|void|const string&|Sets the value of name. After calling this, name\(\) will return a copy of value.| -|set\_name\(\)|void|string&&|\(C++11 and beyond\): Sets the value of name, moving from the passed string. After calling this, name\(\) will return a copy of value.| -|set\_name\(\)|void|const char\*|Sets the value of name using a C-style null-terminated string. After calling this, name\(\) will return a copy of value.| -|mutable\_name\(\)|string \*|void|Returns a pointer to the mutable string object that stores name's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, name\(\) will return whatever value is written into the given string.| -|clear\_name\(\)|void|void|Clears the value of name. After calling this, name\(\) will return the empty string/empty bytes.| -|set\_allocated\_name\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_name\(\).| -|release\_name\(\)|string \*|void|Releases the ownership of name and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and name\(\) will return the empty string/empty bytes.| -|has\_related\_mapping\_handle\(\) const|bool|void|Returns true if related\_mapping\_handle is set.| -|related\_mapping\_handle\(\)|const [MappingHandle](msg_Base_MappingHandle.md#)&|void|Returns the current value of related\_mapping\_handle. If related\_mapping\_handle is not set, returns a [MappingHandle](msg_Base_MappingHandle.md#) with none of its fields set \(possibly related\_mapping\_handle::default\_instance\(\)\).| -|mutable\_related\_mapping\_handle\(\)| [MappingHandle](msg_Base_MappingHandle.md#) \*|void|Returns a pointer to the mutable [MappingHandle](msg_Base_MappingHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MappingHandle](msg_Base_MappingHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MappingHandle](msg_Base_MappingHandle.md#)\). After calling this, has\_related\_mapping\_handle\(\) will return true and related\_mapping\_handle\(\) will return a reference to the same instance of [MappingHandle](msg_Base_MappingHandle.md#).| -|clear\_related\_mapping\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_related\_mapping\_handle\(\) will return false and related\_mapping\_handle\(\) will return the default value.| -|set\_allocated\_related\_mapping\_handle\(\)|void| [MappingHandle](msg_Base_MappingHandle.md#) \*|Sets the [MappingHandle](msg_Base_MappingHandle.md#) object to the field and frees the previous field value if it exists. If the [MappingHandle](msg_Base_MappingHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MappingHandle](msg_Base_MappingHandle.md#) object and has\_ [MappingHandle](msg_Base_MappingHandle.md#)\(\) will return true. Otherwise, if the related\_mapping\_handle is NULL, the behavior is the same as calling clear\_related\_mapping\_handle\(\).| -|release\_related\_mapping\_handle\(\)| [MappingHandle](msg_Base_MappingHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MappingHandle](msg_Base_MappingHandle.md#) object. After calling this, caller takes the ownership of the allocated [MappingHandle](msg_Base_MappingHandle.md#) object, has\_related\_mapping\_handle\(\) will return false, and related\_mapping\_handle\(\) will return the default value.| -|has\_parent\_group\_handle\(\) const|bool|void|Returns true if parent\_group\_handle is set.| -|parent\_group\_handle\(\)|const [MapGroupHandle](msg_Base_MapGroupHandle.md#)&|void|Returns the current value of parent\_group\_handle. If parent\_group\_handle is not set, returns a [MapGroupHandle](msg_Base_MapGroupHandle.md#) with none of its fields set \(possibly parent\_group\_handle::default\_instance\(\)\).| -|mutable\_parent\_group\_handle\(\)| [MapGroupHandle](msg_Base_MapGroupHandle.md#) \*|void|Returns a pointer to the mutable [MapGroupHandle](msg_Base_MapGroupHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapGroupHandle](msg_Base_MapGroupHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#)\). After calling this, has\_parent\_group\_handle\(\) will return true and parent\_group\_handle\(\) will return a reference to the same instance of [MapGroupHandle](msg_Base_MapGroupHandle.md#).| -|clear\_parent\_group\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_parent\_group\_handle\(\) will return false and parent\_group\_handle\(\) will return the default value.| -|set\_allocated\_parent\_group\_handle\(\)|void| [MapGroupHandle](msg_Base_MapGroupHandle.md#) \*|Sets the [MapGroupHandle](msg_Base_MapGroupHandle.md#) object to the field and frees the previous field value if it exists. If the [MapGroupHandle](msg_Base_MapGroupHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#) object and has\_ [MapGroupHandle](msg_Base_MapGroupHandle.md#)\(\) will return true. Otherwise, if the parent\_group\_handle is NULL, the behavior is the same as calling clear\_parent\_group\_handle\(\).| -|release\_parent\_group\_handle\(\)| [MapGroupHandle](msg_Base_MapGroupHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapGroupHandle](msg_Base_MapGroupHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#) object, has\_parent\_group\_handle\(\) will return false, and parent\_group\_handle\(\) will return the default value.| -|children\_map\_group\_handles\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|children\_map\_group\_handles\(\) const|const [MapGroupHandle](msg_Base_MapGroupHandle.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, children\_map\_group\_handles\_size\(\)\) yields undefined behavior.| -|mutable\_children\_map\_group\_handles\(\)| [MapGroupHandle](msg_Base_MapGroupHandle.md#)\*|int index|Returns a pointer to the mutable [MapGroupHandle](msg_Base_MapGroupHandle.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, children\_map\_group\_handles\_size\(\)\) yields undefined behavior.| -|add\_children\_map\_group\_handles\(\)| [MapGroupHandle](msg_Base_MapGroupHandle.md#)\*|void|Adds a new element and returns a pointer to it. The returned [MapGroupHandle](msg_Base_MapGroupHandle.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#)\).| -|clear\_children\_map\_group\_handles\(\)|void|void|Removes all elements from the field. After calling this, children\_map\_group\_handles\_size\(\) will return zero.| -|children\_map\_group\_handles\(\) const|const RepeatedPtrField< [MapGroupHandle](msg_Base_MapGroupHandle.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_children\_map\_group\_handles\(\)|RepeatedPtrField< [MapGroupHandle](msg_Base_MapGroupHandle.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|map\_handles\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|map\_handles\(\) const|const [MapHandle](msg_Base_MapHandle.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, map\_handles\_size\(\)\) yields undefined behavior.| -|mutable\_map\_handles\(\)| [MapHandle](msg_Base_MapHandle.md#)\*|int index|Returns a pointer to the mutable [MapHandle](msg_Base_MapHandle.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, map\_handles\_size\(\)\) yields undefined behavior.| -|add\_map\_handles\(\)| [MapHandle](msg_Base_MapHandle.md#)\*|void|Adds a new element and returns a pointer to it. The returned [MapHandle](msg_Base_MapHandle.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapHandle](msg_Base_MapHandle.md#)\).| -|clear\_map\_handles\(\)|void|void|Removes all elements from the field. After calling this, map\_handles\_size\(\) will return zero.| -|map\_handles\(\) const|const RepeatedPtrField< [MapHandle](msg_Base_MapHandle.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_map\_handles\(\)|RepeatedPtrField< [MapHandle](msg_Base_MapHandle.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|application\_data\(\)|const string&|void|Returns the current value of application\_data. If application\_data is not set, returns the empty string/empty bytes.| -|set\_application\_data\(\)|void|const string&|Sets the value of application\_data. After calling this, application\_data\(\) will return a copy of value.| -|set\_application\_data\(\)|void|string&&|\(C++11 and beyond\): Sets the value of application\_data, moving from the passed string. After calling this, application\_data\(\) will return a copy of value.| -|set\_application\_data\(\)|void|const char\*|Sets the value of application\_data using a C-style null-terminated string. After calling this, application\_data\(\) will return a copy of value.| -|mutable\_application\_data\(\)|string \*|void|Returns a pointer to the mutable string object that stores application\_data's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, application\_data\(\) will return whatever value is written into the given string.| -|clear\_application\_data\(\)|void|void|Clears the value of application\_data. After calling this, application\_data\(\) will return the empty string/empty bytes.| -|set\_allocated\_application\_data\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_application\_data\(\).| -|release\_application\_data\(\)|string \*|void|Releases the ownership of application\_data and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and application\_data\(\) will return the empty string/empty bytes.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_MapGroupList.md b/api_cpp/doc/markdown/references/msg_Base_MapGroupList.md deleted file mode 100644 index e3720d97..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_MapGroupList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message MapGroupList - -This page describes the C++ Kinova::Api::Base::MapGroupList message. - -## Overview / Purpose - -Array of map groups \(future\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|map\_groups|Collection of [MapGroup](msg_Base_MapGroup.md#)|Map group| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|map\_groups\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|map\_groups\(\) const|const [MapGroup](msg_Base_MapGroup.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, map\_groups\_size\(\)\) yields undefined behavior.| -|mutable\_map\_groups\(\)| [MapGroup](msg_Base_MapGroup.md#)\*|int index|Returns a pointer to the mutable [MapGroup](msg_Base_MapGroup.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, map\_groups\_size\(\)\) yields undefined behavior.| -|add\_map\_groups\(\)| [MapGroup](msg_Base_MapGroup.md#)\*|void|Adds a new element and returns a pointer to it. The returned [MapGroup](msg_Base_MapGroup.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapGroup](msg_Base_MapGroup.md#)\).| -|clear\_map\_groups\(\)|void|void|Removes all elements from the field. After calling this, map\_groups\_size\(\) will return zero.| -|map\_groups\(\) const|const RepeatedPtrField< [MapGroup](msg_Base_MapGroup.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_map\_groups\(\)|RepeatedPtrField< [MapGroup](msg_Base_MapGroup.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_MapList.md b/api_cpp/doc/markdown/references/msg_Base_MapList.md deleted file mode 100644 index 0c61cee1..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_MapList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message MapList - -This page describes the C++ Kinova::Api::Base::MapList message. - -## Overview / Purpose - -Array of maps - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|map\_list|Collection of [Map](msg_Base_Map.md#)|map| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|map\_list\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|map\_list\(\) const|const [Map](msg_Base_Map.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, map\_list\_size\(\)\) yields undefined behavior.| -|mutable\_map\_list\(\)| [Map](msg_Base_Map.md#)\*|int index|Returns a pointer to the mutable [Map](msg_Base_Map.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, map\_list\_size\(\)\) yields undefined behavior.| -|add\_map\_list\(\)| [Map](msg_Base_Map.md#)\*|void|Adds a new element and returns a pointer to it. The returned [Map](msg_Base_Map.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [Map](msg_Base_Map.md#)\).| -|clear\_map\_list\(\)|void|void|Removes all elements from the field. After calling this, map\_list\_size\(\) will return zero.| -|map\_list\(\) const|const RepeatedPtrField< [Map](msg_Base_Map.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_map\_list\(\)|RepeatedPtrField< [Map](msg_Base_Map.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_Mapping.md b/api_cpp/doc/markdown/references/msg_Base_Mapping.md deleted file mode 100644 index dbfd58a1..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_Mapping.md +++ /dev/null @@ -1,83 +0,0 @@ -# Message Mapping - -This page describes the C++ Kinova::Api::Base::Mapping message. - -## Overview / Purpose - -Message that contains all information about a mapping including the controller to which it is associated, the array of map groups it contains, the currently active map group, the array of maps it contains and the currently active map - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [MappingHandle](msg_Base_MappingHandle.md#)|Mapping handle \(do not set on createMapping\(\) call\)| -|name|string|Mapping friendly name| -|controller\_identifier|uint32|Associated controller identifier| -|active\_map\_group\_handle| [MapGroupHandle](msg_Base_MapGroupHandle.md#)|Currently active map group \(future\)| -|map\_group\_handles|Collection of [MapGroupHandle](msg_Base_MapGroupHandle.md#)|Array of associated map groups \(future\)| -|active\_map\_handle| [MapHandle](msg_Base_MapHandle.md#)|Currently active map| -|map\_handles|Collection of [MapHandle](msg_Base_MapHandle.md#)|Array of associated maps| -|application\_data|string|Application data \(reserved for use by Web App\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [MappingHandle](msg_Base_MappingHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [MappingHandle](msg_Base_MappingHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [MappingHandle](msg_Base_MappingHandle.md#) \*|void|Returns a pointer to the mutable [MappingHandle](msg_Base_MappingHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MappingHandle](msg_Base_MappingHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MappingHandle](msg_Base_MappingHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [MappingHandle](msg_Base_MappingHandle.md#).| -|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [MappingHandle](msg_Base_MappingHandle.md#) \*|Sets the [MappingHandle](msg_Base_MappingHandle.md#) object to the field and frees the previous field value if it exists. If the [MappingHandle](msg_Base_MappingHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MappingHandle](msg_Base_MappingHandle.md#) object and has\_ [MappingHandle](msg_Base_MappingHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [MappingHandle](msg_Base_MappingHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MappingHandle](msg_Base_MappingHandle.md#) object. After calling this, caller takes the ownership of the allocated [MappingHandle](msg_Base_MappingHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| -|name\(\)|const string&|void|Returns the current value of name. If name is not set, returns the empty string/empty bytes.| -|set\_name\(\)|void|const string&|Sets the value of name. After calling this, name\(\) will return a copy of value.| -|set\_name\(\)|void|string&&|\(C++11 and beyond\): Sets the value of name, moving from the passed string. After calling this, name\(\) will return a copy of value.| -|set\_name\(\)|void|const char\*|Sets the value of name using a C-style null-terminated string. After calling this, name\(\) will return a copy of value.| -|mutable\_name\(\)|string \*|void|Returns a pointer to the mutable string object that stores name's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, name\(\) will return whatever value is written into the given string.| -|clear\_name\(\)|void|void|Clears the value of name. After calling this, name\(\) will return the empty string/empty bytes.| -|set\_allocated\_name\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_name\(\).| -|release\_name\(\)|string \*|void|Releases the ownership of name and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and name\(\) will return the empty string/empty bytes.| -|controller\_identifier\(\)|uint32|void|Returns the current value of controller\_identifier. If the controller\_identifier is not set, returns 0.| -|set\_controller\_identifier\(\)|void|uint32|Sets the value of controller\_identifier. After calling this, controller\_identifier\(\) will return value.| -|clear\_controller\_identifier\(\)|void|void|Clears the value of controller\_identifier. After calling this, controller\_identifier\(\) will return 0.| -|has\_active\_map\_group\_handle\(\) const|bool|void|Returns true if active\_map\_group\_handle is set.| -|active\_map\_group\_handle\(\)|const [MapGroupHandle](msg_Base_MapGroupHandle.md#)&|void|Returns the current value of active\_map\_group\_handle. If active\_map\_group\_handle is not set, returns a [MapGroupHandle](msg_Base_MapGroupHandle.md#) with none of its fields set \(possibly active\_map\_group\_handle::default\_instance\(\)\).| -|mutable\_active\_map\_group\_handle\(\)| [MapGroupHandle](msg_Base_MapGroupHandle.md#) \*|void|Returns a pointer to the mutable [MapGroupHandle](msg_Base_MapGroupHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapGroupHandle](msg_Base_MapGroupHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#)\). After calling this, has\_active\_map\_group\_handle\(\) will return true and active\_map\_group\_handle\(\) will return a reference to the same instance of [MapGroupHandle](msg_Base_MapGroupHandle.md#).| -|clear\_active\_map\_group\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_active\_map\_group\_handle\(\) will return false and active\_map\_group\_handle\(\) will return the default value.| -|set\_allocated\_active\_map\_group\_handle\(\)|void| [MapGroupHandle](msg_Base_MapGroupHandle.md#) \*|Sets the [MapGroupHandle](msg_Base_MapGroupHandle.md#) object to the field and frees the previous field value if it exists. If the [MapGroupHandle](msg_Base_MapGroupHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#) object and has\_ [MapGroupHandle](msg_Base_MapGroupHandle.md#)\(\) will return true. Otherwise, if the active\_map\_group\_handle is NULL, the behavior is the same as calling clear\_active\_map\_group\_handle\(\).| -|release\_active\_map\_group\_handle\(\)| [MapGroupHandle](msg_Base_MapGroupHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapGroupHandle](msg_Base_MapGroupHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#) object, has\_active\_map\_group\_handle\(\) will return false, and active\_map\_group\_handle\(\) will return the default value.| -|map\_group\_handles\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|map\_group\_handles\(\) const|const [MapGroupHandle](msg_Base_MapGroupHandle.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, map\_group\_handles\_size\(\)\) yields undefined behavior.| -|mutable\_map\_group\_handles\(\)| [MapGroupHandle](msg_Base_MapGroupHandle.md#)\*|int index|Returns a pointer to the mutable [MapGroupHandle](msg_Base_MapGroupHandle.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, map\_group\_handles\_size\(\)\) yields undefined behavior.| -|add\_map\_group\_handles\(\)| [MapGroupHandle](msg_Base_MapGroupHandle.md#)\*|void|Adds a new element and returns a pointer to it. The returned [MapGroupHandle](msg_Base_MapGroupHandle.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#)\).| -|clear\_map\_group\_handles\(\)|void|void|Removes all elements from the field. After calling this, map\_group\_handles\_size\(\) will return zero.| -|map\_group\_handles\(\) const|const RepeatedPtrField< [MapGroupHandle](msg_Base_MapGroupHandle.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_map\_group\_handles\(\)|RepeatedPtrField< [MapGroupHandle](msg_Base_MapGroupHandle.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|has\_active\_map\_handle\(\) const|bool|void|Returns true if active\_map\_handle is set.| -|active\_map\_handle\(\)|const [MapHandle](msg_Base_MapHandle.md#)&|void|Returns the current value of active\_map\_handle. If active\_map\_handle is not set, returns a [MapHandle](msg_Base_MapHandle.md#) with none of its fields set \(possibly active\_map\_handle::default\_instance\(\)\).| -|mutable\_active\_map\_handle\(\)| [MapHandle](msg_Base_MapHandle.md#) \*|void|Returns a pointer to the mutable [MapHandle](msg_Base_MapHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapHandle](msg_Base_MapHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapHandle](msg_Base_MapHandle.md#)\). After calling this, has\_active\_map\_handle\(\) will return true and active\_map\_handle\(\) will return a reference to the same instance of [MapHandle](msg_Base_MapHandle.md#).| -|clear\_active\_map\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_active\_map\_handle\(\) will return false and active\_map\_handle\(\) will return the default value.| -|set\_allocated\_active\_map\_handle\(\)|void| [MapHandle](msg_Base_MapHandle.md#) \*|Sets the [MapHandle](msg_Base_MapHandle.md#) object to the field and frees the previous field value if it exists. If the [MapHandle](msg_Base_MapHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapHandle](msg_Base_MapHandle.md#) object and has\_ [MapHandle](msg_Base_MapHandle.md#)\(\) will return true. Otherwise, if the active\_map\_handle is NULL, the behavior is the same as calling clear\_active\_map\_handle\(\).| -|release\_active\_map\_handle\(\)| [MapHandle](msg_Base_MapHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapHandle](msg_Base_MapHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapHandle](msg_Base_MapHandle.md#) object, has\_active\_map\_handle\(\) will return false, and active\_map\_handle\(\) will return the default value.| -|map\_handles\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|map\_handles\(\) const|const [MapHandle](msg_Base_MapHandle.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, map\_handles\_size\(\)\) yields undefined behavior.| -|mutable\_map\_handles\(\)| [MapHandle](msg_Base_MapHandle.md#)\*|int index|Returns a pointer to the mutable [MapHandle](msg_Base_MapHandle.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, map\_handles\_size\(\)\) yields undefined behavior.| -|add\_map\_handles\(\)| [MapHandle](msg_Base_MapHandle.md#)\*|void|Adds a new element and returns a pointer to it. The returned [MapHandle](msg_Base_MapHandle.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapHandle](msg_Base_MapHandle.md#)\).| -|clear\_map\_handles\(\)|void|void|Removes all elements from the field. After calling this, map\_handles\_size\(\) will return zero.| -|map\_handles\(\) const|const RepeatedPtrField< [MapHandle](msg_Base_MapHandle.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_map\_handles\(\)|RepeatedPtrField< [MapHandle](msg_Base_MapHandle.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|application\_data\(\)|const string&|void|Returns the current value of application\_data. If application\_data is not set, returns the empty string/empty bytes.| -|set\_application\_data\(\)|void|const string&|Sets the value of application\_data. After calling this, application\_data\(\) will return a copy of value.| -|set\_application\_data\(\)|void|string&&|\(C++11 and beyond\): Sets the value of application\_data, moving from the passed string. After calling this, application\_data\(\) will return a copy of value.| -|set\_application\_data\(\)|void|const char\*|Sets the value of application\_data using a C-style null-terminated string. After calling this, application\_data\(\) will return a copy of value.| -|mutable\_application\_data\(\)|string \*|void|Returns a pointer to the mutable string object that stores application\_data's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, application\_data\(\) will return whatever value is written into the given string.| -|clear\_application\_data\(\)|void|void|Clears the value of application\_data. After calling this, application\_data\(\) will return the empty string/empty bytes.| -|set\_allocated\_application\_data\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_application\_data\(\).| -|release\_application\_data\(\)|string \*|void|Releases the ownership of application\_data and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and application\_data\(\) will return the empty string/empty bytes.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_MappingInfoNotification.md b/api_cpp/doc/markdown/references/msg_Base_MappingInfoNotification.md deleted file mode 100644 index dc48eefc..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_MappingInfoNotification.md +++ /dev/null @@ -1,56 +0,0 @@ -# Message MappingInfoNotification - -This page describes the C++ Kinova::Api::Base::MappingInfoNotification message. - -## Overview / Purpose - -Message that contains a mapping information event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|controller\_identifier|uint32|Identifier of the controller| -|active\_map\_handle| [MapHandle](msg_Base_MapHandle.md#)|New active map| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the mapping information event| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the mapping information event| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|controller\_identifier\(\)|uint32|void|Returns the current value of controller\_identifier. If the controller\_identifier is not set, returns 0.| -|set\_controller\_identifier\(\)|void|uint32|Sets the value of controller\_identifier. After calling this, controller\_identifier\(\) will return value.| -|clear\_controller\_identifier\(\)|void|void|Clears the value of controller\_identifier. After calling this, controller\_identifier\(\) will return 0.| -|has\_active\_map\_handle\(\) const|bool|void|Returns true if active\_map\_handle is set.| -|active\_map\_handle\(\)|const [MapHandle](msg_Base_MapHandle.md#)&|void|Returns the current value of active\_map\_handle. If active\_map\_handle is not set, returns a [MapHandle](msg_Base_MapHandle.md#) with none of its fields set \(possibly active\_map\_handle::default\_instance\(\)\).| -|mutable\_active\_map\_handle\(\)| [MapHandle](msg_Base_MapHandle.md#) \*|void|Returns a pointer to the mutable [MapHandle](msg_Base_MapHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapHandle](msg_Base_MapHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapHandle](msg_Base_MapHandle.md#)\). After calling this, has\_active\_map\_handle\(\) will return true and active\_map\_handle\(\) will return a reference to the same instance of [MapHandle](msg_Base_MapHandle.md#).| -|clear\_active\_map\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_active\_map\_handle\(\) will return false and active\_map\_handle\(\) will return the default value.| -|set\_allocated\_active\_map\_handle\(\)|void| [MapHandle](msg_Base_MapHandle.md#) \*|Sets the [MapHandle](msg_Base_MapHandle.md#) object to the field and frees the previous field value if it exists. If the [MapHandle](msg_Base_MapHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapHandle](msg_Base_MapHandle.md#) object and has\_ [MapHandle](msg_Base_MapHandle.md#)\(\) will return true. Otherwise, if the active\_map\_handle is NULL, the behavior is the same as calling clear\_active\_map\_handle\(\).| -|release\_active\_map\_handle\(\)| [MapHandle](msg_Base_MapHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapHandle](msg_Base_MapHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapHandle](msg_Base_MapHandle.md#) object, has\_active\_map\_handle\(\) will return false, and active\_map\_handle\(\) will return the default value.| -|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| -|timestamp\(\)|const [Timestamp](msg_Common_Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](msg_Common_Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| -|mutable\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](msg_Common_Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](msg_Common_Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](msg_Common_Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](msg_Common_Timestamp.md#).| -|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| -|set\_allocated\_timestamp\(\)|void| [Timestamp](msg_Common_Timestamp.md#) \*|Sets the [Timestamp](msg_Common_Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](msg_Common_Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object and has\_ [Timestamp](msg_Common_Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| -|release\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](msg_Common_Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| -|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| -|user\_handle\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| -|mutable\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| -|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| -|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| -|release\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| -|has\_connection\(\) const|bool|void|Returns true if connection is set.| -|connection\(\)|const [Connection](msg_Common_Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](msg_Common_Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| -|mutable\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Returns a pointer to the mutable [Connection](msg_Common_Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](msg_Common_Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](msg_Common_Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](msg_Common_Connection.md#).| -|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| -|set\_allocated\_connection\(\)|void| [Connection](msg_Common_Connection.md#) \*|Sets the [Connection](msg_Common_Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](msg_Common_Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](msg_Common_Connection.md#) object and has\_ [Connection](msg_Common_Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| -|release\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](msg_Common_Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](msg_Common_Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_MappingInfoNotificationList.md b/api_cpp/doc/markdown/references/msg_Base_MappingInfoNotificationList.md deleted file mode 100644 index 8ffbb33c..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_MappingInfoNotificationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message MappingInfoNotificationList - -This page describes the C++ Kinova::Api::Base::MappingInfoNotificationList message. - -## Overview / Purpose - -Array of mapping information notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [MappingInfoNotification](msg_Base_MappingInfoNotification.md#)|Notification| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|notifications\(\) const|const [MappingInfoNotification](msg_Base_MappingInfoNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|mutable\_notifications\(\)| [MappingInfoNotification](msg_Base_MappingInfoNotification.md#)\*|int index|Returns a pointer to the mutable [MappingInfoNotification](msg_Base_MappingInfoNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|add\_notifications\(\)| [MappingInfoNotification](msg_Base_MappingInfoNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [MappingInfoNotification](msg_Base_MappingInfoNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [MappingInfoNotification](msg_Base_MappingInfoNotification.md#)\).| -|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| -|notifications\(\) const|const RepeatedPtrField< [MappingInfoNotification](msg_Base_MappingInfoNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_notifications\(\)|RepeatedPtrField< [MappingInfoNotification](msg_Base_MappingInfoNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_MappingList.md b/api_cpp/doc/markdown/references/msg_Base_MappingList.md deleted file mode 100644 index d84ec6e9..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_MappingList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message MappingList - -This page describes the C++ Kinova::Api::Base::MappingList message. - -## Overview / Purpose - -Array of mappings - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|mappings|Collection of [Mapping](msg_Base_Mapping.md#)|Mapping| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|mappings\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|mappings\(\) const|const [Mapping](msg_Base_Mapping.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, mappings\_size\(\)\) yields undefined behavior.| -|mutable\_mappings\(\)| [Mapping](msg_Base_Mapping.md#)\*|int index|Returns a pointer to the mutable [Mapping](msg_Base_Mapping.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, mappings\_size\(\)\) yields undefined behavior.| -|add\_mappings\(\)| [Mapping](msg_Base_Mapping.md#)\*|void|Adds a new element and returns a pointer to it. The returned [Mapping](msg_Base_Mapping.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [Mapping](msg_Base_Mapping.md#)\).| -|clear\_mappings\(\)|void|void|Removes all elements from the field. After calling this, mappings\_size\(\) will return zero.| -|mappings\(\) const|const RepeatedPtrField< [Mapping](msg_Base_Mapping.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_mappings\(\)|RepeatedPtrField< [Mapping](msg_Base_Mapping.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_NetworkHandle.md b/api_cpp/doc/markdown/references/msg_Base_NetworkHandle.md deleted file mode 100644 index 2e3d59f5..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_NetworkHandle.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message NetworkHandle - -This page describes the C++ Kinova::Api::Base::NetworkHandle message. - -## Overview / Purpose - -Identifies a network - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|type| [NetworkType](enm_Base_NetworkType.md#)|Network type| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|type\(\) const| [NetworkType](enm_Base_NetworkType.md#)|void|Returns the current value of type. If the type is not set, returns 0.| -|set\_type\(\)|void| [NetworkType](enm_Base_NetworkType.md#)|Sets the value of type. After calling this, type\(\) will return value.| -|clear\_type\(\)|void|void|Clears the value of type. After calling this, type\(\) will return the empty string/empty bytes.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_NetworkNotification.md b/api_cpp/doc/markdown/references/msg_Base_NetworkNotification.md deleted file mode 100644 index 8bf15be3..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_NetworkNotification.md +++ /dev/null @@ -1,49 +0,0 @@ -# Message NetworkNotification - -This page describes the C++ Kinova::Api::Base::NetworkNotification message. - -## Overview / Purpose - -Message that contains a network event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event| [NetworkEvent](enm_Base_NetworkEvent.md#)|Event type| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the network event to occur| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the network event to occur| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|event\(\) const| [NetworkEvent](enm_Base_NetworkEvent.md#)|void|Returns the current value of event. If the event is not set, returns 0.| -|set\_event\(\)|void| [NetworkEvent](enm_Base_NetworkEvent.md#)|Sets the value of event. After calling this, event\(\) will return value.| -|clear\_event\(\)|void|void|Clears the value of event. After calling this, event\(\) will return the empty string/empty bytes.| -|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| -|timestamp\(\)|const [Timestamp](msg_Common_Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](msg_Common_Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| -|mutable\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](msg_Common_Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](msg_Common_Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](msg_Common_Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](msg_Common_Timestamp.md#).| -|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| -|set\_allocated\_timestamp\(\)|void| [Timestamp](msg_Common_Timestamp.md#) \*|Sets the [Timestamp](msg_Common_Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](msg_Common_Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object and has\_ [Timestamp](msg_Common_Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| -|release\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](msg_Common_Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| -|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| -|user\_handle\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| -|mutable\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| -|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| -|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| -|release\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| -|has\_connection\(\) const|bool|void|Returns true if connection is set.| -|connection\(\)|const [Connection](msg_Common_Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](msg_Common_Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| -|mutable\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Returns a pointer to the mutable [Connection](msg_Common_Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](msg_Common_Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](msg_Common_Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](msg_Common_Connection.md#).| -|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| -|set\_allocated\_connection\(\)|void| [Connection](msg_Common_Connection.md#) \*|Sets the [Connection](msg_Common_Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](msg_Common_Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](msg_Common_Connection.md#) object and has\_ [Connection](msg_Common_Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| -|release\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](msg_Common_Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](msg_Common_Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_NetworkNotificationList.md b/api_cpp/doc/markdown/references/msg_Base_NetworkNotificationList.md deleted file mode 100644 index c71bbff6..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_NetworkNotificationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message NetworkNotificationList - -This page describes the C++ Kinova::Api::Base::NetworkNotificationList message. - -## Overview / Purpose - -Array of network event notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [NetworkNotification](msg_Base_NetworkNotification.md#)|Notification| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|notifications\(\) const|const [NetworkNotification](msg_Base_NetworkNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|mutable\_notifications\(\)| [NetworkNotification](msg_Base_NetworkNotification.md#)\*|int index|Returns a pointer to the mutable [NetworkNotification](msg_Base_NetworkNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|add\_notifications\(\)| [NetworkNotification](msg_Base_NetworkNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [NetworkNotification](msg_Base_NetworkNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [NetworkNotification](msg_Base_NetworkNotification.md#)\).| -|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| -|notifications\(\) const|const RepeatedPtrField< [NetworkNotification](msg_Base_NetworkNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_notifications\(\)|RepeatedPtrField< [NetworkNotification](msg_Base_NetworkNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_OperatingModeInformation.md b/api_cpp/doc/markdown/references/msg_Base_OperatingModeInformation.md deleted file mode 100644 index 222fa053..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_OperatingModeInformation.md +++ /dev/null @@ -1,35 +0,0 @@ -# Message OperatingModeInformation - -This page describes the C++ Kinova::Api::Base::OperatingModeInformation message. - -## Overview / Purpose - -Provides information about the operating mode - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|operating\_mode| [OperatingMode](enm_Base_OperatingMode.md#)|Operating mode| -|device\_handle| [DeviceHandle](msg_Common_DeviceHandle.md#)|Device matching operating mode \(if applicable\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|operating\_mode\(\) const| [OperatingMode](enm_Base_OperatingMode.md#)|void|Returns the current value of operating\_mode. If the operating\_mode is not set, returns 0.| -|set\_operating\_mode\(\)|void| [OperatingMode](enm_Base_OperatingMode.md#)|Sets the value of operating\_mode. After calling this, operating\_mode\(\) will return value.| -|clear\_operating\_mode\(\)|void|void|Clears the value of operating\_mode. After calling this, operating\_mode\(\) will return the empty string/empty bytes.| -|has\_device\_handle\(\) const|bool|void|Returns true if device\_handle is set.| -|device\_handle\(\)|const [DeviceHandle](msg_Common_DeviceHandle.md#)&|void|Returns the current value of device\_handle. If device\_handle is not set, returns a [DeviceHandle](msg_Common_DeviceHandle.md#) with none of its fields set \(possibly device\_handle::default\_instance\(\)\).| -|mutable\_device\_handle\(\)| [DeviceHandle](msg_Common_DeviceHandle.md#) \*|void|Returns a pointer to the mutable [DeviceHandle](msg_Common_DeviceHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [DeviceHandle](msg_Common_DeviceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [DeviceHandle](msg_Common_DeviceHandle.md#)\). After calling this, has\_device\_handle\(\) will return true and device\_handle\(\) will return a reference to the same instance of [DeviceHandle](msg_Common_DeviceHandle.md#).| -|clear\_device\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_device\_handle\(\) will return false and device\_handle\(\) will return the default value.| -|set\_allocated\_device\_handle\(\)|void| [DeviceHandle](msg_Common_DeviceHandle.md#) \*|Sets the [DeviceHandle](msg_Common_DeviceHandle.md#) object to the field and frees the previous field value if it exists. If the [DeviceHandle](msg_Common_DeviceHandle.md#) pointer is not NULL, the message takes ownership of the allocated [DeviceHandle](msg_Common_DeviceHandle.md#) object and has\_ [DeviceHandle](msg_Common_DeviceHandle.md#)\(\) will return true. Otherwise, if the device\_handle is NULL, the behavior is the same as calling clear\_device\_handle\(\).| -|release\_device\_handle\(\)| [DeviceHandle](msg_Common_DeviceHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [DeviceHandle](msg_Common_DeviceHandle.md#) object. After calling this, caller takes the ownership of the allocated [DeviceHandle](msg_Common_DeviceHandle.md#) object, has\_device\_handle\(\) will return false, and device\_handle\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_OperatingModeNotification.md b/api_cpp/doc/markdown/references/msg_Base_OperatingModeNotification.md deleted file mode 100644 index 3172025f..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_OperatingModeNotification.md +++ /dev/null @@ -1,56 +0,0 @@ -# Message OperatingModeNotification - -This page describes the C++ Kinova::Api::Base::OperatingModeNotification message. - -## Overview / Purpose - -Message that contains an operating mode event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|operating\_mode| [OperatingMode](enm_Base_OperatingMode.md#)|New operating mode| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the operating mode event| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the operating mode event| -|device\_handle| [DeviceHandle](msg_Common_DeviceHandle.md#)|Device matching operating mode \(if applicable\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|operating\_mode\(\) const| [OperatingMode](enm_Base_OperatingMode.md#)|void|Returns the current value of operating\_mode. If the operating\_mode is not set, returns 0.| -|set\_operating\_mode\(\)|void| [OperatingMode](enm_Base_OperatingMode.md#)|Sets the value of operating\_mode. After calling this, operating\_mode\(\) will return value.| -|clear\_operating\_mode\(\)|void|void|Clears the value of operating\_mode. After calling this, operating\_mode\(\) will return the empty string/empty bytes.| -|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| -|timestamp\(\)|const [Timestamp](msg_Common_Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](msg_Common_Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| -|mutable\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](msg_Common_Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](msg_Common_Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](msg_Common_Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](msg_Common_Timestamp.md#).| -|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| -|set\_allocated\_timestamp\(\)|void| [Timestamp](msg_Common_Timestamp.md#) \*|Sets the [Timestamp](msg_Common_Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](msg_Common_Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object and has\_ [Timestamp](msg_Common_Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| -|release\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](msg_Common_Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| -|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| -|user\_handle\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| -|mutable\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| -|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| -|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| -|release\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| -|has\_connection\(\) const|bool|void|Returns true if connection is set.| -|connection\(\)|const [Connection](msg_Common_Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](msg_Common_Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| -|mutable\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Returns a pointer to the mutable [Connection](msg_Common_Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](msg_Common_Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](msg_Common_Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](msg_Common_Connection.md#).| -|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| -|set\_allocated\_connection\(\)|void| [Connection](msg_Common_Connection.md#) \*|Sets the [Connection](msg_Common_Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](msg_Common_Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](msg_Common_Connection.md#) object and has\_ [Connection](msg_Common_Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| -|release\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](msg_Common_Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](msg_Common_Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| -|has\_device\_handle\(\) const|bool|void|Returns true if device\_handle is set.| -|device\_handle\(\)|const [DeviceHandle](msg_Common_DeviceHandle.md#)&|void|Returns the current value of device\_handle. If device\_handle is not set, returns a [DeviceHandle](msg_Common_DeviceHandle.md#) with none of its fields set \(possibly device\_handle::default\_instance\(\)\).| -|mutable\_device\_handle\(\)| [DeviceHandle](msg_Common_DeviceHandle.md#) \*|void|Returns a pointer to the mutable [DeviceHandle](msg_Common_DeviceHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [DeviceHandle](msg_Common_DeviceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [DeviceHandle](msg_Common_DeviceHandle.md#)\). After calling this, has\_device\_handle\(\) will return true and device\_handle\(\) will return a reference to the same instance of [DeviceHandle](msg_Common_DeviceHandle.md#).| -|clear\_device\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_device\_handle\(\) will return false and device\_handle\(\) will return the default value.| -|set\_allocated\_device\_handle\(\)|void| [DeviceHandle](msg_Common_DeviceHandle.md#) \*|Sets the [DeviceHandle](msg_Common_DeviceHandle.md#) object to the field and frees the previous field value if it exists. If the [DeviceHandle](msg_Common_DeviceHandle.md#) pointer is not NULL, the message takes ownership of the allocated [DeviceHandle](msg_Common_DeviceHandle.md#) object and has\_ [DeviceHandle](msg_Common_DeviceHandle.md#)\(\) will return true. Otherwise, if the device\_handle is NULL, the behavior is the same as calling clear\_device\_handle\(\).| -|release\_device\_handle\(\)| [DeviceHandle](msg_Common_DeviceHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [DeviceHandle](msg_Common_DeviceHandle.md#) object. After calling this, caller takes the ownership of the allocated [DeviceHandle](msg_Common_DeviceHandle.md#) object, has\_device\_handle\(\) will return false, and device\_handle\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_OperatingModeNotificationList.md b/api_cpp/doc/markdown/references/msg_Base_OperatingModeNotificationList.md deleted file mode 100644 index 967f11c1..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_OperatingModeNotificationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message OperatingModeNotificationList - -This page describes the C++ Kinova::Api::Base::OperatingModeNotificationList message. - -## Overview / Purpose - -Array of Operating mode notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [OperatingModeNotification](msg_Base_OperatingModeNotification.md#)|Notification| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|notifications\(\) const|const [OperatingModeNotification](msg_Base_OperatingModeNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|mutable\_notifications\(\)| [OperatingModeNotification](msg_Base_OperatingModeNotification.md#)\*|int index|Returns a pointer to the mutable [OperatingModeNotification](msg_Base_OperatingModeNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|add\_notifications\(\)| [OperatingModeNotification](msg_Base_OperatingModeNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [OperatingModeNotification](msg_Base_OperatingModeNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [OperatingModeNotification](msg_Base_OperatingModeNotification.md#)\).| -|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| -|notifications\(\) const|const RepeatedPtrField< [OperatingModeNotification](msg_Base_OperatingModeNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_notifications\(\)|RepeatedPtrField< [OperatingModeNotification](msg_Base_OperatingModeNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ProtectionZone.md b/api_cpp/doc/markdown/references/msg_Base_ProtectionZone.md deleted file mode 100644 index a6f64a56..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ProtectionZone.md +++ /dev/null @@ -1,76 +0,0 @@ -# Message ProtectionZone - -This page describes the C++ Kinova::Api::Base::ProtectionZone message. - -## Overview / Purpose - -Provides a protection zone configuration - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)|Protection zone handle| -|name|string|Protection zone friendly name| -|application\_data|string|Application data \(reserved for use by Web App\)| -|is\_enabled|bool|True if protection zone is enabled, false otherwise| -|shape| [ZoneShape](msg_Base_ZoneShape.md#)|Protection zone shape| -|limitations|Collection of [CartesianLimitation](msg_Base_CartesianLimitation.md#)|List of Cartesian limitation| -|envelope\_limitations|Collection of [CartesianLimitation](msg_Base_CartesianLimitation.md#)|List of Cartesian limitation of the envelop| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) \*|void|Returns a pointer to the mutable [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#).| -|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) \*|Sets the [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) object to the field and frees the previous field value if it exists. If the [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) pointer is not NULL, the message takes ownership of the allocated [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) object and has\_ [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) object. After calling this, caller takes the ownership of the allocated [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| -|name\(\)|const string&|void|Returns the current value of name. If name is not set, returns the empty string/empty bytes.| -|set\_name\(\)|void|const string&|Sets the value of name. After calling this, name\(\) will return a copy of value.| -|set\_name\(\)|void|string&&|\(C++11 and beyond\): Sets the value of name, moving from the passed string. After calling this, name\(\) will return a copy of value.| -|set\_name\(\)|void|const char\*|Sets the value of name using a C-style null-terminated string. After calling this, name\(\) will return a copy of value.| -|mutable\_name\(\)|string \*|void|Returns a pointer to the mutable string object that stores name's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, name\(\) will return whatever value is written into the given string.| -|clear\_name\(\)|void|void|Clears the value of name. After calling this, name\(\) will return the empty string/empty bytes.| -|set\_allocated\_name\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_name\(\).| -|release\_name\(\)|string \*|void|Releases the ownership of name and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and name\(\) will return the empty string/empty bytes.| -|application\_data\(\)|const string&|void|Returns the current value of application\_data. If application\_data is not set, returns the empty string/empty bytes.| -|set\_application\_data\(\)|void|const string&|Sets the value of application\_data. After calling this, application\_data\(\) will return a copy of value.| -|set\_application\_data\(\)|void|string&&|\(C++11 and beyond\): Sets the value of application\_data, moving from the passed string. After calling this, application\_data\(\) will return a copy of value.| -|set\_application\_data\(\)|void|const char\*|Sets the value of application\_data using a C-style null-terminated string. After calling this, application\_data\(\) will return a copy of value.| -|mutable\_application\_data\(\)|string \*|void|Returns a pointer to the mutable string object that stores application\_data's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, application\_data\(\) will return whatever value is written into the given string.| -|clear\_application\_data\(\)|void|void|Clears the value of application\_data. After calling this, application\_data\(\) will return the empty string/empty bytes.| -|set\_allocated\_application\_data\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_application\_data\(\).| -|release\_application\_data\(\)|string \*|void|Releases the ownership of application\_data and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and application\_data\(\) will return the empty string/empty bytes.| -|is\_enabled\(\)|bool|void|Returns the current value of is\_enabled. If the is\_enabled is not set, returns 0.| -|set\_is\_enabled\(\)|void|bool|Sets the value of is\_enabled. After calling this, is\_enabled\(\) will return value.| -|clear\_is\_enabled\(\)|void|void|Clears the value of is\_enabled. After calling this, is\_enabled\(\) will return 0.| -|has\_shape\(\) const|bool|void|Returns true if shape is set.| -|shape\(\)|const [ZoneShape](msg_Base_ZoneShape.md#)&|void|Returns the current value of shape. If shape is not set, returns a [ZoneShape](msg_Base_ZoneShape.md#) with none of its fields set \(possibly shape::default\_instance\(\)\).| -|mutable\_shape\(\)| [ZoneShape](msg_Base_ZoneShape.md#) \*|void|Returns a pointer to the mutable [ZoneShape](msg_Base_ZoneShape.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ZoneShape](msg_Base_ZoneShape.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ZoneShape](msg_Base_ZoneShape.md#)\). After calling this, has\_shape\(\) will return true and shape\(\) will return a reference to the same instance of [ZoneShape](msg_Base_ZoneShape.md#).| -|clear\_shape\(\)|void|void|Clears the value of the field. After calling this, has\_shape\(\) will return false and shape\(\) will return the default value.| -|set\_allocated\_shape\(\)|void| [ZoneShape](msg_Base_ZoneShape.md#) \*|Sets the [ZoneShape](msg_Base_ZoneShape.md#) object to the field and frees the previous field value if it exists. If the [ZoneShape](msg_Base_ZoneShape.md#) pointer is not NULL, the message takes ownership of the allocated [ZoneShape](msg_Base_ZoneShape.md#) object and has\_ [ZoneShape](msg_Base_ZoneShape.md#)\(\) will return true. Otherwise, if the shape is NULL, the behavior is the same as calling clear\_shape\(\).| -|release\_shape\(\)| [ZoneShape](msg_Base_ZoneShape.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ZoneShape](msg_Base_ZoneShape.md#) object. After calling this, caller takes the ownership of the allocated [ZoneShape](msg_Base_ZoneShape.md#) object, has\_shape\(\) will return false, and shape\(\) will return the default value.| -|limitations\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|limitations\(\) const|const [CartesianLimitation](msg_Base_CartesianLimitation.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, limitations\_size\(\)\) yields undefined behavior.| -|mutable\_limitations\(\)| [CartesianLimitation](msg_Base_CartesianLimitation.md#)\*|int index|Returns a pointer to the mutable [CartesianLimitation](msg_Base_CartesianLimitation.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, limitations\_size\(\)\) yields undefined behavior.| -|add\_limitations\(\)| [CartesianLimitation](msg_Base_CartesianLimitation.md#)\*|void|Adds a new element and returns a pointer to it. The returned [CartesianLimitation](msg_Base_CartesianLimitation.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [CartesianLimitation](msg_Base_CartesianLimitation.md#)\).| -|clear\_limitations\(\)|void|void|Removes all elements from the field. After calling this, limitations\_size\(\) will return zero.| -|limitations\(\) const|const RepeatedPtrField< [CartesianLimitation](msg_Base_CartesianLimitation.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_limitations\(\)|RepeatedPtrField< [CartesianLimitation](msg_Base_CartesianLimitation.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|envelope\_limitations\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|envelope\_limitations\(\) const|const [CartesianLimitation](msg_Base_CartesianLimitation.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, envelope\_limitations\_size\(\)\) yields undefined behavior.| -|mutable\_envelope\_limitations\(\)| [CartesianLimitation](msg_Base_CartesianLimitation.md#)\*|int index|Returns a pointer to the mutable [CartesianLimitation](msg_Base_CartesianLimitation.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, envelope\_limitations\_size\(\)\) yields undefined behavior.| -|add\_envelope\_limitations\(\)| [CartesianLimitation](msg_Base_CartesianLimitation.md#)\*|void|Adds a new element and returns a pointer to it. The returned [CartesianLimitation](msg_Base_CartesianLimitation.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [CartesianLimitation](msg_Base_CartesianLimitation.md#)\).| -|clear\_envelope\_limitations\(\)|void|void|Removes all elements from the field. After calling this, envelope\_limitations\_size\(\) will return zero.| -|envelope\_limitations\(\) const|const RepeatedPtrField< [CartesianLimitation](msg_Base_CartesianLimitation.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_envelope\_limitations\(\)|RepeatedPtrField< [CartesianLimitation](msg_Base_CartesianLimitation.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ProtectionZoneInformation.md b/api_cpp/doc/markdown/references/msg_Base_ProtectionZoneInformation.md deleted file mode 100644 index 9a931ccb..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ProtectionZoneInformation.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message ProtectionZoneInformation - -This page describes the C++ Kinova::Api::Base::ProtectionZoneInformation message. - -## Overview / Purpose - -Provides information about a protection zone - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event| [ProtectionZoneEvent](enm_Base_ProtectionZoneEvent.md#)|Event type| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|event\(\) const| [ProtectionZoneEvent](enm_Base_ProtectionZoneEvent.md#)|void|Returns the current value of event. If the event is not set, returns 0.| -|set\_event\(\)|void| [ProtectionZoneEvent](enm_Base_ProtectionZoneEvent.md#)|Sets the value of event. After calling this, event\(\) will return value.| -|clear\_event\(\)|void|void|Clears the value of event. After calling this, event\(\) will return the empty string/empty bytes.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ProtectionZoneList.md b/api_cpp/doc/markdown/references/msg_Base_ProtectionZoneList.md deleted file mode 100644 index 892d2b84..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ProtectionZoneList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message ProtectionZoneList - -This page describes the C++ Kinova::Api::Base::ProtectionZoneList message. - -## Overview / Purpose - -Array of protection zones - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|protection\_zones|Collection of [ProtectionZone](msg_Base_ProtectionZone.md#)|Protection zone| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|protection\_zones\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|protection\_zones\(\) const|const [ProtectionZone](msg_Base_ProtectionZone.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, protection\_zones\_size\(\)\) yields undefined behavior.| -|mutable\_protection\_zones\(\)| [ProtectionZone](msg_Base_ProtectionZone.md#)\*|int index|Returns a pointer to the mutable [ProtectionZone](msg_Base_ProtectionZone.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, protection\_zones\_size\(\)\) yields undefined behavior.| -|add\_protection\_zones\(\)| [ProtectionZone](msg_Base_ProtectionZone.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ProtectionZone](msg_Base_ProtectionZone.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ProtectionZone](msg_Base_ProtectionZone.md#)\).| -|clear\_protection\_zones\(\)|void|void|Removes all elements from the field. After calling this, protection\_zones\_size\(\) will return zero.| -|protection\_zones\(\) const|const RepeatedPtrField< [ProtectionZone](msg_Base_ProtectionZone.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_protection\_zones\(\)|RepeatedPtrField< [ProtectionZone](msg_Base_ProtectionZone.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ProtectionZoneNotification.md b/api_cpp/doc/markdown/references/msg_Base_ProtectionZoneNotification.md deleted file mode 100644 index 378a0bd3..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ProtectionZoneNotification.md +++ /dev/null @@ -1,56 +0,0 @@ -# Message ProtectionZoneNotification - -This page describes the C++ Kinova::Api::Base::ProtectionZoneNotification message. - -## Overview / Purpose - -Message that contains a protection zone event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event| [ProtectionZoneEvent](enm_Base_ProtectionZoneEvent.md#)|Event type| -|handle| [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)|Handle of the protection zone that this event refers to| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the protection zone event to occur| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the protection zone event to occur| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|event\(\) const| [ProtectionZoneEvent](enm_Base_ProtectionZoneEvent.md#)|void|Returns the current value of event. If the event is not set, returns 0.| -|set\_event\(\)|void| [ProtectionZoneEvent](enm_Base_ProtectionZoneEvent.md#)|Sets the value of event. After calling this, event\(\) will return value.| -|clear\_event\(\)|void|void|Clears the value of event. After calling this, event\(\) will return the empty string/empty bytes.| -|has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) \*|void|Returns a pointer to the mutable [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#).| -|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) \*|Sets the [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) object to the field and frees the previous field value if it exists. If the [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) pointer is not NULL, the message takes ownership of the allocated [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) object and has\_ [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) object. After calling this, caller takes the ownership of the allocated [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| -|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| -|timestamp\(\)|const [Timestamp](msg_Common_Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](msg_Common_Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| -|mutable\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](msg_Common_Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](msg_Common_Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](msg_Common_Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](msg_Common_Timestamp.md#).| -|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| -|set\_allocated\_timestamp\(\)|void| [Timestamp](msg_Common_Timestamp.md#) \*|Sets the [Timestamp](msg_Common_Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](msg_Common_Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object and has\_ [Timestamp](msg_Common_Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| -|release\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](msg_Common_Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| -|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| -|user\_handle\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| -|mutable\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| -|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| -|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| -|release\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| -|has\_connection\(\) const|bool|void|Returns true if connection is set.| -|connection\(\)|const [Connection](msg_Common_Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](msg_Common_Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| -|mutable\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Returns a pointer to the mutable [Connection](msg_Common_Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](msg_Common_Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](msg_Common_Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](msg_Common_Connection.md#).| -|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| -|set\_allocated\_connection\(\)|void| [Connection](msg_Common_Connection.md#) \*|Sets the [Connection](msg_Common_Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](msg_Common_Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](msg_Common_Connection.md#) object and has\_ [Connection](msg_Common_Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| -|release\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](msg_Common_Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](msg_Common_Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ProtectionZoneNotificationList.md b/api_cpp/doc/markdown/references/msg_Base_ProtectionZoneNotificationList.md deleted file mode 100644 index 645924a1..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ProtectionZoneNotificationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message ProtectionZoneNotificationList - -This page describes the C++ Kinova::Api::Base::ProtectionZoneNotificationList message. - -## Overview / Purpose - -Array of protection zone notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [ProtectionZoneNotification](msg_Base_ProtectionZoneNotification.md#)|Notification| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|notifications\(\) const|const [ProtectionZoneNotification](msg_Base_ProtectionZoneNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|mutable\_notifications\(\)| [ProtectionZoneNotification](msg_Base_ProtectionZoneNotification.md#)\*|int index|Returns a pointer to the mutable [ProtectionZoneNotification](msg_Base_ProtectionZoneNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|add\_notifications\(\)| [ProtectionZoneNotification](msg_Base_ProtectionZoneNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ProtectionZoneNotification](msg_Base_ProtectionZoneNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ProtectionZoneNotification](msg_Base_ProtectionZoneNotification.md#)\).| -|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| -|notifications\(\) const|const RepeatedPtrField< [ProtectionZoneNotification](msg_Base_ProtectionZoneNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_notifications\(\)|RepeatedPtrField< [ProtectionZoneNotification](msg_Base_ProtectionZoneNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_Query.md b/api_cpp/doc/markdown/references/msg_Base_Query.md deleted file mode 100644 index 396d4b20..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_Query.md +++ /dev/null @@ -1,47 +0,0 @@ -# Message Query - -This page describes the C++ Kinova::Api::Base::Query message. - -## Overview / Purpose - -Specifies the parameters of an event log query \(future\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|start\_timestamp| [Timestamp](msg_Common_Timestamp.md#)|Start timestamp \(set to zero to specify it\)| -|end\_timestamp| [Timestamp](msg_Common_Timestamp.md#)|End timestamp \(set to zero to not specify it\)| -|username|string|Queried username \(set to "" to not specify it\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_start\_timestamp\(\) const|bool|void|Returns true if start\_timestamp is set.| -|start\_timestamp\(\)|const [Timestamp](msg_Common_Timestamp.md#)&|void|Returns the current value of start\_timestamp. If start\_timestamp is not set, returns a [Timestamp](msg_Common_Timestamp.md#) with none of its fields set \(possibly start\_timestamp::default\_instance\(\)\).| -|mutable\_start\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](msg_Common_Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](msg_Common_Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](msg_Common_Timestamp.md#)\). After calling this, has\_start\_timestamp\(\) will return true and start\_timestamp\(\) will return a reference to the same instance of [Timestamp](msg_Common_Timestamp.md#).| -|clear\_start\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_start\_timestamp\(\) will return false and start\_timestamp\(\) will return the default value.| -|set\_allocated\_start\_timestamp\(\)|void| [Timestamp](msg_Common_Timestamp.md#) \*|Sets the [Timestamp](msg_Common_Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](msg_Common_Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object and has\_ [Timestamp](msg_Common_Timestamp.md#)\(\) will return true. Otherwise, if the start\_timestamp is NULL, the behavior is the same as calling clear\_start\_timestamp\(\).| -|release\_start\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](msg_Common_Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object, has\_start\_timestamp\(\) will return false, and start\_timestamp\(\) will return the default value.| -|has\_end\_timestamp\(\) const|bool|void|Returns true if end\_timestamp is set.| -|end\_timestamp\(\)|const [Timestamp](msg_Common_Timestamp.md#)&|void|Returns the current value of end\_timestamp. If end\_timestamp is not set, returns a [Timestamp](msg_Common_Timestamp.md#) with none of its fields set \(possibly end\_timestamp::default\_instance\(\)\).| -|mutable\_end\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](msg_Common_Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](msg_Common_Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](msg_Common_Timestamp.md#)\). After calling this, has\_end\_timestamp\(\) will return true and end\_timestamp\(\) will return a reference to the same instance of [Timestamp](msg_Common_Timestamp.md#).| -|clear\_end\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_end\_timestamp\(\) will return false and end\_timestamp\(\) will return the default value.| -|set\_allocated\_end\_timestamp\(\)|void| [Timestamp](msg_Common_Timestamp.md#) \*|Sets the [Timestamp](msg_Common_Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](msg_Common_Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object and has\_ [Timestamp](msg_Common_Timestamp.md#)\(\) will return true. Otherwise, if the end\_timestamp is NULL, the behavior is the same as calling clear\_end\_timestamp\(\).| -|release\_end\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](msg_Common_Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object, has\_end\_timestamp\(\) will return false, and end\_timestamp\(\) will return the default value.| -|username\(\)|const string&|void|Returns the current value of username. If username is not set, returns the empty string/empty bytes.| -|set\_username\(\)|void|const string&|Sets the value of username. After calling this, username\(\) will return a copy of value.| -|set\_username\(\)|void|string&&|\(C++11 and beyond\): Sets the value of username, moving from the passed string. After calling this, username\(\) will return a copy of value.| -|set\_username\(\)|void|const char\*|Sets the value of username using a C-style null-terminated string. After calling this, username\(\) will return a copy of value.| -|mutable\_username\(\)|string \*|void|Returns a pointer to the mutable string object that stores username's value. If the field was not set prior to the call, then the returned string will be empty. After calling this, username\(\) will return whatever value is written into the given string.| -|clear\_username\(\)|void|void|Clears the value of username. After calling this, username\(\) will return the empty string/empty bytes.| -|set\_allocated\_username\(\)|void|string\*|Sets the string object to the field and frees the previous field value if it exists. If the string pointer is not NULL, the message takes ownership of the allocated string object. The message is free to delete the allocated string object at any time, so references to the object may be invalidated. Otherwise, if the value is NULL, the behavior is the same as calling clear\_username\(\).| -|release\_username\(\)|string \*|void|Releases the ownership of username and returns the pointer of the string object. After calling this, caller takes the ownership of the allocated string object and username\(\) will return the empty string/empty bytes.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_RequestedActionType.md b/api_cpp/doc/markdown/references/msg_Base_RequestedActionType.md deleted file mode 100644 index 656a48c2..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_RequestedActionType.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message RequestedActionType - -This page describes the C++ Kinova::Api::Base::RequestedActionType message. - -## Overview / Purpose - -Message used to request all action instances of a specific action type - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|action\_type| [ActionType](enm_Base_ActionType.md#)|Action type| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|action\_type\(\) const| [ActionType](enm_Base_ActionType.md#)|void|Returns the current value of action\_type. If the action\_type is not set, returns 0.| -|set\_action\_type\(\)|void| [ActionType](enm_Base_ActionType.md#)|Sets the value of action\_type. After calling this, action\_type\(\) will return value.| -|clear\_action\_type\(\)|void|void|Clears the value of action\_type. After calling this, action\_type\(\) will return the empty string/empty bytes.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_RobotEventNotification.md b/api_cpp/doc/markdown/references/msg_Base_RobotEventNotification.md deleted file mode 100644 index 0a6b9f66..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_RobotEventNotification.md +++ /dev/null @@ -1,56 +0,0 @@ -# Message RobotEventNotification - -This page describes the C++ Kinova::Api::Base::RobotEventNotification message. - -## Overview / Purpose - -Message that contains a robot event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event| [RobotEvent](enm_Base_RobotEvent.md#)|Robot event type| -|handle| [DeviceHandle](msg_Common_DeviceHandle.md#)|Identifier of the hardware device connected or disconnected| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the robot event to occur| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the robot event to occur| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|event\(\) const| [RobotEvent](enm_Base_RobotEvent.md#)|void|Returns the current value of event. If the event is not set, returns 0.| -|set\_event\(\)|void| [RobotEvent](enm_Base_RobotEvent.md#)|Sets the value of event. After calling this, event\(\) will return value.| -|clear\_event\(\)|void|void|Clears the value of event. After calling this, event\(\) will return the empty string/empty bytes.| -|has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [DeviceHandle](msg_Common_DeviceHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [DeviceHandle](msg_Common_DeviceHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [DeviceHandle](msg_Common_DeviceHandle.md#) \*|void|Returns a pointer to the mutable [DeviceHandle](msg_Common_DeviceHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [DeviceHandle](msg_Common_DeviceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [DeviceHandle](msg_Common_DeviceHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [DeviceHandle](msg_Common_DeviceHandle.md#).| -|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [DeviceHandle](msg_Common_DeviceHandle.md#) \*|Sets the [DeviceHandle](msg_Common_DeviceHandle.md#) object to the field and frees the previous field value if it exists. If the [DeviceHandle](msg_Common_DeviceHandle.md#) pointer is not NULL, the message takes ownership of the allocated [DeviceHandle](msg_Common_DeviceHandle.md#) object and has\_ [DeviceHandle](msg_Common_DeviceHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [DeviceHandle](msg_Common_DeviceHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [DeviceHandle](msg_Common_DeviceHandle.md#) object. After calling this, caller takes the ownership of the allocated [DeviceHandle](msg_Common_DeviceHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| -|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| -|timestamp\(\)|const [Timestamp](msg_Common_Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](msg_Common_Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| -|mutable\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](msg_Common_Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](msg_Common_Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](msg_Common_Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](msg_Common_Timestamp.md#).| -|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| -|set\_allocated\_timestamp\(\)|void| [Timestamp](msg_Common_Timestamp.md#) \*|Sets the [Timestamp](msg_Common_Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](msg_Common_Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object and has\_ [Timestamp](msg_Common_Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| -|release\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](msg_Common_Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| -|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| -|user\_handle\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| -|mutable\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| -|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| -|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| -|release\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| -|has\_connection\(\) const|bool|void|Returns true if connection is set.| -|connection\(\)|const [Connection](msg_Common_Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](msg_Common_Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| -|mutable\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Returns a pointer to the mutable [Connection](msg_Common_Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](msg_Common_Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](msg_Common_Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](msg_Common_Connection.md#).| -|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| -|set\_allocated\_connection\(\)|void| [Connection](msg_Common_Connection.md#) \*|Sets the [Connection](msg_Common_Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](msg_Common_Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](msg_Common_Connection.md#) object and has\_ [Connection](msg_Common_Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| -|release\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](msg_Common_Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](msg_Common_Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_RobotEventNotificationList.md b/api_cpp/doc/markdown/references/msg_Base_RobotEventNotificationList.md deleted file mode 100644 index 31d922a2..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_RobotEventNotificationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message RobotEventNotificationList - -This page describes the C++ Kinova::Api::Base::RobotEventNotificationList message. - -## Overview / Purpose - -Array of robot event notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [RobotEventNotification](msg_Base_RobotEventNotification.md#)|Notification| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|notifications\(\) const|const [RobotEventNotification](msg_Base_RobotEventNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|mutable\_notifications\(\)| [RobotEventNotification](msg_Base_RobotEventNotification.md#)\*|int index|Returns a pointer to the mutable [RobotEventNotification](msg_Base_RobotEventNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|add\_notifications\(\)| [RobotEventNotification](msg_Base_RobotEventNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [RobotEventNotification](msg_Base_RobotEventNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [RobotEventNotification](msg_Base_RobotEventNotification.md#)\).| -|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| -|notifications\(\) const|const RepeatedPtrField< [RobotEventNotification](msg_Base_RobotEventNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_notifications\(\)|RepeatedPtrField< [RobotEventNotification](msg_Base_RobotEventNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_RotationMatrix.md b/api_cpp/doc/markdown/references/msg_Base_RotationMatrix.md deleted file mode 100644 index 0af7a286..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_RotationMatrix.md +++ /dev/null @@ -1,45 +0,0 @@ -# Message RotationMatrix - -This page describes the C++ Kinova::Api::Base::RotationMatrix message. - -## Overview / Purpose - -Provides a 3x3 rotation matrix configuration - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|row1| [RotationMatrixRow](msg_Base_RotationMatrixRow.md#)|First rotation matrix row| -|row2| [RotationMatrixRow](msg_Base_RotationMatrixRow.md#)|Second rotation matrix row| -|row3| [RotationMatrixRow](msg_Base_RotationMatrixRow.md#)|Third rotation matrix row| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_row1\(\) const|bool|void|Returns true if row1 is set.| -|row1\(\)|const [RotationMatrixRow](msg_Base_RotationMatrixRow.md#)&|void|Returns the current value of row1. If row1 is not set, returns a [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) with none of its fields set \(possibly row1::default\_instance\(\)\).| -|mutable\_row1\(\)| [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) \*|void|Returns a pointer to the mutable [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [RotationMatrixRow](msg_Base_RotationMatrixRow.md#)\). After calling this, has\_row1\(\) will return true and row1\(\) will return a reference to the same instance of [RotationMatrixRow](msg_Base_RotationMatrixRow.md#).| -|clear\_row1\(\)|void|void|Clears the value of the field. After calling this, has\_row1\(\) will return false and row1\(\) will return the default value.| -|set\_allocated\_row1\(\)|void| [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) \*|Sets the [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) object to the field and frees the previous field value if it exists. If the [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) pointer is not NULL, the message takes ownership of the allocated [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) object and has\_ [RotationMatrixRow](msg_Base_RotationMatrixRow.md#)\(\) will return true. Otherwise, if the row1 is NULL, the behavior is the same as calling clear\_row1\(\).| -|release\_row1\(\)| [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) \*|void|Releases the ownership of the field and returns the pointer of the [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) object. After calling this, caller takes the ownership of the allocated [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) object, has\_row1\(\) will return false, and row1\(\) will return the default value.| -|has\_row2\(\) const|bool|void|Returns true if row2 is set.| -|row2\(\)|const [RotationMatrixRow](msg_Base_RotationMatrixRow.md#)&|void|Returns the current value of row2. If row2 is not set, returns a [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) with none of its fields set \(possibly row2::default\_instance\(\)\).| -|mutable\_row2\(\)| [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) \*|void|Returns a pointer to the mutable [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [RotationMatrixRow](msg_Base_RotationMatrixRow.md#)\). After calling this, has\_row2\(\) will return true and row2\(\) will return a reference to the same instance of [RotationMatrixRow](msg_Base_RotationMatrixRow.md#).| -|clear\_row2\(\)|void|void|Clears the value of the field. After calling this, has\_row2\(\) will return false and row2\(\) will return the default value.| -|set\_allocated\_row2\(\)|void| [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) \*|Sets the [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) object to the field and frees the previous field value if it exists. If the [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) pointer is not NULL, the message takes ownership of the allocated [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) object and has\_ [RotationMatrixRow](msg_Base_RotationMatrixRow.md#)\(\) will return true. Otherwise, if the row2 is NULL, the behavior is the same as calling clear\_row2\(\).| -|release\_row2\(\)| [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) \*|void|Releases the ownership of the field and returns the pointer of the [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) object. After calling this, caller takes the ownership of the allocated [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) object, has\_row2\(\) will return false, and row2\(\) will return the default value.| -|has\_row3\(\) const|bool|void|Returns true if row3 is set.| -|row3\(\)|const [RotationMatrixRow](msg_Base_RotationMatrixRow.md#)&|void|Returns the current value of row3. If row3 is not set, returns a [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) with none of its fields set \(possibly row3::default\_instance\(\)\).| -|mutable\_row3\(\)| [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) \*|void|Returns a pointer to the mutable [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [RotationMatrixRow](msg_Base_RotationMatrixRow.md#)\). After calling this, has\_row3\(\) will return true and row3\(\) will return a reference to the same instance of [RotationMatrixRow](msg_Base_RotationMatrixRow.md#).| -|clear\_row3\(\)|void|void|Clears the value of the field. After calling this, has\_row3\(\) will return false and row3\(\) will return the default value.| -|set\_allocated\_row3\(\)|void| [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) \*|Sets the [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) object to the field and frees the previous field value if it exists. If the [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) pointer is not NULL, the message takes ownership of the allocated [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) object and has\_ [RotationMatrixRow](msg_Base_RotationMatrixRow.md#)\(\) will return true. Otherwise, if the row3 is NULL, the behavior is the same as calling clear\_row3\(\).| -|release\_row3\(\)| [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) \*|void|Releases the ownership of the field and returns the pointer of the [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) object. After calling this, caller takes the ownership of the allocated [RotationMatrixRow](msg_Base_RotationMatrixRow.md#) object, has\_row3\(\) will return false, and row3\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_SafetyEvent.md b/api_cpp/doc/markdown/references/msg_Base_SafetyEvent.md deleted file mode 100644 index 6fa76879..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_SafetyEvent.md +++ /dev/null @@ -1,31 +0,0 @@ -# Message SafetyEvent - -This page describes the C++ Kinova::Api::Base::SafetyEvent message. - -## Overview / Purpose - -Identifies a Safety event \(future\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|safety\_handle| [SafetyHandle](msg_Common_SafetyHandle.md#)|Safety that caused the event to occur| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_safety\_handle\(\) const|bool|void|Returns true if safety\_handle is set.| -|safety\_handle\(\)|const [SafetyHandle](msg_Common_SafetyHandle.md#)&|void|Returns the current value of safety\_handle. If safety\_handle is not set, returns a [SafetyHandle](msg_Common_SafetyHandle.md#) with none of its fields set \(possibly safety\_handle::default\_instance\(\)\).| -|mutable\_safety\_handle\(\)| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|void|Returns a pointer to the mutable [SafetyHandle](msg_Common_SafetyHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SafetyHandle](msg_Common_SafetyHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyHandle](msg_Common_SafetyHandle.md#)\). After calling this, has\_safety\_handle\(\) will return true and safety\_handle\(\) will return a reference to the same instance of [SafetyHandle](msg_Common_SafetyHandle.md#).| -|clear\_safety\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_safety\_handle\(\) will return false and safety\_handle\(\) will return the default value.| -|set\_allocated\_safety\_handle\(\)|void| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|Sets the [SafetyHandle](msg_Common_SafetyHandle.md#) object to the field and frees the previous field value if it exists. If the [SafetyHandle](msg_Common_SafetyHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SafetyHandle](msg_Common_SafetyHandle.md#) object and has\_ [SafetyHandle](msg_Common_SafetyHandle.md#)\(\) will return true. Otherwise, if the safety\_handle is NULL, the behavior is the same as calling clear\_safety\_handle\(\).| -|release\_safety\_handle\(\)| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SafetyHandle](msg_Common_SafetyHandle.md#) object. After calling this, caller takes the ownership of the allocated [SafetyHandle](msg_Common_SafetyHandle.md#) object, has\_safety\_handle\(\) will return false, and safety\_handle\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_SafetyNotificationList.md b/api_cpp/doc/markdown/references/msg_Base_SafetyNotificationList.md deleted file mode 100644 index 4c479f3a..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_SafetyNotificationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message SafetyNotificationList - -This page describes the C++ Kinova::Api::Base::SafetyNotificationList message. - -## Overview / Purpose - -Array of safety notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [SafetyNotification](msg_Common_SafetyNotification.md#)|Notification| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|notifications\(\) const|const [SafetyNotification](msg_Common_SafetyNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|mutable\_notifications\(\)| [SafetyNotification](msg_Common_SafetyNotification.md#)\*|int index|Returns a pointer to the mutable [SafetyNotification](msg_Common_SafetyNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|add\_notifications\(\)| [SafetyNotification](msg_Common_SafetyNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [SafetyNotification](msg_Common_SafetyNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyNotification](msg_Common_SafetyNotification.md#)\).| -|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| -|notifications\(\) const|const RepeatedPtrField< [SafetyNotification](msg_Common_SafetyNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_notifications\(\)|RepeatedPtrField< [SafetyNotification](msg_Common_SafetyNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_SequenceInfoNotification.md b/api_cpp/doc/markdown/references/msg_Base_SequenceInfoNotification.md deleted file mode 100644 index a6ad4241..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_SequenceInfoNotification.md +++ /dev/null @@ -1,68 +0,0 @@ -# Message SequenceInfoNotification - -This page describes the C++ Kinova::Api::Base::SequenceInfoNotification message. - -## Overview / Purpose - -Message that contains a sequence information event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event\_identifier| [EventIdSequenceInfoNotification](enm_Base_EventIdSequenceInfoNotification.md#)|Sequence event type| -|sequence\_handle| [SequenceHandle](msg_Base_SequenceHandle.md#)|Handle of the sequence that this event refers to| -|task\_index|uint32|Task index| -|group\_identifier|uint32|Specifies the order in which this task must be executed| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the sequence event| -|abort\_details| [SubErrorCodes](enm_Api_SubErrorCodes.md#)|Details if event\_identifier is equal to ABORT| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the sequence event| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|event\_identifier\(\) const| [EventIdSequenceInfoNotification](enm_Base_EventIdSequenceInfoNotification.md#)|void|Returns the current value of event\_identifier. If the event\_identifier is not set, returns 0.| -|set\_event\_identifier\(\)|void| [EventIdSequenceInfoNotification](enm_Base_EventIdSequenceInfoNotification.md#)|Sets the value of event\_identifier. After calling this, event\_identifier\(\) will return value.| -|clear\_event\_identifier\(\)|void|void|Clears the value of event\_identifier. After calling this, event\_identifier\(\) will return the empty string/empty bytes.| -|has\_sequence\_handle\(\) const|bool|void|Returns true if sequence\_handle is set.| -|sequence\_handle\(\)|const [SequenceHandle](msg_Base_SequenceHandle.md#)&|void|Returns the current value of sequence\_handle. If sequence\_handle is not set, returns a [SequenceHandle](msg_Base_SequenceHandle.md#) with none of its fields set \(possibly sequence\_handle::default\_instance\(\)\).| -|mutable\_sequence\_handle\(\)| [SequenceHandle](msg_Base_SequenceHandle.md#) \*|void|Returns a pointer to the mutable [SequenceHandle](msg_Base_SequenceHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SequenceHandle](msg_Base_SequenceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SequenceHandle](msg_Base_SequenceHandle.md#)\). After calling this, has\_sequence\_handle\(\) will return true and sequence\_handle\(\) will return a reference to the same instance of [SequenceHandle](msg_Base_SequenceHandle.md#).| -|clear\_sequence\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_sequence\_handle\(\) will return false and sequence\_handle\(\) will return the default value.| -|set\_allocated\_sequence\_handle\(\)|void| [SequenceHandle](msg_Base_SequenceHandle.md#) \*|Sets the [SequenceHandle](msg_Base_SequenceHandle.md#) object to the field and frees the previous field value if it exists. If the [SequenceHandle](msg_Base_SequenceHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SequenceHandle](msg_Base_SequenceHandle.md#) object and has\_ [SequenceHandle](msg_Base_SequenceHandle.md#)\(\) will return true. Otherwise, if the sequence\_handle is NULL, the behavior is the same as calling clear\_sequence\_handle\(\).| -|release\_sequence\_handle\(\)| [SequenceHandle](msg_Base_SequenceHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SequenceHandle](msg_Base_SequenceHandle.md#) object. After calling this, caller takes the ownership of the allocated [SequenceHandle](msg_Base_SequenceHandle.md#) object, has\_sequence\_handle\(\) will return false, and sequence\_handle\(\) will return the default value.| -|task\_index\(\)|uint32|void|Returns the current value of task\_index. If the task\_index is not set, returns 0.| -|set\_task\_index\(\)|void|uint32|Sets the value of task\_index. After calling this, task\_index\(\) will return value.| -|clear\_task\_index\(\)|void|void|Clears the value of task\_index. After calling this, task\_index\(\) will return 0.| -|group\_identifier\(\)|uint32|void|Returns the current value of group\_identifier. If the group\_identifier is not set, returns 0.| -|set\_group\_identifier\(\)|void|uint32|Sets the value of group\_identifier. After calling this, group\_identifier\(\) will return value.| -|clear\_group\_identifier\(\)|void|void|Clears the value of group\_identifier. After calling this, group\_identifier\(\) will return 0.| -|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| -|timestamp\(\)|const [Timestamp](msg_Common_Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](msg_Common_Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| -|mutable\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](msg_Common_Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](msg_Common_Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](msg_Common_Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](msg_Common_Timestamp.md#).| -|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| -|set\_allocated\_timestamp\(\)|void| [Timestamp](msg_Common_Timestamp.md#) \*|Sets the [Timestamp](msg_Common_Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](msg_Common_Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object and has\_ [Timestamp](msg_Common_Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| -|release\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](msg_Common_Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| -|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| -|user\_handle\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| -|mutable\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| -|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| -|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| -|release\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| -|abort\_details\(\) const| [SubErrorCodes](enm_Api_SubErrorCodes.md#)|void|Returns the current value of abort\_details. If the abort\_details is not set, returns 0.| -|set\_abort\_details\(\)|void| [SubErrorCodes](enm_Api_SubErrorCodes.md#)|Sets the value of abort\_details. After calling this, abort\_details\(\) will return value.| -|clear\_abort\_details\(\)|void|void|Clears the value of abort\_details. After calling this, abort\_details\(\) will return the empty string/empty bytes.| -|has\_connection\(\) const|bool|void|Returns true if connection is set.| -|connection\(\)|const [Connection](msg_Common_Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](msg_Common_Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| -|mutable\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Returns a pointer to the mutable [Connection](msg_Common_Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](msg_Common_Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](msg_Common_Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](msg_Common_Connection.md#).| -|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| -|set\_allocated\_connection\(\)|void| [Connection](msg_Common_Connection.md#) \*|Sets the [Connection](msg_Common_Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](msg_Common_Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](msg_Common_Connection.md#) object and has\_ [Connection](msg_Common_Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| -|release\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](msg_Common_Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](msg_Common_Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_SequenceInfoNotificationList.md b/api_cpp/doc/markdown/references/msg_Base_SequenceInfoNotificationList.md deleted file mode 100644 index 81311c33..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_SequenceInfoNotificationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message SequenceInfoNotificationList - -This page describes the C++ Kinova::Api::Base::SequenceInfoNotificationList message. - -## Overview / Purpose - -Array of sequence information notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [SequenceInfoNotification](msg_Base_SequenceInfoNotification.md#)|Notification| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|notifications\(\) const|const [SequenceInfoNotification](msg_Base_SequenceInfoNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|mutable\_notifications\(\)| [SequenceInfoNotification](msg_Base_SequenceInfoNotification.md#)\*|int index|Returns a pointer to the mutable [SequenceInfoNotification](msg_Base_SequenceInfoNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|add\_notifications\(\)| [SequenceInfoNotification](msg_Base_SequenceInfoNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [SequenceInfoNotification](msg_Base_SequenceInfoNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [SequenceInfoNotification](msg_Base_SequenceInfoNotification.md#)\).| -|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| -|notifications\(\) const|const RepeatedPtrField< [SequenceInfoNotification](msg_Base_SequenceInfoNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_notifications\(\)|RepeatedPtrField< [SequenceInfoNotification](msg_Base_SequenceInfoNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_SequenceList.md b/api_cpp/doc/markdown/references/msg_Base_SequenceList.md deleted file mode 100644 index a49b8e3a..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_SequenceList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message SequenceList - -This page describes the C++ Kinova::Api::Base::SequenceList message. - -## Overview / Purpose - -Array of sequences - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sequence\_list|Collection of [Sequence](msg_Base_Sequence.md#)|Sequence| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|sequence\_list\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|sequence\_list\(\) const|const [Sequence](msg_Base_Sequence.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, sequence\_list\_size\(\)\) yields undefined behavior.| -|mutable\_sequence\_list\(\)| [Sequence](msg_Base_Sequence.md#)\*|int index|Returns a pointer to the mutable [Sequence](msg_Base_Sequence.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, sequence\_list\_size\(\)\) yields undefined behavior.| -|add\_sequence\_list\(\)| [Sequence](msg_Base_Sequence.md#)\*|void|Adds a new element and returns a pointer to it. The returned [Sequence](msg_Base_Sequence.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [Sequence](msg_Base_Sequence.md#)\).| -|clear\_sequence\_list\(\)|void|void|Removes all elements from the field. After calling this, sequence\_list\_size\(\) will return zero.| -|sequence\_list\(\) const|const RepeatedPtrField< [Sequence](msg_Base_Sequence.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_sequence\_list\(\)|RepeatedPtrField< [Sequence](msg_Base_Sequence.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_SequenceTaskHandle.md b/api_cpp/doc/markdown/references/msg_Base_SequenceTaskHandle.md deleted file mode 100644 index 69e4ae3e..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_SequenceTaskHandle.md +++ /dev/null @@ -1,35 +0,0 @@ -# Message SequenceTaskHandle - -This page describes the C++ Kinova::Api::Base::SequenceTaskHandle message. - -## Overview / Purpose - -Identifies a task inside a sequence - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sequence\_handle| [SequenceHandle](msg_Base_SequenceHandle.md#)|Sequence handle| -|task\_index|uint32|Task index inside the sequence| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_sequence\_handle\(\) const|bool|void|Returns true if sequence\_handle is set.| -|sequence\_handle\(\)|const [SequenceHandle](msg_Base_SequenceHandle.md#)&|void|Returns the current value of sequence\_handle. If sequence\_handle is not set, returns a [SequenceHandle](msg_Base_SequenceHandle.md#) with none of its fields set \(possibly sequence\_handle::default\_instance\(\)\).| -|mutable\_sequence\_handle\(\)| [SequenceHandle](msg_Base_SequenceHandle.md#) \*|void|Returns a pointer to the mutable [SequenceHandle](msg_Base_SequenceHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SequenceHandle](msg_Base_SequenceHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SequenceHandle](msg_Base_SequenceHandle.md#)\). After calling this, has\_sequence\_handle\(\) will return true and sequence\_handle\(\) will return a reference to the same instance of [SequenceHandle](msg_Base_SequenceHandle.md#).| -|clear\_sequence\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_sequence\_handle\(\) will return false and sequence\_handle\(\) will return the default value.| -|set\_allocated\_sequence\_handle\(\)|void| [SequenceHandle](msg_Base_SequenceHandle.md#) \*|Sets the [SequenceHandle](msg_Base_SequenceHandle.md#) object to the field and frees the previous field value if it exists. If the [SequenceHandle](msg_Base_SequenceHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SequenceHandle](msg_Base_SequenceHandle.md#) object and has\_ [SequenceHandle](msg_Base_SequenceHandle.md#)\(\) will return true. Otherwise, if the sequence\_handle is NULL, the behavior is the same as calling clear\_sequence\_handle\(\).| -|release\_sequence\_handle\(\)| [SequenceHandle](msg_Base_SequenceHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SequenceHandle](msg_Base_SequenceHandle.md#) object. After calling this, caller takes the ownership of the allocated [SequenceHandle](msg_Base_SequenceHandle.md#) object, has\_sequence\_handle\(\) will return false, and sequence\_handle\(\) will return the default value.| -|task\_index\(\)|uint32|void|Returns the current value of task\_index. If the task\_index is not set, returns 0.| -|set\_task\_index\(\)|void|uint32|Sets the value of task\_index. After calling this, task\_index\(\) will return value.| -|clear\_task\_index\(\)|void|void|Clears the value of task\_index. After calling this, task\_index\(\) will return 0.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ServoingModeInformation.md b/api_cpp/doc/markdown/references/msg_Base_ServoingModeInformation.md deleted file mode 100644 index 3cc75a99..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ServoingModeInformation.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message ServoingModeInformation - -This page describes the C++ Kinova::Api::Base::ServoingModeInformation message. - -## Overview / Purpose - -Provides information about the servoing mode - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|servoing\_mode| [ServoingMode](enm_Base_ServoingMode.md#)|Servoing mode| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|servoing\_mode\(\) const| [ServoingMode](enm_Base_ServoingMode.md#)|void|Returns the current value of servoing\_mode. If the servoing\_mode is not set, returns 0.| -|set\_servoing\_mode\(\)|void| [ServoingMode](enm_Base_ServoingMode.md#)|Sets the value of servoing\_mode. After calling this, servoing\_mode\(\) will return value.| -|clear\_servoing\_mode\(\)|void|void|Clears the value of servoing\_mode. After calling this, servoing\_mode\(\) will return the empty string/empty bytes.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ServoingModeNotification.md b/api_cpp/doc/markdown/references/msg_Base_ServoingModeNotification.md deleted file mode 100644 index ca12cdda..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ServoingModeNotification.md +++ /dev/null @@ -1,49 +0,0 @@ -# Message ServoingModeNotification - -This page describes the C++ Kinova::Api::Base::ServoingModeNotification message. - -## Overview / Purpose - -Message that contains a servoing mode event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|servoing\_mode| [ServoingMode](enm_Base_ServoingMode.md#)|New servoing mode| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the servoing mode event| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the servoing mode event| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|servoing\_mode\(\) const| [ServoingMode](enm_Base_ServoingMode.md#)|void|Returns the current value of servoing\_mode. If the servoing\_mode is not set, returns 0.| -|set\_servoing\_mode\(\)|void| [ServoingMode](enm_Base_ServoingMode.md#)|Sets the value of servoing\_mode. After calling this, servoing\_mode\(\) will return value.| -|clear\_servoing\_mode\(\)|void|void|Clears the value of servoing\_mode. After calling this, servoing\_mode\(\) will return the empty string/empty bytes.| -|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| -|timestamp\(\)|const [Timestamp](msg_Common_Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](msg_Common_Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| -|mutable\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](msg_Common_Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](msg_Common_Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](msg_Common_Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](msg_Common_Timestamp.md#).| -|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| -|set\_allocated\_timestamp\(\)|void| [Timestamp](msg_Common_Timestamp.md#) \*|Sets the [Timestamp](msg_Common_Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](msg_Common_Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object and has\_ [Timestamp](msg_Common_Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| -|release\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](msg_Common_Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| -|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| -|user\_handle\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| -|mutable\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| -|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| -|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| -|release\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| -|has\_connection\(\) const|bool|void|Returns true if connection is set.| -|connection\(\)|const [Connection](msg_Common_Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](msg_Common_Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| -|mutable\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Returns a pointer to the mutable [Connection](msg_Common_Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](msg_Common_Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](msg_Common_Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](msg_Common_Connection.md#).| -|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| -|set\_allocated\_connection\(\)|void| [Connection](msg_Common_Connection.md#) \*|Sets the [Connection](msg_Common_Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](msg_Common_Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](msg_Common_Connection.md#) object and has\_ [Connection](msg_Common_Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| -|release\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](msg_Common_Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](msg_Common_Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ServoingModeNotificationList.md b/api_cpp/doc/markdown/references/msg_Base_ServoingModeNotificationList.md deleted file mode 100644 index 5ff4b61f..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ServoingModeNotificationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message ServoingModeNotificationList - -This page describes the C++ Kinova::Api::Base::ServoingModeNotificationList message. - -## Overview / Purpose - -Array of servoing mode notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [ServoingModeNotification](msg_Base_ServoingModeNotification.md#)|Notification| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|notifications\(\) const|const [ServoingModeNotification](msg_Base_ServoingModeNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|mutable\_notifications\(\)| [ServoingModeNotification](msg_Base_ServoingModeNotification.md#)\*|int index|Returns a pointer to the mutable [ServoingModeNotification](msg_Base_ServoingModeNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|add\_notifications\(\)| [ServoingModeNotification](msg_Base_ServoingModeNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [ServoingModeNotification](msg_Base_ServoingModeNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [ServoingModeNotification](msg_Base_ServoingModeNotification.md#)\).| -|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| -|notifications\(\) const|const RepeatedPtrField< [ServoingModeNotification](msg_Base_ServoingModeNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_notifications\(\)|RepeatedPtrField< [ServoingModeNotification](msg_Base_ServoingModeNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_Stop.md b/api_cpp/doc/markdown/references/msg_Base_Stop.md deleted file mode 100644 index fb786536..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_Stop.md +++ /dev/null @@ -1,10 +0,0 @@ -# Message Stop - -This page describes the C++ Kinova::Api::Base::Stop message. - -## Overview / Purpose - -Defines an action to stop robot movement - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_SwitchControlMapping.md b/api_cpp/doc/markdown/references/msg_Base_SwitchControlMapping.md deleted file mode 100644 index 07ef9796..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_SwitchControlMapping.md +++ /dev/null @@ -1,42 +0,0 @@ -# Message SwitchControlMapping - -This page describes the C++ Kinova::Api::Base::SwitchControlMapping message. - -## Overview / Purpose - -Defines an action to switch the active controller map - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|controller\_identifier|uint32|Identifier of the controller for which changing the active map is requested| -|map\_group\_handle| [MapGroupHandle](msg_Base_MapGroupHandle.md#)|Identifier of the map group for which the active map needs to change| -|map\_handle| [MapHandle](msg_Base_MapHandle.md#)|New active map| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|controller\_identifier\(\)|uint32|void|Returns the current value of controller\_identifier. If the controller\_identifier is not set, returns 0.| -|set\_controller\_identifier\(\)|void|uint32|Sets the value of controller\_identifier. After calling this, controller\_identifier\(\) will return value.| -|clear\_controller\_identifier\(\)|void|void|Clears the value of controller\_identifier. After calling this, controller\_identifier\(\) will return 0.| -|has\_map\_group\_handle\(\) const|bool|void|Returns true if map\_group\_handle is set.| -|map\_group\_handle\(\)|const [MapGroupHandle](msg_Base_MapGroupHandle.md#)&|void|Returns the current value of map\_group\_handle. If map\_group\_handle is not set, returns a [MapGroupHandle](msg_Base_MapGroupHandle.md#) with none of its fields set \(possibly map\_group\_handle::default\_instance\(\)\).| -|mutable\_map\_group\_handle\(\)| [MapGroupHandle](msg_Base_MapGroupHandle.md#) \*|void|Returns a pointer to the mutable [MapGroupHandle](msg_Base_MapGroupHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapGroupHandle](msg_Base_MapGroupHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#)\). After calling this, has\_map\_group\_handle\(\) will return true and map\_group\_handle\(\) will return a reference to the same instance of [MapGroupHandle](msg_Base_MapGroupHandle.md#).| -|clear\_map\_group\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_map\_group\_handle\(\) will return false and map\_group\_handle\(\) will return the default value.| -|set\_allocated\_map\_group\_handle\(\)|void| [MapGroupHandle](msg_Base_MapGroupHandle.md#) \*|Sets the [MapGroupHandle](msg_Base_MapGroupHandle.md#) object to the field and frees the previous field value if it exists. If the [MapGroupHandle](msg_Base_MapGroupHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#) object and has\_ [MapGroupHandle](msg_Base_MapGroupHandle.md#)\(\) will return true. Otherwise, if the map\_group\_handle is NULL, the behavior is the same as calling clear\_map\_group\_handle\(\).| -|release\_map\_group\_handle\(\)| [MapGroupHandle](msg_Base_MapGroupHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapGroupHandle](msg_Base_MapGroupHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapGroupHandle](msg_Base_MapGroupHandle.md#) object, has\_map\_group\_handle\(\) will return false, and map\_group\_handle\(\) will return the default value.| -|has\_map\_handle\(\) const|bool|void|Returns true if map\_handle is set.| -|map\_handle\(\)|const [MapHandle](msg_Base_MapHandle.md#)&|void|Returns the current value of map\_handle. If map\_handle is not set, returns a [MapHandle](msg_Base_MapHandle.md#) with none of its fields set \(possibly map\_handle::default\_instance\(\)\).| -|mutable\_map\_handle\(\)| [MapHandle](msg_Base_MapHandle.md#) \*|void|Returns a pointer to the mutable [MapHandle](msg_Base_MapHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MapHandle](msg_Base_MapHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MapHandle](msg_Base_MapHandle.md#)\). After calling this, has\_map\_handle\(\) will return true and map\_handle\(\) will return a reference to the same instance of [MapHandle](msg_Base_MapHandle.md#).| -|clear\_map\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_map\_handle\(\) will return false and map\_handle\(\) will return the default value.| -|set\_allocated\_map\_handle\(\)|void| [MapHandle](msg_Base_MapHandle.md#) \*|Sets the [MapHandle](msg_Base_MapHandle.md#) object to the field and frees the previous field value if it exists. If the [MapHandle](msg_Base_MapHandle.md#) pointer is not NULL, the message takes ownership of the allocated [MapHandle](msg_Base_MapHandle.md#) object and has\_ [MapHandle](msg_Base_MapHandle.md#)\(\) will return true. Otherwise, if the map\_handle is NULL, the behavior is the same as calling clear\_map\_handle\(\).| -|release\_map\_handle\(\)| [MapHandle](msg_Base_MapHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MapHandle](msg_Base_MapHandle.md#) object. After calling this, caller takes the ownership of the allocated [MapHandle](msg_Base_MapHandle.md#) object, has\_map\_handle\(\) will return false, and map\_handle\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_Timeout.md b/api_cpp/doc/markdown/references/msg_Base_Timeout.md deleted file mode 100644 index 0c4eb2b3..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_Timeout.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message Timeout - -This page describes the C++ Kinova::Api::Base::Timeout message. - -## Overview / Purpose - -Defines a specific timeout - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|value|uint32|Timeout value \(future\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|value\(\)|uint32|void|Returns the current value of value. If the value is not set, returns 0.| -|set\_value\(\)|void|uint32|Sets the value of value. After calling this, value\(\) will return value.| -|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return 0.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_TransformationMatrix.md b/api_cpp/doc/markdown/references/msg_Base_TransformationMatrix.md deleted file mode 100644 index 58fb34ba..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_TransformationMatrix.md +++ /dev/null @@ -1,52 +0,0 @@ -# Message TransformationMatrix - -This page describes the C++ Kinova::Api::Base::TransformationMatrix message. - -## Overview / Purpose - -Defines a transformation matrix - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|r0| [TransformationRow](msg_Base_TransformationRow.md#)|First transformation row| -|r1| [TransformationRow](msg_Base_TransformationRow.md#)|Second transformation row| -|r2| [TransformationRow](msg_Base_TransformationRow.md#)|Third transformation row| -|r3| [TransformationRow](msg_Base_TransformationRow.md#)|Fourth transformation row| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_r0\(\) const|bool|void|Returns true if r0 is set.| -|r0\(\)|const [TransformationRow](msg_Base_TransformationRow.md#)&|void|Returns the current value of r0. If r0 is not set, returns a [TransformationRow](msg_Base_TransformationRow.md#) with none of its fields set \(possibly r0::default\_instance\(\)\).| -|mutable\_r0\(\)| [TransformationRow](msg_Base_TransformationRow.md#) \*|void|Returns a pointer to the mutable [TransformationRow](msg_Base_TransformationRow.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [TransformationRow](msg_Base_TransformationRow.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [TransformationRow](msg_Base_TransformationRow.md#)\). After calling this, has\_r0\(\) will return true and r0\(\) will return a reference to the same instance of [TransformationRow](msg_Base_TransformationRow.md#).| -|clear\_r0\(\)|void|void|Clears the value of the field. After calling this, has\_r0\(\) will return false and r0\(\) will return the default value.| -|set\_allocated\_r0\(\)|void| [TransformationRow](msg_Base_TransformationRow.md#) \*|Sets the [TransformationRow](msg_Base_TransformationRow.md#) object to the field and frees the previous field value if it exists. If the [TransformationRow](msg_Base_TransformationRow.md#) pointer is not NULL, the message takes ownership of the allocated [TransformationRow](msg_Base_TransformationRow.md#) object and has\_ [TransformationRow](msg_Base_TransformationRow.md#)\(\) will return true. Otherwise, if the r0 is NULL, the behavior is the same as calling clear\_r0\(\).| -|release\_r0\(\)| [TransformationRow](msg_Base_TransformationRow.md#) \*|void|Releases the ownership of the field and returns the pointer of the [TransformationRow](msg_Base_TransformationRow.md#) object. After calling this, caller takes the ownership of the allocated [TransformationRow](msg_Base_TransformationRow.md#) object, has\_r0\(\) will return false, and r0\(\) will return the default value.| -|has\_r1\(\) const|bool|void|Returns true if r1 is set.| -|r1\(\)|const [TransformationRow](msg_Base_TransformationRow.md#)&|void|Returns the current value of r1. If r1 is not set, returns a [TransformationRow](msg_Base_TransformationRow.md#) with none of its fields set \(possibly r1::default\_instance\(\)\).| -|mutable\_r1\(\)| [TransformationRow](msg_Base_TransformationRow.md#) \*|void|Returns a pointer to the mutable [TransformationRow](msg_Base_TransformationRow.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [TransformationRow](msg_Base_TransformationRow.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [TransformationRow](msg_Base_TransformationRow.md#)\). After calling this, has\_r1\(\) will return true and r1\(\) will return a reference to the same instance of [TransformationRow](msg_Base_TransformationRow.md#).| -|clear\_r1\(\)|void|void|Clears the value of the field. After calling this, has\_r1\(\) will return false and r1\(\) will return the default value.| -|set\_allocated\_r1\(\)|void| [TransformationRow](msg_Base_TransformationRow.md#) \*|Sets the [TransformationRow](msg_Base_TransformationRow.md#) object to the field and frees the previous field value if it exists. If the [TransformationRow](msg_Base_TransformationRow.md#) pointer is not NULL, the message takes ownership of the allocated [TransformationRow](msg_Base_TransformationRow.md#) object and has\_ [TransformationRow](msg_Base_TransformationRow.md#)\(\) will return true. Otherwise, if the r1 is NULL, the behavior is the same as calling clear\_r1\(\).| -|release\_r1\(\)| [TransformationRow](msg_Base_TransformationRow.md#) \*|void|Releases the ownership of the field and returns the pointer of the [TransformationRow](msg_Base_TransformationRow.md#) object. After calling this, caller takes the ownership of the allocated [TransformationRow](msg_Base_TransformationRow.md#) object, has\_r1\(\) will return false, and r1\(\) will return the default value.| -|has\_r2\(\) const|bool|void|Returns true if r2 is set.| -|r2\(\)|const [TransformationRow](msg_Base_TransformationRow.md#)&|void|Returns the current value of r2. If r2 is not set, returns a [TransformationRow](msg_Base_TransformationRow.md#) with none of its fields set \(possibly r2::default\_instance\(\)\).| -|mutable\_r2\(\)| [TransformationRow](msg_Base_TransformationRow.md#) \*|void|Returns a pointer to the mutable [TransformationRow](msg_Base_TransformationRow.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [TransformationRow](msg_Base_TransformationRow.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [TransformationRow](msg_Base_TransformationRow.md#)\). After calling this, has\_r2\(\) will return true and r2\(\) will return a reference to the same instance of [TransformationRow](msg_Base_TransformationRow.md#).| -|clear\_r2\(\)|void|void|Clears the value of the field. After calling this, has\_r2\(\) will return false and r2\(\) will return the default value.| -|set\_allocated\_r2\(\)|void| [TransformationRow](msg_Base_TransformationRow.md#) \*|Sets the [TransformationRow](msg_Base_TransformationRow.md#) object to the field and frees the previous field value if it exists. If the [TransformationRow](msg_Base_TransformationRow.md#) pointer is not NULL, the message takes ownership of the allocated [TransformationRow](msg_Base_TransformationRow.md#) object and has\_ [TransformationRow](msg_Base_TransformationRow.md#)\(\) will return true. Otherwise, if the r2 is NULL, the behavior is the same as calling clear\_r2\(\).| -|release\_r2\(\)| [TransformationRow](msg_Base_TransformationRow.md#) \*|void|Releases the ownership of the field and returns the pointer of the [TransformationRow](msg_Base_TransformationRow.md#) object. After calling this, caller takes the ownership of the allocated [TransformationRow](msg_Base_TransformationRow.md#) object, has\_r2\(\) will return false, and r2\(\) will return the default value.| -|has\_r3\(\) const|bool|void|Returns true if r3 is set.| -|r3\(\)|const [TransformationRow](msg_Base_TransformationRow.md#)&|void|Returns the current value of r3. If r3 is not set, returns a [TransformationRow](msg_Base_TransformationRow.md#) with none of its fields set \(possibly r3::default\_instance\(\)\).| -|mutable\_r3\(\)| [TransformationRow](msg_Base_TransformationRow.md#) \*|void|Returns a pointer to the mutable [TransformationRow](msg_Base_TransformationRow.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [TransformationRow](msg_Base_TransformationRow.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [TransformationRow](msg_Base_TransformationRow.md#)\). After calling this, has\_r3\(\) will return true and r3\(\) will return a reference to the same instance of [TransformationRow](msg_Base_TransformationRow.md#).| -|clear\_r3\(\)|void|void|Clears the value of the field. After calling this, has\_r3\(\) will return false and r3\(\) will return the default value.| -|set\_allocated\_r3\(\)|void| [TransformationRow](msg_Base_TransformationRow.md#) \*|Sets the [TransformationRow](msg_Base_TransformationRow.md#) object to the field and frees the previous field value if it exists. If the [TransformationRow](msg_Base_TransformationRow.md#) pointer is not NULL, the message takes ownership of the allocated [TransformationRow](msg_Base_TransformationRow.md#) object and has\_ [TransformationRow](msg_Base_TransformationRow.md#)\(\) will return true. Otherwise, if the r3 is NULL, the behavior is the same as calling clear\_r3\(\).| -|release\_r3\(\)| [TransformationRow](msg_Base_TransformationRow.md#) \*|void|Releases the ownership of the field and returns the pointer of the [TransformationRow](msg_Base_TransformationRow.md#) object. After calling this, caller takes the ownership of the allocated [TransformationRow](msg_Base_TransformationRow.md#) object, has\_r3\(\) will return false, and r3\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_TwistCommand.md b/api_cpp/doc/markdown/references/msg_Base_TwistCommand.md deleted file mode 100644 index 9107a544..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_TwistCommand.md +++ /dev/null @@ -1,39 +0,0 @@ -# Message TwistCommand - -This page describes the C++ Kinova::Api::Base::TwistCommand message. - -## Overview / Purpose - -Defines a twist \(velocity\) command - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|mode| [TwistMode](enm_Base_TwistMode.md#)|Mode in which the command is executed| -|twist| [Twist](msg_Base_Twist.md#)|Twist value| -|duration|uint32|Duration constrant. If not 0, allows to set a limit \(in seconds\) to the TwistCommand \(future\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|mode\(\) const| [TwistMode](enm_Base_TwistMode.md#)|void|Returns the current value of mode. If the mode is not set, returns 0.| -|set\_mode\(\)|void| [TwistMode](enm_Base_TwistMode.md#)|Sets the value of mode. After calling this, mode\(\) will return value.| -|clear\_mode\(\)|void|void|Clears the value of mode. After calling this, mode\(\) will return the empty string/empty bytes.| -|has\_twist\(\) const|bool|void|Returns true if twist is set.| -|twist\(\)|const [Twist](msg_Base_Twist.md#)&|void|Returns the current value of twist. If twist is not set, returns a [Twist](msg_Base_Twist.md#) with none of its fields set \(possibly twist::default\_instance\(\)\).| -|mutable\_twist\(\)| [Twist](msg_Base_Twist.md#) \*|void|Returns a pointer to the mutable [Twist](msg_Base_Twist.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Twist](msg_Base_Twist.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Twist](msg_Base_Twist.md#)\). After calling this, has\_twist\(\) will return true and twist\(\) will return a reference to the same instance of [Twist](msg_Base_Twist.md#).| -|clear\_twist\(\)|void|void|Clears the value of the field. After calling this, has\_twist\(\) will return false and twist\(\) will return the default value.| -|set\_allocated\_twist\(\)|void| [Twist](msg_Base_Twist.md#) \*|Sets the [Twist](msg_Base_Twist.md#) object to the field and frees the previous field value if it exists. If the [Twist](msg_Base_Twist.md#) pointer is not NULL, the message takes ownership of the allocated [Twist](msg_Base_Twist.md#) object and has\_ [Twist](msg_Base_Twist.md#)\(\) will return true. Otherwise, if the twist is NULL, the behavior is the same as calling clear\_twist\(\).| -|release\_twist\(\)| [Twist](msg_Base_Twist.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Twist](msg_Base_Twist.md#) object. After calling this, caller takes the ownership of the allocated [Twist](msg_Base_Twist.md#) object, has\_twist\(\) will return false, and twist\(\) will return the default value.| -|duration\(\)|uint32|void|Returns the current value of duration. If the duration is not set, returns 0.| -|set\_duration\(\)|void|uint32|Sets the value of duration. After calling this, duration\(\) will return value.| -|clear\_duration\(\)|void|void|Clears the value of duration. After calling this, duration\(\) will return 0.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_UserList.md b/api_cpp/doc/markdown/references/msg_Base_UserList.md deleted file mode 100644 index f8665d12..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_UserList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message UserList - -This page describes the C++ Kinova::Api::Base::UserList message. - -## Overview / Purpose - -Array of user handles - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|user\_handles|Collection of [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User handle| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|user\_handles\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|user\_handles\(\) const|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, user\_handles\_size\(\)\) yields undefined behavior.| -|mutable\_user\_handles\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#)\*|int index|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, user\_handles\_size\(\)\) yields undefined behavior.| -|add\_user\_handles\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#)\*|void|Adds a new element and returns a pointer to it. The returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\).| -|clear\_user\_handles\(\)|void|void|Removes all elements from the field. After calling this, user\_handles\_size\(\) will return zero.| -|user\_handles\(\) const|const RepeatedPtrField< [UserProfileHandle](msg_Common_UserProfileHandle.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_user\_handles\(\)|RepeatedPtrField< [UserProfileHandle](msg_Common_UserProfileHandle.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_UserNotification.md b/api_cpp/doc/markdown/references/msg_Base_UserNotification.md deleted file mode 100644 index 1acba4fe..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_UserNotification.md +++ /dev/null @@ -1,56 +0,0 @@ -# Message UserNotification - -This page describes the C++ Kinova::Api::Base::UserNotification message. - -## Overview / Purpose - -Message that contains a user event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|user\_event| [UserEvent](enm_Base_UserEvent.md#)|User event type| -|modified\_user| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User profile that was modified| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the user profile event \(i.e. user who changed the user profile\)| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the user profile event \(i.e. user who changed the user profile\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|user\_event\(\) const| [UserEvent](enm_Base_UserEvent.md#)|void|Returns the current value of user\_event. If the user\_event is not set, returns 0.| -|set\_user\_event\(\)|void| [UserEvent](enm_Base_UserEvent.md#)|Sets the value of user\_event. After calling this, user\_event\(\) will return value.| -|clear\_user\_event\(\)|void|void|Clears the value of user\_event. After calling this, user\_event\(\) will return the empty string/empty bytes.| -|has\_modified\_user\(\) const|bool|void|Returns true if modified\_user is set.| -|modified\_user\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of modified\_user. If modified\_user is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly modified\_user::default\_instance\(\)\).| -|mutable\_modified\_user\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_modified\_user\(\) will return true and modified\_user\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| -|clear\_modified\_user\(\)|void|void|Clears the value of the field. After calling this, has\_modified\_user\(\) will return false and modified\_user\(\) will return the default value.| -|set\_allocated\_modified\_user\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the modified\_user is NULL, the behavior is the same as calling clear\_modified\_user\(\).| -|release\_modified\_user\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_modified\_user\(\) will return false, and modified\_user\(\) will return the default value.| -|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| -|timestamp\(\)|const [Timestamp](msg_Common_Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](msg_Common_Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| -|mutable\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](msg_Common_Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](msg_Common_Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](msg_Common_Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](msg_Common_Timestamp.md#).| -|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| -|set\_allocated\_timestamp\(\)|void| [Timestamp](msg_Common_Timestamp.md#) \*|Sets the [Timestamp](msg_Common_Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](msg_Common_Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object and has\_ [Timestamp](msg_Common_Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| -|release\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](msg_Common_Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| -|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| -|user\_handle\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| -|mutable\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| -|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| -|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| -|release\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| -|has\_connection\(\) const|bool|void|Returns true if connection is set.| -|connection\(\)|const [Connection](msg_Common_Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](msg_Common_Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| -|mutable\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Returns a pointer to the mutable [Connection](msg_Common_Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](msg_Common_Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](msg_Common_Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](msg_Common_Connection.md#).| -|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| -|set\_allocated\_connection\(\)|void| [Connection](msg_Common_Connection.md#) \*|Sets the [Connection](msg_Common_Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](msg_Common_Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](msg_Common_Connection.md#) object and has\_ [Connection](msg_Common_Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| -|release\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](msg_Common_Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](msg_Common_Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_UserNotificationList.md b/api_cpp/doc/markdown/references/msg_Base_UserNotificationList.md deleted file mode 100644 index d48ba7e4..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_UserNotificationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message UserNotificationList - -This page describes the C++ Kinova::Api::Base::UserNotificationList message. - -## Overview / Purpose - -Array of user notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [UserNotification](msg_Base_UserNotification.md#)|Notification| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|notifications\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|notifications\(\) const|const [UserNotification](msg_Base_UserNotification.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|mutable\_notifications\(\)| [UserNotification](msg_Base_UserNotification.md#)\*|int index|Returns a pointer to the mutable [UserNotification](msg_Base_UserNotification.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, notifications\_size\(\)\) yields undefined behavior.| -|add\_notifications\(\)| [UserNotification](msg_Base_UserNotification.md#)\*|void|Adds a new element and returns a pointer to it. The returned [UserNotification](msg_Base_UserNotification.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserNotification](msg_Base_UserNotification.md#)\).| -|clear\_notifications\(\)|void|void|Removes all elements from the field. After calling this, notifications\_size\(\) will return zero.| -|notifications\(\) const|const RepeatedPtrField< [UserNotification](msg_Base_UserNotification.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_notifications\(\)|RepeatedPtrField< [UserNotification](msg_Base_UserNotification.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_UserProfileList.md b/api_cpp/doc/markdown/references/msg_Base_UserProfileList.md deleted file mode 100644 index 617e1979..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_UserProfileList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message UserProfileList - -This page describes the C++ Kinova::Api::Base::UserProfileList message. - -## Overview / Purpose - -Array of user profiles - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|user\_profiles|Collection of [UserProfile](msg_Base_UserProfile.md#)|User profile| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|user\_profiles\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|user\_profiles\(\) const|const [UserProfile](msg_Base_UserProfile.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, user\_profiles\_size\(\)\) yields undefined behavior.| -|mutable\_user\_profiles\(\)| [UserProfile](msg_Base_UserProfile.md#)\*|int index|Returns a pointer to the mutable [UserProfile](msg_Base_UserProfile.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, user\_profiles\_size\(\)\) yields undefined behavior.| -|add\_user\_profiles\(\)| [UserProfile](msg_Base_UserProfile.md#)\*|void|Adds a new element and returns a pointer to it. The returned [UserProfile](msg_Base_UserProfile.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfile](msg_Base_UserProfile.md#)\).| -|clear\_user\_profiles\(\)|void|void|Removes all elements from the field. After calling this, user\_profiles\_size\(\) will return zero.| -|user\_profiles\(\) const|const RepeatedPtrField< [UserProfile](msg_Base_UserProfile.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_user\_profiles\(\)|RepeatedPtrField< [UserProfile](msg_Base_UserProfile.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_WifiConfigurationList.md b/api_cpp/doc/markdown/references/msg_Base_WifiConfigurationList.md deleted file mode 100644 index 062c6d15..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_WifiConfigurationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message WifiConfigurationList - -This page describes the C++ Kinova::Api::Base::WifiConfigurationList message. - -## Overview / Purpose - -Array of Wi-Fi configuration - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|wifi\_configuration\_list|Collection of [WifiConfiguration](msg_Base_WifiConfiguration.md#)|Wi-Fi configurations| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|wifi\_configuration\_list\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|wifi\_configuration\_list\(\) const|const [WifiConfiguration](msg_Base_WifiConfiguration.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, wifi\_configuration\_list\_size\(\)\) yields undefined behavior.| -|mutable\_wifi\_configuration\_list\(\)| [WifiConfiguration](msg_Base_WifiConfiguration.md#)\*|int index|Returns a pointer to the mutable [WifiConfiguration](msg_Base_WifiConfiguration.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, wifi\_configuration\_list\_size\(\)\) yields undefined behavior.| -|add\_wifi\_configuration\_list\(\)| [WifiConfiguration](msg_Base_WifiConfiguration.md#)\*|void|Adds a new element and returns a pointer to it. The returned [WifiConfiguration](msg_Base_WifiConfiguration.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [WifiConfiguration](msg_Base_WifiConfiguration.md#)\).| -|clear\_wifi\_configuration\_list\(\)|void|void|Removes all elements from the field. After calling this, wifi\_configuration\_list\_size\(\) will return zero.| -|wifi\_configuration\_list\(\) const|const RepeatedPtrField< [WifiConfiguration](msg_Base_WifiConfiguration.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_wifi\_configuration\_list\(\)|RepeatedPtrField< [WifiConfiguration](msg_Base_WifiConfiguration.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_WifiInformationList.md b/api_cpp/doc/markdown/references/msg_Base_WifiInformationList.md deleted file mode 100644 index d11aec98..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_WifiInformationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message WifiInformationList - -This page describes the C++ Kinova::Api::Base::WifiInformationList message. - -## Overview / Purpose - -Array of Wi-Fi information - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|wifi\_information\_list|Collection of [WifiInformation](msg_Base_WifiInformation.md#)|Wi-Fi information| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|wifi\_information\_list\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|wifi\_information\_list\(\) const|const [WifiInformation](msg_Base_WifiInformation.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, wifi\_information\_list\_size\(\)\) yields undefined behavior.| -|mutable\_wifi\_information\_list\(\)| [WifiInformation](msg_Base_WifiInformation.md#)\*|int index|Returns a pointer to the mutable [WifiInformation](msg_Base_WifiInformation.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, wifi\_information\_list\_size\(\)\) yields undefined behavior.| -|add\_wifi\_information\_list\(\)| [WifiInformation](msg_Base_WifiInformation.md#)\*|void|Adds a new element and returns a pointer to it. The returned [WifiInformation](msg_Base_WifiInformation.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [WifiInformation](msg_Base_WifiInformation.md#)\).| -|clear\_wifi\_information\_list\(\)|void|void|Removes all elements from the field. After calling this, wifi\_information\_list\_size\(\) will return zero.| -|wifi\_information\_list\(\) const|const RepeatedPtrField< [WifiInformation](msg_Base_WifiInformation.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_wifi\_information\_list\(\)|RepeatedPtrField< [WifiInformation](msg_Base_WifiInformation.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Base_ZoneShape.md b/api_cpp/doc/markdown/references/msg_Base_ZoneShape.md deleted file mode 100644 index ac97c9af..00000000 --- a/api_cpp/doc/markdown/references/msg_Base_ZoneShape.md +++ /dev/null @@ -1,54 +0,0 @@ -# Message ZoneShape - -This page describes the C++ Kinova::Api::Base::ZoneShape message. - -## Overview / Purpose - -Provides a protection zone shape description - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|shape\_type| [ShapeType](enm_Base_ShapeType.md#)|Shape type| -|origin| [Point](msg_Base_Point.md#)|Origin of the protection zone shape from reference \(in meters\)| -|orientation| [RotationMatrix](msg_Base_RotationMatrix.md#)|Rotation matrix to provide shape orientation| -|dimensions|Collection of float32|Shape size measurement \(in meters\). If rectangular prism: x, y and z dimensions. If cylinder: radius and height. If sphere: radius| -|envelope\_thickness|float32|Thickness of envelop around shape \(in meters\). The envelop is of same shape type as the shape at its center.| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|shape\_type\(\) const| [ShapeType](enm_Base_ShapeType.md#)|void|Returns the current value of shape\_type. If the shape\_type is not set, returns 0.| -|set\_shape\_type\(\)|void| [ShapeType](enm_Base_ShapeType.md#)|Sets the value of shape\_type. After calling this, shape\_type\(\) will return value.| -|clear\_shape\_type\(\)|void|void|Clears the value of shape\_type. After calling this, shape\_type\(\) will return the empty string/empty bytes.| -|has\_origin\(\) const|bool|void|Returns true if origin is set.| -|origin\(\)|const [Point](msg_Base_Point.md#)&|void|Returns the current value of origin. If origin is not set, returns a [Point](msg_Base_Point.md#) with none of its fields set \(possibly origin::default\_instance\(\)\).| -|mutable\_origin\(\)| [Point](msg_Base_Point.md#) \*|void|Returns a pointer to the mutable [Point](msg_Base_Point.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Point](msg_Base_Point.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Point](msg_Base_Point.md#)\). After calling this, has\_origin\(\) will return true and origin\(\) will return a reference to the same instance of [Point](msg_Base_Point.md#).| -|clear\_origin\(\)|void|void|Clears the value of the field. After calling this, has\_origin\(\) will return false and origin\(\) will return the default value.| -|set\_allocated\_origin\(\)|void| [Point](msg_Base_Point.md#) \*|Sets the [Point](msg_Base_Point.md#) object to the field and frees the previous field value if it exists. If the [Point](msg_Base_Point.md#) pointer is not NULL, the message takes ownership of the allocated [Point](msg_Base_Point.md#) object and has\_ [Point](msg_Base_Point.md#)\(\) will return true. Otherwise, if the origin is NULL, the behavior is the same as calling clear\_origin\(\).| -|release\_origin\(\)| [Point](msg_Base_Point.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Point](msg_Base_Point.md#) object. After calling this, caller takes the ownership of the allocated [Point](msg_Base_Point.md#) object, has\_origin\(\) will return false, and origin\(\) will return the default value.| -|has\_orientation\(\) const|bool|void|Returns true if orientation is set.| -|orientation\(\)|const [RotationMatrix](msg_Base_RotationMatrix.md#)&|void|Returns the current value of orientation. If orientation is not set, returns a [RotationMatrix](msg_Base_RotationMatrix.md#) with none of its fields set \(possibly orientation::default\_instance\(\)\).| -|mutable\_orientation\(\)| [RotationMatrix](msg_Base_RotationMatrix.md#) \*|void|Returns a pointer to the mutable [RotationMatrix](msg_Base_RotationMatrix.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [RotationMatrix](msg_Base_RotationMatrix.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [RotationMatrix](msg_Base_RotationMatrix.md#)\). After calling this, has\_orientation\(\) will return true and orientation\(\) will return a reference to the same instance of [RotationMatrix](msg_Base_RotationMatrix.md#).| -|clear\_orientation\(\)|void|void|Clears the value of the field. After calling this, has\_orientation\(\) will return false and orientation\(\) will return the default value.| -|set\_allocated\_orientation\(\)|void| [RotationMatrix](msg_Base_RotationMatrix.md#) \*|Sets the [RotationMatrix](msg_Base_RotationMatrix.md#) object to the field and frees the previous field value if it exists. If the [RotationMatrix](msg_Base_RotationMatrix.md#) pointer is not NULL, the message takes ownership of the allocated [RotationMatrix](msg_Base_RotationMatrix.md#) object and has\_ [RotationMatrix](msg_Base_RotationMatrix.md#)\(\) will return true. Otherwise, if the orientation is NULL, the behavior is the same as calling clear\_orientation\(\).| -|release\_orientation\(\)| [RotationMatrix](msg_Base_RotationMatrix.md#) \*|void|Releases the ownership of the field and returns the pointer of the [RotationMatrix](msg_Base_RotationMatrix.md#) object. After calling this, caller takes the ownership of the allocated [RotationMatrix](msg_Base_RotationMatrix.md#) object, has\_orientation\(\) will return false, and orientation\(\) will return the default value.| -|dimensions\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|dimensions\(\) const|int|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, dimensions\_size\(\)\) yields undefined behavior.| -|set\_dimensions\(\)|void|\(int index, int32 value\)|Sets the value of the element at the given zero-based index.| -|add\_dimensions\(\)|void|\(int32 value\)|Appends a new element to the field with the given value.| -|clear\_dimensions\(\)|void|void|Removes all elements from the field. After calling this, dimensions\_size\(\) will return zero.| -|dimensions\(\) const|const RepeatedField&|void|Returns the underlying RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_dimensions\(\)|RepeatedField\*|void|Returns a pointer to the underlying mutable RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|envelope\_thickness\(\)|float32|void|Returns the current value of envelope\_thickness. If the envelope\_thickness is not set, returns 0.| -|set\_envelope\_thickness\(\)|void|float32|Sets the value of envelope\_thickness. After calling this, envelope\_thickness\(\) will return value.| -|clear\_envelope\_thickness\(\)|void|void|Clears the value of envelope\_thickness. After calling this, envelope\_thickness\(\) will return 0.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_cpp/doc/markdown/references/msg_Common_Empty.md b/api_cpp/doc/markdown/references/msg_Common_Empty.md deleted file mode 100644 index 95c03c55..00000000 --- a/api_cpp/doc/markdown/references/msg_Common_Empty.md +++ /dev/null @@ -1,10 +0,0 @@ -# Message Empty - -This page describes the C++ Kinova::Api::Common::Empty message. - -## Overview / Purpose - -Message used when no information needs to be exchanged between client application and robot, and vice versa - -**Parent topic:** [Common](../references/summary_Common.md) - diff --git a/api_cpp/doc/markdown/references/msg_Common_NotificationHandle.md b/api_cpp/doc/markdown/references/msg_Common_NotificationHandle.md deleted file mode 100644 index a9096a4f..00000000 --- a/api_cpp/doc/markdown/references/msg_Common_NotificationHandle.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message NotificationHandle - -This page describes the C++ Kinova::Api::Common::NotificationHandle message. - -## Overview / Purpose - -Identifies a notification - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|identifier|uint32|Notification identifier| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|identifier\(\)|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| -|set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| -|clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return 0.| - -**Parent topic:** [Common](../references/summary_Common.md) - diff --git a/api_cpp/doc/markdown/references/msg_Common_SafetyHandle.md b/api_cpp/doc/markdown/references/msg_Common_SafetyHandle.md deleted file mode 100644 index 7488a950..00000000 --- a/api_cpp/doc/markdown/references/msg_Common_SafetyHandle.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message SafetyHandle - -This page describes the C++ Kinova::Api::Common::SafetyHandle message. - -## Overview / Purpose - -Identifies a safety - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|identifier|uint32|Safety identifier| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|identifier\(\)|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| -|set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| -|clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return 0.| - -**Parent topic:** [Common](../references/summary_Common.md) - diff --git a/api_cpp/doc/markdown/references/msg_Common_SafetyNotification.md b/api_cpp/doc/markdown/references/msg_Common_SafetyNotification.md deleted file mode 100644 index 13d76651..00000000 --- a/api_cpp/doc/markdown/references/msg_Common_SafetyNotification.md +++ /dev/null @@ -1,56 +0,0 @@ -# Message SafetyNotification - -This page describes the C++ Kinova::Api::Common::SafetyNotification message. - -## Overview / Purpose - -Message that contains a safety event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|safety\_handle| [SafetyHandle](msg_Common_SafetyHandle.md#)|Safety handle| -|value| [SafetyStatusValue](enm_Common_SafetyStatusValue.md#)|New safety status| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the safety event| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the safety event| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_safety\_handle\(\) const|bool|void|Returns true if safety\_handle is set.| -|safety\_handle\(\)|const [SafetyHandle](msg_Common_SafetyHandle.md#)&|void|Returns the current value of safety\_handle. If safety\_handle is not set, returns a [SafetyHandle](msg_Common_SafetyHandle.md#) with none of its fields set \(possibly safety\_handle::default\_instance\(\)\).| -|mutable\_safety\_handle\(\)| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|void|Returns a pointer to the mutable [SafetyHandle](msg_Common_SafetyHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SafetyHandle](msg_Common_SafetyHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyHandle](msg_Common_SafetyHandle.md#)\). After calling this, has\_safety\_handle\(\) will return true and safety\_handle\(\) will return a reference to the same instance of [SafetyHandle](msg_Common_SafetyHandle.md#).| -|clear\_safety\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_safety\_handle\(\) will return false and safety\_handle\(\) will return the default value.| -|set\_allocated\_safety\_handle\(\)|void| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|Sets the [SafetyHandle](msg_Common_SafetyHandle.md#) object to the field and frees the previous field value if it exists. If the [SafetyHandle](msg_Common_SafetyHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SafetyHandle](msg_Common_SafetyHandle.md#) object and has\_ [SafetyHandle](msg_Common_SafetyHandle.md#)\(\) will return true. Otherwise, if the safety\_handle is NULL, the behavior is the same as calling clear\_safety\_handle\(\).| -|release\_safety\_handle\(\)| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SafetyHandle](msg_Common_SafetyHandle.md#) object. After calling this, caller takes the ownership of the allocated [SafetyHandle](msg_Common_SafetyHandle.md#) object, has\_safety\_handle\(\) will return false, and safety\_handle\(\) will return the default value.| -|value\(\) const| [SafetyStatusValue](enm_Common_SafetyStatusValue.md#)|void|Returns the current value of value. If the value is not set, returns 0.| -|set\_value\(\)|void| [SafetyStatusValue](enm_Common_SafetyStatusValue.md#)|Sets the value of value. After calling this, value\(\) will return value.| -|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return the empty string/empty bytes.| -|has\_timestamp\(\) const|bool|void|Returns true if timestamp is set.| -|timestamp\(\)|const [Timestamp](msg_Common_Timestamp.md#)&|void|Returns the current value of timestamp. If timestamp is not set, returns a [Timestamp](msg_Common_Timestamp.md#) with none of its fields set \(possibly timestamp::default\_instance\(\)\).| -|mutable\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Returns a pointer to the mutable [Timestamp](msg_Common_Timestamp.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Timestamp](msg_Common_Timestamp.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Timestamp](msg_Common_Timestamp.md#)\). After calling this, has\_timestamp\(\) will return true and timestamp\(\) will return a reference to the same instance of [Timestamp](msg_Common_Timestamp.md#).| -|clear\_timestamp\(\)|void|void|Clears the value of the field. After calling this, has\_timestamp\(\) will return false and timestamp\(\) will return the default value.| -|set\_allocated\_timestamp\(\)|void| [Timestamp](msg_Common_Timestamp.md#) \*|Sets the [Timestamp](msg_Common_Timestamp.md#) object to the field and frees the previous field value if it exists. If the [Timestamp](msg_Common_Timestamp.md#) pointer is not NULL, the message takes ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object and has\_ [Timestamp](msg_Common_Timestamp.md#)\(\) will return true. Otherwise, if the timestamp is NULL, the behavior is the same as calling clear\_timestamp\(\).| -|release\_timestamp\(\)| [Timestamp](msg_Common_Timestamp.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Timestamp](msg_Common_Timestamp.md#) object. After calling this, caller takes the ownership of the allocated [Timestamp](msg_Common_Timestamp.md#) object, has\_timestamp\(\) will return false, and timestamp\(\) will return the default value.| -|has\_user\_handle\(\) const|bool|void|Returns true if user\_handle is set.| -|user\_handle\(\)|const [UserProfileHandle](msg_Common_UserProfileHandle.md#)&|void|Returns the current value of user\_handle. If user\_handle is not set, returns a [UserProfileHandle](msg_Common_UserProfileHandle.md#) with none of its fields set \(possibly user\_handle::default\_instance\(\)\).| -|mutable\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Returns a pointer to the mutable [UserProfileHandle](msg_Common_UserProfileHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [UserProfileHandle](msg_Common_UserProfileHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#)\). After calling this, has\_user\_handle\(\) will return true and user\_handle\(\) will return a reference to the same instance of [UserProfileHandle](msg_Common_UserProfileHandle.md#).| -|clear\_user\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_user\_handle\(\) will return false and user\_handle\(\) will return the default value.| -|set\_allocated\_user\_handle\(\)|void| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|Sets the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object to the field and frees the previous field value if it exists. If the [UserProfileHandle](msg_Common_UserProfileHandle.md#) pointer is not NULL, the message takes ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object and has\_ [UserProfileHandle](msg_Common_UserProfileHandle.md#)\(\) will return true. Otherwise, if the user\_handle is NULL, the behavior is the same as calling clear\_user\_handle\(\).| -|release\_user\_handle\(\)| [UserProfileHandle](msg_Common_UserProfileHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [UserProfileHandle](msg_Common_UserProfileHandle.md#) object. After calling this, caller takes the ownership of the allocated [UserProfileHandle](msg_Common_UserProfileHandle.md#) object, has\_user\_handle\(\) will return false, and user\_handle\(\) will return the default value.| -|has\_connection\(\) const|bool|void|Returns true if connection is set.| -|connection\(\)|const [Connection](msg_Common_Connection.md#)&|void|Returns the current value of connection. If connection is not set, returns a [Connection](msg_Common_Connection.md#) with none of its fields set \(possibly connection::default\_instance\(\)\).| -|mutable\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Returns a pointer to the mutable [Connection](msg_Common_Connection.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [Connection](msg_Common_Connection.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](msg_Common_Connection.md#)\). After calling this, has\_connection\(\) will return true and connection\(\) will return a reference to the same instance of [Connection](msg_Common_Connection.md#).| -|clear\_connection\(\)|void|void|Clears the value of the field. After calling this, has\_connection\(\) will return false and connection\(\) will return the default value.| -|set\_allocated\_connection\(\)|void| [Connection](msg_Common_Connection.md#) \*|Sets the [Connection](msg_Common_Connection.md#) object to the field and frees the previous field value if it exists. If the [Connection](msg_Common_Connection.md#) pointer is not NULL, the message takes ownership of the allocated [Connection](msg_Common_Connection.md#) object and has\_ [Connection](msg_Common_Connection.md#)\(\) will return true. Otherwise, if the connection is NULL, the behavior is the same as calling clear\_connection\(\).| -|release\_connection\(\)| [Connection](msg_Common_Connection.md#) \*|void|Releases the ownership of the field and returns the pointer of the [Connection](msg_Common_Connection.md#) object. After calling this, caller takes the ownership of the allocated [Connection](msg_Common_Connection.md#) object, has\_connection\(\) will return false, and connection\(\) will return the default value.| - -**Parent topic:** [Common](../references/summary_Common.md) - diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_BootloaderVersion.md b/api_cpp/doc/markdown/references/msg_DeviceConfig_BootloaderVersion.md deleted file mode 100644 index 56edb862..00000000 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_BootloaderVersion.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message BootloaderVersion - -This page describes the C++ Kinova::Api::DeviceConfig::BootloaderVersion message. - -## Overview / Purpose - -Message specifying the bootloader version for the device - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|bootloader\_version|uint32|Bootloader version| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|bootloader\_version\(\)|uint32|void|Returns the current value of bootloader\_version. If the bootloader\_version is not set, returns 0.| -|set\_bootloader\_version\(\)|void|uint32|Sets the value of bootloader\_version. After calling this, bootloader\_version\(\) will return value.| -|clear\_bootloader\_version\(\)|void|void|Clears the value of bootloader\_version. After calling this, bootloader\_version\(\) will return 0.| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_DeviceType.md b/api_cpp/doc/markdown/references/msg_DeviceConfig_DeviceType.md deleted file mode 100644 index 9c2afcd0..00000000 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_DeviceType.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message DeviceType - -This page describes the C++ Kinova::Api::DeviceConfig::DeviceType message. - -## Overview / Purpose - -Message specifying the device type - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|device\_type| [DeviceTypes](enm_Common_DeviceTypes.md#)|Device type| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|device\_type\(\) const| [DeviceTypes](enm_Common_DeviceTypes.md#)|void|Returns the current value of device\_type. If the device\_type is not set, returns 0.| -|set\_device\_type\(\)|void| [DeviceTypes](enm_Common_DeviceTypes.md#)|Sets the value of device\_type. After calling this, device\_type\(\) will return value.| -|clear\_device\_type\(\)|void|void|Clears the value of device\_type. After calling this, device\_type\(\) will return the empty string/empty bytes.| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_FirmwareVersion.md b/api_cpp/doc/markdown/references/msg_DeviceConfig_FirmwareVersion.md deleted file mode 100644 index ac1c6958..00000000 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_FirmwareVersion.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message FirmwareVersion - -This page describes the C++ Kinova::Api::DeviceConfig::FirmwareVersion message. - -## Overview / Purpose - -Message specifying the firmware version for the device - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|firmware\_version|uint32|Firmware version| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|firmware\_version\(\)|uint32|void|Returns the current value of firmware\_version. If the firmware\_version is not set, returns 0.| -|set\_firmware\_version\(\)|void|uint32|Sets the value of firmware\_version. After calling this, firmware\_version\(\) will return value.| -|clear\_firmware\_version\(\)|void|void|Clears the value of firmware\_version. After calling this, firmware\_version\(\) will return 0.| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_RebootRqst.md b/api_cpp/doc/markdown/references/msg_DeviceConfig_RebootRqst.md deleted file mode 100644 index 16a79fb4..00000000 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_RebootRqst.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message RebootRqst - -This page describes the C++ Kinova::Api::DeviceConfig::RebootRqst message. - -## Overview / Purpose - -Reboot request with bootloader delay - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|delay|uint32|Bootloader delay| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|delay\(\)|uint32|void|Returns the current value of delay. If the delay is not set, returns 0.| -|set\_delay\(\)|void|uint32|Sets the value of delay. After calling this, delay\(\) will return value.| -|clear\_delay\(\)|void|void|Clears the value of delay. After calling this, delay\(\) will return 0.| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_RunMode.md b/api_cpp/doc/markdown/references/msg_DeviceConfig_RunMode.md deleted file mode 100644 index 762050d7..00000000 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_RunMode.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message RunMode - -This page describes the C++ Kinova::Api::DeviceConfig::RunMode message. - -## Overview / Purpose - -Message specifying the run mode - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|run\_mode| [RunModes](enm_DeviceConfig_RunModes.md#)|Run mode| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|run\_mode\(\) const| [RunModes](enm_DeviceConfig_RunModes.md#)|void|Returns the current value of run\_mode. If the run\_mode is not set, returns 0.| -|set\_run\_mode\(\)|void| [RunModes](enm_DeviceConfig_RunModes.md#)|Sets the value of run\_mode. After calling this, run\_mode\(\) will return value.| -|clear\_run\_mode\(\)|void|void|Clears the value of run\_mode. After calling this, run\_mode\(\) will return the empty string/empty bytes.| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyConfiguration.md b/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyConfiguration.md deleted file mode 100644 index 2b29d2bf..00000000 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyConfiguration.md +++ /dev/null @@ -1,46 +0,0 @@ -# Message SafetyConfiguration - -This page describes the C++ Kinova::Api::DeviceConfig::SafetyConfiguration message. - -## Overview / Purpose - -Configure a safety - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [SafetyHandle](msg_Common_SafetyHandle.md#)|Identifies safety to configure| -|error\_threshold|float32|Safety error threshold value| -|warning\_threshold|float32|Safety warning threshold value| -|enable| [SafetyEnable](msg_DeviceConfig_SafetyEnable.md#)|Safety enable state| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [SafetyHandle](msg_Common_SafetyHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [SafetyHandle](msg_Common_SafetyHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|void|Returns a pointer to the mutable [SafetyHandle](msg_Common_SafetyHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SafetyHandle](msg_Common_SafetyHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyHandle](msg_Common_SafetyHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [SafetyHandle](msg_Common_SafetyHandle.md#).| -|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|Sets the [SafetyHandle](msg_Common_SafetyHandle.md#) object to the field and frees the previous field value if it exists. If the [SafetyHandle](msg_Common_SafetyHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SafetyHandle](msg_Common_SafetyHandle.md#) object and has\_ [SafetyHandle](msg_Common_SafetyHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SafetyHandle](msg_Common_SafetyHandle.md#) object. After calling this, caller takes the ownership of the allocated [SafetyHandle](msg_Common_SafetyHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| -|error\_threshold\(\)|float32|void|Returns the current value of error\_threshold. If the error\_threshold is not set, returns 0.| -|set\_error\_threshold\(\)|void|float32|Sets the value of error\_threshold. After calling this, error\_threshold\(\) will return value.| -|clear\_error\_threshold\(\)|void|void|Clears the value of error\_threshold. After calling this, error\_threshold\(\) will return 0.| -|warning\_threshold\(\)|float32|void|Returns the current value of warning\_threshold. If the warning\_threshold is not set, returns 0.| -|set\_warning\_threshold\(\)|void|float32|Sets the value of warning\_threshold. After calling this, warning\_threshold\(\) will return value.| -|clear\_warning\_threshold\(\)|void|void|Clears the value of warning\_threshold. After calling this, warning\_threshold\(\) will return 0.| -|has\_enable\(\) const|bool|void|Returns true if enable is set.| -|enable\(\)|const [SafetyEnable](msg_DeviceConfig_SafetyEnable.md#)&|void|Returns the current value of enable. If enable is not set, returns a [SafetyEnable](msg_DeviceConfig_SafetyEnable.md#) with none of its fields set \(possibly enable::default\_instance\(\)\).| -|mutable\_enable\(\)| [SafetyEnable](msg_DeviceConfig_SafetyEnable.md#) \*|void|Returns a pointer to the mutable [SafetyEnable](msg_DeviceConfig_SafetyEnable.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SafetyEnable](msg_DeviceConfig_SafetyEnable.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyEnable](msg_DeviceConfig_SafetyEnable.md#)\). After calling this, has\_enable\(\) will return true and enable\(\) will return a reference to the same instance of [SafetyEnable](msg_DeviceConfig_SafetyEnable.md#).| -|clear\_enable\(\)|void|void|Clears the value of the field. After calling this, has\_enable\(\) will return false and enable\(\) will return the default value.| -|set\_allocated\_enable\(\)|void| [SafetyEnable](msg_DeviceConfig_SafetyEnable.md#) \*|Sets the [SafetyEnable](msg_DeviceConfig_SafetyEnable.md#) object to the field and frees the previous field value if it exists. If the [SafetyEnable](msg_DeviceConfig_SafetyEnable.md#) pointer is not NULL, the message takes ownership of the allocated [SafetyEnable](msg_DeviceConfig_SafetyEnable.md#) object and has\_ [SafetyEnable](msg_DeviceConfig_SafetyEnable.md#)\(\) will return true. Otherwise, if the enable is NULL, the behavior is the same as calling clear\_enable\(\).| -|release\_enable\(\)| [SafetyEnable](msg_DeviceConfig_SafetyEnable.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SafetyEnable](msg_DeviceConfig_SafetyEnable.md#) object. After calling this, caller takes the ownership of the allocated [SafetyEnable](msg_DeviceConfig_SafetyEnable.md#) object, has\_enable\(\) will return false, and enable\(\) will return the default value.| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyConfigurationList.md b/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyConfigurationList.md deleted file mode 100644 index 397b96b6..00000000 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyConfigurationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message SafetyConfigurationList - -This page describes the C++ Kinova::Api::DeviceConfig::SafetyConfigurationList message. - -## Overview / Purpose - -Array of safety configuration - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|configuration|Collection of [SafetyConfiguration](msg_DeviceConfig_SafetyConfiguration.md#)|Safety configuration| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|configuration\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|configuration\(\) const|const [SafetyConfiguration](msg_DeviceConfig_SafetyConfiguration.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, configuration\_size\(\)\) yields undefined behavior.| -|mutable\_configuration\(\)| [SafetyConfiguration](msg_DeviceConfig_SafetyConfiguration.md#)\*|int index|Returns a pointer to the mutable [SafetyConfiguration](msg_DeviceConfig_SafetyConfiguration.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, configuration\_size\(\)\) yields undefined behavior.| -|add\_configuration\(\)| [SafetyConfiguration](msg_DeviceConfig_SafetyConfiguration.md#)\*|void|Adds a new element and returns a pointer to it. The returned [SafetyConfiguration](msg_DeviceConfig_SafetyConfiguration.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyConfiguration](msg_DeviceConfig_SafetyConfiguration.md#)\).| -|clear\_configuration\(\)|void|void|Removes all elements from the field. After calling this, configuration\_size\(\) will return zero.| -|configuration\(\) const|const RepeatedPtrField< [SafetyConfiguration](msg_DeviceConfig_SafetyConfiguration.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_configuration\(\)|RepeatedPtrField< [SafetyConfiguration](msg_DeviceConfig_SafetyConfiguration.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyEnable.md b/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyEnable.md deleted file mode 100644 index d9bd172a..00000000 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyEnable.md +++ /dev/null @@ -1,35 +0,0 @@ -# Message SafetyEnable - -This page describes the C++ Kinova::Api::DeviceConfig::SafetyEnable message. - -## Overview / Purpose - -Enable or disable a specific safety - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [SafetyHandle](msg_Common_SafetyHandle.md#)|Identifies safety to enable or disable| -|enable|bool|Safety enable state| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [SafetyHandle](msg_Common_SafetyHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [SafetyHandle](msg_Common_SafetyHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|void|Returns a pointer to the mutable [SafetyHandle](msg_Common_SafetyHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SafetyHandle](msg_Common_SafetyHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyHandle](msg_Common_SafetyHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [SafetyHandle](msg_Common_SafetyHandle.md#).| -|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|Sets the [SafetyHandle](msg_Common_SafetyHandle.md#) object to the field and frees the previous field value if it exists. If the [SafetyHandle](msg_Common_SafetyHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SafetyHandle](msg_Common_SafetyHandle.md#) object and has\_ [SafetyHandle](msg_Common_SafetyHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SafetyHandle](msg_Common_SafetyHandle.md#) object. After calling this, caller takes the ownership of the allocated [SafetyHandle](msg_Common_SafetyHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| -|enable\(\)|bool|void|Returns the current value of enable. If the enable is not set, returns 0.| -|set\_enable\(\)|void|bool|Sets the value of enable. After calling this, enable\(\) will return value.| -|clear\_enable\(\)|void|void|Clears the value of enable. After calling this, enable\(\) will return 0.| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyInformationList.md b/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyInformationList.md deleted file mode 100644 index f77abd3a..00000000 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyInformationList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message SafetyInformationList - -This page describes the C++ Kinova::Api::DeviceConfig::SafetyInformationList message. - -## Overview / Purpose - -Array of safety information - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|information|Collection of [SafetyInformation](msg_DeviceConfig_SafetyInformation.md#)| | - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|information\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|information\(\) const|const [SafetyInformation](msg_DeviceConfig_SafetyInformation.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, information\_size\(\)\) yields undefined behavior.| -|mutable\_information\(\)| [SafetyInformation](msg_DeviceConfig_SafetyInformation.md#)\*|int index|Returns a pointer to the mutable [SafetyInformation](msg_DeviceConfig_SafetyInformation.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, information\_size\(\)\) yields undefined behavior.| -|add\_information\(\)| [SafetyInformation](msg_DeviceConfig_SafetyInformation.md#)\*|void|Adds a new element and returns a pointer to it. The returned [SafetyInformation](msg_DeviceConfig_SafetyInformation.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyInformation](msg_DeviceConfig_SafetyInformation.md#)\).| -|clear\_information\(\)|void|void|Removes all elements from the field. After calling this, information\_size\(\) will return zero.| -|information\(\) const|const RepeatedPtrField< [SafetyInformation](msg_DeviceConfig_SafetyInformation.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_information\(\)|RepeatedPtrField< [SafetyInformation](msg_DeviceConfig_SafetyInformation.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyStatus.md b/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyStatus.md deleted file mode 100644 index b6a397d1..00000000 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyStatus.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message SafetyStatus - -This page describes the C++ Kinova::Api::DeviceConfig::SafetyStatus message. - -## Overview / Purpose - -Provides safety status - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|value| [SafetyStatusValue](enm_Common_SafetyStatusValue.md#)|Safety status \(e.g. in error, warning or normal state\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|value\(\) const| [SafetyStatusValue](enm_Common_SafetyStatusValue.md#)|void|Returns the current value of value. If the value is not set, returns 0.| -|set\_value\(\)|void| [SafetyStatusValue](enm_Common_SafetyStatusValue.md#)|Sets the value of value. After calling this, value\(\) will return value.| -|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return the empty string/empty bytes.| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyThreshold.md b/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyThreshold.md deleted file mode 100644 index dfa711ee..00000000 --- a/api_cpp/doc/markdown/references/msg_DeviceConfig_SafetyThreshold.md +++ /dev/null @@ -1,35 +0,0 @@ -# Message SafetyThreshold - -This page describes the C++ Kinova::Api::DeviceConfig::SafetyThreshold message. - -## Overview / Purpose - -Configure threshold of a specific safety - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [SafetyHandle](msg_Common_SafetyHandle.md#)|Identifies safety to configure| -|value|float32|Safety threshold value| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_handle\(\) const|bool|void|Returns true if handle is set.| -|handle\(\)|const [SafetyHandle](msg_Common_SafetyHandle.md#)&|void|Returns the current value of handle. If handle is not set, returns a [SafetyHandle](msg_Common_SafetyHandle.md#) with none of its fields set \(possibly handle::default\_instance\(\)\).| -|mutable\_handle\(\)| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|void|Returns a pointer to the mutable [SafetyHandle](msg_Common_SafetyHandle.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [SafetyHandle](msg_Common_SafetyHandle.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [SafetyHandle](msg_Common_SafetyHandle.md#)\). After calling this, has\_handle\(\) will return true and handle\(\) will return a reference to the same instance of [SafetyHandle](msg_Common_SafetyHandle.md#).| -|clear\_handle\(\)|void|void|Clears the value of the field. After calling this, has\_handle\(\) will return false and handle\(\) will return the default value.| -|set\_allocated\_handle\(\)|void| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|Sets the [SafetyHandle](msg_Common_SafetyHandle.md#) object to the field and frees the previous field value if it exists. If the [SafetyHandle](msg_Common_SafetyHandle.md#) pointer is not NULL, the message takes ownership of the allocated [SafetyHandle](msg_Common_SafetyHandle.md#) object and has\_ [SafetyHandle](msg_Common_SafetyHandle.md#)\(\) will return true. Otherwise, if the handle is NULL, the behavior is the same as calling clear\_handle\(\).| -|release\_handle\(\)| [SafetyHandle](msg_Common_SafetyHandle.md#) \*|void|Releases the ownership of the field and returns the pointer of the [SafetyHandle](msg_Common_SafetyHandle.md#) object. After calling this, caller takes the ownership of the allocated [SafetyHandle](msg_Common_SafetyHandle.md#) object, has\_handle\(\) will return false, and handle\(\) will return the default value.| -|value\(\)|float32|void|Returns the current value of value. If the value is not set, returns 0.| -|set\_value\(\)|void|float32|Sets the value of value. After calling this, value\(\) will return value.| -|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return 0.| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_DeviceManager_DeviceHandles.md b/api_cpp/doc/markdown/references/msg_DeviceManager_DeviceHandles.md deleted file mode 100644 index 83be3d9e..00000000 --- a/api_cpp/doc/markdown/references/msg_DeviceManager_DeviceHandles.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message DeviceHandles - -This page describes the C++ Kinova::Api::DeviceManager::DeviceHandles message. - -## Overview / Purpose - -List of Device handles - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|device\_handle|Collection of [DeviceHandle](msg_Common_DeviceHandle.md#)|Device handle| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|device\_handle\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|device\_handle\(\) const|const [DeviceHandle](msg_Common_DeviceHandle.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, device\_handle\_size\(\)\) yields undefined behavior.| -|mutable\_device\_handle\(\)| [DeviceHandle](msg_Common_DeviceHandle.md#)\*|int index|Returns a pointer to the mutable [DeviceHandle](msg_Common_DeviceHandle.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, device\_handle\_size\(\)\) yields undefined behavior.| -|add\_device\_handle\(\)| [DeviceHandle](msg_Common_DeviceHandle.md#)\*|void|Adds a new element and returns a pointer to it. The returned [DeviceHandle](msg_Common_DeviceHandle.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [DeviceHandle](msg_Common_DeviceHandle.md#)\).| -|clear\_device\_handle\(\)|void|void|Removes all elements from the field. After calling this, device\_handle\_size\(\) will return zero.| -|device\_handle\(\) const|const RepeatedPtrField< [DeviceHandle](msg_Common_DeviceHandle.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_device\_handle\(\)|RepeatedPtrField< [DeviceHandle](msg_Common_DeviceHandle.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [DeviceManager](../references/summary_DeviceManager.md) - diff --git a/api_cpp/doc/markdown/references/msg_InterconnectCyclic_Command.md b/api_cpp/doc/markdown/references/msg_InterconnectCyclic_Command.md deleted file mode 100644 index 057bfcae..00000000 --- a/api_cpp/doc/markdown/references/msg_InterconnectCyclic_Command.md +++ /dev/null @@ -1,47 +0,0 @@ -# Message Command - -This page describes the C++ Kinova::Api::InterconnectCyclic::Command message. - -## Overview / Purpose - -Defines an interconnect module command - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|command\_id| [MessageId](msg_InterconnectCyclic_MessageId.md#)|MessageId| -|flags|uint32|Flags| -|position|float32|Desired position of the gripper fingers \(0-100%\)| -|velocity|float32|Desired velocity of the gripper fingers \(0-100%\)| -|force|float32|Desired force of the gripper fingers \(0-100%\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|has\_command\_id\(\) const|bool|void|Returns true if command\_id is set.| -|command\_id\(\)|const [MessageId](msg_InterconnectCyclic_MessageId.md#)&|void|Returns the current value of command\_id. If command\_id is not set, returns a [MessageId](msg_InterconnectCyclic_MessageId.md#) with none of its fields set \(possibly command\_id::default\_instance\(\)\).| -|mutable\_command\_id\(\)| [MessageId](msg_InterconnectCyclic_MessageId.md#) \*|void|Returns a pointer to the mutable [MessageId](msg_InterconnectCyclic_MessageId.md#) object that stores the field's value. If the field was not set prior to the call, then the returned [MessageId](msg_InterconnectCyclic_MessageId.md#) will have none of its fields set \(i.e. it will be identical to a newly-allocated [MessageId](msg_InterconnectCyclic_MessageId.md#)\). After calling this, has\_command\_id\(\) will return true and command\_id\(\) will return a reference to the same instance of [MessageId](msg_InterconnectCyclic_MessageId.md#).| -|clear\_command\_id\(\)|void|void|Clears the value of the field. After calling this, has\_command\_id\(\) will return false and command\_id\(\) will return the default value.| -|set\_allocated\_command\_id\(\)|void| [MessageId](msg_InterconnectCyclic_MessageId.md#) \*|Sets the [MessageId](msg_InterconnectCyclic_MessageId.md#) object to the field and frees the previous field value if it exists. If the [MessageId](msg_InterconnectCyclic_MessageId.md#) pointer is not NULL, the message takes ownership of the allocated [MessageId](msg_InterconnectCyclic_MessageId.md#) object and has\_ [MessageId](msg_InterconnectCyclic_MessageId.md#)\(\) will return true. Otherwise, if the command\_id is NULL, the behavior is the same as calling clear\_command\_id\(\).| -|release\_command\_id\(\)| [MessageId](msg_InterconnectCyclic_MessageId.md#) \*|void|Releases the ownership of the field and returns the pointer of the [MessageId](msg_InterconnectCyclic_MessageId.md#) object. After calling this, caller takes the ownership of the allocated [MessageId](msg_InterconnectCyclic_MessageId.md#) object, has\_command\_id\(\) will return false, and command\_id\(\) will return the default value.| -|flags\(\)|uint32|void|Returns the current value of flags. If the flags is not set, returns 0.| -|set\_flags\(\)|void|uint32|Sets the value of flags. After calling this, flags\(\) will return value.| -|clear\_flags\(\)|void|void|Clears the value of flags. After calling this, flags\(\) will return 0.| -|position\(\)|float32|void|Returns the current value of position. If the position is not set, returns 0.| -|set\_position\(\)|void|float32|Sets the value of position. After calling this, position\(\) will return value.| -|clear\_position\(\)|void|void|Clears the value of position. After calling this, position\(\) will return 0.| -|velocity\(\)|float32|void|Returns the current value of velocity. If the velocity is not set, returns 0.| -|set\_velocity\(\)|void|float32|Sets the value of velocity. After calling this, velocity\(\) will return value.| -|clear\_velocity\(\)|void|void|Clears the value of velocity. After calling this, velocity\(\) will return 0.| -|force\(\)|float32|void|Returns the current value of force. If the force is not set, returns 0.| -|set\_force\(\)|void|float32|Sets the value of force. After calling this, force\(\) will return value.| -|clear\_force\(\)|void|void|Clears the value of force. After calling this, force\(\) will return 0.| - -**Parent topic:** [InterconnectCyclic](../references/summary_InterconnectCyclic.md) - diff --git a/api_cpp/doc/markdown/references/msg_InterconnectCyclic_MessageId.md b/api_cpp/doc/markdown/references/msg_InterconnectCyclic_MessageId.md deleted file mode 100644 index 30518732..00000000 --- a/api_cpp/doc/markdown/references/msg_InterconnectCyclic_MessageId.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message MessageId - -This page describes the C++ Kinova::Api::InterconnectCyclic::MessageId message. - -## Overview / Purpose - -Identifies a message - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|identifier|uint32|Message ID \(first 2 bytes : device ID, last 2 bytes : sequence number\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|identifier\(\)|uint32|void|Returns the current value of identifier. If the identifier is not set, returns 0.| -|set\_identifier\(\)|void|uint32|Sets the value of identifier. After calling this, identifier\(\) will return value.| -|clear\_identifier\(\)|void|void|Clears the value of identifier. After calling this, identifier\(\) will return 0.| - -**Parent topic:** [InterconnectCyclic](../references/summary_InterconnectCyclic.md) - diff --git a/api_cpp/doc/markdown/references/msg_Session_ConnectionList.md b/api_cpp/doc/markdown/references/msg_Session_ConnectionList.md deleted file mode 100644 index 36aaa47e..00000000 --- a/api_cpp/doc/markdown/references/msg_Session_ConnectionList.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message ConnectionList - -This page describes the C++ Kinova::Api::Session::ConnectionList message. - -## Overview / Purpose - -Message used to retrieve a list of connections - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|connection|Collection of [Connection](msg_Common_Connection.md#)|Connection| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|connection\_size\(\) const|int|void|Returns the number of elements currently in the field.| -|connection\(\) const|const [Connection](msg_Common_Connection.md#)|int index|Returns the element at the given zero-based index. Calling this method with index outside of \[0, connection\_size\(\)\) yields undefined behavior.| -|mutable\_connection\(\)| [Connection](msg_Common_Connection.md#)\*|int index|Returns a pointer to the mutable [Connection](msg_Common_Connection.md#) object that stores the value of the element at the given zero-based index. Calling this method with index outside of \[0, connection\_size\(\)\) yields undefined behavior.| -|add\_connection\(\)| [Connection](msg_Common_Connection.md#)\*|void|Adds a new element and returns a pointer to it. The returned [Connection](msg_Common_Connection.md#) is mutable and will have none of its fields set \(i.e. it will be identical to a newly-allocated [Connection](msg_Common_Connection.md#)\).| -|clear\_connection\(\)|void|void|Removes all elements from the field. After calling this, connection\_size\(\) will return zero.| -|connection\(\) const|const RepeatedPtrField< [Connection](msg_Common_Connection.md#)\>&|void|Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| -|mutable\_connection\(\)|RepeatedPtrField< [Connection](msg_Common_Connection.md#)\>\*|void|Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.| - -**Parent topic:** [Session](../references/summary_Session.md) - diff --git a/api_cpp/doc/markdown/references/msg_VisionConfig_IntrinsicParameters.md b/api_cpp/doc/markdown/references/msg_VisionConfig_IntrinsicParameters.md deleted file mode 100644 index 94d6c575..00000000 --- a/api_cpp/doc/markdown/references/msg_VisionConfig_IntrinsicParameters.md +++ /dev/null @@ -1,48 +0,0 @@ -# Message IntrinsicParameters - -This page describes the C++ Kinova::Api::VisionConfig::IntrinsicParameters message. - -## Overview / Purpose - -Sensor intrinsic parameters - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|width|uint32|Width of the image in pixels| -|height|uint32|Height of the image in pixels| -|principal\_point\_x|float32|Horizontal coordinate of the principal point of the image, as a pixel offset from the left edge| -|principal\_point\_y|float32|Vertical coordinate of the principal point of the image, as a pixel offset from the top edge| -|focal\_length\_x|float32|Focal length of the image plane, as a multiple of pixel width| -|focal\_length\_y|float32|Focal length of the image plane, as a multiple of pixel height| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|width\(\)|uint32|void|Returns the current value of width. If the width is not set, returns 0.| -|set\_width\(\)|void|uint32|Sets the value of width. After calling this, width\(\) will return value.| -|clear\_width\(\)|void|void|Clears the value of width. After calling this, width\(\) will return 0.| -|height\(\)|uint32|void|Returns the current value of height. If the height is not set, returns 0.| -|set\_height\(\)|void|uint32|Sets the value of height. After calling this, height\(\) will return value.| -|clear\_height\(\)|void|void|Clears the value of height. After calling this, height\(\) will return 0.| -|principal\_point\_x\(\)|float32|void|Returns the current value of principal\_point\_x. If the principal\_point\_x is not set, returns 0.| -|set\_principal\_point\_x\(\)|void|float32|Sets the value of principal\_point\_x. After calling this, principal\_point\_x\(\) will return value.| -|clear\_principal\_point\_x\(\)|void|void|Clears the value of principal\_point\_x. After calling this, principal\_point\_x\(\) will return 0.| -|principal\_point\_y\(\)|float32|void|Returns the current value of principal\_point\_y. If the principal\_point\_y is not set, returns 0.| -|set\_principal\_point\_y\(\)|void|float32|Sets the value of principal\_point\_y. After calling this, principal\_point\_y\(\) will return value.| -|clear\_principal\_point\_y\(\)|void|void|Clears the value of principal\_point\_y. After calling this, principal\_point\_y\(\) will return 0.| -|focal\_length\_x\(\)|float32|void|Returns the current value of focal\_length\_x. If the focal\_length\_x is not set, returns 0.| -|set\_focal\_length\_x\(\)|void|float32|Sets the value of focal\_length\_x. After calling this, focal\_length\_x\(\) will return value.| -|clear\_focal\_length\_x\(\)|void|void|Clears the value of focal\_length\_x. After calling this, focal\_length\_x\(\) will return 0.| -|focal\_length\_y\(\)|float32|void|Returns the current value of focal\_length\_y. If the focal\_length\_y is not set, returns 0.| -|set\_focal\_length\_y\(\)|void|float32|Sets the value of focal\_length\_y. After calling this, focal\_length\_y\(\) will return value.| -|clear\_focal\_length\_y\(\)|void|void|Clears the value of focal\_length\_y. After calling this, focal\_length\_y\(\) will return 0.| - -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_VisionConfig_OptionIdentifier.md b/api_cpp/doc/markdown/references/msg_VisionConfig_OptionIdentifier.md deleted file mode 100644 index 1a2264f8..00000000 --- a/api_cpp/doc/markdown/references/msg_VisionConfig_OptionIdentifier.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message OptionIdentifier - -This page describes the C++ Kinova::Api::VisionConfig::OptionIdentifier message. - -## Overview / Purpose - -Identifies the sensor and the option to configure. - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sensor| [Sensor](enm_VisionConfig_Sensor.md#)|The sensor to configure| -|option| [Option](enm_VisionConfig_Option.md#)|The option to configure on the sensor| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|sensor\(\) const| [Sensor](enm_VisionConfig_Sensor.md#)|void|Returns the current value of sensor. If the sensor is not set, returns 0.| -|set\_sensor\(\)|void| [Sensor](enm_VisionConfig_Sensor.md#)|Sets the value of sensor. After calling this, sensor\(\) will return value.| -|clear\_sensor\(\)|void|void|Clears the value of sensor. After calling this, sensor\(\) will return the empty string/empty bytes.| -|option\(\) const| [Option](enm_VisionConfig_Option.md#)|void|Returns the current value of option. If the option is not set, returns 0.| -|set\_option\(\)|void| [Option](enm_VisionConfig_Option.md#)|Sets the value of option. After calling this, option\(\) will return value.| -|clear\_option\(\)|void|void|Clears the value of option. After calling this, option\(\) will return the empty string/empty bytes.| - -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_VisionConfig_OptionValue.md b/api_cpp/doc/markdown/references/msg_VisionConfig_OptionValue.md deleted file mode 100644 index 143b3fb1..00000000 --- a/api_cpp/doc/markdown/references/msg_VisionConfig_OptionValue.md +++ /dev/null @@ -1,36 +0,0 @@ -# Message OptionValue - -This page describes the C++ Kinova::Api::VisionConfig::OptionValue message. - -## Overview / Purpose - -Identifies the value of the particular option for the sensor. - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sensor| [Sensor](enm_VisionConfig_Sensor.md#)|The sensor to configure \(color or depth\)| -|option| [Option](enm_VisionConfig_Option.md#)|The option to configure| -|value|float32|The desired value for the option| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|sensor\(\) const| [Sensor](enm_VisionConfig_Sensor.md#)|void|Returns the current value of sensor. If the sensor is not set, returns 0.| -|set\_sensor\(\)|void| [Sensor](enm_VisionConfig_Sensor.md#)|Sets the value of sensor. After calling this, sensor\(\) will return value.| -|clear\_sensor\(\)|void|void|Clears the value of sensor. After calling this, sensor\(\) will return the empty string/empty bytes.| -|option\(\) const| [Option](enm_VisionConfig_Option.md#)|void|Returns the current value of option. If the option is not set, returns 0.| -|set\_option\(\)|void| [Option](enm_VisionConfig_Option.md#)|Sets the value of option. After calling this, option\(\) will return value.| -|clear\_option\(\)|void|void|Clears the value of option. After calling this, option\(\) will return the empty string/empty bytes.| -|value\(\)|float32|void|Returns the current value of value. If the value is not set, returns 0.| -|set\_value\(\)|void|float32|Sets the value of value. After calling this, value\(\) will return value.| -|clear\_value\(\)|void|void|Clears the value of value. After calling this, value\(\) will return 0.| - -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_VisionConfig_SensorFocusAction.md b/api_cpp/doc/markdown/references/msg_VisionConfig_SensorFocusAction.md deleted file mode 100644 index fcf62338..00000000 --- a/api_cpp/doc/markdown/references/msg_VisionConfig_SensorFocusAction.md +++ /dev/null @@ -1,32 +0,0 @@ -# Message SensorFocusAction - -This page describes the C++ Kinova::Api::VisionConfig::SensorFocusAction message. - -## Overview / Purpose - -Identifies the sensor and the focus action to perform. - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sensor| [Sensor](enm_VisionConfig_Sensor.md#)|The sensor on which to perform the focus action| -|focus\_action| [FocusAction](enm_VisionConfig_FocusAction.md#)|The focus action to perform on the sensor| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|sensor\(\) const| [Sensor](enm_VisionConfig_Sensor.md#)|void|Returns the current value of sensor. If the sensor is not set, returns 0.| -|set\_sensor\(\)|void| [Sensor](enm_VisionConfig_Sensor.md#)|Sets the value of sensor. After calling this, sensor\(\) will return value.| -|clear\_sensor\(\)|void|void|Clears the value of sensor. After calling this, sensor\(\) will return the empty string/empty bytes.| -|focus\_action\(\) const| [FocusAction](enm_VisionConfig_FocusAction.md#)|void|Returns the current value of focus\_action. If the focus\_action is not set, returns 0.| -|set\_focus\_action\(\)|void| [FocusAction](enm_VisionConfig_FocusAction.md#)|Sets the value of focus\_action. After calling this, focus\_action\(\) will return value.| -|clear\_focus\_action\(\)|void|void|Clears the value of focus\_action. After calling this, focus\_action\(\) will return the empty string/empty bytes.| - -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_VisionConfig_SensorIdentifier.md b/api_cpp/doc/markdown/references/msg_VisionConfig_SensorIdentifier.md deleted file mode 100644 index 838a00a4..00000000 --- a/api_cpp/doc/markdown/references/msg_VisionConfig_SensorIdentifier.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message SensorIdentifier - -This page describes the C++ Kinova::Api::VisionConfig::SensorIdentifier message. - -## Overview / Purpose - -Identifies the sensor to configure. - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sensor| [Sensor](enm_VisionConfig_Sensor.md#)|Sensor| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|sensor\(\) const| [Sensor](enm_VisionConfig_Sensor.md#)|void|Returns the current value of sensor. If the sensor is not set, returns 0.| -|set\_sensor\(\)|void| [Sensor](enm_VisionConfig_Sensor.md#)|Sets the value of sensor. After calling this, sensor\(\) will return value.| -|clear\_sensor\(\)|void|void|Clears the value of sensor. After calling this, sensor\(\) will return the empty string/empty bytes.| - -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_VisionConfig_SensorSettings.md b/api_cpp/doc/markdown/references/msg_VisionConfig_SensorSettings.md deleted file mode 100644 index 94f08d79..00000000 --- a/api_cpp/doc/markdown/references/msg_VisionConfig_SensorSettings.md +++ /dev/null @@ -1,40 +0,0 @@ -# Message SensorSettings - -This page describes the C++ Kinova::Api::VisionConfig::SensorSettings message. - -## Overview / Purpose - -Main settings - resolution, frame rate, bit rate - for the chosen sensor \(color or depth\). - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sensor| [Sensor](enm_VisionConfig_Sensor.md#)|The sensor \(color or depth\)| -|resolution| [Resolution](enm_VisionConfig_Resolution.md#)|The resolution setting| -|frame\_rate| [FrameRate](enm_VisionConfig_FrameRate.md#)|Frame rate setting| -|bit\_rate| [BitRate](enm_VisionConfig_BitRate.md#)|Maximum encoded bit rate| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|sensor\(\) const| [Sensor](enm_VisionConfig_Sensor.md#)|void|Returns the current value of sensor. If the sensor is not set, returns 0.| -|set\_sensor\(\)|void| [Sensor](enm_VisionConfig_Sensor.md#)|Sets the value of sensor. After calling this, sensor\(\) will return value.| -|clear\_sensor\(\)|void|void|Clears the value of sensor. After calling this, sensor\(\) will return the empty string/empty bytes.| -|resolution\(\) const| [Resolution](enm_VisionConfig_Resolution.md#)|void|Returns the current value of resolution. If the resolution is not set, returns 0.| -|set\_resolution\(\)|void| [Resolution](enm_VisionConfig_Resolution.md#)|Sets the value of resolution. After calling this, resolution\(\) will return value.| -|clear\_resolution\(\)|void|void|Clears the value of resolution. After calling this, resolution\(\) will return the empty string/empty bytes.| -|frame\_rate\(\) const| [FrameRate](enm_VisionConfig_FrameRate.md#)|void|Returns the current value of frame\_rate. If the frame\_rate is not set, returns 0.| -|set\_frame\_rate\(\)|void| [FrameRate](enm_VisionConfig_FrameRate.md#)|Sets the value of frame\_rate. After calling this, frame\_rate\(\) will return value.| -|clear\_frame\_rate\(\)|void|void|Clears the value of frame\_rate. After calling this, frame\_rate\(\) will return the empty string/empty bytes.| -|bit\_rate\(\) const| [BitRate](enm_VisionConfig_BitRate.md#)|void|Returns the current value of bit\_rate. If the bit\_rate is not set, returns 0.| -|set\_bit\_rate\(\)|void| [BitRate](enm_VisionConfig_BitRate.md#)|Sets the value of bit\_rate. After calling this, bit\_rate\(\) will return value.| -|clear\_bit\_rate\(\)|void|void|Clears the value of bit\_rate. After calling this, bit\_rate\(\) will return the empty string/empty bytes.| - -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) - diff --git a/api_cpp/doc/markdown/references/msg_VisionConfig_VisionNotification.md b/api_cpp/doc/markdown/references/msg_VisionConfig_VisionNotification.md deleted file mode 100644 index 10c12762..00000000 --- a/api_cpp/doc/markdown/references/msg_VisionConfig_VisionNotification.md +++ /dev/null @@ -1,36 +0,0 @@ -# Message VisionNotification - -This page describes the C++ Kinova::Api::VisionConfig::VisionNotification message. - -## Overview / Purpose - -Message that contains Vision module event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event| [VisionEvent](enm_VisionConfig_VisionEvent.md#)|Vision event| -|sensor| [Sensor](enm_VisionConfig_Sensor.md#)|The sensor that caused the notification \(if applicable\)| -|option| [Option](enm_VisionConfig_Option.md#)|The option that caused the notification \(if applicable\)| - - **Methods** - -The methods listed below are some of the most commonly used. Please refer to Google Protocol Buffer documentation for an exhaustive list. - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|event\(\) const| [VisionEvent](enm_VisionConfig_VisionEvent.md#)|void|Returns the current value of event. If the event is not set, returns 0.| -|set\_event\(\)|void| [VisionEvent](enm_VisionConfig_VisionEvent.md#)|Sets the value of event. After calling this, event\(\) will return value.| -|clear\_event\(\)|void|void|Clears the value of event. After calling this, event\(\) will return the empty string/empty bytes.| -|sensor\(\) const| [Sensor](enm_VisionConfig_Sensor.md#)|void|Returns the current value of sensor. If the sensor is not set, returns 0.| -|set\_sensor\(\)|void| [Sensor](enm_VisionConfig_Sensor.md#)|Sets the value of sensor. After calling this, sensor\(\) will return value.| -|clear\_sensor\(\)|void|void|Clears the value of sensor. After calling this, sensor\(\) will return the empty string/empty bytes.| -|option\(\) const| [Option](enm_VisionConfig_Option.md#)|void|Returns the current value of option. If the option is not set, returns 0.| -|set\_option\(\)|void| [Option](enm_VisionConfig_Option.md#)|Sets the value of option. After calling this, option\(\) will return value.| -|clear\_option\(\)|void|void|Clears the value of option. After calling this, option\(\) will return the empty string/empty bytes.| - -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) - diff --git a/api_cpp/doc/markdown/references/summary_ActuatorConfig.md b/api_cpp/doc/markdown/references/summary_ActuatorConfig.md deleted file mode 100644 index 7027c408..00000000 --- a/api_cpp/doc/markdown/references/summary_ActuatorConfig.md +++ /dev/null @@ -1,93 +0,0 @@ -# ActuatorConfig - -This page describes the C++ Kinova::Api::ActuatorConfig package. - -## Overview / Purpose - -Service to configure the actuator module. - -## API reference - -This section describes procedure calls / methods exposed by the ActuatorConfig package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -Every method listed below, except the notification subscription methods \(begining with 'OnNotification'\) are available in three different forms : - -- **blocking** : called using listed method name \(default\) -- **future/promise** : called using listed method name followed by the '**\_async**' suffix -- **regiser callback** : called using listed method name followed by the '**\_callback**' suffix - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|ClearFaults|void|void|Clears all error\(s\) and warning\(s\) \(bank A and B\)| -|GetActivatedControlLoop|[ControlLoop](msg_ActuatorConfig_ControlLoop.md#)|void|Gets activated control loop\(s\)| -|GetAxisOffsets|[AxisOffsets](msg_ActuatorConfig_AxisOffsets.md#)|void|Gets axis offsets for absolute and relative encoder| -|GetCommandMode|[CommandModeInformation](msg_ActuatorConfig_CommandModeInformation.md#)|void|Gets command mode \(config versus cyclic\)| -|GetControlLoopParameters|[ControlLoopParameters](msg_ActuatorConfig_ControlLoopParameters.md#)|[LoopSelection](msg_ActuatorConfig_LoopSelection.md#)|Gets control loop parameters| -|GetControlMode|[ControlModeInformation](msg_ActuatorConfig_ControlModeInformation.md#)|void|Gets actuator control mode| -|GetEncoderDerivativeParameters|[EncoderDerivativeParameters](msg_ActuatorConfig_EncoderDerivativeParameters.md#)|void|Gets encoder derivative parameters \(internal use only\)| -|GetSelectedCustomData|[CustomDataSelection](msg_ActuatorConfig_CustomDataSelection.md#)|void|Gets selected custom data| -|GetServoing|[Servoing](msg_ActuatorConfig_Servoing.md#)|void|Gets servoing state| -|GetTorqueOffset|[TorqueOffset](msg_ActuatorConfig_TorqueOffset.md#)|void|Gets torque offset calibration| -|GetVectorDriveParameters|[VectorDriveParameters](msg_ActuatorConfig_VectorDriveParameters.md#)|void|Gets motor drive FOC parameters \(internal use only\)| -|MoveToPosition|void|[PositionCommand](msg_ActuatorConfig_PositionCommand.md#)|Moves the actuator to the desired position| -|ReadTorqueCalibration|[TorqueCalibration](msg_ActuatorConfig_TorqueCalibration.md#)|void|Reads torque calibration parameters \(internal use only\)| -|SelectCustomData|void|[CustomDataSelection](msg_ActuatorConfig_CustomDataSelection.md#)|Selects custom data| -|SetActivatedControlLoop|void|[ControlLoop](msg_ActuatorConfig_ControlLoop.md#)|Sets activated control loop\(s\)| -|SetAxisOffsets|void|[AxisPosition](msg_ActuatorConfig_AxisPosition.md#)|Computes offsets for absolute and relative encoder| -|SetCommandMode|void|[CommandModeInformation](msg_ActuatorConfig_CommandModeInformation.md#)|Sets command mode \(config versus cyclic\)| -|SetControlLoopParameters|void|[ControlLoopParameters](msg_ActuatorConfig_ControlLoopParameters.md#)|Sets control loop parameters.| -|SetControlMode|void|[ControlModeInformation](msg_ActuatorConfig_ControlModeInformation.md#)|Sets actuator control mode| -|SetEncoderDerivativeParameters|void|[EncoderDerivativeParameters](msg_ActuatorConfig_EncoderDerivativeParameters.md#)|Sets encoder derivative parameters \(internal use only\)| -|SetServoing|void|[Servoing](msg_ActuatorConfig_Servoing.md#)|Enables or disables servoing| -|SetTorqueOffset|void|[TorqueOffset](msg_ActuatorConfig_TorqueOffset.md#)|Sets zero torque calibration| -|SetVectorDriveParameters|void|[VectorDriveParameters](msg_ActuatorConfig_VectorDriveParameters.md#)|Sets motor drive FOC parameters \(internal use only\)| -|StartFrequencyResponse|void|[FrequencyResponse](msg_ActuatorConfig_FrequencyResponse.md#)|Starts frequency response test \(internal use only\)| -|StartRampResponse|void|[RampResponse](msg_ActuatorConfig_RampResponse.md#)|Starts ramp response test \(internal use only\)| -|StartStepResponse|void|[StepResponse](msg_ActuatorConfig_StepResponse.md#)|Starts step response test \(internal use only\)| -|StopFrequencyResponse|void|void|Stops frequency response test \(internal use only\)| -|StopRampResponse|void|void|Stops ramp response test \(internal use only\)| -|StopStepResponse|void|void|Stops step response test \(internal use only\)| -|WriteTorqueCalibration|void|[TorqueCalibration](msg_ActuatorConfig_TorqueCalibration.md#)|Writes torque calibration parameters \(internal use only\)| - -## Data types reference - -This section describes the data types used in the ActuatorConfig package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[AxisOffsets](msg_ActuatorConfig_AxisOffsets.md#)|Defines axis offsets| -|[AxisPosition](msg_ActuatorConfig_AxisPosition.md#)|Defines an axis position| -|[CommandModeInformation](msg_ActuatorConfig_CommandModeInformation.md#)|Selects command mode| -|[ControlLoop](msg_ActuatorConfig_ControlLoop.md#)|Defines the control loop| -|[ControlLoopParameters](msg_ActuatorConfig_ControlLoopParameters.md#)|Defines control loop parameters \(discrete transfer function\)| -|[ControlModeInformation](msg_ActuatorConfig_ControlModeInformation.md#)|Defines the control mode| -|[CustomDataSelection](msg_ActuatorConfig_CustomDataSelection.md#)|Selects custom data channels content| -|[EncoderDerivativeParameters](msg_ActuatorConfig_EncoderDerivativeParameters.md#)|Defines variable window derivative parameters| -|[FrequencyResponse](msg_ActuatorConfig_FrequencyResponse.md#)|Defines frequency response| -|[LoopSelection](msg_ActuatorConfig_LoopSelection.md#)|Defines the loop selection| -|[PositionCommand](msg_ActuatorConfig_PositionCommand.md#)|Defines a position command| -|[RampResponse](msg_ActuatorConfig_RampResponse.md#)|Defines ramp response| -|[Servoing](msg_ActuatorConfig_Servoing.md#)|Enables/disables servoing| -|[StepResponse](msg_ActuatorConfig_StepResponse.md#)|Defines step response| -|[TorqueCalibration](msg_ActuatorConfig_TorqueCalibration.md#)|Defines torque calibration| -|[TorqueOffset](msg_ActuatorConfig_TorqueOffset.md#)|Defines torque offset| -|[VectorDriveParameters](msg_ActuatorConfig_VectorDriveParameters.md#)|Field-oriented control PI controller gain values| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[CommandMode](enm_ActuatorConfig_CommandMode.md#)|List of admissible command modes| -|[ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|List of admissible control loop selections| -|[ControlMode](enm_ActuatorConfig_ControlMode.md#)|List of admissible control modes| -|[CustomDataIndex](enm_ActuatorConfig_CustomDataIndex.md#)| | -|[SafetyIdentifier](enm_ActuatorConfig_SafetyIdentifier.md#)|List of admissible actuator safeties| -|[SafetyLimitType](enm_ActuatorConfig_SafetyLimitType.md#)|List of of admissible limit types| -|[ServiceVersion](enm_ActuatorConfig_ServiceVersion.md#)|Enumeration used to identify ActuatorConfig service current version| - -**Parent topic:** [KINOVA® KORTEX™ C++ API Reference](../index.md#) - diff --git a/api_cpp/doc/markdown/references/summary_ActuatorCyclic.md b/api_cpp/doc/markdown/references/summary_ActuatorCyclic.md deleted file mode 100644 index 6a1a30e2..00000000 --- a/api_cpp/doc/markdown/references/summary_ActuatorCyclic.md +++ /dev/null @@ -1,50 +0,0 @@ -# ActuatorCyclic - -This page describes the C++ Kinova::Api::ActuatorCyclic package. - -## Overview / Purpose - -Service to exchange cyclic data with actuator module - -## API reference - -This section describes procedure calls / methods exposed by the ActuatorCyclic package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -Every method listed below, except the notification subscription methods \(begining with 'OnNotification'\) are available in three different forms : - -- **blocking** : called using listed method name \(default\) -- **future/promise** : called using listed method name followed by the '**\_async**' suffix -- **regiser callback** : called using listed method name followed by the '**\_callback**' suffix - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|Refresh|[Feedback](msg_ActuatorCyclic_Feedback.md#)|[Command](msg_ActuatorCyclic_Command.md#)|Commands refresh \(with feedback\)| -|RefreshCommand|void|[Command](msg_ActuatorCyclic_Command.md#)|Commands refresh \(no feedback\)| -|RefreshCustomData|[CustomData](msg_ActuatorCyclic_CustomData.md#)|[MessageId](msg_ActuatorCyclic_MessageId.md#)|Gets custom data| -|RefreshFeedback|[Feedback](msg_ActuatorCyclic_Feedback.md#)|[MessageId](msg_ActuatorCyclic_MessageId.md#)|Gets feedback| - -## Data types reference - -This section describes the data types used in the ActuatorCyclic package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[Command](msg_ActuatorCyclic_Command.md#)|Defines an actuator module command| -|[CustomData](msg_ActuatorCyclic_CustomData.md#)|Custom development data, content varies according to debug needs| -|[Feedback](msg_ActuatorCyclic_Feedback.md#)|Defines the feedback provided by an actuator module| -|[MessageId](msg_ActuatorCyclic_MessageId.md#)|Provides a message identifier| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[CommandFlags](enm_ActuatorCyclic_CommandFlags.md#)|Enumeration used to identify actuator commands| -|[ServiceVersion](enm_ActuatorCyclic_ServiceVersion.md#)|Enumeration used to identify ActuatorCyclic current version| -|[StatusFlags](enm_ActuatorCyclic_StatusFlags.md#)|Enumeration used to identify actuator status| - -**Parent topic:** [KINOVA® KORTEX™ C++ API Reference](../index.md#) - diff --git a/api_cpp/doc/markdown/references/summary_Api.md b/api_cpp/doc/markdown/references/summary_Api.md deleted file mode 100644 index 8f82277d..00000000 --- a/api_cpp/doc/markdown/references/summary_Api.md +++ /dev/null @@ -1,21 +0,0 @@ -# Api - -This page describes the C++ Kinova::Api package. - -## API reference - -This section describes procedure calls / methods exposed by the Api package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - -## Data types reference - -This section describes the data types used in the Api package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[ErrorCodes](enm_Api_ErrorCodes.md#)|List of possible error codes| -|[SubErrorCodes](enm_Api_SubErrorCodes.md#)|List of possible sub errror codes| - -**Parent topic:** [KINOVA® KORTEX™ C++ API Reference](../index.md#) - diff --git a/api_cpp/doc/markdown/references/summary_Base.md b/api_cpp/doc/markdown/references/summary_Base.md deleted file mode 100644 index f75b45fd..00000000 --- a/api_cpp/doc/markdown/references/summary_Base.md +++ /dev/null @@ -1,324 +0,0 @@ -# Base - -This page describes the C++ Kinova::Api::Base package. - -## Overview / Purpose - -Base module service - -## API reference - -This section describes procedure calls / methods exposed by the Base package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -Every method listed below, except the notification subscription methods \(begining with 'OnNotification'\) are available in three different forms : - -- **blocking** : called using listed method name \(default\) -- **future/promise** : called using listed method name followed by the '**\_async**' suffix -- **regiser callback** : called using listed method name followed by the '**\_callback**' suffix - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|ActivateMap|void|[ActivateMapHandle](msg_Base_ActivateMapHandle.md#)|Makes the specified map active within the specified map group and mapping| -|AddWifiConfiguration|void|[WifiConfiguration](msg_Base_WifiConfiguration.md#)|Configures a specific Wi-Fi network| -|ApplyEmergencyStop|void|void|Stops robot movement| -|ChangePassword|void|[PasswordChange](msg_Base_PasswordChange.md#)|Changes the password of an existing user| -|ClearFaults|void|void|Clears robot stop. Robot is permitted to move again.| -|ConnectWifi|void|[Ssid](msg_Base_Ssid.md#)|Connects robot to specified Wi-Fi network| -|CreateAction|[ActionHandle](msg_Base_ActionHandle.md#)|[Action](msg_Base_Action.md#)|Creates an action| -|CreateMap|[MapHandle](msg_Base_MapHandle.md#)|[Map](msg_Base_Map.md#)|Creates a new map \(future\)| -|CreateMapping|[MappingHandle](msg_Base_MappingHandle.md#)|[Mapping](msg_Base_Mapping.md#)|Creates a mapping \(future\)| -|CreateProtectionZone|[ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)|[ProtectionZone](msg_Base_ProtectionZone.md#)|Creates a protection zone| -|CreateSequence|[SequenceHandle](msg_Base_SequenceHandle.md#)|[Sequence](msg_Base_Sequence.md#)|Creates a new sequence| -|CreateUserProfile|[UserProfileHandle](msg_Common_UserProfileHandle.md#)|[FullUserProfile](msg_Base_FullUserProfile.md#)|Creates a user profile| -|DeleteAction|void|[ActionHandle](msg_Base_ActionHandle.md#)|Deletes an existing action| -|DeleteAllSequenceTasks|void|[SequenceHandle](msg_Base_SequenceHandle.md#)|Deletes all tasks from the specified sequence| -|DeleteProtectionZone|void|[ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)|Deletes an existing protection zone| -|DeleteSequence|void|[SequenceHandle](msg_Base_SequenceHandle.md#)|Deletes an existing sequence| -|DeleteSequenceTask|void|[SequenceTaskHandle](msg_Base_SequenceTaskHandle.md#)|Deletes a specific task from the specified sequence| -|DeleteUserProfile|void|[UserProfileHandle](msg_Common_UserProfileHandle.md#)|Deletes an existing user profile| -|DeleteWifiConfiguration|void|[Ssid](msg_Base_Ssid.md#)|Deletes a specific Wi-Fi network| -|DisconnectWifi|void|void|Disconnects the robot from currently connected Wi-Fi network| -|ExecuteAction|void|[Action](msg_Base_Action.md#)|Asks the robot to execute the specified action| -|ExecuteActionFromReference|void|[ActionHandle](msg_Base_ActionHandle.md#)|Asks the robot to execute the specified existing action| -|GetActionExecutionState|[ActionExecutionState](msg_Base_ActionExecutionState.md#)|void|Retrieves the action execution state \(future\)| -|GetActiveMap|void|[MappingHandle](msg_Base_MappingHandle.md#)|Retrieves currently active map associated with specified mapping \(future\)| -|GetActuatorCount|[ActuatorInformation](msg_Base_ActuatorInformation.md#)|void|Retrieves the number of actuators| -|GetAllConfiguredWifis|[WifiConfigurationList](msg_Base_WifiConfigurationList.md#)|void|Retrieves the list of configured Wi-Fi networks| -|GetAllConnectedControllers|[ControllerList](msg_Base_ControllerList.md#)|void|Retrieves the list of all connected controllers| -|GetArmState|[ArmStateInformation](msg_Base_ArmStateInformation.md#)|void|Retrieves current arm state| -|GetAvailableWifi|[WifiInformationList](msg_Base_WifiInformationList.md#)|void|Retrieves the list of available Wi-Fi networks| -|GetCommandedCartesianPose|[Pose](msg_Base_Pose.md#)|void|Retrieves the commanded Cartesian pose \(future\)| -|GetCommandedGripperMovement|[Gripper](msg_Base_Gripper.md#)|[GripperRequest](msg_Base_GripperRequest.md#)|Retrieves the desired gripper movement \(future\)| -|GetCommandedJointAngles|[JointAngles](msg_Base_JointAngles.md#)|void|Retrieves the desired joint angles, that is the desired joint angle for each joint \(future\)| -|GetCommandedJointSpeeds|[JointSpeeds](msg_Base_JointSpeeds.md#)|void|Retrieves the desired joint speeds, that is the desired speed for each joint \(future\)| -|GetCommandedTwist|[Twist](msg_Base_Twist.md#)|void|Retrieves the desired twist command \(future\)| -|GetConfiguredWifi|[WifiConfiguration](msg_Base_WifiConfiguration.md#)|[Ssid](msg_Base_Ssid.md#)|Retrieves a configured Wi-Fi network| -|GetConnectedWifiInformation|[WifiInformation](msg_Base_WifiInformation.md#)|void|Gets information about the connected Wi-Fi network| -|GetControllerState|[ControllerState](msg_Base_ControllerState.md#)|[ControllerHandle](msg_Base_ControllerHandle.md#)|Retrieves the state of a specific controller| -|GetControlMode|[ControlModeInformation](msg_Base_ControlModeInformation.md#)|void|Retrieves current control mode| -|GetCountryCode|[CountryCode](msg_Base_CountryCode.md#)|void|Retrieves country code| -|GetFwdKinematics|[TransformationMatrix](msg_Base_TransformationMatrix.md#)|void|Retrieves the forward kinematics that corresponds to specified transformation matrix \(future\)| -|GetIPv4Configuration|[IPv4Configuration](msg_Base_IPv4Configuration.md#)|[NetworkHandle](msg_Base_NetworkHandle.md#)|Retrieves the IPv4 network configuration for the specified network adapter| -|GetIPv4Information|[IPv4Information](msg_Base_IPv4Information.md#)|[NetworkHandle](msg_Base_NetworkHandle.md#)|Retrieves the IPv4 network information for the specified network adapter| -|GetMeasuredCartesianPose|[Pose](msg_Base_Pose.md#)|void|Retrieves the currently measured pose, that is the position and orientation that the robot is currently in| -|GetMeasuredGripperMovement|[Gripper](msg_Base_Gripper.md#)|[GripperRequest](msg_Base_GripperRequest.md#)|Retrieves the current gripper movement, that is the current gripper position, force or speed \(future\)| -|GetMeasuredJointAngles|[JointAngles](msg_Base_JointAngles.md#)|void|Retrieves the currently measured joint angles, that is the current position of each joint| -|GetMeasuredJointSpeeds|[JointSpeeds](msg_Base_JointSpeeds.md#)|void|Retrieves the currently measured joint speeds, that is the current speed of each joint \(future\)| -|GetMeasuredTwist|[Twist](msg_Base_Twist.md#)|void|Retrieves the currently measured twist command, that is the current linear and angular robot velocity \(future\)| -|GetOperatingMode|[OperatingModeInformation](msg_Base_OperatingModeInformation.md#)|void|Retrieves current operating mode| -|GetProtectionZoneState|[ProtectionZoneInformation](msg_Base_ProtectionZoneInformation.md#)|[ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)|Retrieves the last state of the robot versus the specified protection zone \(future\)| -|GetSequenceState|[SequenceInformation](msg_Base_SequenceInformation.md#)|[SequenceHandle](msg_Base_SequenceHandle.md#)|Retrieves the last sequence state \(future\)| -|GetServoingMode|[ServoingModeInformation](msg_Base_ServoingModeInformation.md#)|void|Retrieves current servoing mode| -|GetTargetedCartesianPose|[Pose](msg_Base_Pose.md#)|void|Retrieves the targeted Cartesian pose \(future\)| -|GetWifiInformation|[WifiInformation](msg_Base_WifiInformation.md#)|[Ssid](msg_Base_Ssid.md#)|Retrieves information about a specific Wi-Fi network| -|IsCommunicationInterfaceEnable|[CommunicationInterfaceConfiguration](msg_Base_CommunicationInterfaceConfiguration.md#)|[NetworkHandle](msg_Base_NetworkHandle.md#)|Determines if the specified communication interface is enabled \(or disabled\)| -|OnNotificationActionTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to action notifications| -|OnNotificationArmStateTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to arm state notifications| -|OnNotificationConfigurationChangeTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to configuration change notifications| -|OnNotificationControllerTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to controller notifications| -|OnNotificationControlModeTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to control mode notifications| -|OnNotificationFactoryTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to factory notifications| -|OnNotificationMappingInfoTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to mapping information notifications| -|OnNotificationNetworkTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to network event notifications| -|OnNotificationOperatingModeTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to operating mode notifications| -|OnNotificationProtectionZoneTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to protection zone notifications \(future\)| -|OnNotificationRobotEventTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to robot event notifications| -|OnNotificationSequenceInfoTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to sequence information notifications| -|OnNotificationServoingModeTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to servoing mode notifications| -|OnNotificationUserTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to user notifications| -|Pause|void|void|Pauses robot movement \(future\)| -|PauseAction|void|void|Pauses the currently executed action. ResumeAction can be invoked afterwards| -|PauseSequence|void|void|Pauses execution of currently playing sequence| -|PlayAdvancedSequence|void|[AdvancedSequenceHandle](msg_Base_AdvancedSequenceHandle.md#)|Plays an existing sequence with options| -|PlayCartesianTrajectory|void|[ConstrainedPose](msg_Base_ConstrainedPose.md#)|Moves to the specifed pose| -|PlayCartesianTrajectoryOrientation|void|[ConstrainedOrientation](msg_Base_ConstrainedOrientation.md#)|Moves to the specifed orientation| -|PlayCartesianTrajectoryPosition|void|[ConstrainedPosition](msg_Base_ConstrainedPosition.md#)|Moves to the specifed position| -|PlayJointTrajectory|void|[ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#)|Moves to the specifed joint angles| -|PlaySelectedJointTrajectory|void|[ConstrainedJointAngle](msg_Base_ConstrainedJointAngle.md#)|Moves specifed joint to the specifed joint angle| -|PlaySequence|void|[SequenceHandle](msg_Base_SequenceHandle.md#)|Plays an existing sequence| -|ReadAction|[Action](msg_Base_Action.md#)|[ActionHandle](msg_Base_ActionHandle.md#)|Retrieves an existing action| -|ReadAllActions|[ActionList](msg_Base_ActionList.md#)|[RequestedActionType](msg_Base_RequestedActionType.md#)|Retrieves all existing actions| -|ReadAllMappings|[MappingList](msg_Base_MappingList.md#)|void|Retrieves all mappings| -|ReadAllMaps|[MapList](msg_Base_MapList.md#)|[MappingHandle](msg_Base_MappingHandle.md#)|Retrieves all maps associated to the specified mapping| -|ReadAllProtectionZones|[ProtectionZoneList](msg_Base_ProtectionZoneList.md#)|void|Retrieves all protection zones| -|ReadAllSequences|[SequenceList](msg_Base_SequenceList.md#)|void|Retrieves all existing sequences| -|ReadAllUserProfiles|[UserProfileList](msg_Base_UserProfileList.md#)|void|Retrieves all user profiles| -|ReadAllUsers|[UserList](msg_Base_UserList.md#)|void|Retrieves the list of user handles| -|ReadMapping|[Mapping](msg_Base_Mapping.md#)|[MappingHandle](msg_Base_MappingHandle.md#)|Retrieves an existing mapping| -|ReadProtectionZone|[ProtectionZone](msg_Base_ProtectionZone.md#)|[ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)|Retrieves an existing protection zone| -|ReadSequence|[Sequence](msg_Base_Sequence.md#)|[SequenceHandle](msg_Base_SequenceHandle.md#)|Reads an existing sequence| -|ReadUserProfile|[UserProfile](msg_Base_UserProfile.md#)|[UserProfileHandle](msg_Common_UserProfileHandle.md#)|Retrieves an existing user profile| -|Reboot|void|void|Reboots robot| -|RestoreFactorySettings|void|void|Deletes all configurations and reverts settings to their factory defaults \(except network settings\)| -|RestoreNetworkFactorySettings|void|void|Reverts network settings to their factory defaults and predefined user profiles to their default passwords \(future\)| -|Resume|void|void|Resumes robot movement \(future\)| -|ResumeAction|void|void|Resumes execution of the currently paused action| -|ResumeSequence|void|void|Resumes execution of currently paused sequence| -|SendGripperCommand|void|[GripperCommand](msg_Base_GripperCommand.md#)|Sends a command to move the gripper| -|SendJointSpeedsCommmand|void|[JointSpeeds](msg_Base_JointSpeeds.md#)|Sends a joint speeds command, that is the desired speed of one or many joints| -|SendSelectedJointSpeedCommand|void|[JointSpeed](msg_Base_JointSpeed.md#)|Sends a speed command for a specific joint| -|SendTwistCommand|void|[TwistCommand](msg_Base_TwistCommand.md#)|Sends a twist command| -|SetAdmittance|void|[Admittance](msg_Base_Admittance.md#)|Sets the robot in admittance mode| -|SetCommunicationInterfaceEnable|void|[CommunicationInterfaceConfiguration](msg_Base_CommunicationInterfaceConfiguration.md#)|Enables \(or disables\) the specified communication interface| -|SetCountryCode|void|[CountryCode](msg_Base_CountryCode.md#)|Sets country code| -|SetIPv4Configuration|void|[FullIPv4Configuration](msg_Base_FullIPv4Configuration.md#)|Modifies the IPv4 network configuration for the specified network adapter| -|SetOperatingMode|void|[OperatingModeInformation](msg_Base_OperatingModeInformation.md#)|Sets a new operating mode. Only Maintenance, Update and Run modes are permitted.| -|SetServoingMode|void|[ServoingModeInformation](msg_Base_ServoingModeInformation.md#)|Sets the servoing mode| -|SetTwistWrenchReferenceFrame|void|[CartesianReferenceFrameRequest](msg_Base_CartesianReferenceFrameRequest.md#)|Defines the reference frame to use with twist and wrench commands| -|StartWifiScan|void|void|Initiates wifi scanning| -|StopAction|void|void|Stops the currently executed action. ResumeAction cannot be invoked afterwards| -|StopSequence|void|void|Stops execution of currently playing sequence| -|Unsubscribe|void|[NotificationHandle](msg_Common_NotificationHandle.md#)|Unsubscribes client from receiving specified types of notifications| -|UpdateAction|void|[Action](msg_Base_Action.md#)|Update an existing action| -|UpdateProtectionZone|void|[ProtectionZone](msg_Base_ProtectionZone.md#)|Updates an existing protection zone| -|UpdateSequence|void|[Sequence](msg_Base_Sequence.md#)|Updates an existing sequence| -|UpdateUserProfile|void|[UserProfile](msg_Base_UserProfile.md#)|Updates an existing user profile| - -## Data types reference - -This section describes the data types used in the Base package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[Action](msg_Base_Action.md#)|Defines an action| -|[ActionExecutionState](msg_Base_ActionExecutionState.md#)|Indicates the execution state of an action \(future\)| -|[ActionHandle](msg_Base_ActionHandle.md#)|Identifies an action| -|[ActionList](msg_Base_ActionList.md#)|Array of actions| -|[ActionNotification](msg_Base_ActionNotification.md#)|Message that contains an action event| -|[ActionNotificationList](msg_Base_ActionNotificationList.md#)|Array of action notifications| -|[ActivateMapHandle](msg_Base_ActivateMapHandle.md#)|Specifies a new active map for the specified mapping and map group| -|[ActuatorInformation](msg_Base_ActuatorInformation.md#)|Provides information about actuators| -|[Admittance](msg_Base_Admittance.md#)|Defines the admittance mode| -|[AdvancedSequenceHandle](msg_Base_AdvancedSequenceHandle.md#)|Associates execution options to a sequence| -|[AppendActionInformation](msg_Base_AppendActionInformation.md#)|Appends an action to an existing sequence \(future\)| -|[ArmStateInformation](msg_Base_ArmStateInformation.md#)|Provides information about the arm state| -|[ArmStateNotification](msg_Base_ArmStateNotification.md#)|Message that contains a arm state event| -|[CartesianLimitation](msg_Base_CartesianLimitation.md#)|Provides a Cartesian limitation configuration| -|[CartesianLimitationList](msg_Base_CartesianLimitationList.md#)|Array of Cartesian limitations| -|[CartesianReferenceFrameRequest](msg_Base_CartesianReferenceFrameRequest.md#)|Defines a Cartesian reference frame| -|[CartesianSpeed](msg_Base_CartesianSpeed.md#)|Defines a Cartesian speed| -|[CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#)|Defines a Cartesian trajectory constraint that can be applied when controlling in Cartesian trajectory mode| -|[ChangeJointSpeeds](msg_Base_ChangeJointSpeeds.md#)|Defines an action to increase \(or reduce\) the maximum angular velocity per joint by a specific increment| -|[ChangeTwist](msg_Base_ChangeTwist.md#)|Defines an action to increase \(or reduce\) the maximum Cartesian velocity by a specific increment| -|[CommunicationInterfaceConfiguration](msg_Base_CommunicationInterfaceConfiguration.md#)|Enables or disables a specific communication interface \(e.g. Wi-Fi, Wired Ethernet\)| -|[ConfigurationChangeNotification](msg_Base_ConfigurationChangeNotification.md#)|Message that contains a configuration change event| -|[ConfigurationChangeNotificationList](msg_Base_ConfigurationChangeNotificationList.md#)|Array of configuration change notifications| -|[ConstrainedJointAngle](msg_Base_ConstrainedJointAngle.md#)|Defines a single joint angle value with constraint| -|[ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#)|Defines a series of joint angles value with constraint| -|[ConstrainedOrientation](msg_Base_ConstrainedOrientation.md#)|Defines a Cartesian orientation with constraint| -|[ConstrainedPose](msg_Base_ConstrainedPose.md#)|Defines a Cartesian pose with constraint| -|[ConstrainedPosition](msg_Base_ConstrainedPosition.md#)|Defines a Cartesian position with constraint| -|[ControlModeInformation](msg_Base_ControlModeInformation.md#)|Provides control mode information| -|[ControlModeNotification](msg_Base_ControlModeNotification.md#)|Message that contains a control mode event| -|[ControlModeNotificationList](msg_Base_ControlModeNotificationList.md#)|Array of control mode notifications| -|[ControllerElementHandle](msg_Base_ControllerElementHandle.md#)|Identifies a specific button \(or axis\) of a controller| -|[ControllerElementState](msg_Base_ControllerElementState.md#)|Indicates if a specific button \(or axis\) was pressed \(or moved\)| -|[ControllerEvent](msg_Base_ControllerEvent.md#)|Identifies a controller event| -|[ControllerHandle](msg_Base_ControllerHandle.md#)|Identifies a specific controller| -|[ControllerList](msg_Base_ControllerList.md#)|Array of controllers| -|[ControllerNotification](msg_Base_ControllerNotification.md#)|Message that contains a controller event| -|[ControllerNotificationList](msg_Base_ControllerNotificationList.md#)|Array of controller notifications| -|[ControllerState](msg_Base_ControllerState.md#)|Indicates if a controller is connected \(or disconnected\)| -|[CountryCode](msg_Base_CountryCode.md#)|Country code| -|[Delay](msg_Base_Delay.md#)|Defines an action to apply a delay| -|[EmergencyStop](msg_Base_EmergencyStop.md#)|Defines an action to force an emergency of the robot| -|[FactoryNotification](msg_Base_FactoryNotification.md#)|Message that contains a factory event| -|[Faults](msg_Base_Faults.md#)|Defines an action to clear faults| -|[Finger](msg_Base_Finger.md#)|Defines a finger movement| -|[FullIPv4Configuration](msg_Base_FullIPv4Configuration.md#)|Provides an IPv4 configuration for a specific network| -|[FullUserProfile](msg_Base_FullUserProfile.md#)|Provides complete infomation about a user. Used when creating a user profile.| -|[GpioEvent](msg_Base_GpioEvent.md#)|Identifies a GPIO event \(future\)| -|[Gripper](msg_Base_Gripper.md#)|Defines a gripper movement, which is composed of a series of fingers movement| -|[GripperCommand](msg_Base_GripperCommand.md#)|Defines a command to control the gripper movement| -|[GripperRequest](msg_Base_GripperRequest.md#)|Message used to request the current gripper movement in either position, force or speed| -|[IPv4Configuration](msg_Base_IPv4Configuration.md#)|Provides an IPv4 configuration| -|[IPv4Information](msg_Base_IPv4Information.md#)|Provides information about an IPv4 endpoint| -|[JointAngle](msg_Base_JointAngle.md#)|Position of a specific joint| -|[JointAngles](msg_Base_JointAngles.md#)|Position of a series of joints| -|[JointLimitation](msg_Base_JointLimitation.md#)|Defines a joint limitation| -|[JointLimitationTypeIdentifier](msg_Base_JointLimitationTypeIdentifier.md#)|Identifies a joint limitation for a specific joint| -|[JointLimitationValue](msg_Base_JointLimitationValue.md#)|Defines joint limitation value| -|[JointLimitationValueList](msg_Base_JointLimitationValueList.md#)|List of joint limitations| -|[JointSpeed](msg_Base_JointSpeed.md#)|Defines the speed of a specific joint| -|[JointSpeeds](msg_Base_JointSpeeds.md#)|Defines a series of joint speeds| -|[JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#)|Defines a joint trajectory constraint that can be applied when controlling a joint in trajectory mode| -|[LimitationTypeIdentifier](msg_Base_LimitationTypeIdentifier.md#)|Identifies a limitation| -|[Map](msg_Base_Map.md#)|Defines a map as an array of map elements| -|[MapElement](msg_Base_MapElement.md#)|Associates a map event to map action| -|[MapEvent](msg_Base_MapEvent.md#)|Defines a map event| -|[MapGroup](msg_Base_MapGroup.md#)|Message that contains all information about a map group including the list of maps that it contains and its relationship versus other map groups \(future\)| -|[MapGroupHandle](msg_Base_MapGroupHandle.md#)|Identifies a map group \(future\)| -|[MapGroupList](msg_Base_MapGroupList.md#)|Array of map groups \(future\)| -|[MapHandle](msg_Base_MapHandle.md#)|Identifies a map| -|[MapList](msg_Base_MapList.md#)|Array of maps| -|[Mapping](msg_Base_Mapping.md#)|Message that contains all information about a mapping including the controller to which it is associated, the array of map groups it contains, the currently active map group, the array of maps it contains and the currently active map| -|[MappingHandle](msg_Base_MappingHandle.md#)|Identifies a Mapping| -|[MappingInfoNotification](msg_Base_MappingInfoNotification.md#)|Message that contains a mapping information event| -|[MappingInfoNotificationList](msg_Base_MappingInfoNotificationList.md#)|Array of mapping information notifications| -|[MappingList](msg_Base_MappingList.md#)|Array of mappings| -|[NetworkHandle](msg_Base_NetworkHandle.md#)|Identifies a network| -|[NetworkNotification](msg_Base_NetworkNotification.md#)|Message that contains a network event| -|[NetworkNotificationList](msg_Base_NetworkNotificationList.md#)|Array of network event notifications| -|[OperatingModeInformation](msg_Base_OperatingModeInformation.md#)|Provides information about the operating mode| -|[OperatingModeNotification](msg_Base_OperatingModeNotification.md#)|Message that contains an operating mode event| -|[OperatingModeNotificationList](msg_Base_OperatingModeNotificationList.md#)|Array of Operating mode notifications| -|[Orientation](msg_Base_Orientation.md#)|Defines a Cartesian orientation| -|[PasswordChange](msg_Base_PasswordChange.md#)|Provides information to change a user's password| -|[Point](msg_Base_Point.md#)|Identifies a Cartesian point| -|[Pose](msg_Base_Pose.md#)|Defines a Cartesian pose| -|[Position](msg_Base_Position.md#)|Defines a Cartesian position| -|[ProtectionZone](msg_Base_ProtectionZone.md#)|Provides a protection zone configuration| -|[ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)|Identifies a protection zone| -|[ProtectionZoneInformation](msg_Base_ProtectionZoneInformation.md#)|Provides information about a protection zone| -|[ProtectionZoneList](msg_Base_ProtectionZoneList.md#)|Array of protection zones| -|[ProtectionZoneNotification](msg_Base_ProtectionZoneNotification.md#)|Message that contains a protection zone event| -|[ProtectionZoneNotificationList](msg_Base_ProtectionZoneNotificationList.md#)|Array of protection zone notifications| -|[Query](msg_Base_Query.md#)|Specifies the parameters of an event log query \(future\)| -|[RequestedActionType](msg_Base_RequestedActionType.md#)|Message used to request all action instances of a specific action type| -|[RobotEventNotification](msg_Base_RobotEventNotification.md#)|Message that contains a robot event| -|[RobotEventNotificationList](msg_Base_RobotEventNotificationList.md#)|Array of robot event notifications| -|[RotationMatrix](msg_Base_RotationMatrix.md#)|Provides a 3x3 rotation matrix configuration| -|[RotationMatrixRow](msg_Base_RotationMatrixRow.md#)|Provides the rotation matrix configuration of a single row| -|[SafetyEvent](msg_Base_SafetyEvent.md#)|Identifies a Safety event \(future\)| -|[SafetyNotificationList](msg_Base_SafetyNotificationList.md#)|Array of safety notifications| -|[Sequence](msg_Base_Sequence.md#)|Provides information about a sequence| -|[SequenceHandle](msg_Base_SequenceHandle.md#)|Identifies a sequence| -|[SequenceInfoNotification](msg_Base_SequenceInfoNotification.md#)|Message that contains a sequence information event| -|[SequenceInfoNotificationList](msg_Base_SequenceInfoNotificationList.md#)|Array of sequence information notifications| -|[SequenceInformation](msg_Base_SequenceInformation.md#)|Provides information about a sequence| -|[SequenceList](msg_Base_SequenceList.md#)|Array of sequences| -|[SequenceTask](msg_Base_SequenceTask.md#)|Provides information about a task inside a sequence| -|[SequenceTaskHandle](msg_Base_SequenceTaskHandle.md#)|Identifies a task inside a sequence| -|[ServoingModeInformation](msg_Base_ServoingModeInformation.md#)|Provides information about the servoing mode| -|[ServoingModeNotification](msg_Base_ServoingModeNotification.md#)|Message that contains a servoing mode event| -|[ServoingModeNotificationList](msg_Base_ServoingModeNotificationList.md#)|Array of servoing mode notifications| -|[Ssid](msg_Base_Ssid.md#)|Identifies a Wi-Fi SSID| -|[Stop](msg_Base_Stop.md#)|Defines an action to stop robot movement| -|[SwitchControlMapping](msg_Base_SwitchControlMapping.md#)|Defines an action to switch the active controller map| -|[SystemTime](msg_Base_SystemTime.md#)|Identifies the system time \(future\)| -|[Timeout](msg_Base_Timeout.md#)|Defines a specific timeout| -|[TransformationMatrix](msg_Base_TransformationMatrix.md#)|Defines a transformation matrix| -|[TransformationRow](msg_Base_TransformationRow.md#)|Defines a transformation matrix row| -|[Twist](msg_Base_Twist.md#)|Defines a twist \(velocity\)| -|[TwistCommand](msg_Base_TwistCommand.md#)|Defines a twist \(velocity\) command| -|[UserList](msg_Base_UserList.md#)|Array of user handles| -|[UserNotification](msg_Base_UserNotification.md#)|Message that contains a user event| -|[UserNotificationList](msg_Base_UserNotificationList.md#)|Array of user notifications| -|[UserProfile](msg_Base_UserProfile.md#)|Provides information about a user| -|[UserProfileList](msg_Base_UserProfileList.md#)|Array of user profiles| -|[WifiConfiguration](msg_Base_WifiConfiguration.md#)|Provides a Wi-Fi Configuration| -|[WifiConfigurationList](msg_Base_WifiConfigurationList.md#)|Array of Wi-Fi configuration| -|[WifiInformation](msg_Base_WifiInformation.md#)|Provides information about a specific Wi-Fi network| -|[WifiInformationList](msg_Base_WifiInformationList.md#)|Array of Wi-Fi information| -|[ZoneShape](msg_Base_ZoneShape.md#)|Provides a protection zone shape description| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[ActionEvent](enm_Base_ActionEvent.md#)|List of admissible action event types| -|[ActionType](enm_Base_ActionType.md#)|List of admissible action types| -|[AdmittanceMode](enm_Base_AdmittanceMode.md#)|List of admissible admittance modes| -|[BackupEvent](enm_Base_BackupEvent.md#)|List of admissible backup events \(future\)| -|[CartesianReferenceFrame](enm_Base_CartesianReferenceFrame.md#)|List of admissible Cartesian reference frame modes| -|[ConfigurationNotificationEvent](enm_Base_ConfigurationNotificationEvent.md#)|List of admissible configuration events| -|[ControlMode](enm_Base_ControlMode.md#)|List of admissible robot control modes| -|[ControllerBehavior](enm_Base_ControllerBehavior.md#)|List of admissible controller input behaviors| -|[ControllerElementEventType](enm_Base_ControllerElementEventType.md#)|List of admissible controller element event types| -|[ControllerEventType](enm_Base_ControllerEventType.md#)|List of admissible controller event types| -|[ControllerInputType](enm_Base_ControllerInputType.md#)|List of admissible controller input types| -|[ControllerType](enm_Base_ControllerType.md#)|List of admissible controller types| -|[CountryCodeIdentifier](enm_Base_CountryCodeIdentifier.md#)|List of supported ISO3166 country identifiers| -|[EventIdSequenceInfoNotification](enm_Base_EventIdSequenceInfoNotification.md#)|List of admissible sequence event types| -|[FactoryEvent](enm_Base_FactoryEvent.md#)|List of admissible factory events| -|[GpioState](enm_Base_GpioState.md#)|List of admissible GPIO states \(future\)| -|[GripperMode](enm_Base_GripperMode.md#)|List of admissible gripper control mode| -|[JointNavigationDirection](enm_Base_JointNavigationDirection.md#)|List of admissible joint navigation directions| -|[JointTrajectoryConstraintType](enm_Base_JointTrajectoryConstraintType.md#)|List of admissible constraint types that can be applied when controlling a joint in trajectory mode| -|[LedState](enm_Base_LedState.md#)|List of admissible LED states \(future\)| -|[LimitationType](enm_Base_LimitationType.md#)|List of admisible limitation types| -|[NavigationDirection](enm_Base_NavigationDirection.md#)|List of admissible map navigation directions| -|[NetworkEvent](enm_Base_NetworkEvent.md#)|List of admissible network events| -|[NetworkType](enm_Base_NetworkType.md#)|List of admissible network types| -|[OperatingMode](enm_Base_OperatingMode.md#)|List of admissible robot operating modes \(used to report robot firmware upgrade current state\)| -|[ProtectionZoneEvent](enm_Base_ProtectionZoneEvent.md#)|List of admissible protection zone events| -|[RobotEvent](enm_Base_RobotEvent.md#)|List of admissible robot events| -|[SafetyIdentifier](enm_Base_SafetyIdentifier.md#)|List of admissible Base safeties. Used with BaseCyclic.BaseFeedback.\[fault\_bank\_a - fault\_bank\_b - warning\_bank\_a - warning\_bank\_b\]| -|[ServiceVersion](enm_Base_ServiceVersion.md#)|Enumeration used to identify Base service current version| -|[ServoingMode](enm_Base_ServoingMode.md#)|List of admissible servoing modes| -|[ShapeType](enm_Base_ShapeType.md#)|List of admissible protection zone shape types| -|[SignalQuality](enm_Base_SignalQuality.md#)|List of admissible signal quality values| -|[SoundType](enm_Base_SoundType.md#)|List of admissible sound types \(future\)| -|[TwistMode](enm_Base_TwistMode.md#)|List of admissible twist \(velocity\) modes| -|[UserEvent](enm_Base_UserEvent.md#)|List of admissible user event types| -|[WifiEncryptionType](enm_Base_WifiEncryptionType.md#)|List of admissible Wi-Fi encryption types| -|[WifiSecurityType](enm_Base_WifiSecurityType.md#)|List of admissible Wi-Fi Security types| -|[Xbox360AnalogInputIdentifier](enm_Base_Xbox360AnalogInputIdentifier.md#)|List of admissible XBOX360 analog inputs| -|[Xbox360DigitalInputIdentifier](enm_Base_Xbox360DigitalInputIdentifier.md#)|List of admissible XBOX360 digital inputs| - -**Parent topic:** [KINOVA® KORTEX™ C++ API Reference](../index.md#) - diff --git a/api_cpp/doc/markdown/references/summary_BaseCyclic.md b/api_cpp/doc/markdown/references/summary_BaseCyclic.md deleted file mode 100644 index e8023c5d..00000000 --- a/api_cpp/doc/markdown/references/summary_BaseCyclic.md +++ /dev/null @@ -1,54 +0,0 @@ -# BaseCyclic - -This page describes the C++ Kinova::Api::BaseCyclic package. - -## Overview / Purpose - -Service to exchange cyclic data with base module - -## API reference - -This section describes procedure calls / methods exposed by the BaseCyclic package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -Every method listed below, except the notification subscription methods \(begining with 'OnNotification'\) are available in three different forms : - -- **blocking** : called using listed method name \(default\) -- **future/promise** : called using listed method name followed by the '**\_async**' suffix -- **regiser callback** : called using listed method name followed by the '**\_callback**' suffix - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|Refresh|[Feedback](msg_BaseCyclic_Feedback.md#)|[Command](msg_BaseCyclic_Command.md#)|Commands refresh \(with feedback\)| -|RefreshCommand|void|[Command](msg_BaseCyclic_Command.md#)|Commands refresh \(no feedback\)| -|RefreshCustomData|[CustomData](msg_BaseCyclic_CustomData.md#)|[CustomData](msg_BaseCyclic_CustomData.md#)|Gets custom data| -|RefreshFeedback|[Feedback](msg_BaseCyclic_Feedback.md#)|void|Gets feedback| - -## Data types reference - -This section describes the data types used in the BaseCyclic package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[ActuatorCommand](msg_BaseCyclic_ActuatorCommand.md#)|Defines an actuator module command| -|[ActuatorCustomData](msg_BaseCyclic_ActuatorCustomData.md#)|Custom development data from an actuator module, content varies according to debug needs| -|[ActuatorFeedback](msg_BaseCyclic_ActuatorFeedback.md#)|Defines the feedback provided by an actuator module| -|[BaseFeedback](msg_BaseCyclic_BaseFeedback.md#)|Defines the feedback provided by the base module| -|[Command](msg_BaseCyclic_Command.md#)|Defines a command for many modules \(actuactors and interconnect\)| -|[CustomData](msg_BaseCyclic_CustomData.md#)|Custom development data, content varies according to debug needs| -|[Feedback](msg_BaseCyclic_Feedback.md#)|Defines the feedback provided by many modules \(base, actuactors and interconnect\)| -|[InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#)|Defines an interconnect module command| -|[InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#)|Custom development data from an interconnect module, content varies according to debug needs| -|[InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#)|Defines the feedback provided by an interconnect module| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[ServiceVersion](enm_BaseCyclic_ServiceVersion.md#)|Enumeration used to identify BaseCyclic current version| - -**Parent topic:** [KINOVA® KORTEX™ C++ API Reference](../index.md#) - diff --git a/api_cpp/doc/markdown/references/summary_Common.md b/api_cpp/doc/markdown/references/summary_Common.md deleted file mode 100644 index b8729715..00000000 --- a/api_cpp/doc/markdown/references/summary_Common.md +++ /dev/null @@ -1,39 +0,0 @@ -# Common - -This page describes the C++ Kinova::Api::Common package. - -## API reference - -This section describes procedure calls / methods exposed by the Common package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - -## Data types reference - -This section describes the data types used in the Common package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[Connection](msg_Common_Connection.md#)|Idenfities a connection| -|[DeviceHandle](msg_Common_DeviceHandle.md#)|Identifies a device| -|[Empty](msg_Common_Empty.md#)|Message used when no information needs to be exchanged between client application and robot, and vice versa| -|[NotificationHandle](msg_Common_NotificationHandle.md#)|Identifies a notification| -|[NotificationOptions](msg_Common_NotificationOptions.md#)|Specifies options associated to a notification| -|[SafetyHandle](msg_Common_SafetyHandle.md#)|Identifies a safety| -|[SafetyNotification](msg_Common_SafetyNotification.md#)|Message that contains a safety event| -|[Timestamp](msg_Common_Timestamp.md#)|Timestamp based on Epoch \(00:00:00 Thursday, January 1, 1970\)| -|[UserProfileHandle](msg_Common_UserProfileHandle.md#)|Identifies a user profile| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[ArmState](enm_Common_ArmState.md#)|List of admissible arm states| -|[DeviceTypes](enm_Common_DeviceTypes.md#)|List of admissible device types| -|[NotificationType](enm_Common_NotificationType.md#)|List of admissible notification types| -|[Permission](enm_Common_Permission.md#)|List of admissible permissions. Used as bitfields| -|[SafetyStatusValue](enm_Common_SafetyStatusValue.md#)|List of admissible safety statuses| -|[Unit](enm_Common_Unit.md#)|List of admissible units used throughout API methods| - -**Parent topic:** [KINOVA® KORTEX™ C++ API Reference](../index.md#) - diff --git a/api_cpp/doc/markdown/references/summary_DeviceConfig.md b/api_cpp/doc/markdown/references/summary_DeviceConfig.md deleted file mode 100644 index e3bdb23d..00000000 --- a/api_cpp/doc/markdown/references/summary_DeviceConfig.md +++ /dev/null @@ -1,94 +0,0 @@ -# DeviceConfig - -This page describes the C++ Kinova::Api::DeviceConfig package. - -## Overview / Purpose - -Service to get and set device configuration information - -## API reference - -This section describes procedure calls / methods exposed by the DeviceConfig package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -Every method listed below, except the notification subscription methods \(begining with 'OnNotification'\) are available in three different forms : - -- **blocking** : called using listed method name \(default\) -- **future/promise** : called using listed method name followed by the '**\_async**' suffix -- **regiser callback** : called using listed method name followed by the '**\_callback**' suffix - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|ClearAllSafetyStatus|void|void|Clear all safety status for this device if they are no longer raised| -|ClearSafetyStatus|void|[SafetyHandle](msg_Common_SafetyHandle.md#)|Clear a specific safety status if it is no longer raised| -|GetAllSafetyConfiguration|[SafetyConfigurationList](msg_DeviceConfig_SafetyConfigurationList.md#)|void|Gets configuration on every safeties| -|GetAllSafetyInformation|[SafetyInformationList](msg_DeviceConfig_SafetyInformationList.md#)|void|Gets information on every safeties| -|GetBootloaderVersion|[BootloaderVersion](msg_DeviceConfig_BootloaderVersion.md#)|void|Returns the device bootloader version| -|GetDeviceType|[DeviceType](msg_DeviceConfig_DeviceType.md#)|void|Returns the type for the device| -|GetFirmwareVersion|[FirmwareVersion](msg_DeviceConfig_FirmwareVersion.md#)|void|Returns the device firmware version| -|GetIPv4Settings|[IPv4Settings](msg_DeviceConfig_IPv4Settings.md#)|void|Returns the device IPv4 settings \(not implemented on Base\)| -|GetMACAddress|[MACAddress](msg_DeviceConfig_MACAddress.md#)|void|Returns the device MAC address| -|GetModelNumber|[ModelNumber](msg_DeviceConfig_ModelNumber.md#)|void|Returns the device model number| -|GetPartNumber|[PartNumber](msg_DeviceConfig_PartNumber.md#)|void|Returns the device part number| -|GetPartNumberRevision|[PartNumberRevision](msg_DeviceConfig_PartNumberRevision.md#)|void|Returns the device part number revision| -|GetPowerOnSelfTestResult|[PowerOnSelfTestResult](msg_DeviceConfig_PowerOnSelfTestResult.md#)|void|Returns the result on the device power on self test \(future\)| -|GetRunMode|[RunMode](msg_DeviceConfig_RunMode.md#)|void|Returns the run mode for the device \(future\)| -|GetSafetyConfiguration|[SafetyConfiguration](msg_DeviceConfig_SafetyConfiguration.md#)|[SafetyHandle](msg_Common_SafetyHandle.md#)|Retrieves configuration about the specified safety| -|GetSafetyEnable|[SafetyEnable](msg_DeviceConfig_SafetyEnable.md#)|[SafetyHandle](msg_Common_SafetyHandle.md#)|Indicates if specified safety is enabled \(or disabled\)| -|GetSafetyInformation|[SafetyInformation](msg_DeviceConfig_SafetyInformation.md#)|[SafetyHandle](msg_Common_SafetyHandle.md#)|Retrieves information about the specified safety| -|GetSafetyStatus|[SafetyStatus](msg_DeviceConfig_SafetyStatus.md#)|[SafetyHandle](msg_Common_SafetyHandle.md#)|Indicates if the specified safety is raised| -|GetSerialNumber|[SerialNumber](msg_DeviceConfig_SerialNumber.md#)|void|Returns the device serial number| -|OnNotificationSafetyTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to safety notifications \(future\)| -|RebootRequest|void|[RebootRqst](msg_DeviceConfig_RebootRqst.md#)|Sends a request to the device to reboot| -|ResetSafetyDefaults|void|void|Puts back all safety configuration to factory defaults \(future\)| -|SetIPv4Settings|void|[IPv4Settings](msg_DeviceConfig_IPv4Settings.md#)|Configures the device IPv4 settings \(not implemented on Base\)| -|SetMACAddress|void|[MACAddress](msg_DeviceConfig_MACAddress.md#)|Sets the device MAC address \(intented for Kinova Production\) \(future\)| -|SetModelNumber|void|[ModelNumber](msg_DeviceConfig_ModelNumber.md#)|Sets the device model number \(intented for Kinova Production\) \(future\)| -|SetPartNumber|void|[PartNumber](msg_DeviceConfig_PartNumber.md#)|Sets the device part number \(intented for Kinova Production\) \(future\)| -|SetPartNumberRevision|void|[PartNumberRevision](msg_DeviceConfig_PartNumberRevision.md#)|Sets the device part number revision \(intented for Kinova Production\) \(future\)| -|SetRunMode|void|[RunMode](msg_DeviceConfig_RunMode.md#)|Sets the run mode for the device \(future\)| -|SetSafetyConfiguration|void|[SafetyConfiguration](msg_DeviceConfig_SafetyConfiguration.md#)|Configures the specified safety \(i.e. sets error and warning thresholds\) \(future\)| -|SetSafetyEnable|void|[SafetyEnable](msg_DeviceConfig_SafetyEnable.md#)|Enables \(disable\) the specified safety \(future\)| -|SetSafetyErrorThreshold|void|[SafetyThreshold](msg_DeviceConfig_SafetyThreshold.md#)|Sets the Error threshold for the specified safety \(future\)| -|SetSafetyWarningThreshold|void|[SafetyThreshold](msg_DeviceConfig_SafetyThreshold.md#)|Sets the Warning threshold for the specified safety \(future\)| -|SetSerialNumber|void|[SerialNumber](msg_DeviceConfig_SerialNumber.md#)|Sets the device serial number \(intented for Kinova Production\) \(future\)| - -## Data types reference - -This section describes the data types used in the DeviceConfig package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[BootloaderVersion](msg_DeviceConfig_BootloaderVersion.md#)|Message specifying the bootloader version for the device| -|[DeviceType](msg_DeviceConfig_DeviceType.md#)|Message specifying the device type| -|[FirmwareVersion](msg_DeviceConfig_FirmwareVersion.md#)|Message specifying the firmware version for the device| -|[IPv4Settings](msg_DeviceConfig_IPv4Settings.md#)|Message containing the IPv4 settings for the device, including address, subnet mask, and default gateway| -|[MACAddress](msg_DeviceConfig_MACAddress.md#)|MAC address for the device| -|[ModelNumber](msg_DeviceConfig_ModelNumber.md#)|Message specifying the model number for the device| -|[PartNumber](msg_DeviceConfig_PartNumber.md#)|String specifiying the part number for the device| -|[PartNumberRevision](msg_DeviceConfig_PartNumberRevision.md#)|String specifying part number revision for the device| -|[PowerOnSelfTestResult](msg_DeviceConfig_PowerOnSelfTestResult.md#)|Result of power on self test| -|[RebootRqst](msg_DeviceConfig_RebootRqst.md#)|Reboot request with bootloader delay| -|[RunMode](msg_DeviceConfig_RunMode.md#)|Message specifying the run mode| -|[SafetyConfiguration](msg_DeviceConfig_SafetyConfiguration.md#)|Configure a safety| -|[SafetyConfigurationList](msg_DeviceConfig_SafetyConfigurationList.md#)|Array of safety configuration| -|[SafetyEnable](msg_DeviceConfig_SafetyEnable.md#)|Enable or disable a specific safety| -|[SafetyInformation](msg_DeviceConfig_SafetyInformation.md#)|Information about a particular safety| -|[SafetyInformationList](msg_DeviceConfig_SafetyInformationList.md#)|Array of safety information| -|[SafetyStatus](msg_DeviceConfig_SafetyStatus.md#)|Provides safety status| -|[SafetyThreshold](msg_DeviceConfig_SafetyThreshold.md#)|Configure threshold of a specific safety| -|[SerialNumber](msg_DeviceConfig_SerialNumber.md#)|String specifying the serial number for the device| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[RunModes](enm_DeviceConfig_RunModes.md#)|Options for the run mode for the device| -|[SafetyLimitType](enm_DeviceConfig_SafetyLimitType.md#)|Types of safeties limits| -|[ServiceVersion](enm_DeviceConfig_ServiceVersion.md#)|Enumeration used to identify DeviceConfig current version| - -**Parent topic:** [KINOVA® KORTEX™ C++ API Reference](../index.md#) - diff --git a/api_cpp/doc/markdown/references/summary_DeviceManager.md b/api_cpp/doc/markdown/references/summary_DeviceManager.md deleted file mode 100644 index e4dd7b0e..00000000 --- a/api_cpp/doc/markdown/references/summary_DeviceManager.md +++ /dev/null @@ -1,42 +0,0 @@ -# DeviceManager - -This page describes the C++ Kinova::Api::DeviceManager package. - -## Overview / Purpose - -This service provides information about which devices are present - -## API reference - -This section describes procedure calls / methods exposed by the DeviceManager package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -Every method listed below, except the notification subscription methods \(begining with 'OnNotification'\) are available in three different forms : - -- **blocking** : called using listed method name \(default\) -- **future/promise** : called using listed method name followed by the '**\_async**' suffix -- **regiser callback** : called using listed method name followed by the '**\_callback**' suffix - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|ReadAllDevices|[DeviceHandles](msg_DeviceManager_DeviceHandles.md#)|void|Retrieves the list of every device that the system contains, along with its type and order within the system| - -## Data types reference - -This section describes the data types used in the DeviceManager package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[DeviceHandles](msg_DeviceManager_DeviceHandles.md#)|List of Device handles| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[ServiceVersion](enm_DeviceManager_ServiceVersion.md#)|Enumeration used to identify DeviceManager current version| - -**Parent topic:** [KINOVA® KORTEX™ C++ API Reference](../index.md#) - diff --git a/api_cpp/doc/markdown/references/summary_InterconnectConfig.md b/api_cpp/doc/markdown/references/summary_InterconnectConfig.md deleted file mode 100644 index 1dc70b23..00000000 --- a/api_cpp/doc/markdown/references/summary_InterconnectConfig.md +++ /dev/null @@ -1,21 +0,0 @@ -# InterconnectConfig - -This page describes the C++ Kinova::Api::InterconnectConfig package. - -## API reference - -This section describes procedure calls / methods exposed by the InterconnectConfig package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - -## Data types reference - -This section describes the data types used in the InterconnectConfig package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[SafetyIdentifier](enm_InterconnectConfig_SafetyIdentifier.md#)|List of admissible interconnect module safeties| -|[ServiceVersion](enm_InterconnectConfig_ServiceVersion.md#)|Enumeration used to identify InterconnectConfig current version| - -**Parent topic:** [KINOVA® KORTEX™ C++ API Reference](../index.md#) - diff --git a/api_cpp/doc/markdown/references/summary_InterconnectCyclic.md b/api_cpp/doc/markdown/references/summary_InterconnectCyclic.md deleted file mode 100644 index c3b73ae6..00000000 --- a/api_cpp/doc/markdown/references/summary_InterconnectCyclic.md +++ /dev/null @@ -1,48 +0,0 @@ -# InterconnectCyclic - -This page describes the C++ Kinova::Api::InterconnectCyclic package. - -## Overview / Purpose - -Service to exchange cyclic data with Interconnect module - -## API reference - -This section describes procedure calls / methods exposed by the InterconnectCyclic package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -Every method listed below, except the notification subscription methods \(begining with 'OnNotification'\) are available in three different forms : - -- **blocking** : called using listed method name \(default\) -- **future/promise** : called using listed method name followed by the '**\_async**' suffix -- **regiser callback** : called using listed method name followed by the '**\_callback**' suffix - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|Refresh|[Feedback](msg_InterconnectCyclic_Feedback.md#)|[Command](msg_InterconnectCyclic_Command.md#)|Send a command to the Interconnect module and receive feedback about the actual status the module| -|RefreshCommand|void|[Command](msg_InterconnectCyclic_Command.md#)|Send a command to the Interconnect module without receiving feedback| -|RefreshCustomData|[CustomData](msg_InterconnectCyclic_CustomData.md#)|[MessageId](msg_InterconnectCyclic_MessageId.md#)| | -|RefreshFeedback|[Feedback](msg_InterconnectCyclic_Feedback.md#)|[MessageId](msg_InterconnectCyclic_MessageId.md#)|Gets feedback from the Interconnect module on its status| - -## Data types reference - -This section describes the data types used in the InterconnectCyclic package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[Command](msg_InterconnectCyclic_Command.md#)|Defines an interconnect module command| -|[CustomData](msg_InterconnectCyclic_CustomData.md#)|Custom development data, content varies according to debug needs| -|[Feedback](msg_InterconnectCyclic_Feedback.md#)|Defines the feedback provided by an interconnect module| -|[MessageId](msg_InterconnectCyclic_MessageId.md#)|Identifies a message| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[ServiceVersion](enm_InterconnectCyclic_ServiceVersion.md#)|Enumeration used to identify InterconnectCyclic current version| - -**Parent topic:** [KINOVA® KORTEX™ C++ API Reference](../index.md#) - diff --git a/api_cpp/doc/markdown/references/summary_Session.md b/api_cpp/doc/markdown/references/summary_Session.md deleted file mode 100644 index 2a59a47a..00000000 --- a/api_cpp/doc/markdown/references/summary_Session.md +++ /dev/null @@ -1,46 +0,0 @@ -# Session - -This page describes the C++ Kinova::Api::Session package. - -## Overview / Purpose - -Service to manage Sessions - -## API reference - -This section describes procedure calls / methods exposed by the Session package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -Every method listed below, except the notification subscription methods \(begining with 'OnNotification'\) are available in three different forms : - -- **blocking** : called using listed method name \(default\) -- **future/promise** : called using listed method name followed by the '**\_async**' suffix -- **regiser callback** : called using listed method name followed by the '**\_callback**' suffix - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|CloseSession|void|void|Closes an existing open session| -|CreateSession|void|[CreateSessionInfo](msg_Session_CreateSessionInfo.md#)|Creates a new session with the robot using given values for user name, session timeout value, and password| -|GetConnections|[ConnectionList](msg_Session_ConnectionList.md#)|void|Retrieves the list of connections| -|KeepAlive|void|void|Sends Keep alive to robot| - -## Data types reference - -This section describes the data types used in the Session package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[ConnectionList](msg_Session_ConnectionList.md#)|Message used to retrieve a list of connections| -|[CreateSessionInfo](msg_Session_CreateSessionInfo.md#)|Contains parameters to create a new session| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[ServiceVersion](enm_Session_ServiceVersion.md#)|Enumeration used to identify Session current version| - -**Parent topic:** [KINOVA® KORTEX™ C++ API Reference](../index.md#) - diff --git a/api_cpp/doc/markdown/references/summary_VisionConfig.md b/api_cpp/doc/markdown/references/summary_VisionConfig.md deleted file mode 100644 index 2e37722a..00000000 --- a/api_cpp/doc/markdown/references/summary_VisionConfig.md +++ /dev/null @@ -1,63 +0,0 @@ -# VisionConfig - -This page describes the C++ Kinova::Api::VisionConfig package. - -## Overview / Purpose - -Service to configure the Vision Module - -## API reference - -This section describes procedure calls / methods exposed by the VisionConfig package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -Every method listed below, except the notification subscription methods \(begining with 'OnNotification'\) are available in three different forms : - -- **blocking** : called using listed method name \(default\) -- **future/promise** : called using listed method name followed by the '**\_async**' suffix -- **regiser callback** : called using listed method name followed by the '**\_callback**' suffix - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|DoSensorFocusAction|void|[SensorFocusAction](msg_VisionConfig_SensorFocusAction.md#)|Do a focus action| -|GetIntrinsicParameters|[IntrinsicParameters](msg_VisionConfig_IntrinsicParameters.md#)|[SensorIdentifier](msg_VisionConfig_SensorIdentifier.md#)|Gets sensor intrinsic parameters| -|GetOptionInformation|[OptionInformation](msg_VisionConfig_OptionInformation.md#)|[OptionIdentifier](msg_VisionConfig_OptionIdentifier.md#)|Reads option information from the sensor| -|GetOptionValue|[OptionValue](msg_VisionConfig_OptionValue.md#)|[OptionIdentifier](msg_VisionConfig_OptionIdentifier.md#)|Reads option value from the sensor| -|GetSensorSettings|[SensorSettings](msg_VisionConfig_SensorSettings.md#)|[SensorIdentifier](msg_VisionConfig_SensorIdentifier.md#)|Gets sensor settings \(resolution, frame rate, etc\)| -|OnNotificationVisionTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to Vision configuration notifications| -|SetOptionValue|void|[OptionValue](msg_VisionConfig_OptionValue.md#)|Writes new value to sensor option| -|SetSensorSettings|void|[SensorSettings](msg_VisionConfig_SensorSettings.md#)|Sets sensor settings \(resolution, frame rate, etc\)| - -## Data types reference - -This section describes the data types used in the VisionConfig package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[IntrinsicParameters](msg_VisionConfig_IntrinsicParameters.md#)|Sensor intrinsic parameters| -|[OptionIdentifier](msg_VisionConfig_OptionIdentifier.md#)|Identifies the sensor and the option to configure.| -|[OptionInformation](msg_VisionConfig_OptionInformation.md#)|Packages information about the optional settings for the chosen sensor| -|[OptionValue](msg_VisionConfig_OptionValue.md#)|Identifies the value of the particular option for the sensor.| -|[SensorFocusAction](msg_VisionConfig_SensorFocusAction.md#)|Identifies the sensor and the focus action to perform.| -|[SensorIdentifier](msg_VisionConfig_SensorIdentifier.md#)|Identifies the sensor to configure.| -|[SensorSettings](msg_VisionConfig_SensorSettings.md#)|Main settings - resolution, frame rate, bit rate - for the chosen sensor \(color or depth\).| -|[VisionNotification](msg_VisionConfig_VisionNotification.md#)|Message that contains Vision module event| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[BitRate](enm_VisionConfig_BitRate.md#)|Select the maximum encoded bit rate, in Mbps.| -|[FocusAction](enm_VisionConfig_FocusAction.md#)|Select the focus action to perform \(start/pause continuous, focus now, disable\). Supported only with Color sensor.| -|[FrameRate](enm_VisionConfig_FrameRate.md#)|Select the camera frame rate.| -|[Option](enm_VisionConfig_Option.md#)|List of admissible Vision module options. !!!!!| -|[Resolution](enm_VisionConfig_Resolution.md#)|Select the camera resolution.| -|[Sensor](enm_VisionConfig_Sensor.md#)|Select the Vision module camera sensor to configure.| -|[ServiceVersion](enm_VisionConfig_ServiceVersion.md#)|Enumeration used to identify VisionConfig current version| -|[VisionEvent](enm_VisionConfig_VisionEvent.md#)|List of admissible Vision module events.| - -**Parent topic:** [KINOVA® KORTEX™ C++ API Reference](../index.md#) - diff --git a/api_cpp/doc/markdown/summary_pages/ActuatorConfig.md b/api_cpp/doc/markdown/summary_pages/ActuatorConfig.md new file mode 100644 index 00000000..7c06c120 --- /dev/null +++ b/api_cpp/doc/markdown/summary_pages/ActuatorConfig.md @@ -0,0 +1,79 @@ +# ActuatorConfig \(C++\) + +This page describes the C++ ActuatorConfig API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[AxisOffsets](../messages/ActuatorConfig/AxisOffsets.md#)|Axis offsets| +|[AxisPosition](../messages/ActuatorConfig/AxisPosition.md#)|Axis position| +|[CommandModeInformation](../messages/ActuatorConfig/CommandModeInformation.md#)|Command mode| +|[ControlLoop](../messages/ActuatorConfig/ControlLoop.md#)|Control loop| +|[ControlLoopParameters](../messages/ActuatorConfig/ControlLoopParameters.md#)|Control loop parameters \(discrete transfer function\)| +|[ControlModeInformation](../messages/ActuatorConfig/ControlModeInformation.md#)|Control mode information| +|[CustomDataSelection](../messages/ActuatorConfig/CustomDataSelection.md#)|Selected custom data channels content| +|[EncoderDerivativeParameters](../messages/ActuatorConfig/EncoderDerivativeParameters.md#)|Variable window derivative parameters| +|[FrequencyResponse](../messages/ActuatorConfig/FrequencyResponse.md#)|Frequency response| +|[LoopSelection](../messages/ActuatorConfig/LoopSelection.md#)|Defines the loop selection| +|[PositionCommand](../messages/ActuatorConfig/PositionCommand.md#)|Angular position command for an actuator| +|[RampResponse](../messages/ActuatorConfig/RampResponse.md#)|Ramp response| +|[Servoing](../messages/ActuatorConfig/Servoing.md#)|Enables/disables servoing| +|[StepResponse](../messages/ActuatorConfig/StepResponse.md#)|Step response| +|[TorqueCalibration](../messages/ActuatorConfig/TorqueCalibration.md#)|Torque calibration settings| +|[TorqueOffset](../messages/ActuatorConfig/TorqueOffset.md#)|Defines torque offset| +|[VectorDriveParameters](../messages/ActuatorConfig/VectorDriveParameters.md#)|Field-oriented control PI controller gain values| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[CommandMode](../enums/ActuatorConfig/CommandMode.md#)|Admissible command modes| +|[ControlLoopSelection](../enums/ActuatorConfig/ControlLoopSelection.md#)|Admissible control loop selections| +|[ControlMode](../enums/ActuatorConfig/ControlMode.md#)|Admissible control modes| +|[CustomDataIndex](../enums/ActuatorConfig/CustomDataIndex.md#)|Custom data options| +|[SafetyIdentifierBankA](../enums/ActuatorConfig/SafetyIdentifierBankA.md#)|Admissible bank A actuator safeties| +|[SafetyLimitType](../enums/ActuatorConfig/SafetyLimitType.md#)|Admissible limit types| +|[ServiceVersion](../enums/ActuatorConfig/ServiceVersion.md#)|Identifies ActuatorConfig service current version| + +Service to configure actuators + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|GetAxisOffsets|[AxisOffsets](../messages/ActuatorConfig/AxisOffsets.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves axis offsets for absolute and relative encoder| +|SetAxisOffsets|[Empty](../messages/Common/Empty.md#)|[AxisPosition](../messages/ActuatorConfig/AxisPosition.md#)|Sets offsets for absolute and relative encoder| +|ReadTorqueCalibration|[TorqueCalibration](../messages/ActuatorConfig/TorqueCalibration.md#)|[Empty](../messages/Common/Empty.md#)|Reads torque calibration parameters \(internal use only\)| +|WriteTorqueCalibration|[Empty](../messages/Common/Empty.md#)|[TorqueCalibration](../messages/ActuatorConfig/TorqueCalibration.md#)|Writes torque calibration parameters \(internal use only\)| +|SetTorqueOffset|[Empty](../messages/Common/Empty.md#)|[TorqueOffset](../messages/ActuatorConfig/TorqueOffset.md#)|Sets zero torque calibration| +|GetControlMode|[ControlModeInformation](../messages/ActuatorConfig/ControlModeInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves actuator control mode| +|SetControlMode|[Empty](../messages/Common/Empty.md#)|[ControlModeInformation](../messages/ActuatorConfig/ControlModeInformation.md#)|Sets actuator control mode| +|GetActivatedControlLoop|[ControlLoop](../messages/ActuatorConfig/ControlLoop.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves activated control loop\(s\)| +|SetActivatedControlLoop|[Empty](../messages/Common/Empty.md#)|[ControlLoop](../messages/ActuatorConfig/ControlLoop.md#)|Sets activated control loop\(s\)| +|GetVectorDriveParameters|[VectorDriveParameters](../messages/ActuatorConfig/VectorDriveParameters.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves motor drive FOC parameters \(internal use only\)| +|SetVectorDriveParameters|[Empty](../messages/Common/Empty.md#)|[VectorDriveParameters](../messages/ActuatorConfig/VectorDriveParameters.md#)|Sets motor drive FOC parameters \(internal use only\)| +|GetEncoderDerivativeParameters|[EncoderDerivativeParameters](../messages/ActuatorConfig/EncoderDerivativeParameters.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves encoder derivative parameters \(internal use only\)| +|SetEncoderDerivativeParameters|[Empty](../messages/Common/Empty.md#)|[EncoderDerivativeParameters](../messages/ActuatorConfig/EncoderDerivativeParameters.md#)|Sets encoder derivative parameters \(internal use only\)| +|GetControlLoopParameters|[ControlLoopParameters](../messages/ActuatorConfig/ControlLoopParameters.md#)|[LoopSelection](../messages/ActuatorConfig/LoopSelection.md#)|Retrieves control loop parameters| +|SetControlLoopParameters|[Empty](../messages/Common/Empty.md#)|[ControlLoopParameters](../messages/ActuatorConfig/ControlLoopParameters.md#)|Sets control loop parameters| +|StartFrequencyResponse|[Empty](../messages/Common/Empty.md#)|[FrequencyResponse](../messages/ActuatorConfig/FrequencyResponse.md#)|Starts frequency response test \(internal use only\)| +|StopFrequencyResponse|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Stops frequency response test \(internal use only\)| +|StartStepResponse|[Empty](../messages/Common/Empty.md#)|[StepResponse](../messages/ActuatorConfig/StepResponse.md#)|Starts step response test \(internal use only\)| +|StopStepResponse|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Stops step response test \(internal use only\)| +|StartRampResponse|[Empty](../messages/Common/Empty.md#)|[RampResponse](../messages/ActuatorConfig/RampResponse.md#)|Starts ramp response test \(internal use only\)| +|StopRampResponse|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Stops ramp response test \(internal use only\)| +|SelectCustomData|[Empty](../messages/Common/Empty.md#)|[CustomDataSelection](../messages/ActuatorConfig/CustomDataSelection.md#)|Selects custom data| +|GetSelectedCustomData|[CustomDataSelection](../messages/ActuatorConfig/CustomDataSelection.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves selected custom data| +|SetCommandMode|[Empty](../messages/Common/Empty.md#)|[CommandModeInformation](../messages/ActuatorConfig/CommandModeInformation.md#)|Sets command mode \(config versus cyclic\)| +|ClearFaults|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Clears all error\(s\) and warning\(s\) \(bank A and B\)| +|SetServoing|[Empty](../messages/Common/Empty.md#)|[Servoing](../messages/ActuatorConfig/Servoing.md#)|Enables or disables servoing| +|MoveToPosition|[Empty](../messages/Common/Empty.md#)|[PositionCommand](../messages/ActuatorConfig/PositionCommand.md#)|Moves the actuator to the desired position| +|GetCommandMode|[CommandModeInformation](../messages/ActuatorConfig/CommandModeInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves command mode \(config versus cyclic\)| +|GetServoing|[Servoing](../messages/ActuatorConfig/Servoing.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves servoing state| +|GetTorqueOffset|[TorqueOffset](../messages/ActuatorConfig/TorqueOffset.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves torque offset calibration| + diff --git a/api_cpp/doc/markdown/summary_pages/ActuatorCyclic.md b/api_cpp/doc/markdown/summary_pages/ActuatorCyclic.md new file mode 100644 index 00000000..adaee8f4 --- /dev/null +++ b/api_cpp/doc/markdown/summary_pages/ActuatorCyclic.md @@ -0,0 +1,36 @@ +# ActuatorCyclic \(C++\) + +This page describes the C++ ActuatorCyclic API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[Command](../messages/ActuatorCyclic/Command.md#)|Defines an actuator command| +|[CustomData](../messages/ActuatorCyclic/CustomData.md#)|Custom development data, content varies according to debug needs| +|[Feedback](../messages/ActuatorCyclic/Feedback.md#)|Status feedback provided by an actuator| +|[MessageId](../messages/ActuatorCyclic/MessageId.md#)|Provides a message identifier| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[CommandFlags](../enums/ActuatorCyclic/CommandFlags.md#)|Identifies actuator commands| +|[ServiceVersion](../enums/ActuatorCyclic/ServiceVersion.md#)|Identifies ActuatorCyclic service current version| +|[StatusFlags](../enums/ActuatorCyclic/StatusFlags.md#)|Identifies actuator status| + +Service to exchange cyclic data with an actuator + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|Refresh|[Feedback](../messages/ActuatorCyclic/Feedback.md#)|[Command](../messages/ActuatorCyclic/Command.md#)|Sends a command to a single actuator and receives feedback on status of that actuator| +|RefreshCommand|[Empty](../messages/Common/Empty.md#)|[Command](../messages/ActuatorCyclic/Command.md#)|Sends a command to a single actuator without feedback| +|RefreshFeedback|[Feedback](../messages/ActuatorCyclic/Feedback.md#)|[MessageId](../messages/ActuatorCyclic/MessageId.md#)|Obtains feedback from a single actuator| +|RefreshCustomData|[CustomData](../messages/ActuatorCyclic/CustomData.md#)|[MessageId](../messages/ActuatorCyclic/MessageId.md#)|Obtains custom data from a single actuator| + diff --git a/api_cpp/doc/markdown/summary_pages/Api.md b/api_cpp/doc/markdown/summary_pages/Api.md new file mode 100644 index 00000000..c55ae76e --- /dev/null +++ b/api_cpp/doc/markdown/summary_pages/Api.md @@ -0,0 +1,15 @@ +# Api \(C++\) + +This page describes the C++ API error codes. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ErrorCodes](../enums/Api/ErrorCodes.md#)|Possible error codes| +|[SubErrorCodes](../enums/Api/SubErrorCodes.md#)|Possible sub-error codes| + diff --git a/api_cpp/doc/markdown/summary_pages/Base.md b/api_cpp/doc/markdown/summary_pages/Base.md new file mode 100644 index 00000000..66150989 --- /dev/null +++ b/api_cpp/doc/markdown/summary_pages/Base.md @@ -0,0 +1,340 @@ +# Base \(C++\) + +This page describes the C++ Base API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[Action](../messages/Base/Action.md#)|Defines an action. An action is some task performed on the robot.| +|[ActionExecutionState](../messages/Base/ActionExecutionState.md#)|Indicates the execution state of an action \(not implemented yet\)| +|[ActionHandle](../messages/Base/ActionHandle.md#)|Reference to a specific action| +|[ActionList](../messages/Base/ActionList.md#)|Array of actions| +|[ActionNotification](../messages/Base/ActionNotification.md#)|Notification about a single action event| +|[ActionNotificationList](../messages/Base/ActionNotificationList.md#)|Array of action notifications| +|[ActivateMapHandle](../messages/Base/ActivateMapHandle.md#)|Reference to a specific new active map for the specified mapping and map group| +|[ActuatorInformation](../messages/Base/ActuatorInformation.md#)|A count of the number of actuators in the robot| +|[Admittance](../messages/Base/Admittance.md#)|An admittance mode| +|[AdvancedSequenceHandle](../messages/Base/AdvancedSequenceHandle.md#)|Reference to a sequence along with execution options| +|[AppendActionInformation](../messages/Base/AppendActionInformation.md#)|Representation of the result of appending \(adding at the end\) an action to an existing sequence \(not implemented yet\)| +|[ArmStateInformation](../messages/Base/ArmStateInformation.md#)|Information about the arm state| +|[ArmStateNotification](../messages/Base/ArmStateNotification.md#)|Notification about a single arm state event| +|[BridgeConfig](../messages/Base/BridgeConfig.md#)|Bridge configuration information. It is used to either create a bridge or to retrieve information about an existing bridge| +|[BridgeIdentifier](../messages/Base/BridgeIdentifier.md#)|Bridge identifier| +|[BridgeList](../messages/Base/BridgeList.md#)|An array of configuration information for different bridges.| +|[BridgePortConfig](../messages/Base/BridgePortConfig.md#)|Port configuration information for a TCP port bridge| +|[BridgeResult](../messages/Base/BridgeResult.md#)|The result of an operation on a specific bridge| +|[CapSenseConfig](../messages/Base/CapSenseConfig.md#)|Capacitive sensor configuration information| +|[CartesianLimitation](../messages/Base/CartesianLimitation.md#)|Translation and orientation limits for a specified limit type for Cartesian configuration| +|[CartesianLimitationList](../messages/Base/CartesianLimitationList.md#)|Array of Cartesian limitations| +|[CartesianSpeed](../messages/Base/CartesianSpeed.md#)|A Cartesian tool speed \(translation speed and angular speed\)| +|[CartesianTrajectoryConstraint](../messages/Base/CartesianTrajectoryConstraint.md#)|Cartesian trajectory constraint that can be applied when controlling in Cartesian trajectory mode| +|[ChangeJointSpeeds](../messages/Base/ChangeJointSpeeds.md#)|Action to change the maximum angular velocity per joint by a specific increment| +|[ChangeTwist](../messages/Base/ChangeTwist.md#)|Action to change the maximum Cartesian velocity by a specific increment| +|[ChangeWrench](../messages/Base/ChangeWrench.md#)|Action to change the maximum Cartesian force by a specific increment| +|[CommunicationInterfaceConfiguration](../messages/Base/CommunicationInterfaceConfiguration.md#)|Configuration information for enabling or disabling a specific communication interface \(e.g. Wi-Fi, Wired Ethernet\)| +|[ConfigurationChangeNotification](../messages/Base/ConfigurationChangeNotification.md#)|Representation of a configuration change event| +|[ConfigurationChangeNotificationList](../messages/Base/ConfigurationChangeNotificationList.md#)|Array of configuration change notifications| +|[ConstrainedJointAngle](../messages/Base/ConstrainedJointAngle.md#)|A single joint angle value with specifed constraint| +|[ConstrainedJointAngles](../messages/Base/ConstrainedJointAngles.md#)|An array of joint angles values with specified constraint| +|[ConstrainedOrientation](../messages/Base/ConstrainedOrientation.md#)|Cartesian tool orientation with specified constraint| +|[ConstrainedPose](../messages/Base/ConstrainedPose.md#)|Cartesian tool pose with specified constraint| +|[ConstrainedPosition](../messages/Base/ConstrainedPosition.md#)|Cartesian tool position with specified constraint| +|[ControlModeInformation](../messages/Base/ControlModeInformation.md#)|Control mode information| +|[ControlModeNotification](../messages/Base/ControlModeNotification.md#)|Notification about a single control mode event| +|[ControlModeNotificationList](../messages/Base/ControlModeNotificationList.md#)|Array of control mode notifications| +|[ControllerElementHandle](../messages/Base/ControllerElementHandle.md#)|Reference ro a specific button \(or axis\) of a controller device| +|[ControllerElementState](../messages/Base/ControllerElementState.md#)|Indicates if a specific button \(or axis\) was pressed \(or moved\)| +|[ControllerEvent](../messages/Base/ControllerEvent.md#)|A controller event| +|[ControllerHandle](../messages/Base/ControllerHandle.md#)|Reference to a specific controller device| +|[ControllerList](../messages/Base/ControllerList.md#)|Array of references to different controllers| +|[ControllerNotification](../messages/Base/ControllerNotification.md#)|Notification about a single controller event| +|[ControllerNotificationList](../messages/Base/ControllerNotificationList.md#)|Array of controller notifications| +|[ControllerState](../messages/Base/ControllerState.md#)|Indicates if a specific controller is connected \(or disconnected\)| +|[Delay](../messages/Base/Delay.md#)|Action to apply a delay| +|[EmergencyStop](../messages/Base/EmergencyStop.md#)|Action to force an emergency of the robot| +|[FactoryNotification](../messages/Base/FactoryNotification.md#)|Notification about a single factory event| +|[Faults](../messages/Base/Faults.md#)|Action to clear faults| +|[Finger](../messages/Base/Finger.md#)|Movement of a specified gripper finger| +|[FullIPv4Configuration](../messages/Base/FullIPv4Configuration.md#)|IPv4 configuration for a specific network| +|[FullUserProfile](../messages/Base/FullUserProfile.md#)|Information about a user, together with a password. Full set of information needed to create a user profile.| +|[GpioEvent](../messages/Base/GpioEvent.md#)|A GPIO event \(not implemented yet\)| +|[Gripper](../messages/Base/Gripper.md#)|Gripper movement composed of a series of fingers movement| +|[GripperCommand](../messages/Base/GripperCommand.md#)|A command to control the gripper movement| +|[GripperRequest](../messages/Base/GripperRequest.md#)|Request to apply a specific gripper mode| +|[IPv4Configuration](../messages/Base/IPv4Configuration.md#)|IPv4 configuration information| +|[IPv4Information](../messages/Base/IPv4Information.md#)|Information about an IPv4 endpoint| +|[JointAngle](../messages/Base/JointAngle.md#)|Angle value of a specific joint| +|[JointAngles](../messages/Base/JointAngles.md#)|An array of joint angles| +|[JointLimitation](../messages/Base/JointLimitation.md#)|Limitation for a specified robot joint| +|[JointSpeed](../messages/Base/JointSpeed.md#)|Speed of a specific joint| +|[JointSpeeds](../messages/Base/JointSpeeds.md#)|An array of joints speeds| +|[JointTorque](../messages/Base/JointTorque.md#)|joint torque for a specified joint| +|[JointTorques](../messages/Base/JointTorques.md#)|An array of joint torques| +|[JointTrajectoryConstraint](../messages/Base/JointTrajectoryConstraint.md#)|Joint trajectory constraint that can be applied when controlling a joint in trajectory mode| +|[JointsLimitationsList](../messages/Base/JointsLimitationsList.md#)|Array of joint limitations| +|[Map](../messages/Base/Map.md#)|A map as an array of map elements| +|[MapElement](../messages/Base/MapElement.md#)|Associates an event to an action| +|[MapEvent](../messages/Base/MapEvent.md#)|A map event| +|[MapGroup](../messages/Base/MapGroup.md#)|All information about a map group including the list of maps that it contains and its relationship versus other map groups \(not implemented yet\)| +|[MapGroupHandle](../messages/Base/MapGroupHandle.md#)|Reference to a specific map group \(not implemented yet\)| +|[MapGroupList](../messages/Base/MapGroupList.md#)|Array of map groups \(not implemented yet\)| +|[MapHandle](../messages/Base/MapHandle.md#)|Reference to a specific map| +|[MapList](../messages/Base/MapList.md#)|Array of maps| +|[Mapping](../messages/Base/Mapping.md#)|All information about a mapping including the controller to which it is associated, the array of map groups it contains, the currently active map group, the array of maps it contains and the currently active map| +|[MappingHandle](../messages/Base/MappingHandle.md#)|Reference to a specific Mapping| +|[MappingInfoNotification](../messages/Base/MappingInfoNotification.md#)|Notification about a single mapping information event| +|[MappingInfoNotificationList](../messages/Base/MappingInfoNotificationList.md#)|Array of mapping information notifications| +|[MappingList](../messages/Base/MappingList.md#)|Array of mappings| +|[NetworkHandle](../messages/Base/NetworkHandle.md#)|Reference to a network| +|[NetworkNotification](../messages/Base/NetworkNotification.md#)|Notification about a single network event| +|[NetworkNotificationList](../messages/Base/NetworkNotificationList.md#)|Array of network event notifications| +|[OperatingModeInformation](../messages/Base/OperatingModeInformation.md#)|Information about the operating mode| +|[OperatingModeNotification](../messages/Base/OperatingModeNotification.md#)|Notification about a single operating mode event| +|[OperatingModeNotificationList](../messages/Base/OperatingModeNotificationList.md#)|Array of operating mode notifications| +|[Orientation](../messages/Base/Orientation.md#)|A Cartesian tool orientation. Defines orientation as sequence of three Euler angles using z-y-x Tait-Bryan extrinsic convention. That is, rotation around fixed X-axis, then rotation around fixed Y-axis, then rotation around fixed Z-axis.| +|[PasswordChange](../messages/Base/PasswordChange.md#)|Information required to change user password| +|[Point](../messages/Base/Point.md#)|Coordinates of a Cartesian point| +|[Pose](../messages/Base/Pose.md#)|A Cartesian tool pose \(position and orientation\). Orientation is defined as a sequence of three Euler angles using z-y-x Tait-Bryan extrinsic convention. That is, rotation around fixed X-axis, then rotation around fixed Y-axis, then rotation around fixed Z-axis.| +|[Position](../messages/Base/Position.md#)|A Cartesian tool position| +|[PreComputedJointTrajectory](../messages/Base/PreComputedJointTrajectory.md#)|Pre-computed joint trajectory subject to specified continuity constraints. The starting point of the trajectory must have an elapsed time of 0 ms and the angular values must reflect the current state of the robot. The robot control libraries will validate the trajectory fulfills the specified continuity constraints before playing the trajectory.| +|[PreComputedJointTrajectoryElement](../messages/Base/PreComputedJointTrajectoryElement.md#)|Set of angle, speed, acceleration, and elapsed time values for each joint for a given 1 ms interval. A PreComputedJointTrajectory is made up of a series of these elements.| +|[ProtectionZone](../messages/Base/ProtectionZone.md#)|Protection zone configuration| +|[ProtectionZoneHandle](../messages/Base/ProtectionZoneHandle.md#)|Reference to a specific protection zone| +|[ProtectionZoneInformation](../messages/Base/ProtectionZoneInformation.md#)|Information about a protection zone event| +|[ProtectionZoneList](../messages/Base/ProtectionZoneList.md#)|Array of protection zones| +|[ProtectionZoneNotification](../messages/Base/ProtectionZoneNotification.md#)|Notification about a single protection zone event| +|[ProtectionZoneNotificationList](../messages/Base/ProtectionZoneNotificationList.md#)|Array of protection zone notifications| +|[Query](../messages/Base/Query.md#)|Parameters of an event log query \(not implemented yet\)| +|[RequestedActionType](../messages/Base/RequestedActionType.md#)|Message used for requesting all action instances of a specific action type| +|[RobotEventNotification](../messages/Base/RobotEventNotification.md#)|Notification about a single robot event| +|[RobotEventNotificationList](../messages/Base/RobotEventNotificationList.md#)|Array of robot event notifications| +|[RotationMatrix](../messages/Base/RotationMatrix.md#)|Representation of a 3x3 rotation matrix. To be a valid rotation matrix, the rows must be orthonormal \(the rows must each have norm of 1 and the row vectors must be orthogonal to each other\). The determinant of the matrix must also be +1.| +|[RotationMatrixRow](../messages/Base/RotationMatrixRow.md#)|Single row of a 3x3 rotation matrix. To be a valid possible row of a rotation matrix, the norm of the row must be 1 \(the sum of the squares of the row elements has to equal 1\).| +|[SafetyEvent](../messages/Base/SafetyEvent.md#)|A safety event \(not implemented yet\)| +|[SafetyNotificationList](../messages/Base/SafetyNotificationList.md#)|Array of safety notifications| +|[Sequence](../messages/Base/Sequence.md#)|Information about a sequence| +|[SequenceHandle](../messages/Base/SequenceHandle.md#)|Reference to a specific sequence| +|[SequenceInfoNotification](../messages/Base/SequenceInfoNotification.md#)|Notification about a single sequence information event| +|[SequenceInfoNotificationList](../messages/Base/SequenceInfoNotificationList.md#)|Array of sequence information notifications| +|[SequenceInformation](../messages/Base/SequenceInformation.md#)|Information about a sequence| +|[SequenceList](../messages/Base/SequenceList.md#)|An array of sequences| +|[SequenceTask](../messages/Base/SequenceTask.md#)|Information on a single task within a sequence| +|[SequenceTaskHandle](../messages/Base/SequenceTaskHandle.md#)|Reference to a specific task inside a sequence| +|[ServoingModeInformation](../messages/Base/ServoingModeInformation.md#)|Information about the servoing mode| +|[ServoingModeNotification](../messages/Base/ServoingModeNotification.md#)|Notification about a single servoing mode event| +|[ServoingModeNotificationList](../messages/Base/ServoingModeNotificationList.md#)|Array of servoing mode notifications| +|[Ssid](../messages/Base/Ssid.md#)|Wi-Fi SSID| +|[Stop](../messages/Base/Stop.md#)|Action to stop robot movement| +|[SwitchControlMapping](../messages/Base/SwitchControlMapping.md#)|Action parameter to switch the active controller map| +|[SystemTime](../messages/Base/SystemTime.md#)|Identifies the system time \(not implemented yet\)| +|[Timeout](../messages/Base/Timeout.md#)|Timeout for a specified duration| +|[TrajectoryErrorElement](../messages/Base/TrajectoryErrorElement.md#)|Details for a single trajectory validation error| +|[TrajectoryErrorReport](../messages/Base/TrajectoryErrorReport.md#)|Report collecting information on different validation errors for a particular trajectory| +|[TransformationMatrix](../messages/Base/TransformationMatrix.md#)|A 4x4 homogeneous transformation matrix representing the transformation between two reference frames.| +|[TransformationRow](../messages/Base/TransformationRow.md#)|A single row of a 4x4 homogeneous transformation matrix| +|[Twist](../messages/Base/Twist.md#)|A twist \(linear and angular velocity\).| +|[TwistCommand](../messages/Base/TwistCommand.md#)|A twist command to be applied to the tool| +|[TwistLimitation](../messages/Base/TwistLimitation.md#)|Linear and angular speed limitations for twist configuration| +|[UserList](../messages/Base/UserList.md#)|Array of user profile handles| +|[UserNotification](../messages/Base/UserNotification.md#)|Notification about a single user event| +|[UserNotificationList](../messages/Base/UserNotificationList.md#)|Array of user notifications| +|[UserProfile](../messages/Base/UserProfile.md#)|Information about a user| +|[UserProfileList](../messages/Base/UserProfileList.md#)|Array of user profiles| +|[WifiConfiguration](../messages/Base/WifiConfiguration.md#)|Wi-Fi connection configuration| +|[WifiConfigurationList](../messages/Base/WifiConfigurationList.md#)|Array of Wi-Fi connection configuration for different networks| +|[WifiInformation](../messages/Base/WifiInformation.md#)|Information about a specific Wi-Fi network| +|[WifiInformationList](../messages/Base/WifiInformationList.md#)|Array of information about different Wi-Fi networks| +|[Wrench](../messages/Base/Wrench.md#)|A wrench \(force and torque\)| +|[WrenchCommand](../messages/Base/WrenchCommand.md#)|A wrench command to be applied to the tool| +|[WrenchLimitation](../messages/Base/WrenchLimitation.md#)|Force and torque limitations for wrench configuration| +|[ZoneShape](../messages/Base/ZoneShape.md#)|Protection zone shape description| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ActionEvent](../enums/Base/ActionEvent.md#)|Admissible action event types| +|[ActionType](../enums/Base/ActionType.md#)|Admissible types of actions| +|[AdmittanceMode](../enums/Base/AdmittanceMode.md#)|Admissible admittance modes| +|[BackupEvent](../enums/Base/BackupEvent.md#)|Admissible backup events \(not implemented yet\)| +|[BridgeStatus](../enums/Base/BridgeStatus.md#)|Bridge operation status| +|[BridgeType](../enums/Base/BridgeType.md#)|Type of port forward bridge to create| +|[CapSenseMode](../enums/Base/CapSenseMode.md#)|Admissible capacitive sensor modes| +|[ConfigurationNotificationEvent](../enums/Base/ConfigurationNotificationEvent.md#)|Admissible configuration events| +|[ControlMode](../enums/Base/ControlMode.md#)|Admissible robot control modes| +|[ControllerBehavior](../enums/Base/ControllerBehavior.md#)|Admissible controller input behaviors| +|[ControllerElementEventType](../enums/Base/ControllerElementEventType.md#)|Admissible controller element event types| +|[ControllerEventType](../enums/Base/ControllerEventType.md#)|Admissible controller event types| +|[ControllerInputType](../enums/Base/ControllerInputType.md#)|Admissible controller input types| +|[ControllerType](../enums/Base/ControllerType.md#)|Admissible controller types| +|[EventIdSequenceInfoNotification](../enums/Base/EventIdSequenceInfoNotification.md#)|Admissible sequence event types| +|[FactoryEvent](../enums/Base/FactoryEvent.md#)|Admissible factory events| +|[GpioState](../enums/Base/GpioState.md#)|Admissible GPIO states \(not implemented yet\)| +|[GripperMode](../enums/Base/GripperMode.md#)|Admissible gripper control mode| +|[JointNavigationDirection](../enums/Base/JointNavigationDirection.md#)|Admissible joint navigation directions| +|[JointTrajectoryConstraintType](../enums/Base/JointTrajectoryConstraintType.md#)|Admissible constraint types that can be applied when controlling a joint in trajectory mode| +|[LedState](../enums/Base/LedState.md#)|Admissible LED states \(not implemented yet\)| +|[LimitationType](../enums/Base/LimitationType.md#)|Admissible limitation types| +|[NavigationDirection](../enums/Base/NavigationDirection.md#)|Admissible map navigation directions| +|[NetworkEvent](../enums/Base/NetworkEvent.md#)|Admissible network events| +|[NetworkType](../enums/Base/NetworkType.md#)|Admissible network types| +|[OperatingMode](../enums/Base/OperatingMode.md#)|Admissible robot operating modes \(used to report robot firmware upgrade current state\)| +|[ProtectionZoneEvent](../enums/Base/ProtectionZoneEvent.md#)|Admissible protection zone events| +|[RobotEvent](../enums/Base/RobotEvent.md#)|Admissible robot events| +|[SafetyIdentifier](../enums/Base/SafetyIdentifier.md#)|Admissible Base safeties. Used with BaseCyclic.BaseFeedback.\[fault\_bank\_a | fault\_bank\_b | warning\_bank\_a | warning\_bank\_b\]| +|[ServiceVersion](../enums/Base/ServiceVersion.md#)|Identifies Base service current version| +|[ServoingMode](../enums/Base/ServoingMode.md#)|Admissible servoing modes| +|[ShapeType](../enums/Base/ShapeType.md#)|Admissible protection zone shape types| +|[SignalQuality](../enums/Base/SignalQuality.md#)|Admissible signal quality values| +|[SoundType](../enums/Base/SoundType.md#)|Admissible sound types \(not implemented yet\)| +|[TrajectoryContinuityMode](../enums/Base/TrajectoryContinuityMode.md#)|Admissible trajectory continuity mode| +|[TrajectoryErrorIdentifier](../enums/Base/TrajectoryErrorIdentifier.md#)|Trajectory validation error identifiers| +|[TrajectoryErrorType](../enums/Base/TrajectoryErrorType.md#)|Trajectory validation error types| +|[UserEvent](../enums/Base/UserEvent.md#)|Admissible user event types| +|[WifiEncryptionType](../enums/Base/WifiEncryptionType.md#)|Admissible Wi-Fi encryption types| +|[WifiSecurityType](../enums/Base/WifiSecurityType.md#)|Admissible Wi-Fi Security types| +|[WrenchMode](../enums/Base/WrenchMode.md#)|Admissible wrench \(force\) modes| +|[Xbox360AnalogInputIdentifier](../enums/Base/Xbox360AnalogInputIdentifier.md#)|Admissible XBOX360 analog inputs| +|[Xbox360DigitalInputIdentifier](../enums/Base/Xbox360DigitalInputIdentifier.md#)|Admissible XBOX360 digital inputs| + +Base service. Broadly useful service. Provides functions for configuring a range of base-related functionalities and for enabling high-level control for the robot. + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|CreateUserProfile|[UserProfileHandle](../messages/Common/UserProfileHandle.md#)|[FullUserProfile](../messages/Base/FullUserProfile.md#)|Creates a user profile and returns a handle to the profile| +|UpdateUserProfile|[Empty](../messages/Common/Empty.md#)|[UserProfile](../messages/Base/UserProfile.md#)|Updates an existing user profile| +|ReadUserProfile|[UserProfile](../messages/Base/UserProfile.md#)|[UserProfileHandle](../messages/Common/UserProfileHandle.md#)|Retrieves an existing user profile| +|DeleteUserProfile|[Empty](../messages/Common/Empty.md#)|[UserProfileHandle](../messages/Common/UserProfileHandle.md#)|Deletes an existing user profile| +|ReadAllUserProfiles|[UserProfileList](../messages/Base/UserProfileList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves all user profiles| +|ReadAllUsers|[UserList](../messages/Base/UserList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the list of all user profile handles| +|ChangePassword|[Empty](../messages/Common/Empty.md#)|[PasswordChange](../messages/Base/PasswordChange.md#)|Changes the password of an existing user| +|CreateSequence|[SequenceHandle](../messages/Base/SequenceHandle.md#)|[Sequence](../messages/Base/Sequence.md#)|Creates a new sequence and returns a handle to the sequence| +|UpdateSequence|[Empty](../messages/Common/Empty.md#)|[Sequence](../messages/Base/Sequence.md#)|Updates an existing sequence| +|ReadSequence|[Sequence](../messages/Base/Sequence.md#)|[SequenceHandle](../messages/Base/SequenceHandle.md#)|Retrieves an existing sequence| +|DeleteSequence|[Empty](../messages/Common/Empty.md#)|[SequenceHandle](../messages/Base/SequenceHandle.md#)|Deletes an existing sequence| +|ReadAllSequences|[SequenceList](../messages/Base/SequenceList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the list of all existing sequences| +|DeleteSequenceTask|[Empty](../messages/Common/Empty.md#)|[SequenceTaskHandle](../messages/Base/SequenceTaskHandle.md#)|Deletes a specific task from the specified sequence| +|DeleteAllSequenceTasks|[Empty](../messages/Common/Empty.md#)|[SequenceHandle](../messages/Base/SequenceHandle.md#)|Deletes all tasks from the specified sequence| +|PlaySequence|[Empty](../messages/Common/Empty.md#)|[SequenceHandle](../messages/Base/SequenceHandle.md#)|Plays an existing sequence| +|PlayAdvancedSequence|[Empty](../messages/Common/Empty.md#)|[AdvancedSequenceHandle](../messages/Base/AdvancedSequenceHandle.md#)|Plays an existing sequence with options| +|StopSequence|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Stops execution of currently playing sequence| +|PauseSequence|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Pauses execution of currently playing sequence| +|ResumeSequence|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Resumes execution of currently paused sequence| +|CreateProtectionZone|[ProtectionZoneHandle](../messages/Base/ProtectionZoneHandle.md#)|[ProtectionZone](../messages/Base/ProtectionZone.md#)|Creates a new protection zone and returns a handle to the protection zone| +|UpdateProtectionZone|[Empty](../messages/Common/Empty.md#)|[ProtectionZone](../messages/Base/ProtectionZone.md#)|Updates an existing protection zone| +|ReadProtectionZone|[ProtectionZone](../messages/Base/ProtectionZone.md#)|[ProtectionZoneHandle](../messages/Base/ProtectionZoneHandle.md#)|Retrieves an existing protection zone| +|DeleteProtectionZone|[Empty](../messages/Common/Empty.md#)|[ProtectionZoneHandle](../messages/Base/ProtectionZoneHandle.md#)|Deletes an existing protection zone| +|ReadAllProtectionZones|[ProtectionZoneList](../messages/Base/ProtectionZoneList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves a list of all protection zones| +|CreateMapping|[MappingHandle](../messages/Base/MappingHandle.md#)|[Mapping](../messages/Base/Mapping.md#)|Creates a new mapping| +|ReadMapping|[Mapping](../messages/Base/Mapping.md#)|[MappingHandle](../messages/Base/MappingHandle.md#)|Retrieves an existing mapping| +|ReadAllMappings|[MappingList](../messages/Base/MappingList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves a list of all mappings| +|CreateMap|[MapHandle](../messages/Base/MapHandle.md#)|[Map](../messages/Base/Map.md#)|Creates a new map| +|ReadAllMaps|[MapList](../messages/Base/MapList.md#)|[MappingHandle](../messages/Base/MappingHandle.md#)|Retrieves a list of all maps associated to the specified mapping| +|ActivateMap|[Empty](../messages/Common/Empty.md#)|[ActivateMapHandle](../messages/Base/ActivateMapHandle.md#)|Activates the specified map within the specified map group and mapping| +|CreateAction|[ActionHandle](../messages/Base/ActionHandle.md#)|[Action](../messages/Base/Action.md#)|Creates a new action| +|ReadAction|[Action](../messages/Base/Action.md#)|[ActionHandle](../messages/Base/ActionHandle.md#)|Retrieves an existing action| +|ReadAllActions|[ActionList](../messages/Base/ActionList.md#)|[RequestedActionType](../messages/Base/RequestedActionType.md#)|Retrieves a list of all existing actions| +|DeleteAction|[Empty](../messages/Common/Empty.md#)|[ActionHandle](../messages/Base/ActionHandle.md#)|Deletes an existing action| +|UpdateAction|[Empty](../messages/Common/Empty.md#)|[Action](../messages/Base/Action.md#)|Updates an existing action| +|ExecuteActionFromReference|[Empty](../messages/Common/Empty.md#)|[ActionHandle](../messages/Base/ActionHandle.md#)|Commands the robot to execute the specified existing action| +|ExecuteAction|[Empty](../messages/Common/Empty.md#)|[Action](../messages/Base/Action.md#)|Commands the robot to execute the specified action| +|PauseAction|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Pauses the currently executed action. ResumeAction can be invoked afterwards| +|StopAction|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Stops the currently executed action. ResumeAction cannot be invoked afterwards| +|ResumeAction|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Resumes execution of the currently paused action| +|GetIPv4Configuration|[IPv4Configuration](../messages/Base/IPv4Configuration.md#)|[NetworkHandle](../messages/Base/NetworkHandle.md#)|Retrieves the IPv4 network configuration for the specified network adapter| +|SetIPv4Configuration|[Empty](../messages/Common/Empty.md#)|[FullIPv4Configuration](../messages/Base/FullIPv4Configuration.md#)|Modifies the IPv4 network configuration for the specified network adapter| +|SetCommunicationInterfaceEnable|[Empty](../messages/Common/Empty.md#)|[CommunicationInterfaceConfiguration](../messages/Base/CommunicationInterfaceConfiguration.md#)|Enables \(or disables\) the specified communication interface| +|IsCommunicationInterfaceEnable|[CommunicationInterfaceConfiguration](../messages/Base/CommunicationInterfaceConfiguration.md#)|[NetworkHandle](../messages/Base/NetworkHandle.md#)|Determines if the specified communication interface is enabled \(or disabled\)| +|GetAvailableWifi|[WifiInformationList](../messages/Base/WifiInformationList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the list of available Wi-Fi networks| +|GetWifiInformation|[WifiInformation](../messages/Base/WifiInformation.md#)|[Ssid](../messages/Base/Ssid.md#)|Retrieves information about a specific Wi-Fi network| +|AddWifiConfiguration|[Empty](../messages/Common/Empty.md#)|[WifiConfiguration](../messages/Base/WifiConfiguration.md#)|Configures a specific Wi-Fi network| +|DeleteWifiConfiguration|[Empty](../messages/Common/Empty.md#)|[Ssid](../messages/Base/Ssid.md#)|Deletes a specific Wi-Fi network| +|GetAllConfiguredWifis|[WifiConfigurationList](../messages/Base/WifiConfigurationList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the list of configured Wi-Fi networks| +|ConnectWifi|[Empty](../messages/Common/Empty.md#)|[Ssid](../messages/Base/Ssid.md#)|Connects robot to specified Wi-Fi network| +|DisconnectWifi|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Disconnects the robot from the currently connected Wi-Fi network| +|GetConnectedWifiInformation|[WifiInformation](../messages/Base/WifiInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves information about the connected Wi-Fi network| +|Unsubscribe|[Empty](../messages/Common/Empty.md#)|[NotificationHandle](../messages/Common/NotificationHandle.md#)|Unsubscribes client from receiving notifications for the specified topic| +|ConfigurationChangeTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to configuration change topic for notifications| +|MappingInfoTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to mapping information topic for notifications| +|ControlModeTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to control mode topic for notifications| +|OperatingModeTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to operating mode topic for notifications| +|SequenceInfoTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to sequence information topic for notifications| +|ProtectionZoneTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to protection zone topic for notifications| +|UserTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to user topic for notifications| +|ControllerTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to controller topic for notifications| +|ActionTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to action topic for notifications| +|RobotEventTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to robot event topic for notifications| +|PlayCartesianTrajectory|[Empty](../messages/Common/Empty.md#)|[ConstrainedPose](../messages/Base/ConstrainedPose.md#)|Moves robot to the specifed tool pose \(position and orientation\) while imposing specified constraints| +|PlayCartesianTrajectoryPosition|[Empty](../messages/Common/Empty.md#)|[ConstrainedPosition](../messages/Base/ConstrainedPosition.md#)|Moves robot to the specifed position while imposing specified constraints| +|PlayCartesianTrajectoryOrientation|[Empty](../messages/Common/Empty.md#)|[ConstrainedOrientation](../messages/Base/ConstrainedOrientation.md#)|Moves to the specifed orientation while imposing specified constraints| +|Stop|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Stops robot movement| +|GetMeasuredCartesianPose|[Pose](../messages/Base/Pose.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the current computed tool pose \(position and orientation\) for the robot| +|SendWrenchCommand|[Empty](../messages/Common/Empty.md#)|[WrenchCommand](../messages/Base/WrenchCommand.md#)|Sends a wrench command \(screw consisting of force and torque\) to be applied to the tool. This method is EXPERIMENTAL.| +|SendWrenchJoystickCommand|[Empty](../messages/Common/Empty.md#)|[WrenchCommand](../messages/Base/WrenchCommand.md#)|Sends a wrench \(screw consisting of force and torque\) joystick command to be applied to the tool. The wrench values sent to this call are expected to be a ratio of maximum value \(between -1.0/+1.0\). This method is EXPERIMENTAL.| +|SendTwistJoystickCommand|[Empty](../messages/Common/Empty.md#)|[TwistCommand](../messages/Base/TwistCommand.md#)|Sends a twist \(screw consisting of linear and angular velocity\) joystick command to be applied to the tool. The twist values sent to this call are expected to be a ratio of the maximum value \(between -1.0/+1.0\).| +|SendTwistCommand|[Empty](../messages/Common/Empty.md#)|[TwistCommand](../messages/Base/TwistCommand.md#)|Sends a twist \(screw consisting of linear and angular velocity\) command to be applied to the tool| +|PlayJointTrajectory|[Empty](../messages/Common/Empty.md#)|[ConstrainedJointAngles](../messages/Base/ConstrainedJointAngles.md#)|Moves joints to the specified joint angles while imposing specified constraints| +|PlaySelectedJointTrajectory|[Empty](../messages/Common/Empty.md#)|[ConstrainedJointAngle](../messages/Base/ConstrainedJointAngle.md#)|Moves specifed joint to the specifed joint angle while imposing specified constraints| +|GetMeasuredJointAngles|[JointAngles](../messages/Base/JointAngles.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the currently measured joint angles for each joint| +|SendJointSpeedsCommand|[Empty](../messages/Common/Empty.md#)|[JointSpeeds](../messages/Base/JointSpeeds.md#)|Sends a set of joint speed commands to all joints with one command. Joint speed commmands must be sent to all joints. If you do not want to move some of the joints, simply send a speed value of 0 degrees / second for that joint.| +|SendSelectedJointSpeedCommand|[Empty](../messages/Common/Empty.md#)|[JointSpeed](../messages/Base/JointSpeed.md#)|Sends a speed command for a specific joint| +|SendGripperCommand|[Empty](../messages/Common/Empty.md#)|[GripperCommand](../messages/Base/GripperCommand.md#)|Sends a command to move the gripper| +|GetMeasuredGripperMovement|[Gripper](../messages/Base/Gripper.md#)|[GripperRequest](../messages/Base/GripperRequest.md#)|Retrieves the current gripper movement, that is the current gripper position, force or speed| +|SetAdmittance|[Empty](../messages/Common/Empty.md#)|[Admittance](../messages/Base/Admittance.md#)|Sets the robot in the chosen admittance mode| +|SetOperatingMode|[Empty](../messages/Common/Empty.md#)|[OperatingModeInformation](../messages/Base/OperatingModeInformation.md#)|Sets a new operating mode. Only Maintenance, Update and Run modes are permitted.| +|ApplyEmergencyStop|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Stops robot movement and activates emergency stop state. You will not be able to move the robot. Use ClearFaults\(\) to clear the stop.| +|ClearFaults|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Clears robot stop. Robot is permitted to move again.| +|GetControlMode|[ControlModeInformation](../messages/Base/ControlModeInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves current control mode| +|GetOperatingMode|[OperatingModeInformation](../messages/Base/OperatingModeInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves current operating mode| +|SetServoingMode|[Empty](../messages/Common/Empty.md#)|[ServoingModeInformation](../messages/Base/ServoingModeInformation.md#)|Sets the servoing mode| +|GetServoingMode|[ServoingModeInformation](../messages/Base/ServoingModeInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves current servoing mode| +|ServoingModeTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to servoing mode topic for notifications| +|RestoreFactorySettings|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Deletes all configurations and reverts settings to their factory defaults \(except network settings\)| +|Reboot|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Reboots the robot| +|FactoryTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to factory topic for notifications| +|GetAllConnectedControllers|[ControllerList](../messages/Base/ControllerList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the list of all connected controllers| +|GetControllerState|[ControllerState](../messages/Base/ControllerState.md#)|[ControllerHandle](../messages/Base/ControllerHandle.md#)|Retrieves the state of a specified controller| +|GetActuatorCount|[ActuatorInformation](../messages/Base/ActuatorInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the number of actuators in the robot| +|StartWifiScan|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Initiates Wi-Fi scanning| +|GetConfiguredWifi|[WifiConfiguration](../messages/Base/WifiConfiguration.md#)|[Ssid](../messages/Base/Ssid.md#)|Retrieves a configured Wi-Fi network| +|NetworkTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to network event notifications| +|GetArmState|[ArmStateInformation](../messages/Base/ArmStateInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves current robot arm state| +|ArmStateTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to robot arm state notifications| +|GetIPv4Information|[IPv4Information](../messages/Base/IPv4Information.md#)|[NetworkHandle](../messages/Base/NetworkHandle.md#)|Retrieves the IPv4 network information for the specified network adapter| +|SetWifiCountryCode|[Empty](../messages/Common/Empty.md#)|[CountryCode](../messages/Common/CountryCode.md#)|Sets the Wi-Fi country code| +|GetWifiCountryCode|[CountryCode](../messages/Common/CountryCode.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the Wi-Fi country code| +|SetCapSenseConfig|[Empty](../messages/Common/Empty.md#)|[CapSenseConfig](../messages/Base/CapSenseConfig.md#)|Configures capacitive sensor on the gripper or wrist| +|GetCapSenseConfig|[CapSenseConfig](../messages/Base/CapSenseConfig.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves configuration of capacitive sensor on the gripper or wrist| +|GetAllJointsSpeedHardLimitation|[JointsLimitationsList](../messages/Base/JointsLimitationsList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves speed hard limits for all joints| +|GetAllJointsTorqueHardLimitation|[JointsLimitationsList](../messages/Base/JointsLimitationsList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves torque hard limits for all joints| +|GetTwistHardLimitation|[TwistLimitation](../messages/Base/TwistLimitation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves twist hard limitations| +|GetWrenchHardLimitation|[WrenchLimitation](../messages/Base/WrenchLimitation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves wrench hard limitations| +|SendJointSpeedsJoystickCommand|[Empty](../messages/Common/Empty.md#)|[JointSpeeds](../messages/Base/JointSpeeds.md#)|Sends the desired joystick speeds to all joints with one command. The speed values sent to this call are expected to be a ratio of the maximum value \(between -1.0/+1.0\) Speeds must be sent to all joints. If you don't want to move some of the joints, send a value of 0.| +|SendSelectedJointSpeedJoystickCommand|[Empty](../messages/Common/Empty.md#)|[JointSpeed](../messages/Base/JointSpeed.md#)|Sends a joystick speed for a specific joint. The speed value sent to this call is expected to be a ratio of the maximum value \(between -1.0/+1.0\)| +|EnableBridge|[BridgeResult](../messages/Base/BridgeResult.md#)|[BridgeConfig](../messages/Base/BridgeConfig.md#)|Enables TCP bridge to hardware device| +|DisableBridge|[BridgeResult](../messages/Base/BridgeResult.md#)|[BridgeIdentifier](../messages/Base/BridgeIdentifier.md#)|Disables specified TCP bridge| +|GetBridgeList|[BridgeList](../messages/Base/BridgeList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves list of created bridges| +|GetBridgeConfig|[BridgeConfig](../messages/Base/BridgeConfig.md#)|[BridgeIdentifier](../messages/Base/BridgeIdentifier.md#)|Retrieves configuration for specified bridge| +|PlayPreComputedJointTrajectory|[Empty](../messages/Common/Empty.md#)|[PreComputedJointTrajectory](../messages/Base/PreComputedJointTrajectory.md#)|Plays a pre-computed angular trajectory| +|GetProductConfiguration|[CompleteProductConfiguration](../messages/ProductConfiguration/CompleteProductConfiguration.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves product configuration information| +|UpdateDegreeOfFreedomConfiguration|[Empty](../messages/Common/Empty.md#)|[ProductConfigurationDegreeOfFreedom](../messages/ProductConfiguration/ProductConfigurationDegreeOfFreedom.md#)|Set new value for Degree of Freedom in product configuration \(Identification Number\)| +|UpdateBaseTypeConfiguration|[Empty](../messages/Common/Empty.md#)|[ProductConfigurationBaseType](../messages/ProductConfiguration/ProductConfigurationBaseType.md#)|Set new Base type in product configuration \(Identification Number\)| +|UpdateEndEffectorTypeConfiguration|[Empty](../messages/Common/Empty.md#)|[ProductConfigurationEndEffectorType](../messages/ProductConfiguration/ProductConfigurationEndEffectorType.md#)|Set new end-effector type in product configuration \(Identification Number\)| +|UpdateVisionModuleTypeConfiguration|[Empty](../messages/Common/Empty.md#)|[ProductConfigurationVisionModuleType](../messages/ProductConfiguration/ProductConfigurationVisionModuleType.md#)|Set new vision module type in product configuration \(Identification Number\)| +|UpdateInterfaceModuleTypeConfiguration|[Empty](../messages/Common/Empty.md#)|[ProductConfigurationInterfaceModuleType](../messages/ProductConfiguration/ProductConfigurationInterfaceModuleType.md#)|Set new interface module type in product configuration \(Identification Number\)| +|UpdateArmLateralityConfiguration|[Empty](../messages/Common/Empty.md#)|[ProductConfigurationLaterality](../messages/ProductConfiguration/ProductConfigurationLaterality.md#)|Set new arm laterality in product configuration \(Identification Number\)| +|UpdateWristTypeConfiguration|[Empty](../messages/Common/Empty.md#)|[ProductConfigurationWristType](../messages/ProductConfiguration/ProductConfigurationWristType.md#)|Sets new wrist type in product configuration \(Identification Number\)| +|RestoreFactoryProductConfiguration|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Restores product configuration to factory product configuration| +|GetTrajectoryErrorReport|[TrajectoryErrorReport](../messages/Base/TrajectoryErrorReport.md#)|[Empty](../messages/Common/Empty.md#)|Obtains trajectory error report listing errors for rejected trajectory. Provides some feedback on why the trajectory could not be completed.| +|GetAllJointsSpeedSoftLimitation|[JointsLimitationsList](../messages/Base/JointsLimitationsList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves list of soft speed limits for all joints| +|GetAllJointsTorqueSoftLimitation|[JointsLimitationsList](../messages/Base/JointsLimitationsList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves list of soft torque limits for all joints| +|GetTwistSoftLimitation|[TwistLimitation](../messages/Base/TwistLimitation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves all twist soft limitations| +|GetWrenchSoftLimitation|[WrenchLimitation](../messages/Base/WrenchLimitation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves all wrench soft limitations| + diff --git a/api_cpp/doc/markdown/summary_pages/BaseCyclic.md b/api_cpp/doc/markdown/summary_pages/BaseCyclic.md new file mode 100644 index 00000000..e8010d58 --- /dev/null +++ b/api_cpp/doc/markdown/summary_pages/BaseCyclic.md @@ -0,0 +1,37 @@ +# BaseCyclic \(C++\) + +This page describes the C++ BaseCyclic API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[ActuatorCommand](../messages/BaseCyclic/ActuatorCommand.md#)|Defines an actuator command| +|[ActuatorCustomData](../messages/BaseCyclic/ActuatorCustomData.md#)|Custom development data from an actuator, content varies according to debug needs| +|[ActuatorFeedback](../messages/BaseCyclic/ActuatorFeedback.md#)|Defines the feedback provided by an actuator| +|[BaseFeedback](../messages/BaseCyclic/BaseFeedback.md#)|Defines the feedback provided by the base| +|[Command](../messages/BaseCyclic/Command.md#)|Defines a command provided to robot devices \(actuators and interface\)| +|[CustomData](../messages/BaseCyclic/CustomData.md#)|Custom development data, content varies according to debug needs| +|[Feedback](../messages/BaseCyclic/Feedback.md#)|Defines the feedback provided by robot devices \(base, actuators and interface\)| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ServiceVersion](../enums/BaseCyclic/ServiceVersion.md#)|Identifies BaseCyclic current version| + +Service to exchange cyclic data with base + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|Refresh|[Feedback](../messages/BaseCyclic/Feedback.md#)|[Command](../messages/BaseCyclic/Command.md#)|Sends a command to actuators and interface and returns feedback from base, actuators, and interface on actual status| +|RefreshCommand|[Empty](../messages/Common/Empty.md#)|[Command](../messages/BaseCyclic/Command.md#)|Sends a command to actuators and interface without receiving feedback| +|RefreshFeedback|[Feedback](../messages/BaseCyclic/Feedback.md#)|[Empty](../messages/Common/Empty.md#)|Obtains feedback from base, actuators, and interface on their status| +|RefreshCustomData|[CustomData](../messages/BaseCyclic/CustomData.md#)|[CustomData](../messages/BaseCyclic/CustomData.md#)|Retrieves custom data| + diff --git a/api_cpp/doc/markdown/summary_pages/Common.md b/api_cpp/doc/markdown/summary_pages/Common.md new file mode 100644 index 00000000..4d06af97 --- /dev/null +++ b/api_cpp/doc/markdown/summary_pages/Common.md @@ -0,0 +1,42 @@ +# Common \(C++\) + +This page describes the C++ Common API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[Connection](../messages/Common/Connection.md#)|Connection between a user and the robot| +|[CountryCode](../messages/Common/CountryCode.md#)|Country code| +|[DeviceHandle](../messages/Common/DeviceHandle.md#)|Reference to a specific device| +|[Empty](../messages/Common/Empty.md#)|Message used when no information needs to be exchanged between client application and robot, and vice versa| +|[NotificationHandle](../messages/Common/NotificationHandle.md#)|Reference to a specific notification topic| +|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Specifies options associated to a notification| +|[SafetyHandle](../messages/Common/SafetyHandle.md#)|Reference to a specific safety| +|[SafetyNotification](../messages/Common/SafetyNotification.md#)|Notification about a single safety event| +|[Timestamp](../messages/Common/Timestamp.md#)|Timestamp based on Epoch \(00:00:00 Thursday, January 1, 1970\)| +|[UARTConfiguration](../messages/Common/UARTConfiguration.md#)|UART configuration details| +|[UARTDeviceIdentification](../messages/Common/UARTDeviceIdentification.md#)|UART port id identification| +|[UserProfileHandle](../messages/Common/UserProfileHandle.md#)|Reference to a user profile| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ArmState](../enums/Common/ArmState.md#)|Admissible robot arm states| +|[CartesianReferenceFrame](../enums/Common/CartesianReferenceFrame.md#)|Admissible Cartesian reference frame modes| +|[CountryCodeIdentifier](../enums/Common/CountryCodeIdentifier.md#)|Supported ISO3166 country identifiers| +|[DeviceTypes](../enums/Common/DeviceTypes.md#)|Admissible device types| +|[NotificationType](../enums/Common/NotificationType.md#)|Admissible notification types| +|[Permission](../enums/Common/Permission.md#)|Admissible permissions. Used as bitfields| +|[SafetyStatusValue](../enums/Common/SafetyStatusValue.md#)|Admissible safety statuses| +|[UARTParity](../enums/Common/UARTParity.md#)|Admissible UART parity mode| +|[UARTSpeed](../enums/Common/UARTSpeed.md#)|Admissible UART baudrates| +|[UARTStopBits](../enums/Common/UARTStopBits.md#)|Admissible UART stop bits| +|[UARTWordLength](../enums/Common/UARTWordLength.md#)|Admissible UART word lengths| +|[Unit](../enums/Common/Unit.md#)|Admissible units used throughout API methods| + diff --git a/api_cpp/doc/markdown/summary_pages/ControlConfig.md b/api_cpp/doc/markdown/summary_pages/ControlConfig.md new file mode 100644 index 00000000..11fbd2e8 --- /dev/null +++ b/api_cpp/doc/markdown/summary_pages/ControlConfig.md @@ -0,0 +1,44 @@ +# ControlConfig \(C++\) + +This page describes the C++ ControlConfig API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[CartesianReferenceFrameInfo](../messages/ControlConfig/CartesianReferenceFrameInfo.md#)|Cartesian reference frame| +|[CartesianTransform](../messages/ControlConfig/CartesianTransform.md#)|Defines a Cartesian transform| +|[ControlConfigurationNotification](../messages/ControlConfig/ControlConfigurationNotification.md#)|Notification about a single control configuration event| +|[GravityVector](../messages/ControlConfig/GravityVector.md#)|Defines the gravity vector in terms of the robot base frame. If not explicitly configured, it defaults to \(0, 0, -9.81\), assuming a mounting on a horizontal surface. If the robot is mounted on a wall or ceiling, the gravity vector relative to the base frame will change. The control library needs to be aware of this to accurately compensate for gravity.| +|[PayloadInformation](../messages/ControlConfig/PayloadInformation.md#)|Defines payload information| +|[Position](../messages/ControlConfig/Position.md#)|A Cartesian position| +|[ToolConfiguration](../messages/ControlConfig/ToolConfiguration.md#)|Defines a tool configuration| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ControlConfigurationEvent](../enums/ControlConfig/ControlConfigurationEvent.md#)|Admissible control configuration events| +|[ServiceVersion](../enums/ControlConfig/ServiceVersion.md#)|Identifies ControlConfig current version| + +Service to configure robot control library + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|SetGravityVector|[Empty](../messages/Common/Empty.md#)|[GravityVector](../messages/ControlConfig/GravityVector.md#)|Sets global gravity vector in terms of base reference frame. This needs to be configured to enable control of the robot in wall or ceiling mounting of the robot.| +|GetGravityVector|[GravityVector](../messages/ControlConfig/GravityVector.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves global gravity vector| +|SetPayloadInformation|[Empty](../messages/Common/Empty.md#)|[PayloadInformation](../messages/ControlConfig/PayloadInformation.md#)|Sets payload information. This needs to be configured so that the control library can take into account the presence of the payload mass in computing the dynamics of the robot.| +|GetPayloadInformation|[PayloadInformation](../messages/ControlConfig/PayloadInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves payload information| +|SetToolConfiguration|[Empty](../messages/Common/Empty.md#)|[ToolConfiguration](../messages/ControlConfig/ToolConfiguration.md#)|Sets tool configuration. This needs to be configured for two reasons. 1\) so that the control library can take into account the presence of the tool mass in computing the dynamics of the robot. 2\) so that the robot is aware of the tool frame center relative position and orientation to correctly compute and report the tool position.| +|GetToolConfiguration|[ToolConfiguration](../messages/ControlConfig/ToolConfiguration.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves tool configuration| +|ControlConfigurationTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to control configuration notifications| +|Unsubscribe|[Empty](../messages/Common/Empty.md#)|[NotificationHandle](../messages/Common/NotificationHandle.md#)|Unsubscribes client from receiving specified type of notifications| +|SetCartesianReferenceFrame|[Empty](../messages/Common/Empty.md#)|[CartesianReferenceFrameInfo](../messages/ControlConfig/CartesianReferenceFrameInfo.md#)|Defines the reference frame to use with twist and wrench commands| +|GetCartesianReferenceFrame|[CartesianReferenceFrameInfo](../messages/ControlConfig/CartesianReferenceFrameInfo.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the current reference frame used by the twist and wrench commands| + diff --git a/api_cpp/doc/markdown/summary_pages/DeviceConfig.md b/api_cpp/doc/markdown/summary_pages/DeviceConfig.md new file mode 100644 index 00000000..efb5a2a0 --- /dev/null +++ b/api_cpp/doc/markdown/summary_pages/DeviceConfig.md @@ -0,0 +1,90 @@ +# DeviceConfig \(C++\) + +This page describes the C++ DeviceConfig API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[BootloaderVersion](../messages/DeviceConfig/BootloaderVersion.md#)|Bootloader version for the device| +|[Calibration](../messages/DeviceConfig/Calibration.md#)|Calibration information to push to device| +|[CalibrationElement](../messages/DeviceConfig/CalibrationElement.md#)|Calibration element| +|[CalibrationParameter](../messages/DeviceConfig/CalibrationParameter.md#)|Single calibration parameter information| +|[CalibrationResult](../messages/DeviceConfig/CalibrationResult.md#)|Result of a calibration| +|[CapSenseConfig](../messages/DeviceConfig/CapSenseConfig.md#)|Capacitive sensor configuration message| +|[CapSenseRegister](../messages/DeviceConfig/CapSenseRegister.md#)|Message used to address a register| +|[DeviceType](../messages/DeviceConfig/DeviceType.md#)|Device type| +|[FirmwareVersion](../messages/DeviceConfig/FirmwareVersion.md#)|Firmware version for the device| +|[IPv4Settings](../messages/DeviceConfig/IPv4Settings.md#)|IPv4 settings for the device, including address, subnet mask, and default gateway| +|[MACAddress](../messages/DeviceConfig/MACAddress.md#)|MAC address for the device| +|[ModelNumber](../messages/DeviceConfig/ModelNumber.md#)|Model number for the device| +|[PartNumber](../messages/DeviceConfig/PartNumber.md#)|Part number for the device| +|[PartNumberRevision](../messages/DeviceConfig/PartNumberRevision.md#)|Part number revision for the device| +|[PowerOnSelfTestResult](../messages/DeviceConfig/PowerOnSelfTestResult.md#)|Result of power on self test| +|[RebootRqst](../messages/DeviceConfig/RebootRqst.md#)|Reboot request with bootloader delay| +|[RunMode](../messages/DeviceConfig/RunMode.md#)|Run mode| +|[SafetyConfiguration](../messages/DeviceConfig/SafetyConfiguration.md#)|Configuration for a safety| +|[SafetyConfigurationList](../messages/DeviceConfig/SafetyConfigurationList.md#)|Array of safety configurations| +|[SafetyEnable](../messages/DeviceConfig/SafetyEnable.md#)|Enable or disable a specific safety| +|[SafetyInformation](../messages/DeviceConfig/SafetyInformation.md#)|Information about a specific safety| +|[SafetyInformationList](../messages/DeviceConfig/SafetyInformationList.md#)|Array of safety information| +|[SafetyStatus](../messages/DeviceConfig/SafetyStatus.md#)|Safety status| +|[SafetyThreshold](../messages/DeviceConfig/SafetyThreshold.md#)|Configure threshold of a specific safety| +|[SerialNumber](../messages/DeviceConfig/SerialNumber.md#)|Serial number for the device| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[CalibrationItem](../enums/DeviceConfig/CalibrationItem.md#)|Admissible calibration items| +|[CalibrationStatus](../enums/DeviceConfig/CalibrationStatus.md#)|Admissible calibration status| +|[CapSenseMode](../enums/DeviceConfig/CapSenseMode.md#)|Admissible capacitive sensor mode| +|[RunModes](../enums/DeviceConfig/RunModes.md#)|Options for the run mode for the device| +|[SafetyLimitType](../enums/DeviceConfig/SafetyLimitType.md#)|Types of safeties limits| +|[ServiceVersion](../enums/DeviceConfig/ServiceVersion.md#)|Identifies DeviceConfig current version| + +Service to get and set device configuration information + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|GetRunMode|[RunMode](../messages/DeviceConfig/RunMode.md#)|[Empty](../messages/Common/Empty.md#)|Returns the run mode for the device| +|SetRunMode|[Empty](../messages/Common/Empty.md#)|[RunMode](../messages/DeviceConfig/RunMode.md#)|Sets the run mode for the device| +|GetDeviceType|[DeviceType](../messages/DeviceConfig/DeviceType.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the type for the device| +|GetFirmwareVersion|[FirmwareVersion](../messages/DeviceConfig/FirmwareVersion.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the device firmware version| +|GetBootloaderVersion|[BootloaderVersion](../messages/DeviceConfig/BootloaderVersion.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the device bootloader version| +|GetModelNumber|[ModelNumber](../messages/DeviceConfig/ModelNumber.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the device model number| +|GetPartNumber|[PartNumber](../messages/DeviceConfig/PartNumber.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the device part number| +|GetSerialNumber|[SerialNumber](../messages/DeviceConfig/SerialNumber.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the device serial number| +|GetMACAddress|[MACAddress](../messages/DeviceConfig/MACAddress.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the device MAC address| +|GetIPv4Settings|[IPv4Settings](../messages/DeviceConfig/IPv4Settings.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the device IPv4 settings \(not implemented on Base\)| +|SetIPv4Settings|[Empty](../messages/Common/Empty.md#)|[IPv4Settings](../messages/DeviceConfig/IPv4Settings.md#)|Sets the device IPv4 settings \(not implemented on Base\)| +|GetPartNumberRevision|[PartNumberRevision](../messages/DeviceConfig/PartNumberRevision.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the device part number revision| +|RebootRequest|[Empty](../messages/Common/Empty.md#)|[RebootRqst](../messages/DeviceConfig/RebootRqst.md#)|Sends a request to the device to reboot| +|SetSafetyEnable|[Empty](../messages/Common/Empty.md#)|[SafetyEnable](../messages/DeviceConfig/SafetyEnable.md#)|Enables \(disable\) the specified safety| +|SetSafetyErrorThreshold|[Empty](../messages/Common/Empty.md#)|[SafetyThreshold](../messages/DeviceConfig/SafetyThreshold.md#)|Sets the error threshold for the specified safety| +|SetSafetyWarningThreshold|[Empty](../messages/Common/Empty.md#)|[SafetyThreshold](../messages/DeviceConfig/SafetyThreshold.md#)|Sets the warning threshold for the specified safety| +|SetSafetyConfiguration|[Empty](../messages/Common/Empty.md#)|[SafetyConfiguration](../messages/DeviceConfig/SafetyConfiguration.md#)|Configures the specified safety \(i.e. sets error and warning thresholds\)| +|GetSafetyConfiguration|[SafetyConfiguration](../messages/DeviceConfig/SafetyConfiguration.md#)|[SafetyHandle](../messages/Common/SafetyHandle.md#)|Retrieves configuration about the specified safety| +|GetSafetyInformation|[SafetyInformation](../messages/DeviceConfig/SafetyInformation.md#)|[SafetyHandle](../messages/Common/SafetyHandle.md#)|Retrieves information about the specified safety| +|GetSafetyEnable|[SafetyEnable](../messages/DeviceConfig/SafetyEnable.md#)|[SafetyHandle](../messages/Common/SafetyHandle.md#)|Indicates if specified safety is enabled \(or disabled\)| +|GetSafetyStatus|[SafetyStatus](../messages/DeviceConfig/SafetyStatus.md#)|[SafetyHandle](../messages/Common/SafetyHandle.md#)|Indicates if the specified safety is raised| +|ClearAllSafetyStatus|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Clear all safety status for this device if they are no longer raised| +|ClearSafetyStatus|[Empty](../messages/Common/Empty.md#)|[SafetyHandle](../messages/Common/SafetyHandle.md#)|Clear a specific safety status if it is no longer raised| +|GetAllSafetyConfiguration|[SafetyConfigurationList](../messages/DeviceConfig/SafetyConfigurationList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves configuration on all safeties| +|GetAllSafetyInformation|[SafetyInformationList](../messages/DeviceConfig/SafetyInformationList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves information on all safeties| +|ResetSafetyDefaults|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Restores all safety configurations to factory defaults| +|SafetyTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to safety notifications| +|ExecuteCalibration|[Empty](../messages/Common/Empty.md#)|[Calibration](../messages/DeviceConfig/Calibration.md#)|Starts device calibration \(intended for Kinova Production of Pico\)| +|GetCalibrationResult|[CalibrationResult](../messages/DeviceConfig/CalibrationResult.md#)|[CalibrationElement](../messages/DeviceConfig/CalibrationElement.md#)|Retrieves the status/result of device calibration \(intended for Kinova Production of Pico\)| +|StopCalibration|[CalibrationResult](../messages/DeviceConfig/CalibrationResult.md#)|[Calibration](../messages/DeviceConfig/Calibration.md#)|Stop calibration in progress| +|SetCapSenseConfig|[Empty](../messages/Common/Empty.md#)|[CapSenseConfig](../messages/DeviceConfig/CapSenseConfig.md#)|Sets the capacitive sensor calibration| +|GetCapSenseConfig|[CapSenseConfig](../messages/DeviceConfig/CapSenseConfig.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the capacitive sensor calibration| +|ReadCapSenseRegister|[CapSenseRegister](../messages/DeviceConfig/CapSenseRegister.md#)|[CapSenseRegister](../messages/DeviceConfig/CapSenseRegister.md#)|Reads low-level register from the capacitive sensor \(for Kinova internal use ony, not to be used in the field\)| +|WriteCapSenseRegister|[Empty](../messages/Common/Empty.md#)|[CapSenseRegister](../messages/DeviceConfig/CapSenseRegister.md#)|Writes to low-level register of the capacitive sensor \(for Kinova internal use ony, not to be used in the field\)| + diff --git a/api_cpp/doc/markdown/summary_pages/DeviceManager.md b/api_cpp/doc/markdown/summary_pages/DeviceManager.md new file mode 100644 index 00000000..d108c141 --- /dev/null +++ b/api_cpp/doc/markdown/summary_pages/DeviceManager.md @@ -0,0 +1,28 @@ +# DeviceManager \(C++\) + +This page describes the C++ DeviceManager API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[DeviceHandles](../messages/DeviceManager/DeviceHandles.md#)|Array of Device handles| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ServiceVersion](../enums/DeviceManager/ServiceVersion.md#)|Identifies DeviceManager service current version| + +This service provides information about which devices are present in the robot + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|ReadAllDevices|[DeviceHandles](../messages/DeviceManager/DeviceHandles.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the list of every device that the system contains, along with its type and order within the system| + diff --git a/api_cpp/doc/markdown/summary_pages/GripperConfig.md b/api_cpp/doc/markdown/summary_pages/GripperConfig.md new file mode 100644 index 00000000..da9a4b1f --- /dev/null +++ b/api_cpp/doc/markdown/summary_pages/GripperConfig.md @@ -0,0 +1,15 @@ +# GripperConfig \(C++\) + +This page describes the C++ GripperConfig API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[RobotiqGripperStatusFlags](../enums/GripperConfig/RobotiqGripperStatusFlags.md#)|Status flags for Robotiq Adaptive Gripper| +|[SafetyIdentifier](../enums/GripperConfig/SafetyIdentifier.md#)|Gripper safety identifier| + diff --git a/api_cpp/doc/markdown/summary_pages/GripperCyclic.md b/api_cpp/doc/markdown/summary_pages/GripperCyclic.md new file mode 100644 index 00000000..d2666527 --- /dev/null +++ b/api_cpp/doc/markdown/summary_pages/GripperCyclic.md @@ -0,0 +1,37 @@ +# GripperCyclic \(C++\) + +This page describes the C++ GripperCyclic API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[Command](../messages/GripperCyclic/Command.md#)|Command sent to a gripper| +|[CustomData](../messages/GripperCyclic/CustomData.md#)|Custom data from gripper and gripper motors| +|[CustomDataUnit](../messages/GripperCyclic/CustomDataUnit.md#)|Custom data| +|[Feedback](../messages/GripperCyclic/Feedback.md#)|Status feedback from a gripper| +|[MessageId](../messages/GripperCyclic/MessageId.md#)|Message identifier for command or feedback| +|[MotorCommand](../messages/GripperCyclic/MotorCommand.md#)|Command to a single gripper motor| +|[MotorFeedback](../messages/GripperCyclic/MotorFeedback.md#)|Status feedback from a single gripper motor| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ServiceVersion](../enums/GripperCyclic/ServiceVersion.md#)| | + +Service to exchange cyclic data with gripper + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|Refresh|[Feedback](../messages/GripperCyclic/Feedback.md#)|[Command](../messages/GripperCyclic/Command.md#)|Sends a command to the gripper and receives feedback about the actual status of the gripper| +|RefreshCommand|[Empty](../messages/Common/Empty.md#)|[Command](../messages/GripperCyclic/Command.md#)|Sends a command to the gripper without receiving feedback| +|RefreshFeedback|[Feedback](../messages/GripperCyclic/Feedback.md#)|[MessageId](../messages/GripperCyclic/MessageId.md#)|Obtains feedback from the gripper on its status| +|RefreshCustomData|[CustomData](../messages/GripperCyclic/CustomData.md#)|[MessageId](../messages/GripperCyclic/MessageId.md#)|Obtains custom data from the gripper| + diff --git a/api_cpp/doc/markdown/summary_pages/InterconnectConfig.md b/api_cpp/doc/markdown/summary_pages/InterconnectConfig.md new file mode 100644 index 00000000..9a33c485 --- /dev/null +++ b/api_cpp/doc/markdown/summary_pages/InterconnectConfig.md @@ -0,0 +1,65 @@ +# InterconnectConfig \(C++\) + +This page describes the C++ InterconnectConfig API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[EthernetConfiguration](../messages/InterconnectConfig/EthernetConfiguration.md#)|Ethernet configuration information| +|[EthernetDeviceIdentification](../messages/InterconnectConfig/EthernetDeviceIdentification.md#)|Ethernet device identification| +|[GPIOConfiguration](../messages/InterconnectConfig/GPIOConfiguration.md#)|GPIO configuration information| +|[GPIOIdentification](../messages/InterconnectConfig/GPIOIdentification.md#)|GPIO identification| +|[GPIOState](../messages/InterconnectConfig/GPIOState.md#)|GPIO state| +|[I2CConfiguration](../messages/InterconnectConfig/I2CConfiguration.md#)|I2C configuration information| +|[I2CData](../messages/InterconnectConfig/I2CData.md#)|I2C data| +|[I2CDeviceIdentification](../messages/InterconnectConfig/I2CDeviceIdentification.md#)|I2C device identification| +|[I2CReadParameter](../messages/InterconnectConfig/I2CReadParameter.md#)|I2C read request| +|[I2CReadRegisterParameter](../messages/InterconnectConfig/I2CReadRegisterParameter.md#)|I2C read register request| +|[I2CWriteParameter](../messages/InterconnectConfig/I2CWriteParameter.md#)|I2C write request| +|[I2CWriteRegisterParameter](../messages/InterconnectConfig/I2CWriteRegisterParameter.md#)|I2C write register request| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[EthernetDevice](../enums/InterconnectConfig/EthernetDevice.md#)|Admissible Ethernet device| +|[EthernetDuplex](../enums/InterconnectConfig/EthernetDuplex.md#)|Admissible Ethernet duplex mode| +|[EthernetSpeed](../enums/InterconnectConfig/EthernetSpeed.md#)|Admissible Ethernet speed| +|[GPIOIdentifier](../enums/InterconnectConfig/GPIOIdentifier.md#)|Admissible GPIO identifier| +|[GPIOMode](../enums/InterconnectConfig/GPIOMode.md#)|Admissible GPIO mode| +|[GPIOPull](../enums/InterconnectConfig/GPIOPull.md#)|Admissible GPIO pull mode| +|[GPIOValue](../enums/InterconnectConfig/GPIOValue.md#)|Admissible GPIO value| +|[I2CDevice](../enums/InterconnectConfig/I2CDevice.md#)|Admissible I2C device| +|[I2CDeviceAddressing](../enums/InterconnectConfig/I2CDeviceAddressing.md#)|I2C device addressing mode| +|[I2CMode](../enums/InterconnectConfig/I2CMode.md#)|I2C mode| +|[I2CRegisterAddressSize](../enums/InterconnectConfig/I2CRegisterAddressSize.md#)|I2C register address size| +|[SafetyIdentifier](../enums/InterconnectConfig/SafetyIdentifier.md#)|Admissible interface module safeties| +|[ServiceVersion](../enums/InterconnectConfig/ServiceVersion.md#)|Identifies InterconnectConfig current version| +|[UARTPortId](../enums/InterconnectConfig/UARTPortId.md#)|Admissible UART port| + +Service to get and set interface module \(interconnect\) configuration information, including user expansion + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|GetUARTConfiguration|[UARTConfiguration](../messages/Common/UARTConfiguration.md#)|[UARTDeviceIdentification](../messages/Common/UARTDeviceIdentification.md#)|Retrieves user UART configuration| +|SetUARTConfiguration|[Empty](../messages/Common/Empty.md#)|[UARTConfiguration](../messages/Common/UARTConfiguration.md#)|Configures user UART| +|GetEthernetConfiguration|[EthernetConfiguration](../messages/InterconnectConfig/EthernetConfiguration.md#)|[EthernetDeviceIdentification](../messages/InterconnectConfig/EthernetDeviceIdentification.md#)|Retrieves user Ethernet configuration| +|SetEthernetConfiguration|[Empty](../messages/Common/Empty.md#)|[EthernetConfiguration](../messages/InterconnectConfig/EthernetConfiguration.md#)|Configures user Ethernet port| +|GetGPIOConfiguration|[GPIOConfiguration](../messages/InterconnectConfig/GPIOConfiguration.md#)|[GPIOIdentification](../messages/InterconnectConfig/GPIOIdentification.md#)|Retrieves user GPIO configuration| +|SetGPIOConfiguration|[Empty](../messages/Common/Empty.md#)|[GPIOConfiguration](../messages/InterconnectConfig/GPIOConfiguration.md#)|Configures user GPIO| +|GetGPIOState|[GPIOState](../messages/InterconnectConfig/GPIOState.md#)|[GPIOIdentification](../messages/InterconnectConfig/GPIOIdentification.md#)|Retrieves user GPIO state| +|SetGPIOState|[Empty](../messages/Common/Empty.md#)|[GPIOState](../messages/InterconnectConfig/GPIOState.md#)|Configures user GPIO state| +|GetI2CConfiguration|[I2CConfiguration](../messages/InterconnectConfig/I2CConfiguration.md#)|[I2CDeviceIdentification](../messages/InterconnectConfig/I2CDeviceIdentification.md#)|Retrieves user I2C configuration| +|SetI2CConfiguration|[Empty](../messages/Common/Empty.md#)|[I2CConfiguration](../messages/InterconnectConfig/I2CConfiguration.md#)|Configures user I2C| +|I2CRead|[I2CData](../messages/InterconnectConfig/I2CData.md#)|[I2CReadParameter](../messages/InterconnectConfig/I2CReadParameter.md#)|Performs an I2C read request| +|I2CReadRegister|[I2CData](../messages/InterconnectConfig/I2CData.md#)|[I2CReadRegisterParameter](../messages/InterconnectConfig/I2CReadRegisterParameter.md#)|Performs an I2C read register request| +|I2CWrite|[Empty](../messages/Common/Empty.md#)|[I2CWriteParameter](../messages/InterconnectConfig/I2CWriteParameter.md#)|Performs an I2C write request| +|I2CWriteRegister|[Empty](../messages/Common/Empty.md#)|[I2CWriteRegisterParameter](../messages/InterconnectConfig/I2CWriteRegisterParameter.md#)|Performs an I2C write register request| + diff --git a/api_cpp/doc/markdown/summary_pages/InterconnectCyclic.md b/api_cpp/doc/markdown/summary_pages/InterconnectCyclic.md new file mode 100644 index 00000000..336933c5 --- /dev/null +++ b/api_cpp/doc/markdown/summary_pages/InterconnectCyclic.md @@ -0,0 +1,34 @@ +# InterconnectCyclic \(C++\) + +This page describes the C++ InterconnectCyclic API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[Command](../messages/InterconnectCyclic/Command.md#)|Interface module command| +|[CustomData](../messages/InterconnectCyclic/CustomData.md#)|Custom development data, content varies according to debugging needs| +|[Feedback](../messages/InterconnectCyclic/Feedback.md#)|Defines the feedback provided by interface module| +|[MessageId](../messages/InterconnectCyclic/MessageId.md#)|Identifies a message| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ServiceVersion](../enums/InterconnectCyclic/ServiceVersion.md#)|Identifies InterconnectCyclic service current version| + +Service to exchange cyclic data with interface module + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|Refresh|[Feedback](../messages/InterconnectCyclic/Feedback.md#)|[Command](../messages/InterconnectCyclic/Command.md#)|Sends a command to the interface module and receive feedback about the actual status| +|RefreshCommand|[Empty](../messages/Common/Empty.md#)|[Command](../messages/InterconnectCyclic/Command.md#)|Sends a command to the interface module without receiving feedback| +|RefreshFeedback|[Feedback](../messages/InterconnectCyclic/Feedback.md#)|[MessageId](../messages/InterconnectCyclic/MessageId.md#)|Obtains feedback from the interface module on its status| +|RefreshCustomData|[CustomData](../messages/InterconnectCyclic/CustomData.md#)|[MessageId](../messages/InterconnectCyclic/MessageId.md#)|Obtains custom data from the interface module| + diff --git a/api_cpp/doc/markdown/summary_pages/ProductConfiguration.md b/api_cpp/doc/markdown/summary_pages/ProductConfiguration.md new file mode 100644 index 00000000..19f393eb --- /dev/null +++ b/api_cpp/doc/markdown/summary_pages/ProductConfiguration.md @@ -0,0 +1,33 @@ +# ProductConfiguration \(C++\) + +This page describes the C++ ProductConfiguration API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[CompleteProductConfiguration](../messages/ProductConfiguration/CompleteProductConfiguration.md#)|Complete configuration for a given device| +|[ProductConfigurationBaseType](../messages/ProductConfiguration/ProductConfigurationBaseType.md#)|New base type configuration| +|[ProductConfigurationDegreeOfFreedom](../messages/ProductConfiguration/ProductConfigurationDegreeOfFreedom.md#)|New degree of freedom configuration| +|[ProductConfigurationEndEffectorType](../messages/ProductConfiguration/ProductConfigurationEndEffectorType.md#)|New end-effector installed on arm| +|[ProductConfigurationInterfaceModuleType](../messages/ProductConfiguration/ProductConfigurationInterfaceModuleType.md#)|New interface module installed on arm| +|[ProductConfigurationLaterality](../messages/ProductConfiguration/ProductConfigurationLaterality.md#)|New arm laterality for the arm| +|[ProductConfigurationVisionModuleType](../messages/ProductConfiguration/ProductConfigurationVisionModuleType.md#)|New vision module installed on arm| +|[ProductConfigurationWristType](../messages/ProductConfiguration/ProductConfigurationWristType.md#)|New wrist type for the arm| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ArmLaterality](../enums/ProductConfiguration/ArmLaterality.md#)|Admissible arm laterality| +|[BaseType](../enums/ProductConfiguration/BaseType.md#)|Admissible base types| +|[EndEffectorType](../enums/ProductConfiguration/EndEffectorType.md#)|Admissible end-effector modules| +|[InterfaceModuleType](../enums/ProductConfiguration/InterfaceModuleType.md#)|Admissible interface modules| +|[ModelId](../enums/ProductConfiguration/ModelId.md#)|Admissible model identification| +|[VisionModuleType](../enums/ProductConfiguration/VisionModuleType.md#)|Admissible vision modules| +|[WristType](../enums/ProductConfiguration/WristType.md#)|Admissible wrist types| + diff --git a/api_cpp/doc/markdown/summary_pages/Session.md b/api_cpp/doc/markdown/summary_pages/Session.md new file mode 100644 index 00000000..ab8fad1f --- /dev/null +++ b/api_cpp/doc/markdown/summary_pages/Session.md @@ -0,0 +1,32 @@ +# Session \(C++\) + +This page describes the C++ Session API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[ConnectionList](../messages/Session/ConnectionList.md#)|Array of connections| +|[CreateSessionInfo](../messages/Session/CreateSessionInfo.md#)|Parameters needed to create a new session| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ServiceVersion](../enums/Session/ServiceVersion.md#)|Identifies session service current version| + +Service to manage user sessions + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|CreateSession|[Empty](../messages/Common/Empty.md#)|[CreateSessionInfo](../messages/Session/CreateSessionInfo.md#)|Creates a new session on the robot using given values for user name, session timeout value, and password| +|CloseSession|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Closes an existing open session| +|KeepAlive|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Sends message to robot to keep current session alive| +|GetConnections|[ConnectionList](../messages/Session/ConnectionList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the list of connections| + diff --git a/api_cpp/doc/markdown/summary_pages/VisionConfig.md b/api_cpp/doc/markdown/summary_pages/VisionConfig.md new file mode 100644 index 00000000..4b2e402c --- /dev/null +++ b/api_cpp/doc/markdown/summary_pages/VisionConfig.md @@ -0,0 +1,61 @@ +# VisionConfig \(C++\) + +This page describes the C++ VisionConfig API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[DistortionCoefficients](../messages/VisionConfig/DistortionCoefficients.md#)|Distortion coefficients for sensor intrinsic parameters| +|[ExtrinsicParameters](../messages/VisionConfig/ExtrinsicParameters.md#)|Sensor extrinsic parameters| +|[FocusPoint](../messages/VisionConfig/FocusPoint.md#)|Focus point in the X-Y coordinates of the image| +|[IntrinsicParameters](../messages/VisionConfig/IntrinsicParameters.md#)|Sensor intrinsic parameters| +|[IntrinsicProfileIdentifier](../messages/VisionConfig/IntrinsicProfileIdentifier.md#)|Intrisic parameters profile to retrieve| +|[ManualFocus](../messages/VisionConfig/ManualFocus.md#)|Abstract value that affects the focus distance| +|[OptionIdentifier](../messages/VisionConfig/OptionIdentifier.md#)|Sensor and the option to configure| +|[OptionInformation](../messages/VisionConfig/OptionInformation.md#)|Information about the optional settings for the chosen sensor| +|[OptionValue](../messages/VisionConfig/OptionValue.md#)|Value of the particular option for the sensor| +|[RotationMatrix](../messages/VisionConfig/RotationMatrix.md#)|Representation of a 3x3 rotation matrix. To be a valid rotation matrix, the rows must be orthonormal \(the rows must each have norm of 1 and the row vectors must be orthogonal to each other\). The determinant must also be +1.| +|[RotationMatrixRow](../messages/VisionConfig/RotationMatrixRow.md#)|Single row of a 3x3 rotation matrix. To be a valid possible row of a rotation matrix, the norm of the row must be 1 \(the sum of the squares of the row elements has to equal 1\).| +|[SensorFocusAction](../messages/VisionConfig/SensorFocusAction.md#)|Focus action to perform for the specified sensor| +|[SensorIdentifier](../messages/VisionConfig/SensorIdentifier.md#)|Sensor to configure| +|[SensorSettings](../messages/VisionConfig/SensorSettings.md#)|Main sensor settings - resolution, frame rate, bit rate - for the chosen sensor \(color or depth\).| +|[TranslationVector](../messages/VisionConfig/TranslationVector.md#)|Provides a 3x1 translation vector configuration| +|[VisionNotification](../messages/VisionConfig/VisionNotification.md#)|Notification about a single vision module event| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[BitRate](../enums/VisionConfig/BitRate.md#)|Maximum encoded bit rate, in Mbps| +|[FocusAction](../enums/VisionConfig/FocusAction.md#)|Focus action to perform \(start/pause continuous, focus now, disable\). Supported only with Color sensor.| +|[FrameRate](../enums/VisionConfig/FrameRate.md#)|Sensor frame rate| +|[Option](../enums/VisionConfig/Option.md#)|Admissible vision module sensor options. Note that some options are only available for the color sensor and some are only available for the depth sensor.| +|[Resolution](../enums/VisionConfig/Resolution.md#)|Sensor resolution. Note that some settings are only for the color sensor and some are only for the depth sensor.| +|[Sensor](../enums/VisionConfig/Sensor.md#)|Vision module sensor to configure| +|[ServiceVersion](../enums/VisionConfig/ServiceVersion.md#)|Identifies VisionConfig service current version| +|[VisionEvent](../enums/VisionConfig/VisionEvent.md#)|Admissible Vision module events.| + +Service to configure the Vision Module + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|SetSensorSettings|[Empty](../messages/Common/Empty.md#)|[SensorSettings](../messages/VisionConfig/SensorSettings.md#)|Sets sensor settings \(resolution, frame rate, etc\)| +|GetSensorSettings|[SensorSettings](../messages/VisionConfig/SensorSettings.md#)|[SensorIdentifier](../messages/VisionConfig/SensorIdentifier.md#)|Retrieves sensor settings \(resolution, frame rate, etc\)| +|GetOptionValue|[OptionValue](../messages/VisionConfig/OptionValue.md#)|[OptionIdentifier](../messages/VisionConfig/OptionIdentifier.md#)|Retrieves option value from the sensor| +|SetOptionValue|[Empty](../messages/Common/Empty.md#)|[OptionValue](../messages/VisionConfig/OptionValue.md#)|Writes new value to sensor option| +|GetOptionInformation|[OptionInformation](../messages/VisionConfig/OptionInformation.md#)|[OptionIdentifier](../messages/VisionConfig/OptionIdentifier.md#)|Retrieves option information from the sensor| +|VisionTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to Vision configuration notifications| +|DoSensorFocusAction|[Empty](../messages/Common/Empty.md#)|[SensorFocusAction](../messages/VisionConfig/SensorFocusAction.md#)|Do a focus action| +|GetIntrinsicParameters|[IntrinsicParameters](../messages/VisionConfig/IntrinsicParameters.md#)|[SensorIdentifier](../messages/VisionConfig/SensorIdentifier.md#)|Retrieves sensor intrinsic parameters| +|GetIntrinsicParametersProfile|[IntrinsicParameters](../messages/VisionConfig/IntrinsicParameters.md#)|[IntrinsicProfileIdentifier](../messages/VisionConfig/IntrinsicProfileIdentifier.md#)|Retrieves sensor intrinsic parameters for a specific profile| +|SetIntrinsicParameters|[Empty](../messages/Common/Empty.md#)|[IntrinsicParameters](../messages/VisionConfig/IntrinsicParameters.md#)|Sets sensor intrinsic parameters| +|GetExtrinsicParameters|[ExtrinsicParameters](../messages/VisionConfig/ExtrinsicParameters.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves sensor extrinsic parameters| +|SetExtrinsicParameters|[Empty](../messages/Common/Empty.md#)|[ExtrinsicParameters](../messages/VisionConfig/ExtrinsicParameters.md#)|Sets sensor extrinsic parameters| + diff --git a/api_cpp/examples/000-Getting_started/01-api_creation.cpp b/api_cpp/examples/000-Getting_started/01-api_creation.cpp index 2ffd1e57..68cd9265 100644 --- a/api_cpp/examples/000-Getting_started/01-api_creation.cpp +++ b/api_cpp/examples/000-Getting_started/01-api_creation.cpp @@ -15,7 +15,7 @@ #include #include -#include +#include namespace k_api = Kinova::Api; @@ -26,27 +26,27 @@ void example_api_creation() { // ----------------------------------------------------------- // How to create an API with the SessionManager, DeviceConfigClient and BaseClient services - auto errorCallback = [](k_api::KError err){ cout << "_________ callback error _________" << err.toString(); }; - auto pTransport = new k_api::TransportClientUdp(); - auto pRouter = new k_api::RouterClient(pTransport, errorCallback); - pTransport->connect(IP_ADDRESS, PORT); + auto error_callback = [](k_api::KError err){ cout << "_________ callback error _________" << err.toString(); }; + auto transport = new k_api::TransportClientTcp(); + auto router = new k_api::RouterClient(transport, error_callback); + transport->connect(IP_ADDRESS, PORT); // Set session data connection information - auto createSessionInfo = k_api::Session::CreateSessionInfo(); - createSessionInfo.set_username("admin"); - createSessionInfo.set_password("admin"); - createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) - createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) + auto create_session_info = k_api::Session::CreateSessionInfo(); + create_session_info.set_username("admin"); + create_session_info.set_password("admin"); + create_session_info.set_session_inactivity_timeout(60000); // (milliseconds) + create_session_info.set_connection_inactivity_timeout(2000); // (milliseconds) // Session manager service wrapper - std::cout << "Creating session for communication" << endl; - auto pSessionMng = new k_api::SessionManager(pRouter); - pSessionMng->CreateSession(createSessionInfo); - std::cout << "Session created" << endl; + std::cout << "Creating session for communication" << std::endl; + auto session_manager = new k_api::SessionManager(router); + session_manager->CreateSession(create_session_info); + std::cout << "Session created" << std::endl; - // Create required services - auto pDeviceConfig = new k_api::DeviceConfig::DeviceConfigClient(pRouter); - auto pBase = new k_api::Base::BaseClient(pRouter); + // Create DeviceConfigClient and BaseClient + auto device_config = new k_api::DeviceConfig::DeviceConfigClient(router); + auto base = new k_api::Base::BaseClient(router); // ----------------------------------------------------------- // Now you're ready to use the API @@ -56,22 +56,21 @@ void example_api_creation() // After you're done, here's how to tear down the API // Close API session - pSessionMng->CloseSession(); + session_manager->CloseSession(); // Deactivate the router and cleanly disconnect from the transport object - pRouter->SetActivationStatus(false); - pTransport->disconnect(); + router->SetActivationStatus(false); + transport->disconnect(); // Destroy the API - delete pBase; - delete pDeviceConfig; - delete pSessionMng; - delete pRouter; - delete pTransport; + delete base; + delete device_config; + delete session_manager; + delete router; + delete transport; } int main(int argc, char **argv) { - // Example core example_api_creation(); } \ No newline at end of file diff --git a/api_cpp/examples/000-Getting_started/02-protobuf_object_manipulation.cpp b/api_cpp/examples/000-Getting_started/02-protobuf_object_manipulation.cpp index d4011e22..063d7261 100644 --- a/api_cpp/examples/000-Getting_started/02-protobuf_object_manipulation.cpp +++ b/api_cpp/examples/000-Getting_started/02-protobuf_object_manipulation.cpp @@ -19,7 +19,6 @@ namespace k_api = Kinova::Api; #define IP_ADDRESS "192.168.1.10" #define PORT 10000 - void example_manipulation_protobuf_basic() { // In Google Protocol Buffer, there are many scalar value types you can declare. @@ -61,14 +60,13 @@ void example_manipulation_protobuf_basic() // } - auto userProfile = k_api::Base::UserProfile(); + auto user_profile = k_api::Base::UserProfile(); // Each scalar value in a message has a set_ function to set the value and a getter which is // simply the variable name - userProfile.set_username("jcash"); - userProfile.set_firstname("Johnny"); - userProfile.set_lastname("Cash"); + user_profile.set_username("jcash"); + user_profile.set_firstname("Johnny"); + user_profile.set_lastname("Cash"); // Handle and application_data are ignored on purpose - } @@ -95,15 +93,15 @@ void example_manipulation_protobuf_object() // https://developers.google.com/protocol-buffers/docs/proto3#simple - auto fullUserProfile = k_api::Base::FullUserProfile(); + auto full_user_profile = k_api::Base::FullUserProfile(); // Now add data to the scalar - fullUserProfile.set_password("MyPassword"); + full_user_profile.set_password("MyPassword"); // Each message will have the function to get a mutable from the underlying message. - auto userProfile = fullUserProfile.mutable_user_profile(); - userProfile->set_username("jcash"); - userProfile->set_firstname("Johnny"); - userProfile->set_lastname("Cash"); + auto user_profile = full_user_profile.mutable_user_profile(); + user_profile->set_username("jcash"); + user_profile->set_firstname("Johnny"); + user_profile->set_lastname("Cash"); // Another basic element is the enum. Enum are directly available from the message - no need to use the enum 'message'. // Here's an example: @@ -120,8 +118,8 @@ void example_manipulation_protobuf_object() // https://developers.google.com/protocol-buffers/docs/proto3#enum - auto limitationTypeIdentifier = k_api::Base::LimitationTypeIdentifier(); - limitationTypeIdentifier.set_type(k_api::Base::FORCE_LIMITATION); + auto limitation_type = k_api::Base::CartesianLimitation(); + limitation_type.set_type(k_api::Base::FORCE_LIMITATION); } @@ -132,37 +130,42 @@ void example_manipulation_protobuf_list() // The message using 'repeated' has some embedded functions generated by Google Protocol Buffer. - // In this example we will use the following two messages - // message Sequence { - // SequenceHandle handle = 1 - // string name = 2 - // string application_data = 3 - // repeated SequenceTask tasks = 4 - // } - - // message SequenceTask { - // uint32 group_identifier = 1; - // Action action = 2; - // string application_data = 3; - // } + // In this example we will use the following messages + + // An array of joint angles values with specified constraint + // message ConstrainedJointAngles { + // JointAngles joint_angles = 1; // Joint angles values + // JointTrajectoryConstraint constraint = 2; // Constraint to apply to all the joint angles (optional) + // } + + // An array of joint angles + // message JointAngles { + // repeated JointAngle joint_angles = 1; // Array of joint angles + // } + + // Angle value of a specific joint + // message JointAngle { + // uint32 joint_identifier = 1; // Joint identifier + // float value = 2; // Position (in degrees) + // } // To keep the example clearer the attribute action in SequenceTask message will be kept to default value // For more details please visit: // https://developers.google.com/protocol-buffers/docs/reference/cpp-generated#repeatedmessage - k_api::Base::ConstrainedJointAngles constrainedJointAngles = k_api::Base::ConstrainedJointAngles(); - auto pJointAngles = constrainedJointAngles.mutable_joint_angles(); // Returns a pointer to the joint_angles message + k_api::Base::ConstrainedJointAngles constrained_joint_angles = k_api::Base::ConstrainedJointAngles(); + auto joint_angles = constrained_joint_angles.mutable_joint_angles(); // Returns a pointer to the joint_angles message for (auto i = 0; i > 7; i++) { - auto jointAngle = pJointAngles->add_joint_angles(); // This will create and return a repeated element pointer - jointAngle->set_joint_identifier(i); - jointAngle->set_value(45.0); + auto joint_angle = joint_angles->add_joint_angles(); // This will create and return a repeated element pointer + joint_angle->set_joint_identifier(i); + joint_angle->set_value(45.0); } // Only print third joint - for (auto joint_angle : constrainedJointAngles.joint_angles().joint_angles()) + for (auto joint_angle : constrained_joint_angles.joint_angles().joint_angles()) { if (joint_angle.joint_identifier() == 3) { @@ -172,7 +175,7 @@ void example_manipulation_protobuf_list() } // Print all received joint_angle - for (auto joint_angle : constrainedJointAngles.joint_angles().joint_angles()) + for (auto joint_angle : constrained_joint_angles.joint_angles().joint_angles()) { std::cout << "[" << joint_angle.value() << "] = " << joint_angle.joint_identifier() << std::endl; } @@ -189,14 +192,14 @@ void example_manipulation_protobuf_helpers() // JSON string manipulation is offer by the include file google/protobuf/util/json_util.h // Creating a message to work with - auto actionToSerialize = k_api::Base::Action(); - actionToSerialize.set_name("Serialized/Deserialized action"); + auto action_to_serialize = k_api::Base::Action(); + action_to_serialize.set_name("Serialized/Deserialized action"); // Now serializing to JSON string - std::string serializedJson; - google::protobuf::util::MessageToJsonString(actionToSerialize, &serializedJson); + std::string serialized_json; + google::protobuf::util::MessageToJsonString(action_to_serialize, &serialized_json); std::cout << "JSON String : " << std::endl; - std::cout << serializedJson << std::endl; + std::cout << serialized_json << std::endl; /* Expected output: JSON String : {"name":"Serialized/Deserialized action"} @@ -204,7 +207,7 @@ void example_manipulation_protobuf_helpers() // Now deserialize a JSON string to a message auto deserializedAction = k_api::Base::Action(); - google::protobuf::util::JsonStringToMessage(serializedJson, &deserializedAction); + google::protobuf::util::JsonStringToMessage(serialized_json, &deserializedAction); std::cout << "Google Protocol Buffer message : " << std::endl; std::cout << deserializedAction.name() << std::endl; // unfortunately, messages are not easily printable without first having been serialized /* Expected output: @@ -216,9 +219,15 @@ void example_manipulation_protobuf_helpers() int main(int argc, char **argv) { - // Example core + // Basic manipulation example_manipulation_protobuf_basic(); + + // Manipulating messages with nested messages example_manipulation_protobuf_object(); + + // Manipulation messages containing lists example_manipulation_protobuf_list(); + + // Using the google::protobuf helper functions example_manipulation_protobuf_helpers(); } diff --git a/api_cpp/examples/000-Getting_started/03-api_mechanism.cpp b/api_cpp/examples/000-Getting_started/03-api_mechanism.cpp index 66c51081..d2557ec3 100644 --- a/api_cpp/examples/000-Getting_started/03-api_mechanism.cpp +++ b/api_cpp/examples/000-Getting_started/03-api_mechanism.cpp @@ -10,90 +10,84 @@ * */ - #include #include #include #include -#include +#include namespace k_api = Kinova::Api; #define IP_ADDRESS "192.168.1.10" #define PORT 10000 -/**************************** - * Example related function * - ****************************/ -void printWifiList(k_api::Base::WifiInformationList availableWifi) +/***************************** + * Example related functions * + *****************************/ +void print_limitations(const k_api::Base::JointsLimitationsList& limitations) { - for(int i = 0 ; i < availableWifi.wifi_information_list_size(); i++) + std::cout << "============================================" << std::endl; + for(auto limitation : limitations.joints_limitations()) { - std::cout << "============================================" << std::endl; - std::cout << "SSID: " << availableWifi.wifi_information_list(i).ssid().identifier() << std::endl; - std::cout << "Wi-Fi security type: " << availableWifi.wifi_information_list(i).security_type() << std::endl; - std::cout << "Wi-Fi encryption type: " << availableWifi.wifi_information_list(i).encryption_type() << std::endl; - std::cout << "Signal strength: " << availableWifi.wifi_information_list(i).signal_strength() << std::endl; - std::cout << "============================================" << std::endl << std::endl; + std::cout << "Joint: " << limitation.joint_identifier() << std::endl; + std::cout << "Type of limitation: " << k_api::Base::LimitationType_Name(limitation.type()) << std::endl; + std::cout << "Value: " << limitation.value() << std::endl << std::endl; } + std::cout << "============================================" << std::endl << std::endl; } - -void fct_callback(const k_api::Error &err, const k_api::Base::WifiInformationList& wifiList) +void function_callback(const k_api::Error& err, const k_api::Base::JointsLimitationsList& limitations) { std::cout << "Callback function results: " << std::endl << std::endl; - printWifiList(wifiList); + print_limitations(limitations); } - -/*********** - * Example * - ***********/ -void example_blocking_function_call(k_api::Base::BaseClient* pBase) +/************************** + * Example core functions * + **************************/ +void example_blocking_function_call(k_api::Base::BaseClient* base) { // Execution will be blocked until GetAvailableWifi has completed execution. - auto availableWifi = pBase->GetAvailableWifi(); + auto limitations = base->GetAllJointsSpeedHardLimitation(); std::cout << "Blocking function results: " << std::endl << std::endl; - printWifiList(availableWifi); + print_limitations(limitations); } - -void example_callback_function_call(k_api::Base::BaseClient* pBase) +void example_callback_function_call(k_api::Base::BaseClient* base) { // Specify a callback to be executed when the method executes. - pBase->GetAvailableWifi_callback(fct_callback); + base->GetAllJointsSpeedHardLimitation_callback(function_callback); // A lambda function can also be used as a callback function. - auto lambda_fct_callback = [](const k_api::Error &err, const k_api::Base::WifiInformationList& wifiList) + auto lambda_function_callback = [](const k_api::Error &err, const k_api::Base::JointsLimitationsList& limitations) { - printWifiList(wifiList); + print_limitations(limitations); }; - pBase->GetAvailableWifi_callback(lambda_fct_callback); + base->GetAllJointsSpeedHardLimitation_callback(lambda_function_callback); } - -void example_future_function_call(k_api::Base::BaseClient* pBase) +void example_future_function_call(k_api::Base::BaseClient* base) { // The function returns a future object, and not a workable object. - std::future availableWifiFuture_async = pBase->GetAvailableWifi_async(); + std::future limitations_future_async = base->GetAllJointsSpeedHardLimitation_async(); // Waiting for the promise to be completed by the API. auto timeout_ms = std::chrono::milliseconds(10000); - std::future_status status = availableWifiFuture_async.wait_for(timeout_ms); + std::future_status status = limitations_future_async.wait_for(timeout_ms); if(status != std::future_status::ready) { throw std::runtime_error("Timeout detected while waiting for function\n"); } // Retrieve the workable object from the future object. - auto availableWifi_async = availableWifiFuture_async.get(); + auto limitations_async = limitations_future_async.get(); std::cout << "Future function results: " << std::endl << std::endl; - printWifiList(availableWifi_async); + print_limitations(limitations_async); } -void example_router_option(k_api::Base::BaseClient* pBase) +void example_router_option(k_api::Base::BaseClient* base) { // RouterClientSendOptions exists to modify the default behavior // of the router. Router default values are @@ -104,53 +98,59 @@ void example_router_option(k_api::Base::BaseClient* pBase) // RouterClientSendOptions is optional and is the last parameter to a function call. // Since RouterClientSendOptions is the last parameter, deviceID needs to be specified - auto routerOptions = k_api::RouterClientSendOptions(); - routerOptions.timeout_ms = 5000; // (milliseconds) - routerOptions.andForget = false; - routerOptions.delay_ms = 0; // (milliseconds) - - auto availableWifi_2 = pBase->GetAvailableWifi(0, routerOptions); + // Here we use device_id = 0 (Base) + int device_id = 0; + auto router_options = k_api::RouterClientSendOptions(); + router_options.timeout_ms = 5000; // (milliseconds) + router_options.andForget = false; + router_options.delay_ms = 0; // (milliseconds) + + auto limitations = base->GetAllJointsSpeedHardLimitation(device_id, router_options); std::cout << "Call with router option results: " << std::endl << std::endl; - printWifiList(availableWifi_2); + print_limitations(limitations); } int main(int argc, char **argv) { - // Setup API - auto pTransport = new k_api::TransportClientUdp(); - auto pRouter = new k_api::RouterClient(pTransport, [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }); - pTransport->connect(IP_ADDRESS, PORT); - - // Create session - auto createSessionInfo = k_api::Session::CreateSessionInfo(); - createSessionInfo.set_username("admin"); - createSessionInfo.set_password("admin"); - createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) - createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) - - auto pSessionMng = new k_api::SessionManager(pRouter); - pSessionMng->CreateSession(createSessionInfo); - - // Create required services - auto pBase = new k_api::Base::BaseClient(pRouter); + // Create API objects + auto error_callback = [](k_api::KError err){ cout << "_________ callback error _________" << err.toString(); }; + auto transport = new k_api::TransportClientTcp(); + auto router = new k_api::RouterClient(transport, error_callback); + transport->connect(IP_ADDRESS, PORT); + + // Set session data connection information + auto create_session_info = k_api::Session::CreateSessionInfo(); + create_session_info.set_username("admin"); + create_session_info.set_password("admin"); + create_session_info.set_session_inactivity_timeout(60000); // (milliseconds) + create_session_info.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + std::cout << "Creating session for communication" << std::endl; + auto session_manager = new k_api::SessionManager(router); + session_manager->CreateSession(create_session_info); + std::cout << "Session created" << std::endl; + + // Create services + auto base = new k_api::Base::BaseClient(router); // Example core - example_blocking_function_call(pBase); - example_callback_function_call(pBase); - example_future_function_call(pBase); - example_router_option(pBase); + example_blocking_function_call(base); + example_callback_function_call(base); + example_future_function_call(base); + example_router_option(base); // Close API session - pSessionMng->CloseSession(); + session_manager->CloseSession(); // Deactivate the router and cleanly disconnect from the transport object - pRouter->SetActivationStatus(false); - pTransport->disconnect(); - - // Destroy the API - delete pBase; - delete pSessionMng; - delete pRouter; - delete pTransport; + router->SetActivationStatus(false); + transport->disconnect(); + + // Destroy the API + delete base; + delete session_manager; + delete router; + delete transport; } \ No newline at end of file diff --git a/api_cpp/examples/000-Getting_started/04-error_management.cpp b/api_cpp/examples/000-Getting_started/04-error_management.cpp index f97d3deb..5b672bd4 100644 --- a/api_cpp/examples/000-Getting_started/04-error_management.cpp +++ b/api_cpp/examples/000-Getting_started/04-error_management.cpp @@ -18,66 +18,74 @@ #include #include -#include +#include namespace k_api = Kinova::Api; #define IP_ADDRESS "192.168.1.10" #define PORT 10000 -void example_error_management(k_api::Base::BaseClient* pBase) +void example_error_management(k_api::Base::BaseClient* base) { + // You can wrap your function call in a try-catch block to catch an exception it may throw try { - pBase->CreateUserProfile(k_api::Base::FullUserProfile()); + base->CreateUserProfile(k_api::Base::FullUserProfile()); } catch(k_api::KDetailedException& ex) { - auto errorInfo = ex.getErrorInfo(); - auto errorCode = errorInfo.getError(); - std::cout << "KDetailedException detected toStr: " << ex.toString().c_str() << std::endl; - std::cout << "KDetailedoption detected what: " << ex.what() << std::endl << std::endl; + // You can print the error informations and error codes + auto error_info = ex.getErrorInfo().getError(); + std::cout << "KDetailedoption detected what: " << ex.what() << std::endl; - std::cout << "KError error_code: " << errorCode.error_code() << std::endl; - std::cout << "KError sub_code: " << errorCode.error_sub_code() << std::endl; - std::cout << "KError sub_string: " << errorCode.error_sub_string() << std::endl; + std::cout << "KError error_code: " << error_info.error_code() << std::endl; + std::cout << "KError sub_code: " << error_info.error_sub_code() << std::endl; + std::cout << "KError sub_string: " << error_info.error_sub_string() << std::endl; + + // Error codes by themselves are not very verbose if you don't see their corresponding enum value + // You can use google::protobuf helpers to get the string enum element for every error code and sub-code + std::cout << "Error code string equivalent: " << k_api::ErrorCodes_Name(k_api::ErrorCodes(error_info.error_code())) << std::endl; + std::cout << "Error sub-code string equivalent: " << k_api::SubErrorCodes_Name(k_api::SubErrorCodes(error_info.error_sub_code())) << std::endl; } } - int main(int argc, char **argv) { - // Setup API - auto pTransport = new k_api::TransportClientUdp(); - auto pRouter = new k_api::RouterClient(pTransport, [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }); - pTransport->connect(IP_ADDRESS, PORT); + // Create API objects + auto error_callback = [](k_api::KError err){ cout << "_________ callback error _________" << err.toString(); }; + auto transport = new k_api::TransportClientTcp(); + auto router = new k_api::RouterClient(transport, error_callback); + transport->connect(IP_ADDRESS, PORT); - // Create session - auto createSessionInfo = k_api::Session::CreateSessionInfo(); - createSessionInfo.set_username("admin"); - createSessionInfo.set_password("admin"); - createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) - createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) + // Set session data connection information + auto create_session_info = k_api::Session::CreateSessionInfo(); + create_session_info.set_username("admin"); + create_session_info.set_password("admin"); + create_session_info.set_session_inactivity_timeout(60000); // (milliseconds) + create_session_info.set_connection_inactivity_timeout(2000); // (milliseconds) - auto pSessionMng = new k_api::SessionManager(pRouter); - pSessionMng->CreateSession(createSessionInfo); + // Session manager service wrapper + std::cout << "Creating session for communication" << std::endl; + auto session_manager = new k_api::SessionManager(router); + session_manager->CreateSession(create_session_info); + std::cout << "Session created" << std::endl; - // Create required services - auto pBase = new k_api::Base::BaseClient(pRouter); + // Create services + auto base = new k_api::Base::BaseClient(router); // Example core - example_error_management(pBase); + example_error_management(base); // Close API session - pSessionMng->CloseSession(); + session_manager->CloseSession(); // Deactivate the router and cleanly disconnect from the transport object - pRouter->SetActivationStatus(false); - pTransport->disconnect(); + router->SetActivationStatus(false); + transport->disconnect(); // Destroy the API - delete pBase; - delete pSessionMng; - delete pRouter; - delete pTransport; + delete base; + delete session_manager; + delete router; + delete transport; } \ No newline at end of file diff --git a/api_cpp/examples/000-Getting_started/05-notification.cpp b/api_cpp/examples/000-Getting_started/05-notification.cpp index 375e2d24..9dd4fdf7 100644 --- a/api_cpp/examples/000-Getting_started/05-notification.cpp +++ b/api_cpp/examples/000-Getting_started/05-notification.cpp @@ -10,13 +10,12 @@ * */ - #include #include #include #include -#include +#include #include @@ -25,9 +24,9 @@ namespace k_api = Kinova::Api; #define IP_ADDRESS "192.168.1.10" #define PORT 10000 -void example_notification(k_api::Base::BaseClient* pBase) +void example_notification(k_api::Base::BaseClient* base) { - auto fct_callback = [](k_api::Base::ConfigurationChangeNotification data) + auto function_callback = [](k_api::Base::ConfigurationChangeNotification data) { std::cout << "Callback triger" << std::endl; @@ -41,23 +40,23 @@ void example_notification(k_api::Base::BaseClient* pBase) // Subscribe to ConfigurationChange notifications std::cout << "Subscribing to ConfigurationChange notifications" << std::endl; - auto notifHandle = pBase->OnNotificationConfigurationChangeTopic(fct_callback, k_api::Common::NotificationOptions()); + auto notification_handle = base->OnNotificationConfigurationChangeTopic(function_callback, k_api::Common::NotificationOptions()); // Create a user profile to trigger a notification - auto fullUserProfile = k_api::Base::FullUserProfile(); - auto userProfile = fullUserProfile.mutable_user_profile(); - auto userProfileHandle = userProfile->mutable_handle(); - userProfileHandle->set_identifier(0); - userProfile->set_username("jcash"); - userProfile->set_firstname("Johnny"); - userProfile->set_lastname("Cash"); - fullUserProfile.set_password("pwd"); - - k_api::Common::UserProfileHandle returnedUserProfileHandle; + auto full_user_profile = k_api::Base::FullUserProfile(); + auto user_profile = full_user_profile.mutable_user_profile(); + auto user_profile_handle = user_profile->mutable_handle(); + user_profile_handle->set_identifier(0); + user_profile->set_username("jcash"); + user_profile->set_firstname("Johnny"); + user_profile->set_lastname("Cash"); + full_user_profile.set_password("pwd"); + + k_api::Common::UserProfileHandle returned_user_profile_handle; try { std::cout << "Creating user profile to trigger notification" << std::endl; - returnedUserProfileHandle = pBase->CreateUserProfile(fullUserProfile); + returned_user_profile_handle = base->CreateUserProfile(full_user_profile); } catch (k_api::KDetailedException& ex) { @@ -68,54 +67,60 @@ void example_notification(k_api::Base::BaseClient* pBase) std::this_thread::sleep_for(std::chrono::milliseconds(2000)); // Unsubscribe from notifications - std::cout << "Now unsubscribe from ConfigurationChange notifications" << std::endl; - pBase->Unsubscribe(notifHandle); + std::cout << "Unsubscribing from ConfigurationChange notifications" << std::endl; + base->Unsubscribe(notification_handle); try { std::cout << "Deleting previously created user profile" << std::endl; - pBase->DeleteUserProfile(returnedUserProfileHandle); // Should not have received notification about this modification + base->DeleteUserProfile(returned_user_profile_handle); // Should not have received notification about this modification } catch (k_api::KDetailedException& ex) { std::cout << "User profile deletion failed" << std::endl; } -} + // Let the base process the user deletion request and see the notification doesn't come in + std::this_thread::sleep_for(std::chrono::milliseconds(2000)); +} int main(int argc, char **argv) { - // Setup API - auto pTransport = new k_api::TransportClientUdp(); - auto pRouter = new k_api::RouterClient(pTransport, [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }); - pTransport->connect(IP_ADDRESS, PORT); - - // Create session - auto createSessionInfo = k_api::Session::CreateSessionInfo(); - createSessionInfo.set_username("admin"); - createSessionInfo.set_password("admin"); - createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) - createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) - - auto pSessionMng = new k_api::SessionManager(pRouter); - pSessionMng->CreateSession(createSessionInfo); - - // Create required services - auto pBase = new k_api::Base::BaseClient(pRouter); + // Create API objects + auto error_callback = [](k_api::KError err){ cout << "_________ callback error _________" << err.toString(); }; + auto transport = new k_api::TransportClientTcp(); + auto router = new k_api::RouterClient(transport, error_callback); + transport->connect(IP_ADDRESS, PORT); + + // Set session data connection information + auto create_session_info = k_api::Session::CreateSessionInfo(); + create_session_info.set_username("admin"); + create_session_info.set_password("admin"); + create_session_info.set_session_inactivity_timeout(60000); // (milliseconds) + create_session_info.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + std::cout << "Creating session for communication" << std::endl; + auto session_manager = new k_api::SessionManager(router); + session_manager->CreateSession(create_session_info); + std::cout << "Session created" << std::endl; + + // Create services + auto base = new k_api::Base::BaseClient(router); // Example core - example_notification(pBase); + example_notification(base); // Close API session - pSessionMng->CloseSession(); + session_manager->CloseSession(); // Deactivate the router and cleanly disconnect from the transport object - pRouter->SetActivationStatus(false); - pTransport->disconnect(); + router->SetActivationStatus(false); + transport->disconnect(); // Destroy the API - delete pBase; - delete pSessionMng; - delete pRouter; - delete pTransport; + delete base; + delete session_manager; + delete router; + delete transport; } \ No newline at end of file diff --git a/api_cpp/examples/000-Getting_started/CMakeLists.txt b/api_cpp/examples/000-Getting_started/CMakeLists.txt deleted file mode 100644 index 51fe6759..00000000 --- a/api_cpp/examples/000-Getting_started/CMakeLists.txt +++ /dev/null @@ -1,78 +0,0 @@ -cmake_minimum_required(VERSION 3.10) - -project(Getting_started) -MESSAGE("---------------------------------------------------------------------------------") -MESSAGE("Project '${PROJECT_NAME}' args: ${CMAKE_ARGS}") -MESSAGE("Project building for: '${CMAKE_SYSTEM_NAME}' in '${CMAKE_BUILD_TYPE}' mode") - -if(NOT CMAKE_BUILD_TYPE) - set(CMAKE_BUILD_TYPE release) -endif() - -if(NOT KORTEX_SUB_DIR) - set(KORTEX_SUB_DIR "") -else() - set(KORTEX_SUB_DIR "${KORTEX_SUB_DIR}/") -endif() - -set(CMAKE_INCLUDE_CURRENT_DIR ON) -set(CMAKE_AUTOMOC ON) -set(CMAKE_VERBOSE_MAKEFILE ON) -set(CMAKE_COLOR_MAKEFILE ON) -set(BUILD_SHARED_LIBS OFF) - -file(GLOB EXE_LIST RELATIVE ${PROJECT_SOURCE_DIR} "*.cpp") - -foreach ( SRC_FILE ${EXE_LIST} ) - string(REPLACE ".cpp" "" TARGET_EXE_NAME ${SRC_FILE}) - MESSAGE("create TARGET_EXE_NAME: '${TARGET_EXE_NAME}'") - - add_executable(${TARGET_EXE_NAME} ${SRC_FILE}) - if(MSVC) - target_compile_options(${TARGET_EXE_NAME} PRIVATE -W2) - else() - target_compile_options(${TARGET_EXE_NAME} PRIVATE -Wall) - target_compile_options(${TARGET_EXE_NAME} PRIVATE -Wno-reorder) - target_compile_features(${TARGET_EXE_NAME} PRIVATE cxx_std_11) - endif() - - if(UNIX) - target_compile_definitions(${TARGET_EXE_NAME} PRIVATE -D_OS_UNIX) - elseif(WIN32) - target_compile_definitions(${TARGET_EXE_NAME} PRIVATE -D_OS_WINDOWS) - - if(MSVC) - # Compiling with /MT must also be done in executables using the library - target_compile_options(${TARGET_EXE_NAME} PRIVATE /bigobj /MT) - endif() - endif() - - ################################################################################## - set(KORTEX_DIR "${PROJECT_SOURCE_DIR}/../kortex_api/${KORTEX_SUB_DIR}") - - ##### Link to lib - if(MSVC) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}lib/${CMAKE_BUILD_TYPE}/KortexApi.lib) - else() - target_link_libraries(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}lib/${CMAKE_BUILD_TYPE}/libKortexApi.a) - endif() - - # link other libs - if(UNIX) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE pthread) - elseif(WIN32) - # target_link_libraries(${TARGET_EXE_NAME} PRIVATE ws2_32 winMM Winusb Setupapi xinput) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE winMM ws2_32) - else() - MESSAGE(FATAL_ERROR "Unknown os! Not supported yet") - endif() - - # add include dir - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/client) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/common) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/messages) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/client_stubs) - ################################################################################## - -endforeach() diff --git a/api_cpp/examples/100-BaseGen3_overview/01-devices_routing.cpp b/api_cpp/examples/100-BaseGen3_overview/01-devices_routing.cpp index 2601753d..af0c55a3 100644 --- a/api_cpp/examples/100-BaseGen3_overview/01-devices_routing.cpp +++ b/api_cpp/examples/100-BaseGen3_overview/01-devices_routing.cpp @@ -1,7 +1,7 @@ /* * KINOVA (R) KORTEX (TM) * -* Copyright (c) 2018 Kinova inc. All rights reserved. +* Copyright (c) 2019 Kinova inc. All rights reserved. * * This software may be modified and distributed * under the terms of the BSD 3-Clause license. @@ -11,93 +11,99 @@ */ #include -#include #include #include +#include #include -#include #include -namespace k_api = Kinova::Api; -namespace pb = google::protobuf; +#include -#define PORT 10000 #define IP_ADDRESS "192.168.1.10" +#define PORT 10000 +namespace k_api = Kinova::Api; -void example_routed_device_config(k_api::DeviceConfig::DeviceConfigClient* pDeviceConfig, k_api::DeviceManager::DeviceManagerClient* pDeviceMng) +void example_device_routing(k_api::DeviceManager::DeviceManagerClient* device_manager, k_api::DeviceConfig::DeviceConfigClient* device_config) { // Get all device routing information (from DeviceManagerClient service) - printf("-- ReadAllDevices --\n\n"); - auto allDevicesInfo = pDeviceMng->ReadAllDevices(); + auto allDevicesInfo = device_manager->ReadAllDevices(); k_api::RouterClientSendOptions options; options.timeout_ms = 4000; // (milliseconds) // Use device routing information to route to every device (base, actuator, interconnect, etc.) in the arm base system and request general device information - for ( auto dev : allDevicesInfo.device_handle() ) + for (auto device : allDevicesInfo.device_handle()) { - const pb::EnumDescriptor *descriptor = k_api::Common::DeviceTypes_descriptor(); - + std::cout << "-----------------------------\n"; - std::cout << "-- " << descriptor->FindValueByNumber(dev.device_type())->name() << ": id = " << dev.device_identifier() << " --\n"; - + std::cout << "-- " << k_api::Common::DeviceTypes_Name(device.device_type()) << ": id = " << device.device_identifier() << " --\n"; + std::string str; - pb::TextFormat::PrintToString( pDeviceConfig->GetDeviceType (dev.device_identifier(), options), &str ); std::cout << str; - pb::TextFormat::PrintToString( pDeviceConfig->GetFirmwareVersion (dev.device_identifier(), options), &str ); std::cout << str; - pb::TextFormat::PrintToString( pDeviceConfig->GetBootloaderVersion (dev.device_identifier(), options), &str ); std::cout << str; - pb::TextFormat::PrintToString( pDeviceConfig->GetModelNumber (dev.device_identifier(), options), &str ); std::cout << str; - pb::TextFormat::PrintToString( pDeviceConfig->GetPartNumber (dev.device_identifier(), options), &str ); std::cout << str; - pb::TextFormat::PrintToString( pDeviceConfig->GetPartNumberRevision (dev.device_identifier(), options), &str ); std::cout << str; - pb::TextFormat::PrintToString( pDeviceConfig->GetSerialNumber (dev.device_identifier(), options), &str ); std::cout << str; + google::protobuf::TextFormat::PrintToString( device_config->GetDeviceType (device.device_identifier(), options), &str ); std::cout << str; + google::protobuf::TextFormat::PrintToString( device_config->GetFirmwareVersion (device.device_identifier(), options), &str ); std::cout << str; + google::protobuf::TextFormat::PrintToString( device_config->GetBootloaderVersion (device.device_identifier(), options), &str ); std::cout << str; + google::protobuf::TextFormat::PrintToString( device_config->GetModelNumber (device.device_identifier(), options), &str ); std::cout << str; + google::protobuf::TextFormat::PrintToString( device_config->GetPartNumber (device.device_identifier(), options), &str ); std::cout << str; + google::protobuf::TextFormat::PrintToString( device_config->GetPartNumberRevision (device.device_identifier(), options), &str ); std::cout << str; + google::protobuf::TextFormat::PrintToString( device_config->GetSerialNumber (device.device_identifier(), options), &str ); std::cout << str; // Get hexadecimal representation of MAC address - std::string macAddress = pDeviceConfig->GetMACAddress(dev.device_identifier(), options).mac_address(); - std::cout << "macAddress => "; - for(size_t i=0; i < macAddress.size(); ++i) - printf("%02X", (uint8_t)macAddress.c_str()[i]); - std::cout << "\n"; + std::string mac_address = device_config->GetMACAddress(device.device_identifier(), options).mac_address(); + std::cout << "MAC address: "; + for(size_t i=0; i < mac_address.size(); ++i) + { + std::cout << std::hex << std::setw(2) << static_cast(uint8_t(mac_address.c_str()[i])); + if (i != mac_address.size() - 1) + { + std::cout << ":"; + } + } + std::cout << std::endl; } } - int main(int argc, char **argv) { - // Setup API - auto pTransport = new k_api::TransportClientUdp(); - auto pRouter = new k_api::RouterClient(pTransport, [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }); - pTransport->connect(IP_ADDRESS, PORT); - - // Create session - auto createSessionInfo = k_api::Session::CreateSessionInfo(); - createSessionInfo.set_username("admin"); - createSessionInfo.set_password("admin"); - createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) - createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) - - auto pSessionMng = new k_api::SessionManager(pRouter); - pSessionMng->CreateSession(createSessionInfo); - - // Create required services - auto pDeviceConfig = new k_api::DeviceConfig::DeviceConfigClient(pRouter); - auto pDeviceMng = new k_api::DeviceManager::DeviceManagerClient(pRouter); + // Create API objects + auto error_callback = [](k_api::KError err){ cout << "_________ callback error _________" << err.toString(); }; + auto transport = new k_api::TransportClientTcp(); + auto router = new k_api::RouterClient(transport, error_callback); + transport->connect(IP_ADDRESS, PORT); + + // Set session data connection information + auto create_session_info = k_api::Session::CreateSessionInfo(); + create_session_info.set_username("admin"); + create_session_info.set_password("admin"); + create_session_info.set_session_inactivity_timeout(60000); // (milliseconds) + create_session_info.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + std::cout << "Creating session for communication" << std::endl; + auto session_manager = new k_api::SessionManager(router); + session_manager->CreateSession(create_session_info); + std::cout << "Session created" << std::endl; + + // Create services + auto device_manager = new k_api::DeviceManager::DeviceManagerClient(router); + auto device_config = new k_api::DeviceConfig::DeviceConfigClient(router); // Example core - example_routed_device_config(pDeviceConfig, pDeviceMng); + example_device_routing(device_manager, device_config); // Close API session - pSessionMng->CloseSession(); + session_manager->CloseSession(); // Deactivate the router and cleanly disconnect from the transport object - pRouter->SetActivationStatus(false); - pTransport->disconnect(); + router->SetActivationStatus(false); + transport->disconnect(); // Destroy the API - delete pSessionMng; - delete pDeviceConfig; - delete pDeviceMng; - delete pRouter; - delete pTransport; -} \ No newline at end of file + delete device_manager; + delete device_config; + delete session_manager; + delete router; + delete transport; +} diff --git a/api_cpp/examples/100-BaseGen3_overview/CMakeLists.txt b/api_cpp/examples/100-BaseGen3_overview/CMakeLists.txt deleted file mode 100644 index 51fe6759..00000000 --- a/api_cpp/examples/100-BaseGen3_overview/CMakeLists.txt +++ /dev/null @@ -1,78 +0,0 @@ -cmake_minimum_required(VERSION 3.10) - -project(Getting_started) -MESSAGE("---------------------------------------------------------------------------------") -MESSAGE("Project '${PROJECT_NAME}' args: ${CMAKE_ARGS}") -MESSAGE("Project building for: '${CMAKE_SYSTEM_NAME}' in '${CMAKE_BUILD_TYPE}' mode") - -if(NOT CMAKE_BUILD_TYPE) - set(CMAKE_BUILD_TYPE release) -endif() - -if(NOT KORTEX_SUB_DIR) - set(KORTEX_SUB_DIR "") -else() - set(KORTEX_SUB_DIR "${KORTEX_SUB_DIR}/") -endif() - -set(CMAKE_INCLUDE_CURRENT_DIR ON) -set(CMAKE_AUTOMOC ON) -set(CMAKE_VERBOSE_MAKEFILE ON) -set(CMAKE_COLOR_MAKEFILE ON) -set(BUILD_SHARED_LIBS OFF) - -file(GLOB EXE_LIST RELATIVE ${PROJECT_SOURCE_DIR} "*.cpp") - -foreach ( SRC_FILE ${EXE_LIST} ) - string(REPLACE ".cpp" "" TARGET_EXE_NAME ${SRC_FILE}) - MESSAGE("create TARGET_EXE_NAME: '${TARGET_EXE_NAME}'") - - add_executable(${TARGET_EXE_NAME} ${SRC_FILE}) - if(MSVC) - target_compile_options(${TARGET_EXE_NAME} PRIVATE -W2) - else() - target_compile_options(${TARGET_EXE_NAME} PRIVATE -Wall) - target_compile_options(${TARGET_EXE_NAME} PRIVATE -Wno-reorder) - target_compile_features(${TARGET_EXE_NAME} PRIVATE cxx_std_11) - endif() - - if(UNIX) - target_compile_definitions(${TARGET_EXE_NAME} PRIVATE -D_OS_UNIX) - elseif(WIN32) - target_compile_definitions(${TARGET_EXE_NAME} PRIVATE -D_OS_WINDOWS) - - if(MSVC) - # Compiling with /MT must also be done in executables using the library - target_compile_options(${TARGET_EXE_NAME} PRIVATE /bigobj /MT) - endif() - endif() - - ################################################################################## - set(KORTEX_DIR "${PROJECT_SOURCE_DIR}/../kortex_api/${KORTEX_SUB_DIR}") - - ##### Link to lib - if(MSVC) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}lib/${CMAKE_BUILD_TYPE}/KortexApi.lib) - else() - target_link_libraries(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}lib/${CMAKE_BUILD_TYPE}/libKortexApi.a) - endif() - - # link other libs - if(UNIX) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE pthread) - elseif(WIN32) - # target_link_libraries(${TARGET_EXE_NAME} PRIVATE ws2_32 winMM Winusb Setupapi xinput) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE winMM ws2_32) - else() - MESSAGE(FATAL_ERROR "Unknown os! Not supported yet") - endif() - - # add include dir - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/client) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/common) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/messages) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/client_stubs) - ################################################################################## - -endforeach() diff --git a/api_cpp/examples/102-BaseGen3_ctrl/01-move_angular_and_cartesian.cpp b/api_cpp/examples/102-BaseGen3_ctrl/01-move_angular_and_cartesian.cpp index ac32aff3..a0ce7e64 100644 --- a/api_cpp/examples/102-BaseGen3_ctrl/01-move_angular_and_cartesian.cpp +++ b/api_cpp/examples/102-BaseGen3_ctrl/01-move_angular_and_cartesian.cpp @@ -14,34 +14,66 @@ #include #include -#include -#include - -namespace k_api = Kinova::Api; +#include #define IP_ADDRESS "192.168.1.10" #define PORT 10000 +namespace k_api = Kinova::Api; + +void example_move_to_home_position(k_api::Base::BaseClient* base) +{ + // Make sure the arm is in Single Level Servoing before executing an Action + auto servoingMode = k_api::Base::ServoingModeInformation(); + servoingMode.set_servoing_mode(k_api::Base::ServoingMode::SINGLE_LEVEL_SERVOING); + base->SetServoingMode(servoingMode); + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + + // Move arm to ready position + std::cout << "Moving the arm to a safe position" << std::endl; + auto action_type = k_api::Base::RequestedActionType(); + action_type.set_action_type(k_api::Base::REACH_JOINT_ANGLES); + auto action_list = base->ReadAllActions(action_type); + auto action_handle = k_api::Base::ActionHandle(); + action_handle.set_identifier(0); + for (auto action : action_list.action_list()) + { + if (action.name() == "Home") + { + action_handle = action.handle(); + } + } + + if (action_handle.identifier() == 0) + { + std::cout << "Can't reach safe position, exiting" << std::endl; + } + else + { + base->ExecuteActionFromReference(action_handle); + std::this_thread::sleep_for(std::chrono::milliseconds(20000)); // Leave time to action to finish + } +} -void example_angularActionMovement(k_api::Base::BaseClient* base) +void example_angular_action_movement(k_api::Base::BaseClient* base) { - std::cout << "\nStarting angular action movement ..." << std::endl; + std::cout << "Starting angular action movement ..." << std::endl; auto action = k_api::Base::Action(); action.set_name("Example angular action movement"); action.set_application_data(""); - auto reachJointAngles = action.mutable_reach_joint_angles(); - auto jointAngles = reachJointAngles->mutable_joint_angles(); + auto reach_joint_angles = action.mutable_reach_joint_angles(); + auto joint_angles = reach_joint_angles->mutable_joint_angles(); - auto act_count = base->GetActuatorCount(); + auto actuator_count = base->GetActuatorCount(); // Arm straight up - for(size_t i = 0 ; i < act_count.count(); ++i) + for (size_t i = 0; i < actuator_count.count(); ++i) { - auto jointAngle = jointAngles->add_joint_angles(); - jointAngle->set_joint_identifier(i); - jointAngle->set_value(0); + auto joint_angle = joint_angles->add_joint_angles(); + joint_angle->set_joint_identifier(i); + joint_angle->set_value(0); } std::cout << "Executing action" << std::endl; @@ -53,17 +85,16 @@ void example_angularActionMovement(k_api::Base::BaseClient* base) std::cout << "Angular movement completed" << std::endl; } - -void example_cartesianActionMovement(k_api::Base::BaseClient* base) +void example_cartesian_action_movement(k_api::Base::BaseClient* base) { - std::cout << "\nStarting Cartesian action movement ..." << std::endl; - + std::cout << "Starting Cartesian action movement ..." << std::endl; + auto action = k_api::Base::Action(); action.set_name("Example Cartesian action movement"); action.set_application_data(""); - auto constrainedPose = action.mutable_reach_pose(); - auto pose = constrainedPose->mutable_target_pose(); + auto constrained_pose = action.mutable_reach_pose(); + auto pose = constrained_pose->mutable_target_pose(); pose->set_x(0.8); // x (meters) pose->set_y(0.0); // y (meters) pose->set_z(0.36); // z (meters) @@ -75,43 +106,41 @@ void example_cartesianActionMovement(k_api::Base::BaseClient* base) base->ExecuteAction(action); std::cout << "Waiting 20 seconds for movement to finish ..." << std::endl; - std::this_thread::sleep_for(std::chrono::milliseconds(20000)); + std::this_thread::sleep_for(std::chrono::milliseconds(20000)); std::cout << "Cartesian movement completed" << std::endl; } -void example_angularTrajectoryMovement(k_api::Base::BaseClient* base) +void example_angular_trajectory_movement(k_api::Base::BaseClient* base) { - std::cout << "\nStarting angular trajectory movement ..." << std::endl; - auto constrainedJointAngles = k_api::Base::ConstrainedJointAngles(); - auto jointAngles = constrainedJointAngles.mutable_joint_angles(); + auto constrained_joint_angles = k_api::Base::ConstrainedJointAngles(); + auto joint_angles = constrained_joint_angles.mutable_joint_angles(); - auto act_count = base->GetActuatorCount(); + auto actuator_count = base->GetActuatorCount(); // Arm straight up - for(size_t i = 0 ; i < act_count.count(); ++i) + for (size_t i = 0; i < actuator_count.count(); ++i) { - auto jointAngle = jointAngles->add_joint_angles(); - jointAngle->set_joint_identifier(i); - jointAngle->set_value(0); + auto joint_angle = joint_angles->add_joint_angles(); + joint_angle->set_joint_identifier(i); + joint_angle->set_value(0); } - std::cout << "Executing trajectory" << std::endl; - base->PlayJointTrajectory(constrainedJointAngles); + std::cout << "Reaching joint angles..." << std::endl; + base->PlayJointTrajectory(constrained_joint_angles); std::cout << "Waiting 20 seconds for movement to finish ..." << std::endl; std::this_thread::sleep_for(std::chrono::milliseconds(20000)); - std::cout << "Angular trajectory movement completed" << std::endl; + std::cout << "Joint angles reached" << std::endl; } -void example_cartesianTrajectoryMovement(k_api::Base::BaseClient* base) +void example_cartesian_trajectory_movement(k_api::Base::BaseClient* base) { - std::cout << "\nStarting Cartesian trajectory movement ..." << std::endl; - - auto constrainedPose = k_api::Base::ConstrainedPose(); - auto pose = constrainedPose.mutable_target_pose(); + + auto constrained_pose = k_api::Base::ConstrainedPose(); + auto pose = constrained_pose.mutable_target_pose(); pose->set_x(0.8); // x (meters) pose->set_y(0.0); // y (meters) @@ -120,79 +149,56 @@ void example_cartesianTrajectoryMovement(k_api::Base::BaseClient* base) pose->set_theta_y(90.0); // theta y (degrees) pose->set_theta_z(10.0); // theta z (degrees) - std::cout << "Executing trajectory" << std::endl; - base->PlayCartesianTrajectory(constrainedPose); + std::cout << "Reaching cartesian pose..." << std::endl; + base->PlayCartesianTrajectory(constrained_pose); std::cout << "Waiting 20 seconds for movement to finish ..." << std::endl; - std::this_thread::sleep_for(std::chrono::milliseconds(20000)); + std::this_thread::sleep_for(std::chrono::milliseconds(20000)); - std::cout << "Cartesian trajectory movement completed" << std::endl; + std::cout << "Cartesian pose reached" << std::endl; } - int main(int argc, char **argv) { - // Setup API - auto pTransport = new k_api::TransportClientUdp(); - auto pRouter = new k_api::RouterClient(pTransport, [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }); - pTransport->connect(IP_ADDRESS, PORT); - - // Create session - auto createSessionInfo = k_api::Session::CreateSessionInfo(); - createSessionInfo.set_username("admin"); - createSessionInfo.set_password("admin"); - createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) - createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) - - std::cout << "\nCreating session for communication" << std::endl; - auto pSessionMng = new k_api::SessionManager(pRouter); - pSessionMng->CreateSession(createSessionInfo); + // Create API objects + auto error_callback = [](k_api::KError err){ cout << "_________ callback error _________" << err.toString(); }; + auto transport = new k_api::TransportClientTcp(); + auto router = new k_api::RouterClient(transport, error_callback); + transport->connect(IP_ADDRESS, PORT); + + // Set session data connection information + auto create_session_info = k_api::Session::CreateSessionInfo(); + create_session_info.set_username("admin"); + create_session_info.set_password("admin"); + create_session_info.set_session_inactivity_timeout(60000); // (milliseconds) + create_session_info.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + std::cout << "Creating session for communication" << std::endl; + auto session_manager = new k_api::SessionManager(router); + session_manager->CreateSession(create_session_info); std::cout << "Session created" << std::endl; - // Create required services - auto pBase = new k_api::Base::BaseClient(pRouter); - - // Move arm to ready position - std::cout << "\nMoving the arm to a safe position before executing example" << std::endl; - auto action_type = k_api::Base::RequestedActionType(); - action_type.set_action_type(k_api::Base::REACH_JOINT_ANGLES); - auto action_list = pBase->ReadAllActions(action_type); - auto action_handle = k_api::Base::ActionHandle(); - action_handle.set_identifier(0); - for( auto action : action_list.action_list()) - { - if(action.name() == "Home") - { - action_handle = action.handle(); - } - } + // Create services + auto base = new k_api::Base::BaseClient(router); - if(action_handle.identifier() == 0) - { - std::cout << "\nCan't reach safe position. Exiting" << std::endl; - } - else - { - pBase->ExecuteActionFromReference(action_handle); - std::this_thread::sleep_for(std::chrono::seconds(20)); // Leave time to action to finish - } - // Example core - example_angularActionMovement(pBase); - example_cartesianActionMovement(pBase); - example_angularTrajectoryMovement(pBase); - example_cartesianTrajectoryMovement(pBase); + example_move_to_home_position(base); + example_angular_action_movement(base); + example_cartesian_action_movement(base); + example_angular_trajectory_movement(base); + example_cartesian_trajectory_movement(base); // Close API session - pSessionMng->CloseSession(); + session_manager->CloseSession(); // Deactivate the router and cleanly disconnect from the transport object - pRouter->SetActivationStatus(false); - pTransport->disconnect(); + router->SetActivationStatus(false); + transport->disconnect(); // Destroy the API - delete pBase; - delete pSessionMng; - delete pRouter; - delete pTransport; -}; \ No newline at end of file + delete base; + delete session_manager; + delete router; + delete transport; +} \ No newline at end of file diff --git a/api_cpp/examples/102-BaseGen3_ctrl/02-sequence.cpp b/api_cpp/examples/102-BaseGen3_ctrl/02-sequence.cpp index 3c97fd58..234ace75 100644 --- a/api_cpp/examples/102-BaseGen3_ctrl/02-sequence.cpp +++ b/api_cpp/examples/102-BaseGen3_ctrl/02-sequence.cpp @@ -10,42 +10,42 @@ * */ - #include - #include + #include -#include +#include namespace k_api = Kinova::Api; #define IP_ADDRESS "192.168.1.10" #define PORT 10000 - -void createAngularAction(k_api::Base::Action* action) +/***************************** + * Example related functions * + *****************************/ +void create_angular_action(k_api::Base::Action* action) { - std::cout << "\nCreating angular action" << std::endl; + std::cout << "Creating angular action" << std::endl; action->set_name("Example angular action"); action->set_application_data(""); - auto reachJointAngles = action->mutable_reach_joint_angles(); - auto jointAngles = reachJointAngles->mutable_joint_angles(); + auto reach_joint_angles = action->mutable_reach_joint_angles(); + auto joint_angles = reach_joint_angles->mutable_joint_angles(); std::vector angles = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}; for(size_t i = 0 ; i < angles.size(); ++i) { - auto jointAngle = jointAngles->add_joint_angles(); - jointAngle->set_joint_identifier(i); - jointAngle->set_value(angles.at(i)); + auto joint_angle = joint_angles->add_joint_angles(); + joint_angle->set_joint_identifier(i); + joint_angle->set_value(angles.at(i)); } } - -void createCartesianAction(k_api::Base::Action* action) +void create_cartesian_action(k_api::Base::Action* action) { - std::cout << "\nCreating Cartesian action" << std::endl; + std::cout << "Creating Cartesian action" << std::endl; action->set_name("Example Cartesian movement"); action->set_application_data(""); @@ -60,10 +60,46 @@ void createCartesianAction(k_api::Base::Action* action) pose->set_theta_z(10.0); // theta z (degrees) } +/************************** + * Example core functions * + **************************/ +void example_move_to_home_position(k_api::Base::BaseClient* base) +{ + // Make sure the arm is in Single Level Servoing before executing an Action + auto servoingMode = k_api::Base::ServoingModeInformation(); + servoingMode.set_servoing_mode(k_api::Base::ServoingMode::SINGLE_LEVEL_SERVOING); + base->SetServoingMode(servoingMode); + std::this_thread::sleep_for(std::chrono::milliseconds(500)); -void example_createSequence(k_api::Base::BaseClient* pBase) + // Move arm to ready position + std::cout << "Moving the arm to a safe position" << std::endl; + auto action_type = k_api::Base::RequestedActionType(); + action_type.set_action_type(k_api::Base::REACH_JOINT_ANGLES); + auto action_list = base->ReadAllActions(action_type); + auto action_handle = k_api::Base::ActionHandle(); + action_handle.set_identifier(0); + for (auto action : action_list.action_list()) + { + if (action.name() == "Home") + { + action_handle = action.handle(); + } + } + + if (action_handle.identifier() == 0) + { + std::cout << "Can't reach safe position, exiting" << std::endl; + } + else + { + base->ExecuteActionFromReference(action_handle); + std::this_thread::sleep_for(std::chrono::milliseconds(20000)); // Leave time to action to finish + } +} + +void example_create_sequence(k_api::Base::BaseClient* pBase) { - std::cout << "\nCreating Sequence" << std::endl; + std::cout << "Creating Sequence" << std::endl; auto sequence = k_api::Base::Sequence(); sequence.set_name("Example sequence"); @@ -71,11 +107,11 @@ void example_createSequence(k_api::Base::BaseClient* pBase) std::cout << "Appending Actions to Sequence" << std::endl; auto task_1 = sequence.add_tasks(); task_1->set_group_identifier(0); - createAngularAction(task_1->mutable_action()); + create_angular_action(task_1->mutable_action()); auto task_2 = sequence.add_tasks(); task_2->set_group_identifier(1); // sequence elements with same group_id are played at the same time - createCartesianAction(task_2->mutable_action()); + create_cartesian_action(task_2->mutable_action()); std::cout << "Creating sequence on device and executing it" << std::endl; auto sequenceHandle = pBase->CreateSequence(sequence); @@ -87,68 +123,44 @@ void example_createSequence(k_api::Base::BaseClient* pBase) std::cout << "Sequence completed" << std::endl; } - int main(int argc, char **argv) { - // Setup API - auto errorCallback = [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }; - auto pTransport = new k_api::TransportClientUdp(); - auto pRouter = new k_api::RouterClient(pTransport, errorCallback); - pTransport->connect(IP_ADDRESS, PORT); - - // Create session - auto createSessionInfo = k_api::Session::CreateSessionInfo(); - createSessionInfo.set_username("admin"); - createSessionInfo.set_password("admin"); - createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) - createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) - - std::cout << "\nCreating session for communication" << std::endl; - auto pSessionMng = new k_api::SessionManager(pRouter); - pSessionMng->CreateSession(createSessionInfo); + // Create API objects + auto error_callback = [](k_api::KError err){ cout << "_________ callback error _________" << err.toString(); }; + auto transport = new k_api::TransportClientTcp(); + auto router = new k_api::RouterClient(transport, error_callback); + transport->connect(IP_ADDRESS, PORT); + + // Set session data connection information + auto create_session_info = k_api::Session::CreateSessionInfo(); + create_session_info.set_username("admin"); + create_session_info.set_password("admin"); + create_session_info.set_session_inactivity_timeout(60000); // (milliseconds) + create_session_info.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + std::cout << "Creating session for communication" << std::endl; + auto session_manager = new k_api::SessionManager(router); + session_manager->CreateSession(create_session_info); std::cout << "Session created" << std::endl; - // Create required services - auto pBase = new k_api::Base::BaseClient(pRouter); - - // Move arm to ready position - std::cout << "\nMoving the arm to a safe position before executing example" << std::endl; - auto action_type = k_api::Base::RequestedActionType(); - action_type.set_action_type(k_api::Base::REACH_JOINT_ANGLES); - auto action_list = pBase->ReadAllActions(action_type); - auto action_handle = k_api::Base::ActionHandle(); - action_handle.set_identifier(0); - for( auto action : action_list.action_list()) - { - if(action.name() == "Home") - { - action_handle = action.handle(); - } - } - - if(action_handle.identifier() == 0) - { - std::cout << "\nCan't reach safe position. Exiting" << std::endl; - } - else - { - pBase->ExecuteActionFromReference(action_handle); - std::this_thread::sleep_for(std::chrono::seconds(20)); // Leave time to action to finish - } + // Create services + auto base = new k_api::Base::BaseClient(router); // Example core - example_createSequence(pBase); + example_move_to_home_position(base); + example_create_sequence(base); // Close API session - pSessionMng->CloseSession(); + session_manager->CloseSession(); // Deactivate the router and cleanly disconnect from the transport object - pRouter->SetActivationStatus(false); - pTransport->disconnect(); + router->SetActivationStatus(false); + transport->disconnect(); // Destroy the API - delete pBase; - delete pSessionMng; - delete pRouter; - delete pTransport; -}; \ No newline at end of file + delete base; + delete session_manager; + delete router; + delete transport; +} \ No newline at end of file diff --git a/api_cpp/examples/102-BaseGen3_ctrl/03-twist_command.cpp b/api_cpp/examples/102-BaseGen3_ctrl/03-twist_command.cpp index 68980368..f0b9c4ea 100644 --- a/api_cpp/examples/102-BaseGen3_ctrl/03-twist_command.cpp +++ b/api_cpp/examples/102-BaseGen3_ctrl/03-twist_command.cpp @@ -10,37 +10,73 @@ * */ - #include - #include + #include -#include +#include namespace k_api = Kinova::Api; #define IP_ADDRESS "192.168.1.10" #define PORT 10000 +void example_move_to_home_position(k_api::Base::BaseClient* base) +{ + // Make sure the arm is in Single Level Servoing before executing an Action + auto servoingMode = k_api::Base::ServoingModeInformation(); + servoingMode.set_servoing_mode(k_api::Base::ServoingMode::SINGLE_LEVEL_SERVOING); + base->SetServoingMode(servoingMode); + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + + // Move arm to ready position + std::cout << "Moving the arm to a safe position" << std::endl; + auto action_type = k_api::Base::RequestedActionType(); + action_type.set_action_type(k_api::Base::REACH_JOINT_ANGLES); + auto action_list = base->ReadAllActions(action_type); + auto action_handle = k_api::Base::ActionHandle(); + action_handle.set_identifier(0); + for (auto action : action_list.action_list()) + { + if (action.name() == "Home") + { + action_handle = action.handle(); + } + } + + if (action_handle.identifier() == 0) + { + std::cout << "Can't reach safe position, exiting" << std::endl; + } + else + { + base->ExecuteActionFromReference(action_handle); + std::this_thread::sleep_for(std::chrono::milliseconds(20000)); // Leave time to action to finish + } +} -void example_twist_command(k_api::Base::BaseClient* pBase) +void example_twist_command(k_api::Base::BaseClient* base) { auto command = k_api::Base::TwistCommand(); - command.set_mode(k_api::Base::UNSPECIFIED_TWIST_MODE); + command.set_reference_frame(k_api::Common::CARTESIAN_REFERENCE_FRAME_TOOL); command.set_duration(0); // Unlimited time to execute + std::cout << "Sending twist command for 5 seconds..." << std::endl; + auto twist = command.mutable_twist(); twist->set_linear_x(0.0f); - twist->set_linear_y(0.0f); - twist->set_linear_z(0.0f); + twist->set_linear_y(0.03f); + twist->set_linear_z(0.00f); twist->set_angular_x(0.0f); twist->set_angular_y(0.0f); twist->set_angular_z(5.0f); - pBase->SendTwistCommand(command); + base->SendTwistCommand(command); // Let time for twist to be executed std::this_thread::sleep_for(std::chrono::milliseconds(5000)); + std::cout << "Stopping robot ..." << std::endl; + // Make movement stop twist->set_linear_x(0.0f); twist->set_linear_y(0.0f); @@ -48,71 +84,47 @@ void example_twist_command(k_api::Base::BaseClient* pBase) twist->set_angular_x(0.0f); twist->set_angular_y(0.0f); twist->set_angular_z(0.0f); - pBase->SendTwistCommand(command); + base->SendTwistCommand(command); } - int main(int argc, char **argv) { - // Setup API - auto errorCallback = [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }; - auto pTransport = new k_api::TransportClientUdp(); - auto pRouter = new k_api::RouterClient(pTransport, errorCallback); - pTransport->connect(IP_ADDRESS, PORT); - - // Create session - auto createSessionInfo = k_api::Session::CreateSessionInfo(); - createSessionInfo.set_username("admin"); - createSessionInfo.set_password("admin"); - createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) - createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) - - std::cout << "\nCreating session for communication" << std::endl; - auto pSessionMng = new k_api::SessionManager(pRouter); - pSessionMng->CreateSession(createSessionInfo); + // Create API objects + auto error_callback = [](k_api::KError err){ cout << "_________ callback error _________" << err.toString(); }; + auto transport = new k_api::TransportClientTcp(); + auto router = new k_api::RouterClient(transport, error_callback); + transport->connect(IP_ADDRESS, PORT); + + // Set session data connection information + auto create_session_info = k_api::Session::CreateSessionInfo(); + create_session_info.set_username("admin"); + create_session_info.set_password("admin"); + create_session_info.set_session_inactivity_timeout(60000); // (milliseconds) + create_session_info.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + std::cout << "Creating session for communication" << std::endl; + auto session_manager = new k_api::SessionManager(router); + session_manager->CreateSession(create_session_info); std::cout << "Session created" << std::endl; - // Create required services - auto pBase = new k_api::Base::BaseClient(pRouter); - - // Move arm to ready position - std::cout << "\nMoving the arm to a safe position before executing example" << std::endl; - auto action_type = k_api::Base::RequestedActionType(); - action_type.set_action_type(k_api::Base::REACH_JOINT_ANGLES); - auto action_list = pBase->ReadAllActions(action_type); - auto action_handle = k_api::Base::ActionHandle(); - action_handle.set_identifier(0); - for( auto action : action_list.action_list()) - { - if(action.name() == "Home") - { - action_handle = action.handle(); - } - } - - if(action_handle.identifier() == 0) - { - std::cout << "\nCan't reach safe position. Exiting" << std::endl; - } - else - { - pBase->ExecuteActionFromReference(action_handle); - std::this_thread::sleep_for(std::chrono::seconds(20)); // Leave time to action to finish - } + // Create services + auto base = new k_api::Base::BaseClient(router); // Example core - example_twist_command(pBase); + example_move_to_home_position(base); + example_twist_command(base); // Close API session - pSessionMng->CloseSession(); + session_manager->CloseSession(); // Deactivate the router and cleanly disconnect from the transport object - pRouter->SetActivationStatus(false); - pTransport->disconnect(); + router->SetActivationStatus(false); + transport->disconnect(); // Destroy the API - delete pBase; - delete pSessionMng; - delete pRouter; - delete pTransport; -}; \ No newline at end of file + delete base; + delete session_manager; + delete router; + delete transport; +} \ No newline at end of file diff --git a/api_cpp/examples/102-BaseGen3_ctrl/04-send_joint_speed.cpp b/api_cpp/examples/102-BaseGen3_ctrl/04-send_joint_speed.cpp deleted file mode 100644 index c27de9a4..00000000 --- a/api_cpp/examples/102-BaseGen3_ctrl/04-send_joint_speed.cpp +++ /dev/null @@ -1,129 +0,0 @@ -/* -* KINOVA (R) KORTEX (TM) -* -* Copyright (c) 2018 Kinova inc. All rights reserved. -* -* This software may be modified and distributed -* under the terms of the BSD 3-Clause license. -* -* Refer to the LICENSE file for details. -* -*/ - - -#include - -#include -#include -#include -#include -#include -#include - -namespace k_api = Kinova::Api; - -#define IP_ADDRESS "192.168.1.10" -#define PORT 10000 - - -void example_single_joint(k_api::Base::BaseClient* pBase, uint32_t last_act_id) -{ - auto jointSpeed = k_api::Base::JointSpeed(); - last_act_id -= 1; // Need to exclude base id - jointSpeed.set_joint_identifier(last_act_id); - jointSpeed.set_value(2.0f); // Speed in degrees/second - jointSpeed.set_duration(0); // Unlimited time to execute - pBase->SendSelectedJointSpeedCommand(jointSpeed); - - // Let time for joint speed command to be executed - std::this_thread::sleep_for(std::chrono::milliseconds(5000)); - - jointSpeed.set_value(0.0f); - pBase->SendSelectedJointSpeedCommand(jointSpeed); -} - - -int main(int argc, char **argv) -{ - // Setup API - auto errorCallback = [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }; - auto pTransport = new k_api::TransportClientUdp(); - auto pRouter = new k_api::RouterClient(pTransport, errorCallback); - pTransport->connect(IP_ADDRESS, PORT); - - // Create session - auto createSessionInfo = k_api::Session::CreateSessionInfo(); - createSessionInfo.set_username("admin"); - createSessionInfo.set_password("admin"); - createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) - createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) - - std::cout << "\nCreating session for communication" << std::endl; - auto pSessionMng = new k_api::SessionManager(pRouter); - pSessionMng->CreateSession(createSessionInfo); - std::cout << "Session created" << std::endl; - - // Create required services - auto pBase = new k_api::Base::BaseClient(pRouter); - auto pDeviceManager = new k_api::DeviceManager::DeviceManagerClient(pRouter); - - // Find the last actuator - auto subDeviceInfo = pDeviceManager->ReadAllDevices(); - uint32_t last_act = 0; - uint32_t last_act_id = 0; - - for ( auto dev : subDeviceInfo.device_handle() ) - { - if ( dev.device_type() == k_api::Common::BIG_ACTUATOR || - dev.device_type() == k_api::Common::SMALL_ACTUATOR) - { - if ( dev.order() > last_act ) - { - last_act = dev.order(); - last_act_id = dev.device_identifier(); - } - } - } - - // Move arm to ready position - std::cout << "\nMoving the arm to a safe position before executing example" << std::endl; - auto action_type = k_api::Base::RequestedActionType(); - action_type.set_action_type(k_api::Base::REACH_JOINT_ANGLES); - auto action_list = pBase->ReadAllActions(action_type); - auto action_handle = k_api::Base::ActionHandle(); - action_handle.set_identifier(0); - for( auto action : action_list.action_list()) - { - if(action.name() == "Home") - { - action_handle = action.handle(); - } - } - - if(action_handle.identifier() == 0) - { - std::cout << "\nCan't reach safe position. Exiting" << std::endl; - } - else - { - pBase->ExecuteActionFromReference(action_handle); - std::this_thread::sleep_for(std::chrono::seconds(20)); // Leave time to action to finish - } - - // Example core - std::cout << "Calling single_joint" << std::endl; - example_single_joint(pBase, last_act_id); - - // Close API session - pSessionMng->CloseSession(); - - // Deactivate the router and cleanly disconnect from the transport object - pRouter->SetActivationStatus(false); - pTransport->disconnect(); - - // Destroy the API - delete pBase; - delete pSessionMng; - delete pRouter; - delete pTransport; -}; \ No newline at end of file diff --git a/api_cpp/examples/102-BaseGen3_ctrl/04-send_joint_speeds.cpp b/api_cpp/examples/102-BaseGen3_ctrl/04-send_joint_speeds.cpp new file mode 100644 index 00000000..fd5ae91d --- /dev/null +++ b/api_cpp/examples/102-BaseGen3_ctrl/04-send_joint_speeds.cpp @@ -0,0 +1,133 @@ +/* +* KINOVA (R) KORTEX (TM) +* +* Copyright (c) 2018 Kinova inc. All rights reserved. +* +* This software may be modified and distributed +* under the terms of the BSD 3-Clause license. +* +* Refer to the LICENSE file for details. +* +*/ + +#include + +#include +#include +#include +#include +#include +#include + +namespace k_api = Kinova::Api; + +#define IP_ADDRESS "192.168.1.10" +#define PORT 10000 + +void example_move_to_start_position(k_api::Base::BaseClient* base) +{ + // Make sure the arm is in Single Level Servoing before executing an Action + auto servoingMode = k_api::Base::ServoingModeInformation(); + servoingMode.set_servoing_mode(k_api::Base::ServoingMode::SINGLE_LEVEL_SERVOING); + base->SetServoingMode(servoingMode); + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + + // Move arm to ready position + std::cout << "Moving the arm to the start position..." << std::endl; + auto constrained_joint_angles = k_api::Base::ConstrainedJointAngles(); + auto joint_angles = constrained_joint_angles.mutable_joint_angles(); + + // We suppose the arm is a 7DOF + std::vector angles = {0.0, 0.0, 0.0, 90.0, 0.0, 0.0, 0.0}; + + // 90 degrees on 4th actuator + for (size_t i = 0; i < angles.size(); ++i) + { + auto joint_angle = joint_angles->add_joint_angles(); + joint_angle->set_joint_identifier(i); + joint_angle->set_value(angles[i]); + } + + base->PlayJointTrajectory(constrained_joint_angles); + + std::cout << "Waiting 20 seconds for movement to finish ..." << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(20000)); + std::cout << "Reached the starting position." << std::endl; +} + +void example_send_joint_speeds(k_api::Base::BaseClient* base) +{ + + std::cout << "Sending the angular velocities to the robot for 10 seconds..." << std::endl; + + k_api::Base::JointSpeeds joint_speeds; + + std::vector speeds = {-10.0f, 0.0f, 10.0f, 0.0f, -10.0f, 0.0f, 10.0f}; + for(size_t i = 0 ; i < speeds.size(); ++i) + { + auto joint_speed = joint_speeds.add_joint_speeds(); + joint_speed->set_joint_identifier(i); + joint_speed->set_value(speeds.at(i)); + joint_speed->set_duration(1); + } + base->SendJointSpeedsCommand(joint_speeds); + + // Wait 5 seconds + std::this_thread::sleep_for(std::chrono::milliseconds(10000)); + + // Stop the robot + std::cout << "Stopping the robot" << std::endl; + + k_api::Base::JointSpeeds joint_speeds_stop; + std::vector stop = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}; + for(size_t i = 0 ; i < stop.size(); ++i) + { + auto joint_speed = joint_speeds.add_joint_speeds(); + joint_speed->set_joint_identifier(i); + joint_speed->set_value(speeds.at(i)); + joint_speed->set_duration(1); + } + base->SendJointSpeedsCommand(joint_speeds_stop); +} + +int main(int argc, char **argv) +{ + // Create API objects + auto error_callback = [](k_api::KError err){ cout << "_________ callback error _________" << err.toString(); }; + auto transport = new k_api::TransportClientTcp(); + auto router = new k_api::RouterClient(transport, error_callback); + transport->connect(IP_ADDRESS, PORT); + + // Set session data connection information + auto create_session_info = k_api::Session::CreateSessionInfo(); + create_session_info.set_username("admin"); + create_session_info.set_password("admin"); + create_session_info.set_session_inactivity_timeout(60000); // (milliseconds) + create_session_info.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + std::cout << "Creating session for communication" << std::endl; + auto session_manager = new k_api::SessionManager(router); + session_manager->CreateSession(create_session_info); + std::cout << "Session created" << std::endl; + + // Create services + auto base = new k_api::Base::BaseClient(router); + + // Example core + example_move_to_start_position(base); + example_send_joint_speeds(base); + + // Close API session + session_manager->CloseSession(); + + // Deactivate the router and cleanly disconnect from the transport object + router->SetActivationStatus(false); + transport->disconnect(); + + // Destroy the API + delete base; + delete session_manager; + delete router; + delete transport; +}; \ No newline at end of file diff --git a/api_cpp/examples/102-BaseGen3_ctrl/CMakeLists.txt b/api_cpp/examples/102-BaseGen3_ctrl/CMakeLists.txt deleted file mode 100644 index 35a4a84f..00000000 --- a/api_cpp/examples/102-BaseGen3_ctrl/CMakeLists.txt +++ /dev/null @@ -1,78 +0,0 @@ -cmake_minimum_required(VERSION 3.10) - -project(Getting_started) -MESSAGE("---------------------------------------------------------------------------------") -MESSAGE("Project '${PROJECT_NAME}' args: ${CMAKE_ARGS}") -MESSAGE("Project building for: '${CMAKE_SYSTEM_NAME}' in '${CMAKE_BUILD_TYPE}' mode") - -if(NOT CMAKE_BUILD_TYPE) - set(CMAKE_BUILD_TYPE release) -endif() - -if(NOT KORTEX_SUB_DIR) - set(KORTEX_SUB_DIR "") -else() - set(KORTEX_SUB_DIR "${KORTEX_SUB_DIR}/") -endif() - -set(CMAKE_INCLUDE_CURRENT_DIR ON) -set(CMAKE_AUTOMOC ON) -set(CMAKE_VERBOSE_MAKEFILE ON) -set(CMAKE_COLOR_MAKEFILE ON) -set(BUILD_SHARED_LIBS OFF) - -file(GLOB EXE_LIST RELATIVE ${PROJECT_SOURCE_DIR} "*.cpp") - -foreach ( SRC_FILE ${EXE_LIST} ) - string(REPLACE ".cpp" "" TARGET_EXE_NAME ${SRC_FILE}) - MESSAGE("create TARGET_EXE_NAME: '${TARGET_EXE_NAME}'") - - add_executable(${TARGET_EXE_NAME} ${SRC_FILE}) - if(MSVC) - target_compile_options(${TARGET_EXE_NAME} PRIVATE -W2) - else() - target_compile_options(${TARGET_EXE_NAME} PRIVATE -Wall) - target_compile_options(${TARGET_EXE_NAME} PRIVATE -Wno-reorder) - target_compile_features(${TARGET_EXE_NAME} PRIVATE cxx_std_11) - endif() - - if(UNIX) - target_compile_definitions(${TARGET_EXE_NAME} PRIVATE -D_OS_UNIX) - elseif(WIN32) - target_compile_definitions(${TARGET_EXE_NAME} PRIVATE -D_OS_WINDOWS) - - if(MSVC) - # Compilation with /MT option must also be done in executables using the library - target_compile_options(${TARGET_EXE_NAME} PRIVATE /bigobj /MT) - endif() - endif() - - ################################################################################## - set(KORTEX_DIR "${PROJECT_SOURCE_DIR}/../kortex_api/${KORTEX_SUB_DIR}") - - ##### Link to lib - if(MSVC) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}lib/${CMAKE_BUILD_TYPE}/KortexApi.lib) - else() - target_link_libraries(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}lib/${CMAKE_BUILD_TYPE}/libKortexApi.a) - endif() - - # link other libs - if(UNIX) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE pthread) - elseif(WIN32) - # target_link_libraries(${TARGET_EXE_NAME} PRIVATE ws2_32 winMM Winusb Setupapi xinput) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE winMM ws2_32) - else() - MESSAGE(FATAL_ERROR "Unknown os! Not supported yet") - endif() - - # add include dir - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/client) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/common) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/messages) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/client_stubs) - ################################################################################## - -endforeach() diff --git a/api_cpp/examples/103-BaseGen3_uart_bridge/01-uart_bridge.cpp b/api_cpp/examples/103-BaseGen3_uart_bridge/01-uart_bridge.cpp new file mode 100644 index 00000000..2f0f2826 --- /dev/null +++ b/api_cpp/examples/103-BaseGen3_uart_bridge/01-uart_bridge.cpp @@ -0,0 +1,375 @@ +/* +* KINOVA (R) KORTEX (TM) +* +* Copyright (c) 2019 Kinova inc. All rights reserved. +* +* This software may be modified and distributed +* under the terms of the BSD 3-Clause license. +* +* Refer to the LICENSE file for details. +* +*/ + +/* +* 103-BaseGen3_uart_bridge/uart_bridge.cpp +* +* Usage example for the UART Expansion IO on the Gen3 Interconnect module. +* +* PHYSICAL SETUP: +* ========= +* For this example to work, you will have to connect the RX and TX pins on the interconnect +* IO Expansion pinout, so that the TX is transmitted right into the RX. +* +* DESCRIPTION OF CURRENT EXAMPLE: +* =============================== +* In this example, the UART bridge class encapsulates all necessary Kortex API +* objects and implements the functions to setup the UART, write to the bus and read back from it. +* +* The Init function creates the Kortex API objects, connects to the arm and also calls InitSocket, +* which correctly configures the socket (depending if you are on Windows or Linux). +* +* The Run function : +* - Tells the Interconnect (m_interconnect_config object) to enable the UART bridge (this is where you supply the UART parameters) +* - Tells the Base (m_base) to enable the UART bridge +* - Opens the TCP socket to the base and writes the test string to the UART bridge +* - Waits 10 seconds and prints every character it receives +* - Tells the Base (m_base) to disable the UART bridge +* - Tells the Interconenct (m_interconnect_config_object) to disable the UART bridge +*/ + +#include +#include +#include +#include +#include +#include + +#ifdef _WIN32 +/* See http://stackoverflow.com/questions/12765743/getaddrinfo-on-win32 */ +#include +#include +#else +/* Assume that any non-Windows platform uses POSIX-style sockets instead. */ +#include +#include +#include +#define SOCKET int +#endif +namespace k_api = Kinova::Api; + +#define IP_ADDRESS "192.168.1.10" +#define PORT 10000 + +/////////////////////////////////////////////////////////////////////// +// class UARTBridge +// +// Implements methods for establishing and operating UART bridge through +// the base. +/////////////////////////////////////////////////////////////////////// +class UARTBridge +{ +public: + UARTBridge(const std::string& ip_address, int port, const std::string& username = "admin", const std::string& password = "admin"): + m_ip_address(ip_address), m_username(username), m_password(password), m_port(port), m_interconnect_device_id(0) + { + m_router = nullptr; + m_transport = nullptr; + m_session_manager = nullptr; + m_base = nullptr; + m_device_manager = nullptr; + m_interconnect_config = nullptr; + } + + ~UARTBridge() + { + // Close API session + m_session_manager->CloseSession(); + + // Deactivate the router and cleanly disconnect from the transport object + m_router->SetActivationStatus(false); + m_transport->disconnect(); + + // Destroy the API + delete m_interconnect_config; + delete m_device_manager; + delete m_session_manager; + delete m_base; + delete m_router; + delete m_transport; + } + + void Init() + { + m_transport = new k_api::TransportClientTcp(); + m_transport->connect(m_ip_address, m_port); + m_router = new k_api::RouterClient(m_transport, [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }); + + // Set session data connection information + auto createSessionInfo = k_api::Session::CreateSessionInfo(); + createSessionInfo.set_username(m_username); + createSessionInfo.set_password(m_password); + createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) + createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + m_session_manager = new k_api::SessionManager(m_router); + m_session_manager->CreateSession(createSessionInfo); + + // Create services + m_device_manager = new k_api::DeviceManager::DeviceManagerClient(m_router); + m_interconnect_config = new k_api::InterconnectConfig::InterconnectConfigClient(m_router); + m_base = new k_api::Base::BaseClient(m_router); + + m_interconnect_device_id = GetDeviceIdFromDevType(k_api::Common::INTERCONNECT, 0); + + InitSocket(); + } + + uint32_t GetDeviceIdFromDevType(k_api::Common::DeviceTypes device_type, uint32_t device_index) + { + auto device_handles = m_device_manager->ReadAllDevices(); + uint32_t current_index = 0; + for (auto device_handle : device_handles.device_handle() ) + { + if (device_handle.device_type() == device_type) + { + if (current_index == device_index) + { + return device_handle.device_identifier(); + } + ++current_index; + } + } + return 0; + } + + void Run() + { + const char test_string[] = "This is a string written to the UART using the bridge\n"; + + if (m_interconnect_device_id == 0) + { + std::cout << "Error : No interconnect found!" << std::endl; + return; + } + std::cout << "Interconnect ID found = " << m_interconnect_config << std::endl; + + /////////////////////////////////////////////////////////////////////// + // Enable and configure UART on interconnect + /////////////////////////////////////////////////////////////////////// + + k_api::Common::UARTConfiguration uart_config; + uart_config.set_port_id(k_api::InterconnectConfig::UART_PORT_EXPANSION); + uart_config.set_enabled(true); // Setting enabled to true opens the tcp port dedicated to UART bridging. Setting this + // field to false disables designated uart and closes the TCP port. + + uart_config.set_speed(k_api::Common::UART_SPEED_115200); + uart_config.set_word_length(k_api::Common::UART_WORD_LENGTH_8); + uart_config.set_stop_bits(k_api::Common::UART_STOP_BITS_1); + uart_config.set_parity(k_api::Common::UART_PARITY_NONE); + m_interconnect_config->SetUARTConfiguration(uart_config, m_interconnect_device_id); + + /////////////////////////////////////////////////////////////////////// + // Enable port bridging on the base + /////////////////////////////////////////////////////////////////////// + + k_api::Base::BridgeConfig bridge_config; + bridge_config.set_device_identifier(m_interconnect_device_id); + bridge_config.set_bridgetype(k_api::Base::BRIDGE_TYPE_UART); + auto bridge_result = m_base->EnableBridge(bridge_config); + if (bridge_result.status() != k_api::Base::BRIDGE_STATUS_OK) + { + return; + } + + /////////////////////////////////////////////////////////////////////// + // Get the bridge config and print it + /////////////////////////////////////////////////////////////////////// + + uint32_t bridge_id = bridge_result.bridge_id().bridge_id(); + k_api::Base::BridgeIdentifier bridge_identifier; + bridge_identifier.set_bridge_id(bridge_id); + bridge_config = m_base->GetBridgeConfig(bridge_identifier); + + uint16_t base_port = (uint16_t) bridge_config.port_config().out_port(); + uint16_t interconnect_port = (uint16_t) bridge_config.port_config().target_port(); + + std::cout << "Bridge ID# " << bridge_id <<" created between Interconnect (dev#" << m_interconnect_device_id << ")"; + std::cout << " port #" << interconnect_port << " and external port #"<< base_port << std::endl; + + /////////////////////////////////////////////////////////////////////// + // Open TCP socket to bridge port and send sample data through socket + /////////////////////////////////////////////////////////////////////// + + SOCKET uart_socket = ConnectSocket(IP_ADDRESS, base_port); + if (uart_socket >= 0) + { + send(uart_socket, test_string, sizeof(test_string), 0 ); + } + + /////////////////////////////////////////////////////////////////////// + // Wait 10 seconds to receive data from socket + /////////////////////////////////////////////////////////////////////// + + char rx_char; + std::cout << "Waiting about 10 seconds to receive data from UART" << std::endl; + std::cout << "Characters received : "; + std::flush(std::cout); + + // Display received characters from UART bridge socket for 10 seconds. + auto startTime = std::chrono::system_clock::now(); + auto currentTime = startTime; + while ( std::chrono::duration(currentTime - startTime).count() < 10.0) + { + // Wait for data for about 10 seconds. + if (GetSocketChar(uart_socket, &rx_char)) + { + std::cout << rx_char; + std::flush(std::cout); + } + currentTime = std::chrono::system_clock::now(); + } + + std::cout << std::endl; + + std::cout << "Test over!" << std::endl; + + /////////////////////////////////////////////////////////////////////// + // Close TCP connection and disable bridge on interconnect and base + /////////////////////////////////////////////////////////////////////// + + CloseSocket(uart_socket); + + // Disable bridge on Base + bridge_identifier.set_bridge_id(bridge_id); + m_base->DisableBridge(bridge_identifier); + + // Disable UART bridge on Interconnect + uart_config.set_enabled(false); + m_interconnect_config->SetUARTConfiguration(uart_config, m_interconnect_device_id); + + QuitSocket(); + } + +private: + k_api::RouterClient* m_router; + k_api::TransportClientTcp* m_transport; + k_api::SessionManager* m_session_manager; + k_api::Base::BaseClient* m_base; + k_api::DeviceManager::DeviceManagerClient* m_device_manager; + k_api::InterconnectConfig::InterconnectConfigClient* m_interconnect_config; + + std::string m_username; + std::string m_password; + std::string m_ip_address; + int m_port; + uint32_t m_interconnect_device_id; + + // Private methods + int InitSocket(void) + { +#ifdef _WIN32 + WSADATA wsa_data; + return WSAStartup(MAKEWORD(1,1), &wsa_data); +#else + return 0; +#endif + } + + int QuitSocket(void) + { +#ifdef _WIN32 + return WSACleanup(); +#else + return 0; +#endif + } + + int CloseSocket(SOCKET sock) + { + int status = 0; +#ifdef _WIN32 + status = shutdown(sock, SD_BOTH); + if (status == 0) + { + status = closesocket(sock); + } +#else + status = shutdown(sock, SHUT_RDWR); + if (status == 0) + { + status = close(sock); + } +#endif + return status; + } + + SOCKET ConnectSocket(const char* ip_address, int port) + { + SOCKET sock; + struct sockaddr_in server; + //Create socket + sock = socket(AF_INET , SOCK_STREAM , 0); + if (sock < 0) + { + return -1; + } + + server.sin_addr.s_addr = inet_addr(ip_address); + server.sin_family = AF_INET; + server.sin_port = htons(port); + if (connect(sock , (struct sockaddr *)&server , sizeof(server)) < 0) + { + std::cout << "Connect failed." << std::endl; + return -1; + } + return sock; + } + + bool GetSocketChar(int sock, char* out_char) + { + if (out_char == nullptr) + { + return false; + } + if (sock == 0) + { + return false; + } + + struct timeval ts; + ts.tv_sec = 0; // 1 millisecond + ts.tv_usec = 0; + fd_set fds; + FD_ZERO(&fds); + FD_SET(sock, &fds); + + int nready = select(sock + 1, &fds, (fd_set *) 0, (fd_set *) 0, &ts); + if (nready <= 0) + { + return false; + } + if (FD_ISSET(sock, &fds)) + { + if (recv(sock, out_char, 1, 0) > 0) + { + return true; + } + } + return false; + } +}; + +// Example core +// Implements a sample UART bridge application. +int main(int argc, char **argv) +{ + UARTBridge* uart_bridge; + uart_bridge = new UARTBridge(IP_ADDRESS, PORT, "admin", "admin"); + uart_bridge->Init(); + uart_bridge->Run(); + + delete uart_bridge; + + return 0; +}; diff --git a/api_cpp/examples/104-BaseGen3_gpio_bridge/01-gpio_bridge.cpp b/api_cpp/examples/104-BaseGen3_gpio_bridge/01-gpio_bridge.cpp new file mode 100644 index 00000000..f57e3650 --- /dev/null +++ b/api_cpp/examples/104-BaseGen3_gpio_bridge/01-gpio_bridge.cpp @@ -0,0 +1,286 @@ +/* +* KINOVA (R) KORTEX (TM) +* +* Copyright (c) 2018 Kinova inc. All rights reserved. +* +* This software may be modified and distributed +* under the terms of the BSD 3-Clause license. +* +* Refer to the LICENSE file for details. +* +*/ + +/* +* 104-BaseGen3_gpio_bridge/gpio_bridge.cpp +* +* Usage example for the GPIO Expansion IO on the Gen3 Interconnect module. +* +* PHYSICAL SETUP: +* ========= +* For this example to work, you will have to : +* - Connect the GPIO_IO1 and GPIO_IO2 Interconnect pins to two input digital pins on your micro-controller +* - Connect the GPIO_IO3 and GPIO_IO4 Interconnect pins to two output digital pins on your micro-controller +* - Modify the Arduino code so the ROBOT_PIN_X variables correspond to your pin numbers +* - Power on the micro-controller and upload the arduino_gpio_example_firmware.ino +* +* We used a MSP432 Launchpad (http://www.ti.com/tool/MSP-EXP432P401R) and made the connections: +* - GPIO_IO1 -------------- Pin 23 +* - GPIO_IO2 -------------- Pin 24 +* - GPIO_IO3 -------------- Pin 29 +* - GPIO_IO4 -------------- Pin 30 +* +* You can also use any Arduino board and this example will work as long as you specify the right pin numbers in the Arduino code. +* +* DESCRIPTION OF CURRENT EXAMPLE: +* =============================== +* In this example, the GPIO bridge class encapsulates all necessary Kortex API +* objects and implements the functions to setup the GPIO, write to two pins and read back from two other pins. +* The Arduino reads from GPIO_IO1 and writes to pin GPIO_IO3 and reads from GPIO_IO2 and writes to pin GPIO_IO4. +* Essentially, what is written on pin GPIO_IO1 is read back on pin GPIO_IO3 and the same applies for pins GPIO_IO2 +* and GPIO_IO4. +* +* The Init function creates the Kortex API objects and connects to the arm. +* +* The InitGpioInputsAndOutputs function uses the appropriate RPCs to activate the bridge as well as setup the pins +* either as output (GPIO_IDENTIFIER_1 and GPIO_IDENTIFIER_2) or as input pullup (GPIO_IDENTIFIER_3 and GPIO_IDENTIFIER_4). +* +* The SetOutputPinValue function writes a logical value to a designated output pin. +* +* The ReadInputPinValue function reads a logical value from a designated input pin. +* +* The main function : +* - Initializes the GpioBridge object +* - Writes to pins GPIO_IO1 and GPIO_IO2 +* - Reads and prints the values read from GPIO_IO3 and GPIO_IO4 +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace k_api = Kinova::Api; + +#define IP_ADDRESS "192.168.1.10" +#define PORT 10000 + +/////////////////////////////////////////////////////////////////////// +// class GpioBridge +// +// Implements methods for establishing and operating GPIO bridge through +// the base. +/////////////////////////////////////////////////////////////////////// + +class GpioBridge +{ +public: + GpioBridge(const std::string& ip_address, int port, const std::string& username = "admin", const std::string& password = "admin"): + m_ip_address(ip_address), m_username(username), m_password(password), m_port(port), m_interconnect_device_id(0) + { + m_router = nullptr; + m_transport = nullptr; + m_session_manager = nullptr; + m_device_manager = nullptr; + m_interconnect_config = nullptr; + } + + ~GpioBridge() + { + // Close API session + m_session_manager->CloseSession(); + + // Deactivate the router and cleanly disconnect from the transport object + m_router->SetActivationStatus(false); + m_transport->disconnect(); + + // Destroy the API + delete m_interconnect_config; + delete m_device_manager; + delete m_session_manager; + delete m_router; + delete m_transport; + } + + void Init() + { + m_transport = new k_api::TransportClientTcp(); + m_transport->connect(m_ip_address, m_port); + + m_router = new k_api::RouterClient(m_transport, [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }); + + // Set session data connection information + auto createSessionInfo = k_api::Session::CreateSessionInfo(); + createSessionInfo.set_username(m_username); + createSessionInfo.set_password(m_password); + createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) + createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + m_session_manager = new k_api::SessionManager(m_router); + m_session_manager->CreateSession(createSessionInfo); + + // Create services + m_device_manager = new k_api::DeviceManager::DeviceManagerClient(m_router); + m_interconnect_config = new k_api::InterconnectConfig::InterconnectConfigClient(m_router); + + m_interconnect_device_id = GetDeviceIdFromDevType(k_api::Common::INTERCONNECT, 0); + } + + uint32_t GetDeviceIdFromDevType(k_api::Common::DeviceTypes device_type, uint32_t device_index) + { + auto device_handles = m_device_manager->ReadAllDevices(); + uint32_t current_index = 0; + for (auto device_handle : device_handles.device_handle() ) + { + if (device_handle.device_type() == device_type) + { + if (current_index == device_index) + { + return device_handle.device_identifier(); + } + ++current_index; + } + } + return 0; + } + + // This function sets pins 1 and 2 as output and pins 3 and 4 as input pullup + void InitGpioInputsAndOutputs() + { + k_api::InterconnectConfig::GPIOConfiguration gpio_config; + + // Pins 1 and 2 as output + gpio_config.set_mode(k_api::InterconnectConfig::GPIO_MODE_OUTPUT_PUSH_PULL); + gpio_config.set_pull(k_api::InterconnectConfig::GPIO_PULL_NONE); + gpio_config.set_default_value(k_api::InterconnectConfig::GPIO_VALUE_LOW); + gpio_config.set_identifier(k_api::InterconnectConfig::GPIO_IDENTIFIER_1); + std::cout << "Setting pin #1 as output..." << std::endl; + m_interconnect_config->SetGPIOConfiguration(gpio_config, m_interconnect_device_id); + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); + gpio_config.set_identifier(k_api::InterconnectConfig::GPIO_IDENTIFIER_2); + std::cout << "Setting pin #2 as output..." << std::endl; + m_interconnect_config->SetGPIOConfiguration(gpio_config, m_interconnect_device_id); + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); + + // Pins 3 and 4 as input pullup + gpio_config.set_mode(k_api::InterconnectConfig::GPIO_MODE_INPUT_FLOATING); + gpio_config.set_pull(k_api::InterconnectConfig::GPIO_PULL_UP); + gpio_config.set_identifier(k_api::InterconnectConfig::GPIO_IDENTIFIER_3); + std::cout << "Setting pin #3 as input pullup..." << std::endl; + m_interconnect_config->SetGPIOConfiguration(gpio_config, m_interconnect_device_id); + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); + gpio_config.set_identifier(k_api::InterconnectConfig::GPIO_IDENTIFIER_4); + std::cout << "Setting pin #4 as input pullup..." << std::endl; + m_interconnect_config->SetGPIOConfiguration(gpio_config, m_interconnect_device_id); + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); + } + + void SetOutputPinValue(k_api::InterconnectConfig::GPIOIdentifier gpio_identifier, k_api::InterconnectConfig::GPIOValue gpio_value) + { + k_api::InterconnectConfig::GPIOState state; + state.set_identifier(gpio_identifier); + state.set_value(gpio_value); + std::cout << "GPIO pin " << k_api::InterconnectConfig::GPIOIdentifier_Name(gpio_identifier) + << " will be put at value " << k_api::InterconnectConfig::GPIOValue_Name(gpio_value) << std::endl; + m_interconnect_config->SetGPIOState(state, m_interconnect_device_id); + } + + uint32_t ReadInputPinValue(k_api::InterconnectConfig::GPIOIdentifier gpio_identifier) + { + k_api::InterconnectConfig::GPIOIdentification gpio_identification; + gpio_identification.set_identifier(gpio_identifier); + k_api::InterconnectConfig::GPIOState state = m_interconnect_config->GetGPIOState(gpio_identification, m_interconnect_device_id); + if (state.value() == k_api::InterconnectConfig::GPIO_VALUE_HIGH) + { + return 1; + } + else if (state.value() == k_api::InterconnectConfig::GPIO_VALUE_LOW) + { + return 0; + } + else + { + std::cout << "Error : the value read is unspecified" << std::endl; + return -1; + } + } + +private: + k_api::RouterClient* m_router; + k_api::TransportClientTcp* m_transport; + k_api::SessionManager* m_session_manager; + k_api::DeviceManager::DeviceManagerClient* m_device_manager; + k_api::InterconnectConfig::InterconnectConfigClient* m_interconnect_config; + + std::string m_username; + std::string m_password; + std::string m_ip_address; + int m_port; + uint32_t m_interconnect_device_id; + static const std::vector m_gpio_const_id; +}; + +const std::vector GpioBridge::m_gpio_const_id = { + k_api::InterconnectConfig::GPIO_IDENTIFIER_1, + k_api::InterconnectConfig::GPIO_IDENTIFIER_2, + k_api::InterconnectConfig::GPIO_IDENTIFIER_3, + k_api::InterconnectConfig::GPIO_IDENTIFIER_4 +}; + +// Example core +int main(int argc, char **argv) +{ + GpioBridge* gpio_bridge; + gpio_bridge = new GpioBridge(IP_ADDRESS , PORT, "admin", "admin"); + gpio_bridge->Init(); + + gpio_bridge->InitGpioInputsAndOutputs(); + std::cout << "GPIO bridge object initialized" << std::endl; + + // We sleep a bit between the reads and the writes + // The InterconnectConfig service runs at 25ms but we sleep 100ms to make sure we let enough time + uint32_t sleep_time_ms = 100; + + // The Arduino reads pin 1 and sets pin 3 the same + // The Arduino reads pin 2 and sets pin 4 the same + gpio_bridge->SetOutputPinValue(k_api::InterconnectConfig::GPIO_IDENTIFIER_1, k_api::InterconnectConfig::GPIO_VALUE_HIGH); + gpio_bridge->SetOutputPinValue(k_api::InterconnectConfig::GPIO_IDENTIFIER_2, k_api::InterconnectConfig::GPIO_VALUE_LOW); + std::this_thread::sleep_for(std::chrono::milliseconds(sleep_time_ms)); + uint32_t pin3_in = gpio_bridge->ReadInputPinValue(k_api::InterconnectConfig::GPIO_IDENTIFIER_3); // should be HIGH + uint32_t pin4_in = gpio_bridge->ReadInputPinValue(k_api::InterconnectConfig::GPIO_IDENTIFIER_4); // should be LOW + std::cout << "Value read for pin #3 is : " << pin3_in << std::endl; + std::cout << "Value read for pin #4 is : " << pin4_in << std::endl; + + gpio_bridge->SetOutputPinValue(k_api::InterconnectConfig::GPIO_IDENTIFIER_1, k_api::InterconnectConfig::GPIO_VALUE_LOW); + gpio_bridge->SetOutputPinValue(k_api::InterconnectConfig::GPIO_IDENTIFIER_2, k_api::InterconnectConfig::GPIO_VALUE_HIGH); + std::this_thread::sleep_for(std::chrono::milliseconds(sleep_time_ms)); + pin3_in = gpio_bridge->ReadInputPinValue(k_api::InterconnectConfig::GPIO_IDENTIFIER_3); // should be LOW + pin4_in = gpio_bridge->ReadInputPinValue(k_api::InterconnectConfig::GPIO_IDENTIFIER_4); // should be HIGH + std::cout << "Value read for pin #3 is : " << pin3_in << std::endl; + std::cout << "Value read for pin #4 is : " << pin4_in << std::endl; + + gpio_bridge->SetOutputPinValue(k_api::InterconnectConfig::GPIO_IDENTIFIER_1, k_api::InterconnectConfig::GPIO_VALUE_HIGH); + gpio_bridge->SetOutputPinValue(k_api::InterconnectConfig::GPIO_IDENTIFIER_2, k_api::InterconnectConfig::GPIO_VALUE_HIGH); + std::this_thread::sleep_for(std::chrono::milliseconds(sleep_time_ms)); + pin3_in = gpio_bridge->ReadInputPinValue(k_api::InterconnectConfig::GPIO_IDENTIFIER_3); // should be HIGH + pin4_in = gpio_bridge->ReadInputPinValue(k_api::InterconnectConfig::GPIO_IDENTIFIER_4); // should be HIGH + std::cout << "Value read for pin #3 is : " << pin3_in << std::endl; + std::cout << "Value read for pin #4 is : " << pin4_in << std::endl; + + gpio_bridge->SetOutputPinValue(k_api::InterconnectConfig::GPIO_IDENTIFIER_1, k_api::InterconnectConfig::GPIO_VALUE_LOW); + gpio_bridge->SetOutputPinValue(k_api::InterconnectConfig::GPIO_IDENTIFIER_2, k_api::InterconnectConfig::GPIO_VALUE_LOW); + std::this_thread::sleep_for(std::chrono::milliseconds(sleep_time_ms)); + pin3_in = gpio_bridge->ReadInputPinValue(k_api::InterconnectConfig::GPIO_IDENTIFIER_3); // should be LOW + pin4_in = gpio_bridge->ReadInputPinValue(k_api::InterconnectConfig::GPIO_IDENTIFIER_4); // should be LOW + std::cout << "Value read for pin #3 is : " << pin3_in << std::endl; + std::cout << "Value read for pin #4 is : " << pin4_in << std::endl; + + delete gpio_bridge; + + return 0; +}; \ No newline at end of file diff --git a/api_cpp/examples/104-BaseGen3_gpio_bridge/arduino_gpio_example_firmware/arduino_gpio_example_firmware.ino b/api_cpp/examples/104-BaseGen3_gpio_bridge/arduino_gpio_example_firmware/arduino_gpio_example_firmware.ino new file mode 100644 index 00000000..b6a9ffc8 --- /dev/null +++ b/api_cpp/examples/104-BaseGen3_gpio_bridge/arduino_gpio_example_firmware/arduino_gpio_example_firmware.ino @@ -0,0 +1,56 @@ +#include + +// Change those pins to your own pin numbers +const int ROBOT_PIN_1 = 23; +const int ROBOT_PIN_2 = 24; +const int ROBOT_PIN_3 = 29; +const int ROBOT_PIN_4 = 30; + +unsigned long previous_time; + +// Runs once +void setup() +{ + // Prints + Serial.begin(9600); + + // GPIO setup + pinMode(ROBOT_PIN_1, INPUT_PULLUP); + pinMode(ROBOT_PIN_2, INPUT_PULLUP); + pinMode(ROBOT_PIN_3, OUTPUT); + pinMode(ROBOT_PIN_4, OUTPUT); + previous_time = millis(); +} + +// Runs after the setup as an infinite loop +void loop() +{ + unsigned long current_time = millis(); + + if (current_time - previous_time > 200) + { + previous_time = current_time; + + // Pin 1 to Pin 3 + int p1_value = digitalRead(ROBOT_PIN_1); + if (p1_value) + { + digitalWrite(ROBOT_PIN_3, HIGH); + } + else + { + digitalWrite(ROBOT_PIN_3, LOW); + } + + // Pin 2 to pin 4 + int p2_value = digitalRead(ROBOT_PIN_2); + if (p2_value) + { + digitalWrite(ROBOT_PIN_4, HIGH); + } + else + { + digitalWrite(ROBOT_PIN_4, LOW); + } + } +} diff --git a/api_cpp/examples/105-BaseGen3_i2c_bridge/01-i2c_bridge.cpp b/api_cpp/examples/105-BaseGen3_i2c_bridge/01-i2c_bridge.cpp new file mode 100644 index 00000000..ba52cd4a --- /dev/null +++ b/api_cpp/examples/105-BaseGen3_i2c_bridge/01-i2c_bridge.cpp @@ -0,0 +1,293 @@ +/* +* KINOVA (R) KORTEX (TM) +* +* Copyright (c) 2019 Kinova inc. All rights reserved. +* +* This software may be modified and distributed +* under the terms of the BSD 3-Clause license. +* +* Refer to the LICENSE file for details. +* +*/ + +/* +* 105-BaseGen3_i2c_bridge/i2c_bridge.cpp +* +* Usage example for the I2C Expansion IO on the Gen3 Interconnect module. +* +* PHYSICAL SETUP: +* ========= +* +* We used a I2C IO Extender PCA9505 for this example (https://www.nxp.com/docs/en/data-sheet/PCA9505_9506.pdf) and made the connections: +* - SDA -------------- Pin 1 +* - SCL -------------- Pin 2 +* - DC --------------- Pins 18, 46, 86 +* - GND -------------- Pins 6, 11, 23, 27, 28, 29, 34, 39, 51 +* +* DESCRIPTION OF CURRENT EXAMPLE: +* =============================== +* In this example, the I2C bridge class encapsulates all necessary Kortex API +* objects and implements the functions to setup the I2C, write to the bus and read from the bus. +* Upon a read request, the IO Extender supplies the input values read from the bank 0 pins (IO0_X pins from page 5 of the datasheet) +* The IO Extender can take configuration commands from write requests and the register values are supplied in the data sheet. +* +* For this example, we first read the values of IO0_X pins, then invert the polarity on half of the pins and read them again. +* +* The Init function creates the Kortex API objects and connects to the arm. +* +* The Configure function uses the appropriate RPC to activate the bridge with the desired settings. +* +* The WriteValue function writes a request to the bus. +* +* The ReadValue function initiates a read request to the bus. +* +* The main function : +* - Initializes the I2CBridge object +* - Creates and sends a read request to read from the bank 0 pins on the IO Extender +* - Creates and sends a write request to invert the polarity of half the bank 0 pins on the IO Extender +* - Creates and sends a read request to read from the bank 0 pins on the IO Extender (which will not give the same output as the first request) +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace k_api = Kinova::Api; + +#define IP_ADDRESS "192.168.1.10" +#define PORT 10000 + +/////////////////////////////////////////////////////////////////////// +// class I2CBridge +// +// Implements methods for establishing and operating I2C bridge through +// the base. +/////////////////////////////////////////////////////////////////////// + +class I2CBridge +{ +public: + I2CBridge(const std::string& ip_address, int port, const std::string& username = "admin", const std::string& password = "admin"): + m_ip_address(ip_address), m_username(username), m_password(password), m_port(port) + { + m_router = nullptr; + m_transport = nullptr; + m_session_manager = nullptr; + m_device_manager = nullptr; + m_interconnect_config = nullptr; + + m_is_init = true; + } + + ~I2CBridge() + { + // Close API session + m_session_manager->CloseSession(); + + // Deactivate the router and cleanly disconnect from the transport object + m_router->SetActivationStatus(false); + m_transport->disconnect(); + + // Destroy the API + delete m_interconnect_config; + delete m_device_manager; + delete m_session_manager; + delete m_router; + delete m_transport; + } + + void Init() + { + m_transport = new k_api::TransportClientTcp(); + m_transport->connect(m_ip_address, m_port); + m_router = new k_api::RouterClient(m_transport, [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }); + + // Set session data connection information + auto createSessionInfo = k_api::Session::CreateSessionInfo(); + createSessionInfo.set_username(m_username); + createSessionInfo.set_password(m_password); + createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) + createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + m_session_manager = new k_api::SessionManager(m_router); + m_session_manager->CreateSession(createSessionInfo); + + // Create services + m_device_manager = new k_api::DeviceManager::DeviceManagerClient(m_router); + m_interconnect_config = new k_api::InterconnectConfig::InterconnectConfigClient(m_router); + + m_interconnect_device_id = GetDeviceIdFromDevType(k_api::Common::INTERCONNECT, 0); + m_is_init = true; + } + + uint32_t GetDeviceIdFromDevType(k_api::Common::DeviceTypes device_type, uint32_t device_index) + { + auto device_handles = m_device_manager->ReadAllDevices(); + uint32_t current_index = 0; + for (auto device_handle : device_handles.device_handle() ) + { + if (device_handle.device_type() == device_type) + { + if (current_index == device_index) + { + return device_handle.device_identifier(); + } + ++current_index; + } + } + return 0; + } + + bool WriteValue(uint32_t device_address, const char* value, uint32_t value_length, uint32_t timeout_ms) + { + if (m_is_init == false) + { + return false; + } + if (value == nullptr) + { + return false; + } + + k_api::InterconnectConfig::I2CWriteParameter i2c_write_request; + i2c_write_request.set_device(k_api::InterconnectConfig::I2C_DEVICE_EXPANSION); + i2c_write_request.set_device_address(device_address); + i2c_write_request.set_timeout(timeout_ms); + k_api::InterconnectConfig::I2CData* i2c_data = i2c_write_request.mutable_data(); + + i2c_data->set_data(value, value_length); + i2c_data->set_size(value_length); + m_interconnect_config->I2CWrite(i2c_write_request, m_interconnect_device_id); + return true; + } + + bool ReadValue(uint32_t device_address, uint32_t bytes_to_read, uint32_t timeout_ms) + { + if (m_is_init == false) + { + return false; + } + + k_api::InterconnectConfig::I2CReadParameter i2c_read_request; + i2c_read_request.set_device(k_api::InterconnectConfig::I2C_DEVICE_EXPANSION); + i2c_read_request.set_device_address(device_address); + i2c_read_request.set_size(bytes_to_read); + i2c_read_request.set_timeout(timeout_ms); + + k_api::InterconnectConfig::I2CData read_data = m_interconnect_config->I2CRead(i2c_read_request, m_interconnect_device_id); + std::string data = read_data.data(); + std::cout << "We were supposed to read " << bytes_to_read << " bytes and we read " << read_data.size() << " bytes." << std::endl; + std::cout << "The data is : "; + for (auto c : data) + { + std::cout << std::bitset<8>(c); + } + std::cout << std::endl; + + return true; + + } + + bool Configure(bool is_enabled, k_api::InterconnectConfig::I2CMode mode, k_api::InterconnectConfig::I2CDeviceAddressing addressing) + { + if (m_is_init == false) + { + return false; + } + + k_api::InterconnectConfig::I2CConfiguration i2c_config; + + i2c_config.set_device(k_api::InterconnectConfig::I2C_DEVICE_EXPANSION); + i2c_config.set_enabled(is_enabled); + i2c_config.set_mode(mode); + i2c_config.set_addressing(addressing); + m_interconnect_config->SetI2CConfiguration(i2c_config, m_interconnect_device_id); + return true; + } + + +private: + k_api::RouterClient* m_router; + k_api::TransportClientTcp* m_transport; + k_api::SessionManager* m_session_manager; + k_api::DeviceManager::DeviceManagerClient* m_device_manager; + k_api::InterconnectConfig::InterconnectConfigClient* m_interconnect_config; + bool m_is_init; + std::string m_username; + std::string m_password; + std::string m_ip_address; + int m_port; + uint32_t m_interconnect_device_id; +}; + +// Example core +// Implements a sample I2C bridge application +int main(int argc, char **argv) +{ + I2CBridge* i2c_bridge; + i2c_bridge = new I2CBridge(IP_ADDRESS, PORT, "admin", "admin"); + + // This has to match the device's slave address (see data sheet) + int slave_address = 0x20; + + i2c_bridge->Init(); + i2c_bridge->Configure(true, k_api::InterconnectConfig::I2C_MODE_FAST, k_api::InterconnectConfig::I2C_DEVICE_ADDRESSING_7_BITS); + + std::cout << "I2C bridge object initialized" << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); + + // Read the state of the pins in bank 0 + std::cout << "Reading byte array from interconnect I2C bus..." << std::endl; + try + { + uint32_t bytes_to_read = 1; + i2c_bridge->ReadValue(slave_address, bytes_to_read, 100); + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + } + catch(const std::exception& e) + { + std::cout << "Error: " << e.what() << std::endl; + } + + // Send byte array to inverse polarity on half the pins + std::cout << "Sending byte array to interconnect I2C bus..." << std::endl; + try + { + // By looking at the data sheet, we see that to write to the polarity register, + // we have to send command register 0x10 as the first byte, then our data byte + const uint8_t buf[] = {0x10, 0xAA}; + + i2c_bridge->WriteValue(0x20, (char*)buf, sizeof(buf), 100); + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + } + catch(const std::exception& e) + { + std::cout << "Error: " << e.what() << std::endl; + } + + // Read the state of the pins in bank 0 + // Half of them should be inverted now + std::cout << "Reading byte array from interconnect I2C bus..." << std::endl; + try + { + uint32_t bytes_to_read = 1; + i2c_bridge->ReadValue(slave_address, bytes_to_read, 100); + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + } + catch(const std::exception& e) + { + std::cout << "Error: " << e.what() << std::endl; + } + + delete i2c_bridge; + + return 0; +}; diff --git a/api_cpp/examples/106-BaseGen3_gripper_command/01-gripper_command.cpp b/api_cpp/examples/106-BaseGen3_gripper_command/01-gripper_command.cpp new file mode 100644 index 00000000..8ab3f0df --- /dev/null +++ b/api_cpp/examples/106-BaseGen3_gripper_command/01-gripper_command.cpp @@ -0,0 +1,187 @@ +/* +* KINOVA (R) KORTEX (TM) +* +* Copyright (c) 2019 Kinova inc. All rights reserved. +* +* This software may be modified and distributed +* under the terms of the BSD 3-Clause license. +* +* Refer to the LICENSE file for details. +* +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace k_api = Kinova::Api; + +#define IP_ADDRESS "192.168.1.10" +#define PORT 10000 + +/////////////////////////////////////////////////////////////////////// +// class GripperCommandExample +// +// Implements a sample Gripper command application. +/////////////////////////////////////////////////////////////////////// +class GripperCommandExample +{ +public: + GripperCommandExample(const std::string& ip_address, int port, const std::string& username = "admin", const std::string& password = "admin"): + m_ip_address(ip_address), m_username(username), m_password(password), m_port(port) + { + m_router = nullptr; + m_transport = nullptr; + m_session_manager = nullptr; + m_device_manager = nullptr; + m_base = nullptr; + + m_is_init = false; + } + + ~GripperCommandExample() + { + // Close API session + m_session_manager->CloseSession(); + + // Deactivate the router and cleanly disconnect from the transport object + m_router->SetActivationStatus(false); + m_transport->disconnect(); + + // Destroy the API + delete m_base; + delete m_device_manager; + delete m_session_manager; + delete m_router; + delete m_transport; + } + + void Init() + { + if (m_is_init) + { + return; + } + m_transport = new k_api::TransportClientTcp(); + m_transport->connect(m_ip_address, m_port); + m_router = new k_api::RouterClient(m_transport, [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }); + + // Set session data connection information + auto createSessionInfo = k_api::Session::CreateSessionInfo(); + createSessionInfo.set_username(m_username); + createSessionInfo.set_password(m_password); + createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) + createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + m_session_manager = new k_api::SessionManager(m_router); + m_session_manager->CreateSession(createSessionInfo); + + // Create services + m_device_manager = new k_api::DeviceManager::DeviceManagerClient(m_router); + m_base = new k_api::Base::BaseClient(m_router); + + m_is_init = true; + } + + bool Run() + { + if (m_is_init == false) + { + return false; + } + std::cout << "Performing gripper test in position..." << std::endl; + + k_api::Base::GripperCommand gripper_command; + + gripper_command.set_mode(k_api::Base::GRIPPER_POSITION); + + auto finger = gripper_command.mutable_gripper()->add_finger(); + finger->set_finger_identifier(1); + for (float position = 0.0; position < 1.0; position += 0.1) + { + std::cout << "Setting position to " << position << std::endl; + finger->set_value(position); + m_base->SendGripperCommand(gripper_command); + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); + } + + std::cout << "Opening gripper using speed command..." << std::endl; + gripper_command.set_mode(k_api::Base::GRIPPER_SPEED); + finger->set_value(0.1); + m_base->SendGripperCommand(gripper_command); + k_api::Base::Gripper gripper_feedback; + k_api::Base::GripperRequest gripper_request; + bool is_motion_completed = false; + gripper_request.set_mode(k_api::Base::GRIPPER_POSITION); + while(!is_motion_completed) + { + float position =0.0f; + gripper_feedback = m_base->GetMeasuredGripperMovement(gripper_request); + + if (gripper_feedback.finger_size()) + { + position = gripper_feedback.finger(0).value(); + cout << "Reported position : " << position << std::endl; + } + + if (position < 0.01f) + { + is_motion_completed = true; + } + } + + std::cout << "Closing gripper using speed command..." << std::endl; + finger->set_value(-0.1); + m_base->SendGripperCommand(gripper_command); + is_motion_completed = false; + gripper_request.set_mode(k_api::Base::GRIPPER_SPEED); + while(!is_motion_completed) + { + float speed = 0.0; + gripper_feedback = m_base->GetMeasuredGripperMovement(gripper_request); + if (gripper_feedback.finger_size()) + { + speed = gripper_feedback.finger(0).value(); + cout << "Reported speed : " << speed << std::endl; + } + + if (speed == 0.0f) + { + is_motion_completed = true; + } + + } + return true; + } + +private: + + k_api::RouterClient* m_router; + k_api::TransportClientTcp* m_transport; + k_api::SessionManager* m_session_manager; + k_api::Base::BaseClient* m_base; + k_api::DeviceManager::DeviceManagerClient* m_device_manager; + bool m_is_init; + std::string m_username; + std::string m_password; + std::string m_ip_address; + int m_port; +}; + +int main(int argc, char **argv) +{ + GripperCommandExample* gripper_command_example; + gripper_command_example = new GripperCommandExample(IP_ADDRESS, PORT); + gripper_command_example->Init(); + gripper_command_example->Run(); + delete gripper_command_example; + + return 0; +}; \ No newline at end of file diff --git a/api_cpp/examples/107-BaseGen3_gripper_low_level/01-gripper_low_level_command.cpp b/api_cpp/examples/107-BaseGen3_gripper_low_level/01-gripper_low_level_command.cpp new file mode 100644 index 00000000..014c9be6 --- /dev/null +++ b/api_cpp/examples/107-BaseGen3_gripper_low_level/01-gripper_low_level_command.cpp @@ -0,0 +1,344 @@ +/* +* KINOVA (R) KORTEX (TM) +* +* Copyright (c) 2019 Kinova inc. All rights reserved. +* +* This software may be modified and distributed +* under the terms of the BSD 3-Clause license. +* +* Refer to the LICENSE file for details. +* +*/ + +/* +* 01-BaseGen3_gripper_lowlevel.cpp +* +* Low level servoing example for the GEN3's end effector (using Robotiq's +* 2-Finger 85 or 2-Finger 140) +* +* ABSTRACT: +* ========= +* On GEN3, gripper cyclic commands have 3 parameters used to control gripper +* motion : position, velocity and force. +* +* These 3 parameters are always sent together and cannot be used independently. +* Each parameter has absolute percentage values and their range are from 0% to +* 100%. +* +* For gripper position, 0% is fully opened and 100% is fully closed. +* For gripper speed, 0% is fully stopped and 100% is opening/closing (depending on +* position used) at maximum speed. +* Force parameter is used as a force limit to apply when closing or opening +* the gripper. If this force limit is exceeded the gripper motion will stop. +* 0% is the lowest force limit and 100% the maximum. +* +* DESCRIPTION OF CURRENT EXAMPLE: +* =============================== +* In this example, 10 successive positions are sent to the gripper with a +* pause of 1 second between each position. It starts at fully opened position +* (0%) to end up at fully closed position (100%). All positions are spread +* evenly over the 0%-100%, having a positional increment of 10% each +* iteration. +* +* To control the gripper, cyclic commands are sent directly to the end effector +* to achieve position control. +* +* A simple proportional feedback loop is used to illustrate how feedback can be +* obtained and used with Kortex API. +* +* This loop modulates the speed sent to the gripper. +*/ + +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace k_api = Kinova::Api; + +#define IP_ADDRESS "192.168.1.10" +#define PORT 10000 +#define PORT_REAL_TIME 10001 + +#define PROPORTIONAL_GAIN (2.2f) + +#define MINIMAL_POSITION_ERROR ((float)1.5) + +/////////////////////////////////////////////////////////////////////// +// class GripperLowLevel +// +// Implements methods for controlling the Gripper with low-level +// cyclic commands. +/////////////////////////////////////////////////////////////////////// +class GripperLowLevel +{ +public: + GripperLowLevel(const std::string& ip_address, int port_real_time , int port, const std::string& username = "admin", const std::string& password = "admin"): + m_ip_address(ip_address), m_port(port), m_port_real_time(port_real_time), m_username(username), m_password(password), m_proportional_gain(0.0) + { + m_router = nullptr; + m_router_real_time = nullptr; + m_transport = nullptr; + m_transport_real_time = nullptr; + m_session_manager = nullptr; + m_session_manager_real_time = nullptr; + m_base = nullptr; + m_base_cyclic = nullptr; + } + + ~GripperLowLevel() + { + // Restore servoing mode. + if (m_base) + { + m_base->SetServoingMode(m_previous_servoing_mode); + } + + // Close API sessions + if (m_session_manager) + { + m_session_manager->CloseSession(); + } + if (m_session_manager_real_time) + { + m_session_manager_real_time->CloseSession(); + } + + // Deactivate the router and cleanly disconnect from the transport object + m_router->SetActivationStatus(false); + m_transport->disconnect(); + m_router_real_time->SetActivationStatus(false); + m_transport_real_time->disconnect(); + + // Destroy the API + delete m_base; + delete m_base_cyclic; + delete m_session_manager; + delete m_session_manager_real_time; + delete m_router; + delete m_router_real_time; + delete m_transport; + delete m_transport_real_time; + } + + //////////////////////////////////////////////////////////////////////////////////////////////////////////////// + // void Init(float proportional_gain = 2.0) + // + // Initializes gripper object. Connection is made to the base using credentials given at object's + // construction. + // INPUT: + // float fProportionnal: Proportional gain to be used when using the position loop (default value = 2.0) + // + // OUTPUT: + // None. + //////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void Init(float proportional_gain = 2.0) + { + m_proportional_gain = proportional_gain; + + /////////////////////////////////////////////////////////////////////////////////////////// + // UDP and TCP sessions are used in this example. + // TCP is used to perform the change of servoing mode + // UDP is used for cyclic commands. + // + // 2 sessions have to be created: 1 for TCP and 1 for UDP + /////////////////////////////////////////////////////////////////////////////////////////// + + // TCP transport and router + m_transport = new k_api::TransportClientTcp(); + m_transport->connect(m_ip_address, m_port); + m_router = new k_api::RouterClient(m_transport, [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }); + + // UDP transport and router + m_transport_real_time = new k_api::TransportClientUdp(); + m_transport_real_time->connect(m_ip_address, m_port_real_time); + m_router_real_time = new k_api::RouterClient(m_transport_real_time, [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }); + + // Set session data connection information + auto createSessionInfo = k_api::Session::CreateSessionInfo(); + createSessionInfo.set_username(m_username); + createSessionInfo.set_password(m_password); + createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) + createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) + + std::cout << "Creating sessions for communication" << std::endl; + + // Session manager service wrapper + m_session_manager = new k_api::SessionManager(m_router); + m_session_manager->CreateSession(createSessionInfo); + + m_session_manager_real_time = new k_api::SessionManager(m_router_real_time); + m_session_manager_real_time->CreateSession(createSessionInfo); + + // Although TCP can be used, it is best to use UDP router for cyclic + m_base_cyclic = new k_api::BaseCyclic::BaseCyclicClient(m_router_real_time); + + // Base client can only be operated on a TCP connection + m_base = new k_api::Base::BaseClient(m_router); + + // Get previous servoing mode + m_previous_servoing_mode = m_base->GetServoingMode(); + + // Set arm in low level servoing mode + k_api::Base::ServoingModeInformation servoing_info; + servoing_info.set_servoing_mode(k_api::Base::LOW_LEVEL_SERVOING); + m_base->SetServoingMode(servoing_info); + + // Get the feedback from the robot + k_api::BaseCyclic::Feedback base_feedback; + base_feedback = m_base_cyclic->RefreshFeedback(); + + // This is how to get the gripper's actual position from the base feedback + float gripper_initial_position = base_feedback.interconnect().gripper_feedback().motor()[0].position(); + + //////////////////////////////////////////////////////////////////////////////////////////////////////////////// + // Initialize actuator commands to current position. + //////////////////////////////////////////////////////////////////////////////////////////////////////////////// + for (auto actuator : base_feedback.actuators()) + { + k_api::BaseCyclic::ActuatorCommand* actuator_command; + actuator_command = m_base_command.mutable_actuators()->Add(); + actuator_command->set_position(actuator.position()); + actuator_command->set_velocity(0.0); + actuator_command->set_torque_joint(0.0); + actuator_command->set_command_id(0); + } + + //////////////////////////////////////////////////////////////////////////////////////////////////////////////// + // Initialize interconnect command to current gripper position. + //////////////////////////////////////////////////////////////////////////////////////////////////////////////// + m_base_command.mutable_interconnect()->mutable_command_id()->set_identifier(0); + + m_gripper_motor_command = m_base_command.mutable_interconnect()->mutable_gripper_command()->add_motor_cmd(); + m_gripper_motor_command->set_position(gripper_initial_position ); + m_gripper_motor_command->set_velocity(0.0); + m_gripper_motor_command->set_force(100.0); + } + + + //////////////////////////////////////////////////////////////////////////////////////////////////////////////// + // void GoTo(float target_position) + // + // Sends the gripper to a target position using a feed back loop made with base cyclic command. + // The method blocks until position is reached. + // The feedback loop used is a simple proportional loop. + // INPUT: + // float target_position: Target gripper position in percent (100.0 = fully closed, 0.0 = fully open) + // + // OUTPUT: + // Returns true if operation completed successfully, false otherwise. + // + // NOTES: + // - This method blocks until the requested position is reached. + // - If target position exceeds 100.0, its value is changed to 100.0. + // - If target position is below 0.0, its value is set to 0.0. + //////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool GoTo(float target_position) + { + k_api::BaseCyclic::Feedback base_feedback; + float position_error; + if (target_position > 100.0) + { + target_position = 100.0; + } + if (target_position < 0.0) + { + target_position = 0.0; + } + + while (true) + { + try + { + float velocity; + float actual_position; + + // Refresh cyclic data (send command and get feedback) + base_feedback = m_base_cyclic->Refresh(m_base_command); + actual_position = base_feedback.interconnect().gripper_feedback().motor()[0].position(); + + position_error = target_position - actual_position; + + if (fabs(position_error) < MINIMAL_POSITION_ERROR) + { + m_gripper_motor_command->set_velocity(0.0); + m_base_cyclic->Refresh(m_base_command); + break; + } + + velocity = m_proportional_gain * fabs(position_error); + if (velocity > 100.0) + { + velocity = 100.0; + } + m_gripper_motor_command->set_position(100.0); + if (position_error < 0.0) + { + m_gripper_motor_command->set_position(0.0); + } + + m_gripper_motor_command->set_velocity(velocity); + } + catch(const std::exception& ex) + { + std::cerr << "Error occurred: " << ex.what() << std::endl; + return false; + } + std::this_thread::sleep_for(std::chrono::milliseconds(1)); + } + // If we get here, operation completed successfully. + return true; + } + +private: + k_api::TransportClientTcp* m_transport; + k_api::TransportClientUdp* m_transport_real_time; + k_api::RouterClient* m_router; + k_api::RouterClient* m_router_real_time; + k_api::SessionManager* m_session_manager; + k_api::SessionManager* m_session_manager_real_time; + k_api::Base::BaseClient* m_base; + k_api::BaseCyclic::BaseCyclicClient* m_base_cyclic; + + k_api::BaseCyclic::Command m_base_command; + k_api::GripperCyclic::MotorCommand* m_gripper_motor_command; + std::string m_username; + std::string m_password; + std::string m_ip_address; + int m_port_real_time; + int m_port; + k_api::Base::ServoingModeInformation m_previous_servoing_mode; + float m_proportional_gain; +}; + +int main(int argc, char **argv) +{ + GripperLowLevel* gripper_low_level; + gripper_low_level = new GripperLowLevel(IP_ADDRESS, PORT_REAL_TIME, PORT, "admin", "admin"); + gripper_low_level->Init(PROPORTIONAL_GAIN); + + // Example core + // Implements a sample gripper low level servoing example + std::cout << "GripperLowLevel object initialized" << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); + for (float position = 0.0; position <= 100.0; position+=10.0) + { + std::cout << "Going to position : " << position << std::endl; + gripper_low_level->GoTo(position); + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); + } + + delete gripper_low_level; + + return 0; +}; \ No newline at end of file diff --git a/api_cpp/examples/108-BaseGen3_torque_control/01-torque_control_cyclic.cpp b/api_cpp/examples/108-BaseGen3_torque_control/01-torque_control_cyclic.cpp new file mode 100644 index 00000000..389a6b1a --- /dev/null +++ b/api_cpp/examples/108-BaseGen3_torque_control/01-torque_control_cyclic.cpp @@ -0,0 +1,350 @@ +/* +* KINOVA (R) KORTEX (TM) +* +* Copyright (c) 2019 Kinova inc. All rights reserved. +* +* This software may be modified and distributed +* under the terms of the BSD 3-Clause license. +* +* Refer to the LICENSE file for details. +* +*/ + +/* +* DESCRIPTION OF CURRENT EXAMPLE: +* =============================== +* This example works as a simili-haptic demo. +* +* The last actuator, the small one holding the interconnect, acts as a torque sensing device commanding the first actuator. +* The first actuator, the big one on the base, is controlled in torque and its position is sent as a command to the last one. +* +* The script can be launched through command line with python3: python torqueControl_example.py +* The PC should be connected through ethernet with the arm. Default IP address 192.168.1.10 is used as arm address. +* +* 1- Connection with the base: +* 1- A TCP session is started on port 10000 for most API calls. Refresh is at 25ms on this port. +* 2- A UDP session is started on port 10001 for BaseCyclic calls. Refresh is at 1ms on this port only. +* 2- Initialization +* 1- First frame is built based on arm feedback to ensure continuity +* 2- First actuator torque command is set as well +* 3- Base is set in low-level servoing +* 4- First frame is sent +* 3- First actuator is switched to torque mode +* 3- Cyclic thread is running at 1ms +* 1- Torque command to first actuator is set to a multiple of last actuator torque measure minus its initial value to +* avoid an initial offset error +* 2- Position command to last actuator equals first actuator position minus initial delta +* +* 4- On keyboard interrupt, example stops +* 1- Cyclic thread is stopped +* 2- First actuator is set back to position control +* 3- Base is set in single level servoing (default) +*/ + +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include + +#include +#include +#include + +#include + +#if defined(_MSC_VER) +#include +#else +#include +#endif +#include + +namespace k_api = Kinova::Api; + +#define IP_ADDRESS "192.168.1.10" + +#define PORT 10000 +#define PORT_REAL_TIME 10001 + +#define ACTUATOR_COUNT 7 +#define DURATION 30 // Network timeout (seconds) + +float time_duration = DURATION; // Duration of the example (seconds) + +/***************************** + * Example related function * + *****************************/ +int64_t GetTickUs() +{ +#if defined(_MSC_VER) + LARGE_INTEGER start, frequency; + + QueryPerformanceFrequency(&frequency); + QueryPerformanceCounter(&start); + + return (start.QuadPart * 1000000) / frequency.QuadPart; +#else + struct timespec start; + clock_gettime(CLOCK_MONOTONIC, &start); + + return (start.tv_sec * 1000000LLU) + (start.tv_nsec / 1000); +#endif +} + +/************************** + * Example core functions * + **************************/ +void example_move_to_home_position(k_api::Base::BaseClient* base) +{ + // Make sure the arm is in Single Level Servoing before executing an Action + auto servoingMode = k_api::Base::ServoingModeInformation(); + servoingMode.set_servoing_mode(k_api::Base::ServoingMode::SINGLE_LEVEL_SERVOING); + base->SetServoingMode(servoingMode); + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + + // Move arm to ready position + std::cout << "Moving the arm to a safe position" << std::endl; + auto action_type = k_api::Base::RequestedActionType(); + action_type.set_action_type(k_api::Base::REACH_JOINT_ANGLES); + auto action_list = base->ReadAllActions(action_type); + auto action_handle = k_api::Base::ActionHandle(); + action_handle.set_identifier(0); + for (auto action : action_list.action_list()) + { + if (action.name() == "Home") + { + action_handle = action.handle(); + } + } + + if (action_handle.identifier() == 0) + { + std::cout << "Can't reach safe position, exiting" << std::endl; + } + else + { + base->ExecuteActionFromReference(action_handle); + std::this_thread::sleep_for(std::chrono::milliseconds(20000)); // Leave time to action to finish + } +} + +bool example_cyclic_torque_control(k_api::Base::BaseClient* base, k_api::BaseCyclic::BaseCyclicClient* base_cyclic, k_api::ActuatorConfig::ActuatorConfigClient* actuator_config) +{ + bool return_status = true; + + // Clearing faults + try + { + base->ClearFaults(); + } + catch(...) + { + std::cout << "Unable to clear robot faults" << std::endl; + return false; + } + + + k_api::BaseCyclic::Feedback base_feedback; + k_api::BaseCyclic::Command base_command; + + std::vector commands; + + auto servoing_mode = k_api::Base::ServoingModeInformation(); + + int timer_count = 0; + int64_t now = 0; + int64_t last = 0; + + std::cout << "Initializing the arm for torque control example" << std::endl; + try + { + // Set the base in low-level servoing mode + servoing_mode.set_servoing_mode(k_api::Base::ServoingMode::LOW_LEVEL_SERVOING); + base->SetServoingMode(servoing_mode); + base_feedback = base_cyclic->RefreshFeedback(); + + // Initialize each actuator to their current position + for (int i = 0; i < ACTUATOR_COUNT; i++) + { + commands.push_back(base_feedback.actuators(i).position()); + + // Save the current actuator position, to avoid a following error + base_command.add_actuators()->set_position(base_feedback.actuators(i).position()); + } + + // Send a first frame + base_feedback = base_cyclic->Refresh(base_command); + + // Set first actuator in torque mode now that the command is equal to measure + auto control_mode_message = k_api::ActuatorConfig::ControlModeInformation(); + control_mode_message.set_control_mode(k_api::ActuatorConfig::ControlMode::TORQUE); + + int first_actuator_device_id = 1; + actuator_config->SetControlMode(control_mode_message, first_actuator_device_id); + + // Initial delta between first and last actuator + float init_delta_position = base_feedback.actuators(0).position() - base_feedback.actuators(6).position(); + + // Initial first and last actuator torques; avoids unexpected movement due to torque offsets + float init_last_torque = base_feedback.actuators(6).torque(); + float init_first_torque = -base_feedback.actuators(0).torque(); //Torque measure is reversed compared to actuator direction + float torque_amplification = 2.0; + + std::cout << "Running torque control example for " << time_duration << " seconds" << std::endl; + + // Real-time loop + while (timer_count < (time_duration * 1000)) + { + now = GetTickUs(); + + if (now - last > 1000) + { + // Position command to first actuator is set to measured one to avoid following error to trigger + // Bonus: When doing this instead of disabling the following error, if communication is lost and first + // actuator continues to move under torque command, resulting position error with command will + // trigger a following error and switch back the actuator in position command to hold its position + base_command.mutable_actuators(0)->set_position(base_feedback.actuators(0).position()); + + // First actuator torque command is set to last actuator torque measure times an amplification + base_command.mutable_actuators(0)->set_torque_joint(init_first_torque + (torque_amplification * (base_feedback.actuators(6).torque() - init_last_torque))); + + + // First actuator position is sent as a command to last actuator + base_command.mutable_actuators(6)->set_position(base_feedback.actuators(0).position() - init_delta_position); + + // Incrementing identifier ensures actuators can reject out of time frames + base_command.set_frame_id(base_command.frame_id() + 1); + if (base_command.frame_id() > 65535) + base_command.set_frame_id(0); + + for (int idx = 0; idx < ACTUATOR_COUNT; idx++) + { + base_command.mutable_actuators(idx)->set_command_id(base_command.frame_id()); + } + + try + { + base_feedback = base_cyclic->Refresh(base_command, 0); + } + catch (k_api::KDetailedException& ex) + { + std::cout << "Kortex exception: " << ex.what() << std::endl; + + std::cout << "Error sub-code: " << k_api::SubErrorCodes_Name(k_api::SubErrorCodes((ex.getErrorInfo().getError().error_sub_code()))) << std::endl; + } + catch (std::runtime_error& ex2) + { + std::cout << "runtime error: " << ex2.what() << std::endl; + } + catch(...) + { + std::cout << "Unknown error." << std::endl; + } + + timer_count++; + last = GetTickUs(); + } + } + + std::cout << "Torque control example completed" << std::endl; + + // Set first actuator back in position + control_mode_message.set_control_mode(k_api::ActuatorConfig::ControlMode::POSITION); + actuator_config->SetControlMode(control_mode_message, first_actuator_device_id); + + std::cout << "Torque control example clean exit" << std::endl; + + } + catch (k_api::KDetailedException& ex) + { + std::cout << "API error: " << ex.what() << std::endl; + return_status = false; + } + catch (std::runtime_error& ex2) + { + std::cout << "Error: " << ex2.what() << std::endl; + return_status = false; + } + + // Set the servoing mode back to Single Level + servoing_mode.set_servoing_mode(k_api::Base::ServoingMode::SINGLE_LEVEL_SERVOING); + base->SetServoingMode(servoing_mode); + + // Wait for a bit + std::this_thread::sleep_for(std::chrono::milliseconds(2000)); + + return return_status; +} + +int main(int argc, char **argv) +{ + // Create API objects + auto error_callback = [](k_api::KError err){ cout << "_________ callback error _________" << err.toString(); }; + + std::cout << "Creating transport objects" << std::endl; + auto transport = new k_api::TransportClientTcp(); + auto router = new k_api::RouterClient(transport, error_callback); + transport->connect(IP_ADDRESS, PORT); + + std::cout << "Creating transport real time objects" << std::endl; + auto transport_real_time = new k_api::TransportClientUdp(); + auto router_real_time = new k_api::RouterClient(transport_real_time, error_callback); + transport_real_time->connect(IP_ADDRESS, PORT_REAL_TIME); + + // Set session data connection information + auto create_session_info = k_api::Session::CreateSessionInfo(); + create_session_info.set_username("admin"); + create_session_info.set_password("admin"); + create_session_info.set_session_inactivity_timeout(60000); // (milliseconds) + create_session_info.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + std::cout << "Creating sessions for communication" << std::endl; + auto session_manager = new k_api::SessionManager(router); + session_manager->CreateSession(create_session_info); + auto session_manager_real_time = new k_api::SessionManager(router_real_time); + session_manager_real_time->CreateSession(create_session_info); + std::cout << "Sessions created" << std::endl; + + // Create services + auto base = new k_api::Base::BaseClient(router); + auto base_cyclic = new k_api::BaseCyclic::BaseCyclicClient(router_real_time); + auto actuator_config = new k_api::ActuatorConfig::ActuatorConfigClient(router); + + // Example core + example_move_to_home_position(base); + auto isOk = example_cyclic_torque_control(base, base_cyclic, actuator_config); + if (!isOk) + { + std::cout << "There has been an unexpected error in example_cyclic_torque_control() function." << endl;; + } + + // Close API session + session_manager->CloseSession(); + session_manager_real_time->CloseSession(); + + // Deactivate the router and cleanly disconnect from the transport object + router->SetActivationStatus(false); + transport->disconnect(); + router_real_time->SetActivationStatus(false); + transport_real_time->disconnect(); + + // Destroy the API + delete base; + delete base_cyclic; + delete actuator_config; + delete session_manager; + delete session_manager_real_time; + delete router; + delete router_real_time; + delete transport; + delete transport_real_time; +} diff --git a/api_cpp/examples/109-BaseGen3_ethernet_bridge/01-ethernet_bridge_configuration.cpp b/api_cpp/examples/109-BaseGen3_ethernet_bridge/01-ethernet_bridge_configuration.cpp new file mode 100644 index 00000000..4a6c3bc4 --- /dev/null +++ b/api_cpp/examples/109-BaseGen3_ethernet_bridge/01-ethernet_bridge_configuration.cpp @@ -0,0 +1,156 @@ +/* +* KINOVA (R) KORTEX (TM) +* +* Copyright (c) 2018 Kinova inc. All rights reserved. +* +* This software may be modified and distributed +* under the terms of the BSD 3-Clause license. +* +* Refer to the LICENSE file for details. +* +*/ + +#include +#include +#include +#include +#include +#include +#include + +namespace k_api = Kinova::Api; + +#define IP_ADDRESS "192.168.1.10" +#define PORT 10000 + +/////////////////////////////////////////////////////////////////////// +// class EthernetBridgeConfigurationExample +// +// Implements methods for enabling the Ethernet routing to an external +// device through the robot's base +/////////////////////////////////////////////////////////////////////// + +class EthernetBridgeConfigurationExample +{ +public: + EthernetBridgeConfigurationExample(const std::string& ip_address, int port, const std::string& username = "admin", const std::string& password = "admin"): + m_ip_address(ip_address), m_username(username), m_password(password), m_port(port), m_interconnect_device_id(0) + { + m_router = nullptr; + m_transport = nullptr; + m_session_manager = nullptr; + m_device_manager = nullptr; + m_interconnect_config = nullptr; + } + + ~EthernetBridgeConfigurationExample() + { + // Close API session + m_session_manager->CloseSession(); + + // Deactivate the router and cleanly disconnect from the transport object + m_router->SetActivationStatus(false); + m_transport->disconnect(); + + // Destroy the API + delete m_interconnect_config; + delete m_device_manager; + delete m_session_manager; + delete m_router; + delete m_transport; + } + + void Init() + { + std::cout << "Initizalizing the API..." << std::endl; + m_transport = new k_api::TransportClientTcp(); + m_transport->connect(m_ip_address, m_port); + + m_router = new k_api::RouterClient(m_transport, [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }); + + // Set session data connection information + auto createSessionInfo = k_api::Session::CreateSessionInfo(); + createSessionInfo.set_username(m_username); + createSessionInfo.set_password(m_password); + createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) + createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + m_session_manager = new k_api::SessionManager(m_router); + m_session_manager->CreateSession(createSessionInfo); + + // Create services + m_device_manager = new k_api::DeviceManager::DeviceManagerClient(m_router); + m_interconnect_config = new k_api::InterconnectConfig::InterconnectConfigClient(m_router); + + m_interconnect_device_id = GetDeviceIdFromDevType(k_api::Common::INTERCONNECT, 0); + std::cout << "Done initizalizing the API." << std::endl; + } + + uint32_t GetDeviceIdFromDevType(k_api::Common::DeviceTypes device_type, uint32_t device_index) + { + auto device_handles = m_device_manager->ReadAllDevices(); + uint32_t current_index = 0; + for (auto device_handle : device_handles.device_handle() ) + { + if (device_handle.device_type() == device_type) + { + if (current_index == device_index) + { + return device_handle.device_identifier(); + } + ++current_index; + } + } + return 0; + } + + void EnableEthernetBridge() + { + std::cout << "Configuring and enabling the Ethernet bridge..." << std::endl; + k_api::InterconnectConfig::EthernetConfiguration ethernet_configuration; + ethernet_configuration.set_device(k_api::InterconnectConfig::ETHERNET_DEVICE_EXPANSION); + ethernet_configuration.set_enabled(true); + ethernet_configuration.set_speed(k_api::InterconnectConfig::ETHERNET_SPEED_100M); + ethernet_configuration.set_duplex(k_api::InterconnectConfig::ETHERNET_DUPLEX_FULL); + + try + { + m_interconnect_config->SetEthernetConfiguration(ethernet_configuration, m_interconnect_device_id); + } + catch(k_api::KDetailedException& e) + { + std::cout << "An unexpected error occured : " << e.what() << std::endl; + return; + } + + std::cout << "Done configuring the Ethernet bridge." << std::endl; + } + +private: + k_api::RouterClient* m_router; + k_api::TransportClientTcp* m_transport; + k_api::SessionManager* m_session_manager; + k_api::DeviceManager::DeviceManagerClient* m_device_manager; + k_api::InterconnectConfig::InterconnectConfigClient* m_interconnect_config; + + std::string m_username; + std::string m_password; + std::string m_ip_address; + int m_port; + uint32_t m_interconnect_device_id; +}; + +// Example core +int main(int argc, char **argv) +{ + EthernetBridgeConfigurationExample* ethernet_bridge; + ethernet_bridge = new EthernetBridgeConfigurationExample(IP_ADDRESS , PORT, "admin", "admin"); + ethernet_bridge->Init(); + + ethernet_bridge->EnableEthernetBridge(); + + delete ethernet_bridge; + + return 0; +} diff --git a/api_cpp/examples/109-BaseGen3_ethernet_bridge/configure_route_to_device.bash b/api_cpp/examples/109-BaseGen3_ethernet_bridge/configure_route_to_device.bash new file mode 100755 index 00000000..28b5f384 --- /dev/null +++ b/api_cpp/examples/109-BaseGen3_ethernet_bridge/configure_route_to_device.bash @@ -0,0 +1,24 @@ +#! /bin/bash + +# Usage +if [ "$1" == "-h" ] || [ "$1" == "--help" ]; then + echo "Usage guide : ./configure_route_to_device.bash ARM_IP_ADDRESS INTERFACE DEVICE_ADDRESS" + echo "ARM_IP_ADDRESS is the arm's IP address" + echo "INTERFACE is the host interface name connected to the arm" + echo "DEVICE_ADDRESS is the address of the device connected to the Interconnect module" + echo "Example : ./configure_route_to_device.bash 192.168.1.10 eth0 10.20.0.50" + exit 0 +fi + +# Parameters +ARM_IP_ADDRESS=$1 +INTERFACE=$2 +DEVICE_ADDRESS=$3 + +# Configure the route +echo "Setting the route of the device's subnetwork through the base IP address..." +sudo ip route add 10.20.0.0/24 via $ARM_IP_ADDRESS dev $INTERFACE + +# Ping the device +echo "Pinging the device..." +ping -c 4 $DEVICE_ADDRESS diff --git a/api_cpp/examples/109-BaseGen3_ethernet_bridge/configure_route_to_device.bat b/api_cpp/examples/109-BaseGen3_ethernet_bridge/configure_route_to_device.bat new file mode 100644 index 00000000..e8fda53d --- /dev/null +++ b/api_cpp/examples/109-BaseGen3_ethernet_bridge/configure_route_to_device.bat @@ -0,0 +1,30 @@ +ECHO OFF + +:: Usage +IF "%1%" == "-h" ( + GOTO usage +) +IF "%1%" == "--help" ( + GOTO usage +) + +:: Parameters +SET ARM_IP_ADDRESS=%1 +SET DEVICE_ADDRESS=%2 + +:: Configure the route +ECHO Setting the route of the device's subnetwork through the base IP address... +route ADD 10.20.0.0 MASK 255.255.255.0 %ARM_IP_ADDRESS% + +:: Ping the device +ECHO Pinging the device... +ping -n 4 %DEVICE_ADDRESS% + +EXIT 0 + +:usage +echo Usage guide : .\configure_route_to_device.bat ARM_IP_ADDRESS INTERFACE DEVICE_ADDRESS +echo ARM_IP_ADDRESS is the arm's IP address +echo DEVICE_ADDRESS is the address of the device connected to the Interconnect module +echo Example : .\configure_route_to_device.bat 192.168.1.10 eth0 10.20.0.50 +EXIT 0 \ No newline at end of file diff --git a/api_cpp/examples/109-BaseGen3_ethernet_bridge/readme.md b/api_cpp/examples/109-BaseGen3_ethernet_bridge/readme.md new file mode 100644 index 00000000..5e24878c --- /dev/null +++ b/api_cpp/examples/109-BaseGen3_ethernet_bridge/readme.md @@ -0,0 +1,65 @@ +# Ethernet Bridge Configuration example + +## Overview + +This example shows you how to configure your computer, the robot and your device to route your Ethernet packets from your computer through the robot and the Interconnect module to your device, connected to the Ethernet Expansion IO of the Interconnect Module. + +## Configuration steps + +### 1 - Configuring your device + +The example was developed using a Raspberry Pi connected by Ethernet to the Interconnect's Ethernet Expansion IO. + +The configuration steps for the Raspberry Pi are : + +1. Configure a static IP address in the 10.20.0.0/24 subnetwork on the interface connected to the Interconnect module : + + ```sudo ifconfig your_interface your_chosen_address netmask 255.255.255.0``` + + For example, when using address 10.20.0.50 and interface eth0 : + + ```sudo ifconfig eth0 10.20.0.50 netmask 255.255.255.0``` + +2. Configure the default gateway for the interface : + + ```sudo route add default gw 10.20.0.1 your_interface``` + + For example, when using interface eth0 : + + ```sudo route add default gw 10.20.0.1 eth0``` + +3. Unplug and replug the link to restart it. + +> Note : Don't use address 10.20.0.100 because it is the Vision module's address! + +### 2 - Configuring the arm + +The [C++ code](./01-ethernet_bridge_configuration.cpp) configures and enables the arm's Ethernet link. You can change the ```speed``` and ```duplex``` options to match your required configuration. + +You can run the code with this command on Linux (from the build folder): +```./01-ethernet_bridge_configuration``` + +You can run the code with this command on Windows (from the build folder): +```01-ethernet_bridge_configuration.exe``` + +### 3 - Configuring your computer + +- On Linux, you can run the [bash script](./configure_route_to_device.bash) to create the route to your device. This way, your computer will know that when it needs to send a packet to your device, it must route through the arm's base. The script also pings the device to show the route is working. + + Usage guide : ```sudo ./configure_route_to_device.bash ARM_IP_ADDRESS INTERFACE DEVICE_ADDRESS``` + - ARM_IP_ADDRESS is the arm's IP address + - INTERFACE is the host interface name connected to the arm + - DEVICE_ADDRESS is the address of the device connected to the Interconnect module + + Example : ```sudo ./configure_route_to_device.bash 192.168.1.10 eth0 10.20.0.50``` + + +- On Windows, you can run the [batch file](./configure_route_to_device.bat) to create the route to your device. This way, your computer will know that when it needs to send a packet to your device, it must route through the arm's base. The script also pings the device to show the route is working. + + Usage guide : ```.\configure_route_to_device.bat ARM_IP_ADDRESS DEVICE_ADDRESS``` + - ARM_IP_ADDRESS is the arm's IP address + - DEVICE_ADDRESS is the address of the device connected to the Interconnect module + + Example : .\configure_route_to_device.bat 192.168.1.10 10.20.0.50 + + > Note: You will need to run this command from an Admin Command Prompt or an Admin Powershell! diff --git a/api_cpp/examples/200-BaseGen3_actuator_low_level/01-actuator_low_level_velocity_control.cpp b/api_cpp/examples/200-BaseGen3_actuator_low_level/01-actuator_low_level_velocity_control.cpp new file mode 100644 index 00000000..ad3af181 --- /dev/null +++ b/api_cpp/examples/200-BaseGen3_actuator_low_level/01-actuator_low_level_velocity_control.cpp @@ -0,0 +1,262 @@ +/* +* KINOVA (R) KORTEX (TM) +* +* Copyright (c) 2018 Kinova inc. All rights reserved. +* +* This software may be modified and distributed +* under the terms of the BSD 3-Clause license. +* +* Refer to the LICENSE file for details. +* +*/ + +#include +#include +#include +#include + +#include + +#include +#include +#include +#include + +#include +#include +#include + +#include + +#if defined(_MSC_VER) +#include +#else +#include +#endif +#include + +namespace k_api = Kinova::Api; + +#define IP_ADDRESS "192.168.1.10" + +#define PORT 10000 +#define PORT_REAL_TIME 10001 + +#define ACTUATOR_COUNT 7 +#define DURATION 15 // Network timeout (seconds) + +float velocity = 20.0f; // Default velocity of the actuator (degrees per seconds) +float time_duration = DURATION; // Duration of the example (seconds) + +/***************************** + * Example related function * + *****************************/ +int64_t GetTickUs() +{ +#if defined(_MSC_VER) + LARGE_INTEGER start, frequency; + + QueryPerformanceFrequency(&frequency); + QueryPerformanceCounter(&start); + + return (start.QuadPart * 1000000)/frequency.QuadPart; +#else + struct timespec start; + clock_gettime(CLOCK_MONOTONIC, &start); + + return (start.tv_sec * 1000000LLU) + (start.tv_nsec / 1000); +#endif +} + +/************************** + * Example core functions * + **************************/ +void example_move_to_home_position(k_api::Base::BaseClient* base) +{ + // Make sure the arm is in Single Level Servoing before executing an Action + auto servoingMode = k_api::Base::ServoingModeInformation(); + servoingMode.set_servoing_mode(k_api::Base::ServoingMode::SINGLE_LEVEL_SERVOING); + base->SetServoingMode(servoingMode); + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + + // Move arm to ready position + std::cout << "Moving the arm to a safe position" << std::endl; + auto action_type = k_api::Base::RequestedActionType(); + action_type.set_action_type(k_api::Base::REACH_JOINT_ANGLES); + auto action_list = base->ReadAllActions(action_type); + auto action_handle = k_api::Base::ActionHandle(); + action_handle.set_identifier(0); + for (auto action : action_list.action_list()) + { + if (action.name() == "Home") + { + action_handle = action.handle(); + } + } + + if (action_handle.identifier() == 0) + { + std::cout << "Can't reach safe position, exiting" << std::endl; + } + else + { + base->ExecuteActionFromReference(action_handle); + std::this_thread::sleep_for(std::chrono::milliseconds(20000)); // Leave time to action to finish + } +} + +bool example_actuator_low_level_velocity_control(k_api::Base::BaseClient* base, k_api::BaseCyclic::BaseCyclicClient* base_cyclic) +{ + bool return_status = true; + + // Move arm to ready position + example_move_to_home_position(base); + + k_api::BaseCyclic::Feedback base_feedback; + k_api::BaseCyclic::Command base_command; + + std::vector commands; + + auto servoingMode = k_api::Base::ServoingModeInformation(); + + int timer_count = 0; + int64_t now = 0; + int64_t last = 0; + + int timeout = 0; + + std::cout << "Initializing the arm for velocity low-level control example" << std::endl; + try + { + // Set the base in low-level servoing mode + servoingMode.set_servoing_mode(k_api::Base::ServoingMode::LOW_LEVEL_SERVOING); + base->SetServoingMode(servoingMode); + base_feedback = base_cyclic->RefreshFeedback(); + + // Initialize each actuator to its current position + for(int i = 0; i < ACTUATOR_COUNT; i++) + { + commands.push_back(base_feedback.actuators(i).position()); + base_command.add_actuators()->set_position(base_feedback.actuators(i).position()); + } + + // Define the callback function used in Refresh_callback + auto lambda_fct_callback = [](const Kinova::Api::Error &err, const k_api::BaseCyclic::Feedback data) + { + // We are printing the data of the moving actuator just for the example purpose, + // avoid this in a real-time loop + std::string serialized_data; + google::protobuf::util::MessageToJsonString(data.actuators(6), &serialized_data); + std::cout << serialized_data << std::endl << std::endl; + }; + + // Real-time loop + while(timer_count < (time_duration * 1000)) + { + now = GetTickUs(); + if(now - last > 1000) + { + for(int i = 0; i < ACTUATOR_COUNT; i++) + { + // Move only the last actuator to prevent collision + if(i == ACTUATOR_COUNT - 1) + { + commands[i] += (0.001f * velocity); + base_command.mutable_actuators(i)->set_position(fmod(commands[i], 360.0f)); + } + } + + try + { + base_cyclic->Refresh_callback(base_command, lambda_fct_callback, 0); + } + catch(...) + { + timeout++; + } + + timer_count++; + last = GetTickUs(); + } + } + } + catch (k_api::KDetailedException& ex) + { + std::cout << "Kortex error: " << ex.what() << std::endl; + return_status = false; + } + catch (std::runtime_error& ex2) + { + std::cout << "Runtime error: " << ex2.what() << std::endl; + return_status = false; + } + + // Set back the servoing mode to Single Level Servoing + servoingMode.set_servoing_mode(k_api::Base::ServoingMode::SINGLE_LEVEL_SERVOING); + base->SetServoingMode(servoingMode); + + // Wait for a bit + std::this_thread::sleep_for(std::chrono::milliseconds(2000)); + + return return_status; +} + +int main(int argc, char **argv) +{ + // Create API objects + auto error_callback = [](k_api::KError err){ cout << "_________ callback error _________" << err.toString(); }; + + auto transport = new k_api::TransportClientTcp(); + auto router = new k_api::RouterClient(transport, error_callback); + transport->connect(IP_ADDRESS, PORT); + + auto transport_real_time = new k_api::TransportClientUdp(); + auto router_real_time = new k_api::RouterClient(transport_real_time, error_callback); + transport_real_time->connect(IP_ADDRESS, PORT_REAL_TIME); + + // Set session data connection information + auto create_session_info = k_api::Session::CreateSessionInfo(); + create_session_info.set_username("admin"); + create_session_info.set_password("admin"); + create_session_info.set_session_inactivity_timeout(60000); // (milliseconds) + create_session_info.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + std::cout << "Creating sessions for communication" << std::endl; + auto session_manager = new k_api::SessionManager(router); + session_manager->CreateSession(create_session_info); + auto session_manager_real_time = new k_api::SessionManager(router_real_time); + session_manager_real_time->CreateSession(create_session_info); + std::cout << "Sessions created" << std::endl; + + // Create services + auto base = new k_api::Base::BaseClient(router); + auto base_cyclic = new k_api::BaseCyclic::BaseCyclicClient(router_real_time); + + // Example core + auto isOk = example_actuator_low_level_velocity_control(base, base_cyclic); + if (!isOk) + { + std::cout << "There has been an unexpected error in example_cyclic_armbase() function." << std::endl; + } + + // Close API session + session_manager->CloseSession(); + session_manager_real_time->CloseSession(); + + // Deactivate the router and cleanly disconnect from the transport object + router->SetActivationStatus(false); + transport->disconnect(); + router_real_time->SetActivationStatus(false); + transport_real_time->disconnect(); + + // Destroy the API + delete base; + delete base_cyclic; + delete session_manager; + delete session_manager_real_time; + delete router; + delete router_real_time; + delete transport; + delete transport_real_time; +} diff --git a/api_cpp/examples/200-BaseGen3_low_level_cyclic/01-low_level_cyclic.cpp b/api_cpp/examples/200-BaseGen3_low_level_cyclic/01-low_level_cyclic.cpp deleted file mode 100644 index 706867c5..00000000 --- a/api_cpp/examples/200-BaseGen3_low_level_cyclic/01-low_level_cyclic.cpp +++ /dev/null @@ -1,263 +0,0 @@ -/* -* KINOVA (R) KORTEX (TM) -* -* Copyright (c) 2018 Kinova inc. All rights reserved. -* -* This software may be modified and distributed -* under the terms of the BSD 3-Clause license. -* -* Refer to the LICENSE file for details. -* -*/ - - -#include -#include -#include -#include - -#include - -#include -#include -#include -#include - -#include -#include - -#include - -#if defined(_MSC_VER) -#include -#else -#include -#endif -#include - -namespace k_api = Kinova::Api; - - -#define IP_ADDRESS "192.168.1.10" - -#define PORT 10000 // network adapter port -#define PORT_RT 10001 -#define ACTUATOR_COUNT 7 // actuator count -#define DURATION 30 // network timeout (seconds) - -float velocity = 20.0f; // default velocity of the actuator (degrees per seconds) -float time_duration = DURATION; // default duration of the actuator (seconds) - -int64_t GetTickUs() -{ -#if defined(_MSC_VER) - LARGE_INTEGER start, frequency; - - QueryPerformanceFrequency(&frequency); - QueryPerformanceCounter(&start); - - return (start.QuadPart * 1000000)/frequency.QuadPart; -#else - struct timespec start; - clock_gettime(CLOCK_MONOTONIC, &start); - - return (start.tv_sec * 1000000LLU) + (start.tv_nsec / 1000); -#endif -} - -bool example_cyclic_armbase() -{ - // Low-level cyclic needs its own transport and router - // for this example all the cyclic-related objects have the RT suffix - - bool returnStatus = true; - - k_api::TransportClientUdp* pTransport = new k_api::TransportClientUdp(); - k_api::TransportClientUdp* pTransportRT = new k_api::TransportClientUdp(); - - auto errorCallback = [](k_api::KError err) { std::cout << "_________ callback error _________" << err.toString(); }; - auto errorCallbackRT = [](k_api::KError err) { std::cout << "_________ callback error (RT) _________" << err.toString(); }; - - k_api::RouterClient* pRouter = new k_api::RouterClient(pTransport, errorCallback); - k_api::RouterClient* pRouterRT = new k_api::RouterClient(pTransportRT, errorCallbackRT); - - pTransport->connect(IP_ADDRESS, PORT); - pTransportRT->connect(IP_ADDRESS, PORT_RT); // cyclic data have their own port - - k_api::Base::BaseClient* pBase = new k_api::Base::BaseClient(pRouter); - k_api::BaseCyclic::BaseCyclicClient* pBaseCyclicRT = new k_api::BaseCyclic::BaseCyclicClient(pRouterRT); - - k_api::SessionManager* pSessionMng = new k_api::SessionManager(pRouter); - k_api::SessionManager* pSessionMngRT = new k_api::SessionManager(pRouterRT); - - auto createSessionInfo = k_api::Session::CreateSessionInfo(); - createSessionInfo.set_username("admin"); - createSessionInfo.set_password("admin"); - createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) - createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) - - auto createSessionInfoRT = k_api::Session::CreateSessionInfo(); - createSessionInfoRT.set_username("admin"); - createSessionInfoRT.set_password("admin"); - createSessionInfoRT.set_session_inactivity_timeout(60000); // (milliseconds) - createSessionInfoRT.set_connection_inactivity_timeout(2000); // (milliseconds) - - std::cout << "\nCreating session for communication" << std::endl; - pSessionMng->CreateSession(createSessionInfo); - pSessionMngRT->CreateSession(createSessionInfoRT); - std::cout << "Session created" << std::endl; - - // Move arm to ready position - std::cout << "\nMoving the arm to a safe position before executing example" << std::endl; - auto action_type = k_api::Base::RequestedActionType(); - action_type.set_action_type(k_api::Base::REACH_JOINT_ANGLES); - auto action_list = pBase->ReadAllActions(action_type); - auto action_handle = k_api::Base::ActionHandle(); - action_handle.set_identifier(0); - for( auto action : action_list.action_list()) - { - if(action.name() == "Home") - { - action_handle = action.handle(); - } - } - - if(action_handle.identifier() == 0) - { - std::cout << "\nCan't reach safe position. Exiting" << std::endl; - } - else - { - pBase->ExecuteActionFromReference(action_handle); - std::this_thread::sleep_for(std::chrono::seconds(20)); // Leave time to action to finish - } - - - k_api::BaseCyclic::Feedback BaseFeedback; - k_api::BaseCyclic::Command BaseCommand; - - std::vector ActuatorCommands; - std::vector ActuatorFeedbacks; - std::vector Commands; - - int timerCount = 0; - int64_t now = 0; - int64_t last = 0; - - int timeout = 0; - - std::cout << "duration: " << time_duration << std::endl; - std::cout << "velocity: " << velocity << std::endl; - - try - { - // Set the base in low-level servoing mode - auto servoingMode = k_api::Base::ServoingModeInformation(); - servoingMode.set_servoing_mode(k_api::Base::ServoingMode::LOW_LEVEL_SERVOING); - pBase->SetServoingMode(servoingMode); - BaseFeedback = pBaseCyclicRT->RefreshFeedback(); - - // Initialize each actuator to their current position - for(int i = 0; i < 7; i++) - { - ActuatorCommands.push_back(k_api::BaseCyclic::ActuatorCommand()); - ActuatorFeedbacks.push_back(k_api::BaseCyclic::ActuatorFeedback()); - - Commands.push_back(BaseFeedback.actuators(i).position()); - - ActuatorCommands[i].set_flags(1); - ActuatorCommands[i].set_position(BaseFeedback.actuators(i).position()); - BaseCommand.add_actuators()->set_position(BaseFeedback.actuators(i).position()); - } - - // Define the callback function used in Refresh_callback - auto lambda_fct_callback = [](const Kinova::Api::Error &err, const k_api::BaseCyclic::Feedback data) - { - // We are printing the data just for the example purpose, - // avoid this in a real-time loop - std::string serializedData; - google::protobuf::util::MessageToJsonString(data, &serializedData); - std::cout << serializedData << std::endl; - }; - - // Real-time loop - while(timerCount < (time_duration * 1000)) - { - now = GetTickUs(); - - if(now - last > 1000) - { - - for(int i = 0; i < ACTUATOR_COUNT; i++) - { - // Move only the last actuator to prevent collision - if(i == 6) - { - Commands[i] += (0.001f * velocity); - ActuatorCommands[i].set_position(Commands[i]); - BaseCommand.mutable_actuators(i)->set_position(fmod(Commands[i], 360.0f)); - } - } - - try - { - pBaseCyclicRT->Refresh_callback(BaseCommand, lambda_fct_callback, 0); - } - catch(...) - { - timeout++; - } - - timerCount++; - last = GetTickUs(); - } - } - - servoingMode.set_servoing_mode(k_api::Base::ServoingMode::SINGLE_LEVEL_SERVOING); - pBase->SetServoingMode(servoingMode); - } - catch (k_api::KDetailedException& ex) - { - std::cout << "API error: " << ex.what() << std::endl; - returnStatus = false; - } - catch (std::runtime_error& ex2) - { - std::cout << "Error: " << ex2.what() << std::endl; - returnStatus = false; - } - - // Just wait a while to let the response come - std::this_thread::sleep_for(std::chrono::milliseconds(2000)); - - // Close both API sessions - pSessionMng->CloseSession(); - pSessionMngRT->CloseSession(); - - // Deactivate both routers and cleanly disconnect from the transport objects - pRouter->SetActivationStatus(false); - pRouterRT->SetActivationStatus(false); - pTransport->disconnect(); - pTransportRT->disconnect(); - - // Destroy both API - delete pBase; - delete pSessionMng; - delete pRouter; - delete pTransport; - - delete pBaseCyclicRT; - delete pSessionMngRT; - delete pRouterRT; - delete pTransportRT; - - return returnStatus; -} - -int main(int argc, char **argv) -{ - auto isOk = example_cyclic_armbase(); - - if (!isOk) - printf("There has been an unexpected error in example_cyclic_armbase() function."); -} diff --git a/api_cpp/examples/200-BaseGen3_low_level_cyclic/CMakeLists.txt b/api_cpp/examples/200-BaseGen3_low_level_cyclic/CMakeLists.txt deleted file mode 100644 index 35a4a84f..00000000 --- a/api_cpp/examples/200-BaseGen3_low_level_cyclic/CMakeLists.txt +++ /dev/null @@ -1,78 +0,0 @@ -cmake_minimum_required(VERSION 3.10) - -project(Getting_started) -MESSAGE("---------------------------------------------------------------------------------") -MESSAGE("Project '${PROJECT_NAME}' args: ${CMAKE_ARGS}") -MESSAGE("Project building for: '${CMAKE_SYSTEM_NAME}' in '${CMAKE_BUILD_TYPE}' mode") - -if(NOT CMAKE_BUILD_TYPE) - set(CMAKE_BUILD_TYPE release) -endif() - -if(NOT KORTEX_SUB_DIR) - set(KORTEX_SUB_DIR "") -else() - set(KORTEX_SUB_DIR "${KORTEX_SUB_DIR}/") -endif() - -set(CMAKE_INCLUDE_CURRENT_DIR ON) -set(CMAKE_AUTOMOC ON) -set(CMAKE_VERBOSE_MAKEFILE ON) -set(CMAKE_COLOR_MAKEFILE ON) -set(BUILD_SHARED_LIBS OFF) - -file(GLOB EXE_LIST RELATIVE ${PROJECT_SOURCE_DIR} "*.cpp") - -foreach ( SRC_FILE ${EXE_LIST} ) - string(REPLACE ".cpp" "" TARGET_EXE_NAME ${SRC_FILE}) - MESSAGE("create TARGET_EXE_NAME: '${TARGET_EXE_NAME}'") - - add_executable(${TARGET_EXE_NAME} ${SRC_FILE}) - if(MSVC) - target_compile_options(${TARGET_EXE_NAME} PRIVATE -W2) - else() - target_compile_options(${TARGET_EXE_NAME} PRIVATE -Wall) - target_compile_options(${TARGET_EXE_NAME} PRIVATE -Wno-reorder) - target_compile_features(${TARGET_EXE_NAME} PRIVATE cxx_std_11) - endif() - - if(UNIX) - target_compile_definitions(${TARGET_EXE_NAME} PRIVATE -D_OS_UNIX) - elseif(WIN32) - target_compile_definitions(${TARGET_EXE_NAME} PRIVATE -D_OS_WINDOWS) - - if(MSVC) - # Compilation with /MT option must also be done in executables using the library - target_compile_options(${TARGET_EXE_NAME} PRIVATE /bigobj /MT) - endif() - endif() - - ################################################################################## - set(KORTEX_DIR "${PROJECT_SOURCE_DIR}/../kortex_api/${KORTEX_SUB_DIR}") - - ##### Link to lib - if(MSVC) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}lib/${CMAKE_BUILD_TYPE}/KortexApi.lib) - else() - target_link_libraries(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}lib/${CMAKE_BUILD_TYPE}/libKortexApi.a) - endif() - - # link other libs - if(UNIX) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE pthread) - elseif(WIN32) - # target_link_libraries(${TARGET_EXE_NAME} PRIVATE ws2_32 winMM Winusb Setupapi xinput) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE winMM ws2_32) - else() - MESSAGE(FATAL_ERROR "Unknown os! Not supported yet") - endif() - - # add include dir - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/client) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/common) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/messages) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/client_stubs) - ################################################################################## - -endforeach() diff --git a/api_cpp/examples/300-BaseGen3_low_level_bypass/CMakeLists.txt b/api_cpp/examples/300-BaseGen3_low_level_bypass/CMakeLists.txt deleted file mode 100644 index a2a516b1..00000000 --- a/api_cpp/examples/300-BaseGen3_low_level_bypass/CMakeLists.txt +++ /dev/null @@ -1,78 +0,0 @@ -cmake_minimum_required(VERSION 3.10) - -project(Getting_started) -MESSAGE("---------------------------------------------------------------------------------") -MESSAGE("Project '${PROJECT_NAME}' args: ${CMAKE_ARGS}") -MESSAGE("Project building for: '${CMAKE_SYSTEM_NAME}' in '${CMAKE_BUILD_TYPE}' mode") - -if(NOT CMAKE_BUILD_TYPE) - set(CMAKE_BUILD_TYPE release) -endif() - -if(NOT KORTEX_SUB_DIR) - set(KORTEX_SUB_DIR "") -else() - set(KORTEX_SUB_DIR "${KORTEX_SUB_DIR}/") -endif() - -set(CMAKE_INCLUDE_CURRENT_DIR ON) -set(CMAKE_AUTOMOC ON) -set(CMAKE_VERBOSE_MAKEFILE ON) -set(CMAKE_COLOR_MAKEFILE ON) -set(BUILD_SHARED_LIBS OFF) - -file(GLOB EXE_LIST RELATIVE ${PROJECT_SOURCE_DIR} "*.cpp") - -foreach ( SRC_FILE ${EXE_LIST} ) - string(REPLACE ".cpp" "" TARGET_EXE_NAME ${SRC_FILE}) - MESSAGE("create TARGET_EXE_NAME: '${TARGET_EXE_NAME}'") - - add_executable(${TARGET_EXE_NAME} ${SRC_FILE}) - if(MSVC) - target_compile_options(${TARGET_EXE_NAME} PRIVATE -W2) - else() - target_compile_options(${TARGET_EXE_NAME} PRIVATE -Wall) - target_compile_options(${TARGET_EXE_NAME} PRIVATE -Wno-reorder) - target_compile_features(${TARGET_EXE_NAME} PRIVATE cxx_std_11) - endif() - - if(UNIX) - target_compile_definitions(${TARGET_EXE_NAME} PRIVATE -D_OS_UNIX) - elseif(WIN32) - target_compile_definitions(${TARGET_EXE_NAME} PRIVATE -D_OS_WINDOWS) - - if(MSVC) - # Compilation with /MT must also be done in executables using the library - target_compile_options(${TARGET_EXE_NAME} PRIVATE /bigobj /MT) - endif() - endif() - - ################################################################################## - set(KORTEX_DIR "${PROJECT_SOURCE_DIR}/../kortex_api/${KORTEX_SUB_DIR}") - - ##### Link to lib - if(MSVC) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}lib/${CMAKE_BUILD_TYPE}/KortexApi.lib) - else() - target_link_libraries(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}lib/${CMAKE_BUILD_TYPE}/libKortexApi.a) - endif() - - # link other libs - if(UNIX) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE pthread) - elseif(WIN32) - # target_link_libraries(${TARGET_EXE_NAME} PRIVATE ws2_32 winMM Winusb Setupapi xinput) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE winMM ws2_32) - else() - MESSAGE(FATAL_ERROR "Unknown os! Not supported yet") - endif() - - # add include dir - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/client) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/common) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/messages) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/client_stubs) - ################################################################################## - -endforeach() diff --git a/api_cpp/examples/500-Vision/01-vision.cpp b/api_cpp/examples/500-Vision/01-vision.cpp deleted file mode 100644 index 1c91100a..00000000 --- a/api_cpp/examples/500-Vision/01-vision.cpp +++ /dev/null @@ -1,94 +0,0 @@ -/* -* KINOVA (R) KORTEX (TM) -* -* Copyright (c) 2018 Kinova inc. All rights reserved. -* -* This software may be modified and distributed -* under the terms of the BSD 3-Clause license. -* -* Refer to the LICENSE file for details. -* -*/ - - -#include -#include -#include - -#include -#include - -namespace k_api = Kinova::Api; -namespace pb = google::protobuf; - -#define PORT 10000 -#define IP_ADDRESS "192.168.1.10" - -void example_routed_vision(k_api::DeviceManager::DeviceManagerClient* pDeviceMng, k_api::VisionConfig::VisionConfigClient* pVision) -{ - // Get all device routing information (from DeviceManagerClient service) - printf("-- ReadAllDevices --\n\n"); - auto allDevicesInfo = pDeviceMng->ReadAllDevices(); - - // Use device routing information to route to every device (base, actuator, interconnect, etc.) in the armbase system and request general device information - for ( auto dev : allDevicesInfo.device_handle() ) - { - if ( dev.device_type() == k_api::Common::DeviceTypes::VISION ) - { - printf("-- Using Vision Config Service to get intrinsic parameters --\n"); - k_api::VisionConfig::SensorIdentifier sensorId; - sensorId.set_sensor(k_api::VisionConfig::SENSOR_COLOR); - - auto intrinsicValue = pVision->GetIntrinsicParameters(sensorId, dev.device_identifier()); - - std::cout << "Width: " << intrinsicValue.width() << std::endl; - std::cout << "Height: " << intrinsicValue.height() << std::endl; - std::cout << "Principal point x: " << intrinsicValue.principal_point_x() << std::endl; - std::cout << "Principal point y: " << intrinsicValue.principal_point_y() << std::endl; - std::cout << "focal lenght x: " << intrinsicValue.focal_length_x() << std::endl; - std::cout << "focal lenght y: " << intrinsicValue.focal_length_y() << std::endl; - - break; - } - } -} - -int main(int argc, char **argv) -{ - // Setup API - auto errorCallback = [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }; - auto pTransport = new k_api::TransportClientUdp(); - auto pRouter = new k_api::RouterClient(pTransport, errorCallback); - pTransport->connect(IP_ADDRESS, PORT); - - // Create session - auto createSessionInfo = k_api::Session::CreateSessionInfo(); - createSessionInfo.set_username("admin"); - createSessionInfo.set_password("admin"); - createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) - createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) - - auto pSessionMng = new k_api::SessionManager(pRouter); - pSessionMng->CreateSession(createSessionInfo); - - // Create required services - auto pDeviceMng = new k_api::DeviceManager::DeviceManagerClient(pRouter); - auto pVision = new k_api::VisionConfig::VisionConfigClient(pRouter); - - // Example core - example_routed_vision(pDeviceMng, pVision); - - // Close API session - pSessionMng->CloseSession(); - - // Deactivate the router to cleanly disconnect from the transport object. - pRouter->SetActivationStatus(false); - pTransport->disconnect(); - - // Destroy the API - delete pSessionMng; - delete pDeviceMng; - delete pVision; - delete pRouter; - delete pTransport; -} \ No newline at end of file diff --git a/api_cpp/examples/500-Vision/01_vision_intrinsics.cpp b/api_cpp/examples/500-Vision/01_vision_intrinsics.cpp new file mode 100644 index 00000000..c27efbe7 --- /dev/null +++ b/api_cpp/examples/500-Vision/01_vision_intrinsics.cpp @@ -0,0 +1,307 @@ +/* +* KINOVA (R) KORTEX (TM) +* +* Copyright (c) 2019 Kinova inc. All rights reserved. +* +* This software may be modified and distributed +* under the terms of the BSD 3-Clause license. +* +* Refer to the LICENSE file for details. +* +*/ + +#include +#include +#include + +#include +#include + +#include // for std::setprecision + +namespace k_api = Kinova::Api; + +#define PORT 10000 +#define IP_ADDRESS "192.168.1.10" + +/** + * Map of all Sensor strings + */ +std::map map_all_sensor_strings = +{ + {k_api::VisionConfig::Sensor::SENSOR_UNSPECIFIED, "Unspecified sensor"}, + {k_api::VisionConfig::Sensor::SENSOR_COLOR, "Color"}, + {k_api::VisionConfig::Sensor::SENSOR_DEPTH, "Depth"}, +}; + +/** + * Map of all Resolution strings + */ +std::map map_all_resolution_strings = +{ + {k_api::VisionConfig::Resolution::RESOLUTION_UNSPECIFIED, "Unspecified resolution"}, + {k_api::VisionConfig::Resolution::RESOLUTION_320x240, "320x240"}, + {k_api::VisionConfig::Resolution::RESOLUTION_424x240, "424x240"}, + {k_api::VisionConfig::Resolution::RESOLUTION_480x270, "480x270"}, + {k_api::VisionConfig::Resolution::RESOLUTION_640x480, "640x480"}, + {k_api::VisionConfig::Resolution::RESOLUTION_1280x720, "1280x720"}, + {k_api::VisionConfig::Resolution::RESOLUTION_1920x1080, "1920x1080"} +}; + +/***************************** + * Example related functions * + *****************************/ + +/** + * Returns a string matching the requested sensor + */ +std::string sensor_to_string(k_api::VisionConfig::Sensor sensor) +{ + std::string str; + std::map::iterator iter; + + iter = map_all_sensor_strings.find(sensor); + if (iter != map_all_sensor_strings.end()) + { + str = iter->second; + } + else + { + str = "Unknown sensor"; + } + + return str; +} + +/** + * Returns a string matching the requested resolution + */ +std::string resolution_to_string(k_api::VisionConfig::Resolution resolution) +{ + std::string str; + std::map::iterator iter; + + iter = map_all_resolution_strings.find(resolution); + if (iter != map_all_resolution_strings.end()) + { + str = iter->second; + } + else + { + str = "Unknown resolution"; + } + + return str; +} + +/** + * Prints the intrinsic parameters on stdout + */ +void print_intrinsic_parameters(const k_api::VisionConfig::IntrinsicParameters& intrinsics) +{ + // sets display precision for floating point values + std::cout << std::fixed; + std::cout << std::setprecision(6); + + std::cout << "Sensor: " << intrinsics.sensor(); + std::cout << " (" << sensor_to_string(intrinsics.sensor()) << ")" << std::endl; + std::cout << "Resolution: " << intrinsics.resolution(); + std::cout << " (" << resolution_to_string(intrinsics.resolution()) << ")" << std::endl; + std::cout << "Principal point x: " << intrinsics.principal_point_x() << std::endl; + std::cout << "Principal point y: " << intrinsics.principal_point_y() << std::endl; + std::cout << "Focal length x: " << intrinsics.focal_length_x() << std::endl; + std::cout << "Focal length y: " << intrinsics.focal_length_y() << std::endl; + std::cout << "Distortion coefficients: [" << intrinsics.distortion_coeffs().k1() << " " \ + << intrinsics.distortion_coeffs().k2() << " " \ + << intrinsics.distortion_coeffs().p1() << " " \ + << intrinsics.distortion_coeffs().p2() << " " \ + << intrinsics.distortion_coeffs().k3() << "]" \ + << std::endl; +} + +/************************** + * Example core functions * + **************************/ + +/** + * Returns the device identifier of the Vision module, 0 if not found + */ +uint32_t example_vision_get_device_id(k_api::DeviceManager::DeviceManagerClient* device_manager) +{ + uint32_t vision_device_id = 0; + + // gets all device routing information (from DeviceManagerClient service) + auto allDevicesInfo = device_manager->ReadAllDevices(); + + // uses device routing information to route to every device (base, actuator, interconnect, etc.) + // in the armbase system and request general device information + for ( auto dev : allDevicesInfo.device_handle() ) + { + if ( dev.device_type() == k_api::Common::DeviceTypes::VISION ) + { + vision_device_id = dev.device_identifier(); + std::cout << "Vision module found, device Id: " << vision_device_id << std::endl; + break; + } + } + + return vision_device_id; +} + +/** + * Example showing how to retrieve the intrinsic parameters of the Color and Depth sensors + */ +void example_routed_vision_get_intrinsics(k_api::VisionConfig::VisionConfigClient* vision, uint32_t device_id) +{ + k_api::VisionConfig::IntrinsicParameters intrinsics; + k_api::VisionConfig::SensorIdentifier sensor_id; + k_api::VisionConfig::IntrinsicProfileIdentifier profile_id; + + std::cout << "\n\n** Example showing how to retrieve the intrinsic parameters of the Color and Depth sensors **" << std::endl; + + std::cout << "\n-- Using Vision Config Service to get intrinsic parameters of active color resolution --" << std::endl; + sensor_id.set_sensor(k_api::VisionConfig::SENSOR_COLOR); + + intrinsics = vision->GetIntrinsicParameters(sensor_id, device_id); + print_intrinsic_parameters(intrinsics); + + std::cout << "\n-- Using Vision Config Service to get intrinsic parameters of active depth resolution --" << std::endl; + sensor_id.set_sensor(k_api::VisionConfig::SENSOR_DEPTH); + + intrinsics = vision->GetIntrinsicParameters(sensor_id, device_id); + print_intrinsic_parameters(intrinsics); + + std::cout << "\n-- Using Vision Config Service to get intrinsic parameters for color resolution 1920x1080 --" << std::endl; + profile_id.set_sensor(k_api::VisionConfig::SENSOR_COLOR); + profile_id.set_resolution(k_api::VisionConfig::RESOLUTION_1920x1080); + + intrinsics = vision->GetIntrinsicParametersProfile(profile_id, device_id); + print_intrinsic_parameters(intrinsics); + + std::cout << "\n-- Using Vision Config Service to get intrinsic parameters for depth resolution 424x240 --" << std::endl; + profile_id.set_sensor(k_api::VisionConfig::SENSOR_DEPTH); + profile_id.set_resolution(k_api::VisionConfig::RESOLUTION_424x240); + + intrinsics = vision->GetIntrinsicParametersProfile(profile_id, device_id); + print_intrinsic_parameters(intrinsics); +} + +/** + * Example showing how to set the intrinsic parameters of the Color and Depth sensors + */ +void example_routed_vision_set_intrinsics(k_api::VisionConfig::VisionConfigClient* vision, uint32_t device_id) +{ + k_api::VisionConfig::IntrinsicParameters intrinsics_old; + k_api::VisionConfig::IntrinsicParameters intrinsics_new; + k_api::VisionConfig::IntrinsicParameters intrinsics_reply; + k_api::VisionConfig::IntrinsicProfileIdentifier profile_id; + + std::cout << "\n\n** Example showing how to set the intrinsic parameters of the Color and Depth sensors **" << std::endl; + + std::cout << "\n-- Using Vision Config Service to get current intrinsic parameters for color resolution 640x480 --" << std::endl; + profile_id.set_sensor(k_api::VisionConfig::SENSOR_COLOR); + profile_id.set_resolution(k_api::VisionConfig::RESOLUTION_640x480); + intrinsics_old = vision->GetIntrinsicParametersProfile(profile_id, device_id); + print_intrinsic_parameters(intrinsics_old); + + std::cout << "\n-- Using Vision Config Service to set new intrinsic parameters for color resolution 640x480 --" << std::endl; + intrinsics_new.set_sensor(profile_id.sensor()); + intrinsics_new.set_resolution(profile_id.resolution()); + intrinsics_new.set_principal_point_x(640 / 2 + 0.123456f); + intrinsics_new.set_principal_point_y(480 / 2 + 1.789012f); + intrinsics_new.set_focal_length_x(650.567890f); + intrinsics_new.set_focal_length_y(651.112233f); + intrinsics_new.mutable_distortion_coeffs()->set_k1(0.2f); + intrinsics_new.mutable_distortion_coeffs()->set_k2(0.05f); + intrinsics_new.mutable_distortion_coeffs()->set_p1(1.2f); + intrinsics_new.mutable_distortion_coeffs()->set_p2(0.999999f); + intrinsics_new.mutable_distortion_coeffs()->set_k3(0.001f); + vision->SetIntrinsicParameters(intrinsics_new, device_id); + + std::cout << "\n-- Using Vision Config Service to get new intrinsic parameters for color resolution 640x480 --" << std::endl; + intrinsics_reply = vision->GetIntrinsicParametersProfile(profile_id, device_id); + print_intrinsic_parameters(intrinsics_reply); + + std::cout << "\n-- Using Vision Config Service to set back old intrinsic parameters for color resolution 640x480 --" << std::endl; + vision->SetIntrinsicParameters(intrinsics_old, device_id); + + + std::cout << "\n-- Using Vision Config Service to get current intrinsic parameters for depth resolution 424x240 --" << std::endl; + profile_id.set_sensor(k_api::VisionConfig::SENSOR_DEPTH); + profile_id.set_resolution(k_api::VisionConfig::RESOLUTION_424x240); + intrinsics_old = vision->GetIntrinsicParametersProfile(profile_id, device_id); + print_intrinsic_parameters(intrinsics_old); + + std::cout << "\n-- Using Vision Config Service to set new intrinsic parameters for depth resolution 424x240 --" << std::endl; + intrinsics_new.set_sensor(profile_id.sensor()); + intrinsics_new.set_resolution(profile_id.resolution()); + intrinsics_new.set_principal_point_x(424 / 2 + 0.123456f); + intrinsics_new.set_principal_point_y(240 / 2 + 1.789012f); + intrinsics_new.set_focal_length_x(315.567890f); + intrinsics_new.set_focal_length_y(317.112233f); + intrinsics_new.mutable_distortion_coeffs()->set_k1(0.425f); + intrinsics_new.mutable_distortion_coeffs()->set_k2(1.735102f); + intrinsics_new.mutable_distortion_coeffs()->set_p1(0.1452f); + intrinsics_new.mutable_distortion_coeffs()->set_p2(0.767574f); + intrinsics_new.mutable_distortion_coeffs()->set_k3(2.345678f); + vision->SetIntrinsicParameters(intrinsics_new, device_id); + + std::cout << "\n-- Using Vision Config Service to get new intrinsic parameters for depth resolution 424x240 --" << std::endl; + intrinsics_reply = vision->GetIntrinsicParametersProfile(profile_id, device_id); + print_intrinsic_parameters(intrinsics_reply); + + std::cout << "\n-- Using Vision Config Service to set back old intrinsic parameters for depth resolution 424x240 --" << std::endl; + vision->SetIntrinsicParameters(intrinsics_old, device_id); +} + +int main(int argc, char **argv) +{ + // Create API objects + auto error_callback = [](k_api::KError err){ cout << "_________ callback error _________" << err.toString(); }; + auto transport = new k_api::TransportClientTcp(); + auto router = new k_api::RouterClient(transport, error_callback); + transport->connect(IP_ADDRESS, PORT); + + // Set session data connection information + auto create_session_info = k_api::Session::CreateSessionInfo(); + create_session_info.set_username("admin"); + create_session_info.set_password("admin"); + create_session_info.set_session_inactivity_timeout(60000); // (milliseconds) + create_session_info.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + std::cout << "Creating session for communication" << std::endl; + auto session_manager = new k_api::SessionManager(router); + session_manager->CreateSession(create_session_info); + std::cout << "Session created" << std::endl; + + // Create services + auto vision = new k_api::VisionConfig::VisionConfigClient(router); + auto device_manager = new k_api::DeviceManager::DeviceManagerClient(router); + + // Example core + uint32_t vision_device_id = example_vision_get_device_id(device_manager); + if (vision_device_id != 0) + { + example_routed_vision_get_intrinsics(vision, vision_device_id); + example_routed_vision_set_intrinsics(vision, vision_device_id); + } + else + { + std::cout << "Error : No Vision module found!" << std::endl; + } + + // Close API session + session_manager->CloseSession(); + + // Deactivate the router and cleanly disconnect from the transport object + router->SetActivationStatus(false); + transport->disconnect(); + + // Destroy the API + delete vision; + delete device_manager; + delete session_manager; + delete router; + delete transport; +} \ No newline at end of file diff --git a/api_cpp/examples/500-Vision/02_vision_extrinsics.cpp b/api_cpp/examples/500-Vision/02_vision_extrinsics.cpp new file mode 100644 index 00000000..d8d43338 --- /dev/null +++ b/api_cpp/examples/500-Vision/02_vision_extrinsics.cpp @@ -0,0 +1,189 @@ +/* +* KINOVA (R) KORTEX (TM) +* +* Copyright (c) 2019 Kinova inc. All rights reserved. +* +* This software may be modified and distributed +* under the terms of the BSD 3-Clause license. +* +* Refer to the LICENSE file for details. +* +*/ + + +#include +#include +#include + +#include +#include + +#include // for std::setprecision + +namespace k_api = Kinova::Api; + +#define PORT 10000 +#define IP_ADDRESS "192.168.1.10" + +/***************************** + * Example related functions * + *****************************/ + +/** + * Prints the extrinsic parameters on stdout + */ +void print_extrinsic_parameters(const k_api::VisionConfig::ExtrinsicParameters& extrinsics) +{ + // sets display precision for floating point values + std::cout << std::fixed; + std::cout << std::setprecision(6); + + std::cout << "Rotation matrix:\n[" << std::setw(9) << extrinsics.rotation().row1().column1() << " " \ + << std::setw(9) << extrinsics.rotation().row1().column2() << " " \ + << std::setw(9) << extrinsics.rotation().row1().column3() << "\n " \ + << std::setw(9) << extrinsics.rotation().row2().column1() << " " \ + << std::setw(9) << extrinsics.rotation().row2().column2() << " " \ + << std::setw(9) << extrinsics.rotation().row2().column3() << "\n " \ + << std::setw(9) << extrinsics.rotation().row3().column1() << " " \ + << std::setw(9) << extrinsics.rotation().row3().column2() << " " \ + << std::setw(9) << extrinsics.rotation().row3().column3() << "]" \ + << std::endl; + std::cout << "Translation vector: [" << extrinsics.translation().t_x() << " " \ + << extrinsics.translation().t_y() << " " \ + << extrinsics.translation().t_z() << "]" \ + << std::endl; +} + +/************************** + * Example core functions * + **************************/ + +/** + * Returns the device identifier of the Vision module, 0 if not found + */ +uint32_t example_vision_get_device_id(k_api::DeviceManager::DeviceManagerClient* device_manager) +{ + uint32_t vision_device_id = 0; + + // gets all device routing information (from DeviceManagerClient service) + auto allDevicesInfo = device_manager->ReadAllDevices(); + + // uses device routing information to route to every device (base, actuator, interconnect, etc.) + // in the armbase system and request general device information + for ( auto dev : allDevicesInfo.device_handle() ) + { + if ( dev.device_type() == k_api::Common::DeviceTypes::VISION ) + { + vision_device_id = dev.device_identifier(); + std::cout << "Vision module found, device Id: " << vision_device_id <GetExtrinsicParameters(device_id); + print_extrinsic_parameters(extrinsics); +} + +/** + * Example showing how to set the extrinsic parameters + */ +void example_routed_vision_set_extrinsics(k_api::VisionConfig::VisionConfigClient* vision, uint32_t device_id) +{ + k_api::VisionConfig::ExtrinsicParameters extrinsics_old; + k_api::VisionConfig::ExtrinsicParameters extrinsics_new; + k_api::VisionConfig::ExtrinsicParameters extrinsics_reply; + + std::cout << "\n\n** Example showing how to set the extrinsic parameters **" << std::endl; + + std::cout << "\n-- Using Vision Config Service to get current extrinsic parameters --" << std::endl; + extrinsics_old = vision->GetExtrinsicParameters(device_id); + print_extrinsic_parameters(extrinsics_old); + + std::cout << "\n-- Using Vision Config Service to set new extrinsic parameters --" << std::endl; + extrinsics_new.mutable_rotation()->mutable_row1()->set_column1(1.0001f); + extrinsics_new.mutable_rotation()->mutable_row1()->set_column2(0.1f); + extrinsics_new.mutable_rotation()->mutable_row1()->set_column3(-0.01f); + extrinsics_new.mutable_rotation()->mutable_row2()->set_column1(-0.001f); + extrinsics_new.mutable_rotation()->mutable_row2()->set_column2(1.0002f); + extrinsics_new.mutable_rotation()->mutable_row2()->set_column3(0.0001f); + extrinsics_new.mutable_rotation()->mutable_row3()->set_column1(0.00001f); + extrinsics_new.mutable_rotation()->mutable_row3()->set_column2(-0.000001f); + extrinsics_new.mutable_rotation()->mutable_row3()->set_column3(1.0003f); + extrinsics_new.mutable_translation()->set_t_x(-0.026123456f); + extrinsics_new.mutable_translation()->set_t_y(-0.009876543f); + extrinsics_new.mutable_translation()->set_t_z(0.00002f); + vision->SetExtrinsicParameters(extrinsics_new, device_id); + + std::cout << "\n-- Using Vision Config Service to get new extrinsic parameters --" << std::endl; + extrinsics_reply = vision->GetExtrinsicParameters(device_id); + print_extrinsic_parameters(extrinsics_reply); + + std::cout << "\n-- Using Vision Config Service to set back old extrinsic parameters --" << std::endl; + vision->SetExtrinsicParameters(extrinsics_old, device_id); +} + +int main(int argc, char **argv) +{ + // Create API objects + auto error_callback = [](k_api::KError err){ cout << "_________ callback error _________" << err.toString(); }; + auto transport = new k_api::TransportClientTcp(); + auto router = new k_api::RouterClient(transport, error_callback); + transport->connect(IP_ADDRESS, PORT); + + // Set session data connection information + auto create_session_info = k_api::Session::CreateSessionInfo(); + create_session_info.set_username("admin"); + create_session_info.set_password("admin"); + create_session_info.set_session_inactivity_timeout(60000); // (milliseconds) + create_session_info.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + std::cout << "Creating session for communication" << std::endl; + auto session_manager = new k_api::SessionManager(router); + session_manager->CreateSession(create_session_info); + std::cout << "Session created" << std::endl; + + // Create services + auto vision = new k_api::VisionConfig::VisionConfigClient(router); + auto device_manager = new k_api::DeviceManager::DeviceManagerClient(router); + + // Example core + uint32_t vision_device_id = example_vision_get_device_id(device_manager); + + if (vision_device_id != 0) + { + example_routed_vision_get_extrinsics(vision, vision_device_id); + example_routed_vision_set_extrinsics(vision, vision_device_id); + } + else + { + std::cout << "Error : No Vision module found!" << std::endl; + } + + // Close API session + session_manager->CloseSession(); + + // Deactivate the router and cleanly disconnect from the transport object + router->SetActivationStatus(false); + transport->disconnect(); + + // Destroy the API + delete vision; + delete device_manager; + delete session_manager; + delete router; + delete transport; +} \ No newline at end of file diff --git a/api_cpp/examples/500-Vision/03_vision_sensor_focus_action.cpp b/api_cpp/examples/500-Vision/03_vision_sensor_focus_action.cpp new file mode 100644 index 00000000..0017b43e --- /dev/null +++ b/api_cpp/examples/500-Vision/03_vision_sensor_focus_action.cpp @@ -0,0 +1,249 @@ +/* +* KINOVA (R) KORTEX (TM) +* +* Copyright (c) 2019 Kinova inc. All rights reserved. +* +* This software may be modified and distributed +* under the terms of the BSD 3-Clause license. +* +* Refer to the LICENSE file for details. +* +*/ + +/* +* ###################################################################################### +* # To use these examples: # +* # - Connect to the robot's web page # +* # - Configure the Vision Color Sensor to 1280x720 resolution # +* # - Position the robot so you can easily place objects in front of the Color camera # +* # - Select the Camera view page # +* ###################################################################################### +*/ + +#include +#include +#include +#include +#include + +#include +#include + +namespace k_api = Kinova::Api; + +#define PORT 10000 +#define IP_ADDRESS "192.168.1.10" + +/** + * Returns the device identifier of the Vision module, 0 if not found + */ +uint32_t example_vision_get_device_id(k_api::DeviceManager::DeviceManagerClient* device_manager) +{ + uint32_t vision_device_id = 0; + + // gets all device routing information (from DeviceManagerClient service) + auto all_devices_info = device_manager->ReadAllDevices(); + + // uses device routing information to route to every device (base, actuator, interconnect, etc.) + // in the armbase system and request general device information + for ( auto dev : all_devices_info.device_handle() ) + { + if ( dev.device_type() == k_api::Common::DeviceTypes::VISION ) + { + vision_device_id = dev.device_identifier(); + std::cout << "Vision module found, device Id: " << vision_device_id <DoSensorFocusAction(sensor_focus_action, device_id); + std::cout << "-- Place or remove an object from the center of the camera, observe the focus doesn't change --" << std::endl; + example_wait_for_focus_action(); + + std::cout << "\n-- Using Vision Config Service to enable the auto-focus --" << std::endl; + sensor_focus_action.set_focus_action(k_api::VisionConfig::FocusAction::FOCUSACTION_START_CONTINUOUS_FOCUS); + vision->DoSensorFocusAction(sensor_focus_action, device_id); + std::cout << "-- Place an object in the center of the camera, observe the focus adjusts automatically --" << std::endl; + example_wait_for_focus_action(); + + std::cout << "\n-- Using Vision Config Service to pause the auto-focus --" << std::endl; + sensor_focus_action.set_focus_action(k_api::VisionConfig::FocusAction::FOCUSACTION_PAUSE_CONTINUOUS_FOCUS); + vision->DoSensorFocusAction(sensor_focus_action, device_id); + std::cout << "-- Move the object away from the center of the camera and then back, but at a different distance, observe the focus doesn't change --" << std::endl; + example_wait_for_focus_action(); + + std::cout << "\n-- Using Vision Config Service to focus now --" << std::endl; + sensor_focus_action.set_focus_action(k_api::VisionConfig::FocusAction::FOCUSACTION_FOCUS_NOW); + vision->DoSensorFocusAction(sensor_focus_action, device_id); + std::cout << "-- Observe the focus tried to adjust to the object in front to the camera --" << std::endl; + example_wait_for_focus_action(); + + std::cout << "\n-- Using Vision Config Service to re-enable the auto-focus --" << std::endl; + sensor_focus_action.set_focus_action(k_api::VisionConfig::FocusAction::FOCUSACTION_START_CONTINUOUS_FOCUS); + vision->DoSensorFocusAction(sensor_focus_action, device_id); + std::cout << "-- Move the object away from the center of the camera and then back, but at a different distance, observe the focus adjusts automatically --" << std::endl; + example_wait_for_focus_action(); +} + +/** + * Example showing how to set the focus of the Color camera to a X-Y point in the camera image + */ +void example_routed_vision_set_focus_point(k_api::VisionConfig::VisionConfigClient* vision, uint32_t device_id) +{ + k_api::VisionConfig::SensorFocusAction sensor_focus_action; + sensor_focus_action.set_sensor(k_api::VisionConfig::Sensor::SENSOR_COLOR); + + std::cout << "\n\n** Example showing how to set the focus of the Color camera to a X-Y point in the camera image **" << std::endl; + + std::cout << "\n-- Using Vision Config Service to set the focus point in the center of the lower right quadrant of the camera image --" << std::endl; + sensor_focus_action.set_focus_action(k_api::VisionConfig::FocusAction::FOCUSACTION_SET_FOCUS_POINT); + sensor_focus_action.mutable_focus_point()->set_x(1280*3/4); + sensor_focus_action.mutable_focus_point()->set_y(720*3/4); + vision->DoSensorFocusAction(sensor_focus_action, device_id); + sensor_focus_action.set_focus_action(k_api::VisionConfig::FocusAction::FOCUSACTION_FOCUS_NOW); + vision->DoSensorFocusAction(sensor_focus_action, device_id); + std::cout << "-- Place an object in the center of the lower right quadrant of the camera image, observe the object gets into focus --" << std::endl; + example_wait_for_focus_action(); + + std::cout << "\n-- Using Vision Config Service to set the focus point back in the middle the camera image--" << std::endl; + sensor_focus_action.set_focus_action(k_api::VisionConfig::FocusAction::FOCUSACTION_SET_FOCUS_POINT); + sensor_focus_action.mutable_focus_point()->set_x(1280/2); + sensor_focus_action.mutable_focus_point()->set_y(720/2); + vision->DoSensorFocusAction(sensor_focus_action, device_id); + sensor_focus_action.set_focus_action(k_api::VisionConfig::FocusAction::FOCUSACTION_FOCUS_NOW); + vision->DoSensorFocusAction(sensor_focus_action, device_id); + std::cout << "-- Place an object in the center of the camera image, observe the object gets into focus --" << std::endl; + example_wait_for_focus_action(); +} + +/** + * Example showing how to set the manual focus of the Color camera (changes the focus distance) + */ +void example_routed_vision_set_manual_focus(k_api::VisionConfig::VisionConfigClient* vision, uint32_t device_id) +{ + k_api::VisionConfig::SensorFocusAction sensor_focus_action; + sensor_focus_action.set_sensor(k_api::VisionConfig::Sensor::SENSOR_COLOR); + + std::cout << "\n\n** Example showing how to set the manual focus of the Color camera (changes the focus distance) **" << std::endl; + + std::cout << "\n-- Using Vision Config Service to set the manual focus on a very close object (close-up view) --" << std::endl; + sensor_focus_action.set_focus_action(k_api::VisionConfig::FocusAction::FOCUSACTION_SET_MANUAL_FOCUS); + sensor_focus_action.mutable_manual_focus()->set_value(1023); // Maximum accepted value + vision->DoSensorFocusAction(sensor_focus_action, device_id); + std::cout << "-- Place an object at around 2 inches away from the center of the camera, observe the object is in focus --" << std::endl; + example_wait_for_focus_action(); + + std::cout << "\n-- Using Vision Config Service to set the manual focus on an object at a greater distance --" << std::endl; + sensor_focus_action.set_focus_action(k_api::VisionConfig::FocusAction::FOCUSACTION_SET_MANUAL_FOCUS); + sensor_focus_action.mutable_manual_focus()->set_value(0); // Mininum accepted value + vision->DoSensorFocusAction(sensor_focus_action, device_id); + std::cout << "-- Move the object away from the camera until it gets into focus --" << std::endl; + example_wait_for_focus_action(); + + std::cout << "\n-- Using Vision Config Service to set the manual focus on a relatively close object (normal view) --" << std::endl; + sensor_focus_action.set_focus_action(k_api::VisionConfig::FocusAction::FOCUSACTION_SET_MANUAL_FOCUS); + sensor_focus_action.mutable_manual_focus()->set_value(350); + vision->DoSensorFocusAction(sensor_focus_action, device_id); + std::cout << "-- Move the object at around 8 inches away from the center of the camera, observe the object is in focus --" << std::endl; + example_wait_for_focus_action(); + + std::cout << "\n-- Using Vision Config Service to re-enable the auto-focus --" << std::endl; + sensor_focus_action.set_focus_action(k_api::VisionConfig::FocusAction::FOCUSACTION_START_CONTINUOUS_FOCUS); + vision->DoSensorFocusAction(sensor_focus_action, device_id); + std::cout << "-- Move the object away from the camera and then back, but at a different distance, observe the focus adjusts automatically --" << std::endl; + example_wait_for_focus_action(); +} + +int main(int argc, char **argv) +{ + // Create API objects + auto error_callback = [](k_api::KError err){ cout << "_________ callback error _________" << err.toString(); }; + auto transport = new k_api::TransportClientTcp(); + auto router = new k_api::RouterClient(transport, error_callback); + transport->connect(IP_ADDRESS, PORT); + + // Set session data connection information + auto create_session_info = k_api::Session::CreateSessionInfo(); + create_session_info.set_username("admin"); + create_session_info.set_password("admin"); + create_session_info.set_session_inactivity_timeout(60000); // (milliseconds) + create_session_info.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + std::cout << "Creating session for communication" << std::endl; + auto session_manager = new k_api::SessionManager(router); + session_manager->CreateSession(create_session_info); + std::cout << "Session created" << std::endl; + + // Create services + auto vision = new k_api::VisionConfig::VisionConfigClient(router); + auto device_manager = new k_api::DeviceManager::DeviceManagerClient(router); + + // Example core + example_display_usage(); + uint32_t vision_device_id = example_vision_get_device_id(device_manager); + if (vision_device_id != 0) + { + example_routed_vision_do_autofocus_action(vision, vision_device_id); + example_routed_vision_set_focus_point(vision, vision_device_id); + example_routed_vision_set_manual_focus(vision, vision_device_id); + } + else + { + std::cout << "Error : No Vision module found!" << std::endl; + } + + // Close API session + session_manager->CloseSession(); + + // Deactivate the router and cleanly disconnect from the transport object + router->SetActivationStatus(false); + transport->disconnect(); + + // Destroy the API + delete vision; + delete device_manager; + delete session_manager; + delete router; + delete transport; +} \ No newline at end of file diff --git a/api_cpp/examples/500-Vision/04_vision_sensor_options.cpp b/api_cpp/examples/500-Vision/04_vision_sensor_options.cpp new file mode 100644 index 00000000..f05a4ad3 --- /dev/null +++ b/api_cpp/examples/500-Vision/04_vision_sensor_options.cpp @@ -0,0 +1,538 @@ +/* +* KINOVA (R) KORTEX (TM) +* +* Copyright (c) 2019 Kinova inc. All rights reserved. +* +* This software may be modified and distributed +* under the terms of the BSD 3-Clause license. +* +* Refer to the LICENSE file for details. +* +*/ + +/* +* ###################################################################################### +* # To use these examples: # +* # - Connect to the robot's web page # +* # - Select the Camera view page # +* # - Observe the effects of changing the Color sensor options # +* ###################################################################################### +*/ + +#include +#include +#include +#include +#include +#include + +#include +#include +#include // for std::setprecision, std::setfill, std::setw + +namespace k_api = Kinova::Api; + +#define PORT 10000 +#define IP_ADDRESS "192.168.1.10" + +typedef struct _option_info +{ + // int id; + k_api::VisionConfig::Option id; + string name; + bool writable; + float min_value; + float max_value; + float step_value; + float default_value; +} option_info_t; + +// Lists of supported options for a sensor +std::vector supported_color_options; +std::vector supported_depth_options; +// Empty list to use for an unsupported sensor +std::vector no_options; + +/** + * Returns the device identifier of the Vision module, 0 if not found + */ +uint32_t example_vision_get_device_id(k_api::DeviceManager::DeviceManagerClient* device_manager) +{ + uint32_t vision_device_id = 0; + + // Gets all device routing information (from DeviceManagerClient service) + auto all_devices_info = device_manager->ReadAllDevices(); + + // Uses device routing information to route to every device (base, actuator, interconnect, etc.) + // in the armbase system and request general device information + for ( auto dev : all_devices_info.device_handle() ) + { + if ( dev.device_type() == k_api::Common::DeviceTypes::VISION ) + { + vision_device_id = dev.device_identifier(); + std::cout << "Vision module found, device Id: " << vision_device_id <& example_get_sensor_supported_options(k_api::VisionConfig::Sensor sensor) +{ + if (sensor == k_api::VisionConfig::Sensor::SENSOR_COLOR) + { + return supported_color_options; + } + else if (sensor == k_api::VisionConfig::Sensor::SENSOR_DEPTH) + { + return supported_depth_options; + } + else + { + return no_options; + } +} + +/** + * Display the information of a specific sensor option + */ +void example_display_sensor_option_information(const option_info_t& option_info) +{ + // sets display precision for floating point values + std::cout << std::fixed; + std::cout << std::setprecision(6); + + std::cout << "Option id: " << std::setfill('0') << std::setw(2) << option_info.id << " name: " << option_info.name; + std::cout << " is_writable: " << std::boolalpha << option_info.writable << std::endl; + std::cout << "minimum: " << option_info.min_value << " maximum: " << option_info.max_value << std::endl; + std::cout << " step: " << option_info.step_value << " default: " << option_info.default_value << std::endl << std::endl; +} + +/** + * Add option information to a list of supported options for a sensor + * The added item is a dictionary describing the option information, with the following fields: + * 'id', 'name', 'writable', 'min', 'max', 'step', 'default' + * Then, display the option information + */ +void example_add_and_display_sensor_supported_option(const k_api::VisionConfig::OptionInformation& option_info) +{ + bool display_option_info = true; + option_info_t option_infoData = {}; + + option_infoData.id = option_info.option(); + option_infoData.name = k_api::VisionConfig::Option_Name(option_info.option()); + option_infoData.writable = !option_info.read_only(); + option_infoData.min_value = option_info.minimum(); + option_infoData.max_value = option_info.maximum(); + option_infoData.step_value = option_info.step(); + option_infoData.default_value = option_info.default_value(); + + if (option_info.sensor() == k_api::VisionConfig::Sensor::SENSOR_COLOR) + { + supported_color_options.push_back(option_infoData); + } + else if (option_info.sensor() == k_api::VisionConfig::Sensor::SENSOR_DEPTH) + { + supported_depth_options.push_back(option_infoData); + } + else + { + std::cout << "Unsupported sensor " << option_info.sensor() << " for option id " << option_info.option(); + std::cout << ", not adding to any list!" << std::endl; + display_option_info = false; + } + + // Display option information + if (display_option_info) + { + example_display_sensor_option_information(option_infoData); + } +} + +/** + * From the given option information, return the value requested by the range + */ +float example_get_option_value_by_range(const option_info_t& option_info, const string& value_range) +{ + float value; + + if (value_range == "min") + { + value = option_info.min_value; + } + else if (value_range == "max") + { + value = option_info.max_value; + } + else if (value_range == "default") + { + value = option_info.default_value; + } + else + { + value = 0.0f; + } + + return value; +} + +/** + * For all sensor options, set their value based on the specified range + */ +void example_set_sensor_options_values_by_range(k_api::VisionConfig::Sensor sensor, const string& value_range, + k_api::VisionConfig::VisionConfigClient* vision, uint32_t device_id) +{ + k_api::VisionConfig::OptionValue option_value; + const std::vector& sensor_options = example_get_sensor_supported_options(sensor); + std::vector::const_iterator iter_options; + + option_value.set_sensor(sensor); + + for (iter_options = sensor_options.begin(); iter_options != sensor_options.end(); ++iter_options) + { + if (iter_options->writable) + { + try + { + option_value.set_option(iter_options->id); + option_value.set_value(example_get_option_value_by_range(*iter_options, value_range)); + vision->SetOptionValue(option_value, device_id); + std::cout << "Set value (" << option_value.value() << ") for option '" << iter_options->name << "'" << std::endl; + } + catch(const std::exception& ex) + { + std::cout << "Failed to set " << value_range << " value for option '" << iter_options->name << "': " << ex.what() << std::endl; + } + } + } +} + +/** + * For all sensor options, validate their value based on the specified range + */ +void example_validate_sensor_options_values_by_range(k_api::VisionConfig::Sensor sensor, const string& value_range, + k_api::VisionConfig::VisionConfigClient* vision, uint32_t device_id) +{ + k_api::VisionConfig::OptionIdentifier option_identifier; + k_api::VisionConfig::OptionValue option_value_reply; + const std::vector& sensor_options = example_get_sensor_supported_options(sensor); + std::vector::const_iterator iter_options; + + option_identifier.set_sensor(sensor); + + for (iter_options = sensor_options.begin(); iter_options != sensor_options.end(); ++iter_options) + { + if (iter_options->writable) + { + try + { + option_identifier.set_option(iter_options->id); + option_value_reply = vision->GetOptionValue(option_identifier, device_id); + std::cout << "Confirm received value (" << option_value_reply.value() << ") for option '" << iter_options->name << "' --> "; + std::cout << (option_value_reply.value() == example_get_option_value_by_range(*iter_options, value_range) ? "OK" : "*** FAILED ***"); + std::cout << std::endl; + } + catch(const std::exception& ex) + { + std::cout << "Failed to get value for option '" << iter_options->name << "': " << ex.what() << std::endl; + } + } + } +} + +/** + * Example showing how to get the sensors options information + * Note: This function must be called in order to fill up the lists of sensors supported options + */ +void example_routed_vision_get_option_information(k_api::VisionConfig::VisionConfigClient* vision, uint32_t device_id) +{ + int sensor_index; + int option_index; + k_api::VisionConfig::OptionIdentifier option_identifier; + k_api::VisionConfig::OptionInformation option_info; + string sensor_name; + + std::cout << "\n** Example showing how to get the sensors options information **" << std::endl; + + // For all sensors, determine which options are supported and populate specific list + for (sensor_index = k_api::VisionConfig::Sensor_MIN+1; sensor_index <= k_api::VisionConfig::Sensor_MAX; sensor_index++) + { + option_identifier.set_sensor(static_cast (sensor_index)); + sensor_name = example_get_sensor_name(static_cast (sensor_index)); + std::cout << "\n-- Using Vision Config Service to get information for all " << sensor_name << " sensor options --" << std::endl; + for (option_index = k_api::VisionConfig::Option_MIN+1; option_index <= k_api::VisionConfig::Option_MAX; option_index++) + { + try + { + option_identifier.set_option(static_cast (option_index)); + option_info = vision->GetOptionInformation(option_identifier, device_id); + if (option_info.sensor() == static_cast (sensor_index) && + option_info.option() == static_cast (option_index)) + { + if (option_info.supported()) + { + example_add_and_display_sensor_supported_option(option_info); + } + } + else + { + std::cout << "Unexpected mismatch of sensor or option in returned information for option id "; + std::cout << option_index << "!" << std::endl; + } + } + catch(const std::exception& ex) + { + // The option is simply not supported + } + } + } +} + +/** + * Example showing how to get the sensors options values + */ +void example_routed_vision_get_sensor_options_values(k_api::VisionConfig::VisionConfigClient* vision, uint32_t device_id) +{ + int sensor_index; + k_api::VisionConfig::OptionIdentifier option_identifier; + k_api::VisionConfig::OptionValue option_value; + string sensor_name; + std::vector::const_iterator iter_options; + + std::cout << "\n** Example showing how to get the sensors options values **" << std::endl; + + // sets display precision for floating point values + std::cout << std::fixed; + std::cout << std::setprecision(6); + + // For all sensors, get their supported options value + for (sensor_index = k_api::VisionConfig::Sensor_MIN+1; sensor_index <= k_api::VisionConfig::Sensor_MAX; sensor_index++) + { + option_identifier.set_sensor(static_cast (sensor_index)); + sensor_name = example_get_sensor_name(static_cast (sensor_index)); + const std::vector& sensor_options = example_get_sensor_supported_options(static_cast (sensor_index)); + std::cout << "\n-- Using Vision Config Service to get value for all " << sensor_name << " sensor options --" << std::endl; + for (iter_options = sensor_options.begin(); iter_options != sensor_options.end(); ++iter_options) + { + try + { + option_identifier.set_option(iter_options->id); + option_value = vision->GetOptionValue(option_identifier, device_id); + std::cout << "Option '" << iter_options->name << "' has value " << option_value.value() << std::endl; + } + catch(const std::exception& ex) + { + std::cout << "Failed to get value of option '"<< iter_options->name << "': " << ex.what() << std::endl; + } + } + std::cout << std::endl; + } +} + +/** + * Example showing how to set the sensors options values + */ +void example_routed_vision_set_sensor_options_values(k_api::VisionConfig::VisionConfigClient* vision, uint32_t device_id) +{ + int sensor_index; + string sensor_name; + std::vector value_ranges = {"max", "default"}; + std::vector::iterator iter_value_ranges; + + std::cout << "\n** Example showing how to set the sensors options values **" << std::endl; + + // Set display precision for floating point values + std::cout << std::fixed; + std::cout << std::setprecision(6); + + // For all sensors, set and confirm options values + for (iter_value_ranges = value_ranges.begin(); iter_value_ranges != value_ranges.end(); ++iter_value_ranges) + { + for (sensor_index = k_api::VisionConfig::Sensor_MIN+1; sensor_index <= k_api::VisionConfig::Sensor_MAX; sensor_index++) + { + sensor_name = example_get_sensor_name(static_cast (sensor_index)); + + std::cout << "\n-- Using Vision Config Service to set " << *iter_value_ranges << " value for all " << sensor_name; + std::cout << " sensor options --" << std::endl; + example_set_sensor_options_values_by_range(static_cast (sensor_index), *iter_value_ranges, vision, device_id); + + std::cout << "\n-- Using Vision Config Service to confirm " << *iter_value_ranges << " value was set for all " << sensor_name; + std::cout << " sensor options --" << std::endl; + example_validate_sensor_options_values_by_range(static_cast (sensor_index), *iter_value_ranges, vision, device_id); + + if (static_cast (sensor_index) == k_api::VisionConfig::Sensor::SENSOR_COLOR) + { + std::cout << "\n-- Waiting for 5 seconds to observe the effects of the new COLOR sensor options values... --" << std::endl; + std::this_thread::sleep_for(std::chrono::seconds(5)); + } + else + { + std::cout << std::endl; + } + } + } +} + +/** + * Example confirming that sensors options values are restored upon a reboot of the Vision module + */ +void example_routed_vision_confirm_saved_sensor_options_values(k_api::VisionConfig::VisionConfigClient* vision, k_api::DeviceConfig::DeviceConfigClient* device_config, uint32_t device_id) +{ + int sensor_index; + string sensor_name; + std::vector value_ranges = {"min", "default"}; + std::vector::iterator iter_value_ranges; + + std::cout << "\n** Example confirming that sensors options values are restored upon a reboot of the Vision module **" << std::endl; + + // Set display precision for floating point values + std::cout << std::fixed; + std::cout << std::setprecision(6); + + // For all sensors, set and confirm options values + for (iter_value_ranges = value_ranges.begin(); iter_value_ranges != value_ranges.end(); ++iter_value_ranges) + { + for (sensor_index = k_api::VisionConfig::Sensor_MIN+1; sensor_index <= k_api::VisionConfig::Sensor_MAX; sensor_index++) + { + sensor_name = example_get_sensor_name(static_cast (sensor_index)); + + std::cout << "\n-- Using Vision Config Service to set " << *iter_value_ranges << " value for all " << sensor_name; + std::cout << " sensor options --" << std::endl; + example_set_sensor_options_values_by_range(static_cast (sensor_index), *iter_value_ranges, vision, device_id); + + std::cout << "\n-- Using Vision Config Service to confirm " << *iter_value_ranges << " value was set for all " << sensor_name; + std::cout << " sensor options --" << std::endl; + example_validate_sensor_options_values_by_range(static_cast (sensor_index), *iter_value_ranges, vision, device_id); + } + + // If we just set the options' minimum value, reboot the Vision module device + if (*iter_value_ranges == "min") + { + // Reboot with a delay + int delayToReboot_ms = 5000; + k_api::DeviceConfig::RebootRqst rebootRequest; + rebootRequest.set_delay(delayToReboot_ms); + std::cout << "\n-- Using Device Config Service to reboot the Vision module in " << delayToReboot_ms << " milliseconds. "; + std::cout << "Please wait... --" << std::endl; + device_config->RebootRequest(rebootRequest, device_id); + + // Wait until the Vision module is rebooted completely + int waitAfterRebootSec = 35 + (delayToReboot_ms / 1000); + std::this_thread::sleep_for(std::chrono::seconds(waitAfterRebootSec)); + + // For all sensors, confirm their option values were restored + for (sensor_index = k_api::VisionConfig::Sensor_MIN+1; sensor_index <= k_api::VisionConfig::Sensor_MAX; sensor_index++) + { + sensor_name = example_get_sensor_name(static_cast (sensor_index)); + + std::cout << "\n-- Using Vision Config Service to confirm " << *iter_value_ranges << " value was restored after reboot for all "; + std::cout << sensor_name << " sensor options --" << std::endl; + example_validate_sensor_options_values_by_range(static_cast (sensor_index), *iter_value_ranges, vision, device_id); + } + } + else + { + std::cout << std::endl; + } + } +} + +int main(int argc, char **argv) +{ +// Create API objects + auto error_callback = [](k_api::KError err){ cout << "_________ callback error _________" << err.toString(); }; + auto transport = new k_api::TransportClientTcp(); + auto router = new k_api::RouterClient(transport, error_callback); + transport->connect(IP_ADDRESS, PORT); + + // Set session data connection information + auto create_session_info = k_api::Session::CreateSessionInfo(); + create_session_info.set_username("admin"); + create_session_info.set_password("admin"); + create_session_info.set_session_inactivity_timeout(60000); // (milliseconds) + create_session_info.set_connection_inactivity_timeout(2000); // (milliseconds) + + // Session manager service wrapper + std::cout << "Creating session for communication" << std::endl; + auto session_manager = new k_api::SessionManager(router); + session_manager->CreateSession(create_session_info); + std::cout << "Session created" << std::endl; + + // Create services + auto vision = new k_api::VisionConfig::VisionConfigClient(router); + auto device_manager = new k_api::DeviceManager::DeviceManagerClient(router); + auto device_config = new k_api::DeviceConfig::DeviceConfigClient(router); + + // Example core + example_display_usage(); + uint32_t vision_device_id = example_vision_get_device_id(device_manager); + + if (vision_device_id != 0) + { + example_routed_vision_get_option_information(vision, vision_device_id); + example_routed_vision_get_sensor_options_values(vision, vision_device_id); + example_routed_vision_set_sensor_options_values(vision, vision_device_id); + example_routed_vision_confirm_saved_sensor_options_values(vision, device_config, vision_device_id); + } + else + { + std::cout << "Error : No Vision module found!" << std::endl; + } + + // Close API session + session_manager->CloseSession(); + + // Deactivate the router and cleanly disconnect from the transport object + router->SetActivationStatus(false); + transport->disconnect(); + + // Destroy the API + delete vision; + delete device_manager; + delete device_config; + delete session_manager; + delete router; + delete transport; +} \ No newline at end of file diff --git a/api_cpp/examples/500-Vision/CMakeLists.txt b/api_cpp/examples/500-Vision/CMakeLists.txt deleted file mode 100644 index 51fe6759..00000000 --- a/api_cpp/examples/500-Vision/CMakeLists.txt +++ /dev/null @@ -1,78 +0,0 @@ -cmake_minimum_required(VERSION 3.10) - -project(Getting_started) -MESSAGE("---------------------------------------------------------------------------------") -MESSAGE("Project '${PROJECT_NAME}' args: ${CMAKE_ARGS}") -MESSAGE("Project building for: '${CMAKE_SYSTEM_NAME}' in '${CMAKE_BUILD_TYPE}' mode") - -if(NOT CMAKE_BUILD_TYPE) - set(CMAKE_BUILD_TYPE release) -endif() - -if(NOT KORTEX_SUB_DIR) - set(KORTEX_SUB_DIR "") -else() - set(KORTEX_SUB_DIR "${KORTEX_SUB_DIR}/") -endif() - -set(CMAKE_INCLUDE_CURRENT_DIR ON) -set(CMAKE_AUTOMOC ON) -set(CMAKE_VERBOSE_MAKEFILE ON) -set(CMAKE_COLOR_MAKEFILE ON) -set(BUILD_SHARED_LIBS OFF) - -file(GLOB EXE_LIST RELATIVE ${PROJECT_SOURCE_DIR} "*.cpp") - -foreach ( SRC_FILE ${EXE_LIST} ) - string(REPLACE ".cpp" "" TARGET_EXE_NAME ${SRC_FILE}) - MESSAGE("create TARGET_EXE_NAME: '${TARGET_EXE_NAME}'") - - add_executable(${TARGET_EXE_NAME} ${SRC_FILE}) - if(MSVC) - target_compile_options(${TARGET_EXE_NAME} PRIVATE -W2) - else() - target_compile_options(${TARGET_EXE_NAME} PRIVATE -Wall) - target_compile_options(${TARGET_EXE_NAME} PRIVATE -Wno-reorder) - target_compile_features(${TARGET_EXE_NAME} PRIVATE cxx_std_11) - endif() - - if(UNIX) - target_compile_definitions(${TARGET_EXE_NAME} PRIVATE -D_OS_UNIX) - elseif(WIN32) - target_compile_definitions(${TARGET_EXE_NAME} PRIVATE -D_OS_WINDOWS) - - if(MSVC) - # Compiling with /MT must also be done in executables using the library - target_compile_options(${TARGET_EXE_NAME} PRIVATE /bigobj /MT) - endif() - endif() - - ################################################################################## - set(KORTEX_DIR "${PROJECT_SOURCE_DIR}/../kortex_api/${KORTEX_SUB_DIR}") - - ##### Link to lib - if(MSVC) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}lib/${CMAKE_BUILD_TYPE}/KortexApi.lib) - else() - target_link_libraries(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}lib/${CMAKE_BUILD_TYPE}/libKortexApi.a) - endif() - - # link other libs - if(UNIX) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE pthread) - elseif(WIN32) - # target_link_libraries(${TARGET_EXE_NAME} PRIVATE ws2_32 winMM Winusb Setupapi xinput) - target_link_libraries(${TARGET_EXE_NAME} PRIVATE winMM ws2_32) - else() - MESSAGE(FATAL_ERROR "Unknown os! Not supported yet") - endif() - - # add include dir - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/client) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/common) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/messages) - target_include_directories(${TARGET_EXE_NAME} PRIVATE ${KORTEX_DIR}include/client_stubs) - ################################################################################## - -endforeach() diff --git a/api_cpp/examples/CMakeLists.txt b/api_cpp/examples/CMakeLists.txt index e95689d8..3a07e853 100644 --- a/api_cpp/examples/CMakeLists.txt +++ b/api_cpp/examples/CMakeLists.txt @@ -1,15 +1,40 @@ # ---------------------------------------------------------------------------- -# Sources CMake file for C++ api Library +# CMakeLists.txt for C++ Kortex API Examples +# Copyright © 2018 Kinova Robotics # -# From the api_cpp/examples directory, invoke: -# $ mkdir build -# $ cd build/ -# $ cmake .. -# $ make +# Build instructions for the supported platforms (CMake only) : +# +# In Linux (x86-64 architecture): +# From the api_cpp/examples directory, invoke: +# $ mkdir build +# $ cd build/ +# $ cmake .. -DCMAKE_BUILD_TYPE=release -DKORTEX_SUB_DIR=linux_gcc_x86-64 +# $ make +# +# In Windows (MinGW) : +# From the api_cpp/examples directory, invoke: +# $ mkdir build +# $ cd build/ +# $ cmake .. -G "MinGW Makefiles" -DCMAKE_BUILD_TYPE=release -DKORTEX_SUB_DIR=win_mingw_x86 +# $ mingw32-make +# +# In Windows (MSVC command line) : +# From the api_cpp/examples directory, invoke: +# $ call "C:\Program Files (x86)\Microsoft Visual Studio\2017\BuildTools\VC\Auxiliary\Build\vcvars64.bat" [MODIFY THIS PATH FOR YOURS] +# $ mkdir build +# $ cd build/ +# $ cmake .. -G "NMake Makefiles" -DCMAKE_BUILD_TYPE=Release -DKORTEX_SUB_DIR=win_msvc_x86-64 +# $ nmake # -# Copyright © 2018 Kinova Robotics # ---------------------------------------------------------------------------- -cmake_minimum_required(VERSION 3.10) +cmake_minimum_required(VERSION 3.5) + +project(cppExamples VERSION 0.0.1 LANGUAGES CXX) + +set(CMAKE_INCLUDE_CURRENT_DIR ON) +set(CMAKE_VERBOSE_MAKEFILE ON) +set(CMAKE_COLOR_MAKEFILE ON) +set(BUILD_SHARED_LIBS OFF) if(NOT CMAKE_BUILD_TYPE) set(CMAKE_BUILD_TYPE release) @@ -21,11 +46,102 @@ else() set(KORTEX_SUB_DIR "${KORTEX_SUB_DIR}/") endif() -add_subdirectory(000-Getting_started) -#add_subdirectory(101-BaseGen3_config) -add_subdirectory(100-BaseGen3_overview) -add_subdirectory(102-BaseGen3_ctrl) -add_subdirectory(200-BaseGen3_low_level_cyclic) -#add_subdirectory(300-BaseGen3_low_level_bypass) -#add_subdirectory(400-Actuator) -add_subdirectory(500-Vision) +# Activate C++ 11 +set (CMAKE_CXX_STANDARD 11) + +include_directories(${PROJECT_SOURCE_DIR}/thirdParty/cxxopts/) + + +if(MSVC) + add_compile_options(-W2) +else() + add_compile_options(-Wall) + add_compile_options(-Wno-reorder) + +endif() + +if(UNIX) + add_definitions(-D_OS_UNIX) +elseif(WIN32) + add_definitions(-D_OS_WINDOWS -DNOMINMAX) + message(${CMAKE_CURRENT_SOURCE_DIR}) + execute_process(COMMAND download_kortex_api.bat + WORKING_DIRECTORY ../scripts + RESULT_VARIABLE DOWNLOAD_API_RESULT) + + message(${DOWNLOAD_API_RESULT}) + if(NOT DOWNLOAD_API_RESULT EQUAL 0) + message(FATAL_ERROR "Kortex API was not downloaded prior to running CMake.") + endif() + + if(MSVC) + # Compiling with /MT must also be done in executables using the library + add_compile_options(/bigobj /MT) + endif() +endif() + +################################################################################## +set(KORTEX_DIR "${PROJECT_SOURCE_DIR}/kortex_api/${KORTEX_SUB_DIR}") +message("KORTEX_DIR " ${KORTEX_DIR}) + +##### Link to lib +if(MSVC) + link_libraries(${KORTEX_DIR}lib/${CMAKE_BUILD_TYPE}/KortexApi.lib) +else() + link_libraries(${KORTEX_DIR}lib/${CMAKE_BUILD_TYPE}/libKortexApi.a) +endif() + +# link other libs +if(UNIX) + link_libraries(pthread) +elseif(WIN32) + # link_libraries(PRIVATE ws2_32 winMM Winusb Setupapi xinput) + link_libraries(winMM ws2_32) +else() + MESSAGE(FATAL_ERROR "Unknown os! Not supported yet") +endif() + +# add include dir +include_directories(${KORTEX_DIR}include) +include_directories(${KORTEX_DIR}include/client) +include_directories(${KORTEX_DIR}include/common) +include_directories(${KORTEX_DIR}include/messages) +include_directories(${KORTEX_DIR}include/client_stubs) +################################################################################## + +# Link to submodule base on OS +if(UNIX) + link_libraries(pthread) +elseif(WIN32) + link_libraries(ws2_32 winMM Winusb Setupapi xinput) +else() + MESSAGE(FATAL_ERROR "Unknown OS! Not supported yet") +endif() + + +# Create executable for each example + +# Look for examples under folders +file(GLOB EXE_LIST RELATIVE ${PROJECT_SOURCE_DIR} "[0-9]*-*/[0-9]*.cpp") +foreach ( SRC_FILE ${EXE_LIST} ) + + string(REPLACE ".cpp" "" TARGET_EXE_NAME ${SRC_FILE}) + string(REPLACE "/" "_" TARGET_EXE_NAME ${TARGET_EXE_NAME}) + + MESSAGE("creating TARGET_EXE_NAME: '${TARGET_EXE_NAME}'") + + add_executable(${TARGET_EXE_NAME} ${SRC_FILE}) + +endforeach() + + + + + + + + + + + + diff --git a/api_cpp/examples/kortex_api/readme.md b/api_cpp/examples/kortex_api/readme.md new file mode 100644 index 00000000..58960d71 --- /dev/null +++ b/api_cpp/examples/kortex_api/readme.md @@ -0,0 +1,2 @@ +# Description +C++ Kortex Api directory diff --git a/api_cpp/examples/readme.md b/api_cpp/examples/readme.md index 52487df2..147b0a0c 100644 --- a/api_cpp/examples/readme.md +++ b/api_cpp/examples/readme.md @@ -12,16 +12,19 @@ -- [Setup (C++ environment)](#setup-example-cpp-environment) - - [Set up PC environment](#setup-pc-environment) +

C++ examples

+ +

Table of Contents

+ +- [Setup (C++ environment)](#setup-c-environment) + - [Setup PC environment](#set-up-pc-environment) - [CMake](#cmake) - [GCC 5.4 compiler (preferred)](#gcc-54-compiler-prefered) - [Install GCC 5.4 under Linux (Ubuntu 16.04 and higher)](#procedure-to-install-gcc-54-under-linux-ubuntu-1604) - [Install GCC 5.4 under Windows](#procedure-to-install-gcc-54-under-windows) - - [Windows MSVC 2017 Compiler (for )](#windows-msvc-2017-compiler-for) - - [Install C++ Kortex API and the required dependencies](#install-cpp-kortex-api--the-needed-dependencies) -- [Build instructions](#build-instruction) -- [How to use examples](#how-to-use-examples-with-gen3-robot) + - [Download and set up Kortex C++ API](#download-and-set-up-kortex-c-api) +- [Build](#build-instruction) +- [Run](#how-to-use-examples-with-gen3-robot) - [C++ API documentation](#api-documentation) - [Reference](#reference) - [Useful Links](#usefull-links) @@ -48,38 +51,52 @@ ## Set up PC environment -> + ### CMake -> The C++ example projects in this repository use CMake. -> The following link has the instructions to install CMake. -> - cmake >= 3.10: [CMake install page](https://cmake.org/install) +The C++ example projects in this repository use CMake. +The following link has the instructions to install CMake. + - cmake >= 3.5: [CMake install page](https://cmake.org/install) + +On Windows, make sure you add CMake to your PATH variable + + ![CMake add to path](../..//linked_md/add_cmake_to_path.PNG) ### GCC 5.4 compiler (preferred) -> -> To check which version of GCC is installed on Windows or Linux -> *Note: This procedure only works on Windows if you add the MinGW bin directory path to the PATH environment variable* -> ```sh -> gcc --version -> ``` + + To check which version of GCC is installed on Windows or Linux +**Note:** This procedure only works on Windows if you add the MinGW bin directory path to the PATH environment variable. + + ```sh + gcc --version + ``` + #### Procedure to install GCC 5.4 under Linux (Ubuntu 16.04 and higher) -> ```sh -> sudo apt-get install build-essential -> ``` +```sh +sudo apt-get install build-essential +``` + #### Procedure to install GCC 5.4 under Windows -> Because GCC is not coded for the Windows operating system, a GCC port of MinGW-w64 for Windows is required. The '-w64' suffix indicates that it can support a 32-bit or 64-bit environment. The 32-bit versions are still available and one of them will be used to compile the affected project. -> -> 1. Go to https://sourceforge.net/projects/mingw-w64 -> 2. Start the installer and click 'Next' until you reach the installation options page -> 3. On the options page ensure that the options look exactly like this (all options are the default values, except for version, which is the version of GCC we want to install - 5.4 in this case) -> -> ![Gcc Setting](../..//linked_md/MinGW_5_4_install_setting.png) -> -> 4. Click 'Next' until the end of the installation. The install directory by default is the one set in the build script included with the project. -> 5. Optional: You can add the path of the bin directory to the system path to make all the MinGW commands and tools available system wide. -> +Because GCC is not coded for the Windows operating system, a GCC port of MinGW-w64 for Windows is required. The '-w64' suffix indicates that it can support a 32-bit or 64-bit environment. The 32-bit versions are still available and one of them will be used to compile the affected project. + +1. Go to https://sourceforge.net/projects/mingw-w64 +2. Start the installer and click `Next` until you reach the installation options page +3. On the options page ensure that the options look exactly like this (all options are the default values, except for version, which is the version of GCC we want to install - 5.4 in this case) + + ![Gcc Setting](../..//linked_md/MinGW_5_4_install_setting.png) + +4. Click `Next` until the end of the installation. The install directory by default is the one set in the build script included with the project. +5. Add the path of the bin directory to the system path to make all the MinGW commands and tools available system wide: + - Right-click on the `Start` Button + - Select `System` from the context menu. + - Click `Advanced system settings` + - Go to the `Advanced` tab + - Click `Environment Variables…` + - Click variable called `Path` and click `Edit…` + - Click `New` + - Enter the path to the folder containing the binary you want on your `PATH` (e.g. `C:\Program Files (x86)\mingw-w64\i686-5.4.0-posix-dwarf-rt_v5-rev0\mingw32\bin`) -## Install C++ Kortex API and the required dependencies +## Download and set up Kortex C++ API -> *Manual installation using downloaded archive:* -> + Download the archive via Kinova's Google Drive: [kortex_api](https://drive.google.com/file/d/1ASbEsulf5cByru8Hy1oBZJyNDBa9H22C/view) -> + Uncompress the content of the archive and place in the sub-directory *kortex_api* +Manual installation using downloaded archive: + + Download the archive via Kinova's Artifactory: [kortex_api](https://artifactory.kinovaapps.com/artifactory/generic-local-public/kortex/API/2.0.0/kortex_api_2.0.0.zip) + + Uncompress the content of the archive and place the contents of the `cpp` folder in the sub-directory `kortex_api`. -*Ensure that you respect one of the following directory hierarchies.* -*1. using content of a specific Kortex API OS_Compiler_Architecture* -```sh -examples/kortex_api -┬ -├ include/ -├ lib/ -└ ┬ - ├ debug/ - └ release/ +You will then have to use the `KORTEX_SUB_DIR` CMake argument to specify the Kortex API OS_Compiler_Architecture. -``` -*2. using KORTEX_SUB_DIR cmake argument to specify the Kortex API OS_Compiler_Architecture* ```sh examples/kortex_api ┬ -├ OS_Compiler_Architecture/ +├ OS_Compiler_Architecture/ [e.g. linux_gcc_x86-64] └ ┬ ├ include/ ├ lib/ @@ -131,122 +137,115 @@ examples/kortex_api └ release/ ``` + You can also uncompress the content of the archive and place the contents of the `cpp/(your architecture)` folder in the sub-directory `kortex_api`, like so: + +```sh +examples/kortex_api +┬ +├ include/ +├ lib/ +└ ┬ + ├ debug/ + └ release/ +``` + -# Build instructions +# Build ->

-> Linux Ubuntu -> -> ```sh -> mkdir build -> cd build -> cmake .. -DCMAKE_BUILD_TYPE=release [-DKORTEX_SUB_DIR=] -> make -> ``` -> ->

+To build, you need change the current directory to the example directory. +The build instructions then depend on your OS and compiler (see below). ->

->

-> (note that the name of the executable is mingw32-make.exe, even for the 64-bit version) -> Windows - using GCC -> -> ```sh -> mkdir build -> cd build -> cmake .. -G "MinGW Makefiles" -DCMAKE_BUILD_TYPE=release [-DKORTEX_SUB_DIR=] -> mingw32-make -> ``` -> ->

+```sh +my_example_repo +┬ +├ api_cpp/ +└ ┬ + ├ doc/ + └ examples/ (you have to cd here) +``` ->

->Windows - using Visual Studio 2017 -> -> ```sh -> mkdir build -> cd build -> cmake .. -G "Visual Studio 15 2017 [arch]" -DCMAKE_SH=CMAKE_SH-NOTFOUND -DCMAKE_BUILD_TYPE=release [-DKORTEX_SUB_DIR=] -> ``` -> ->

+

+ Linux Ubuntu + + ```sh + mkdir build + cd build + cmake .. -DCMAKE_BUILD_TYPE=release [-DKORTEX_SUB_DIR=] + make + ``` ->

->Windows - using command-line MSVC build -> -> ```sh -> call "C:\Program Files (x86)\Microsoft Visual > Studio\2017\BuildTools\VC\Auxiliary\Build\vcvarsamd64_x86.bat" -> -> :: Add the cl.exe path the Windows Environment PATH -> set PATH=%PATH%;C:/Program Files (x86)/Microsoft Visual Studio/2017/BuildTools/VC/Tools/MSVC/14.15.26726/bin/Hostx64/x64 -> -> mkdir build -> cd build -> cmake .. -G "NMake Makefiles" -DCMAKE_SH=CMAKE_SH-NOTFOUND -DCMAKE_BUILD_TYPE=Release -> nmake ->``` -> ->

+

- -# How to use examples with the Gen3 robot +

+

+ + **Note:** the name of the executable is `mingw32-make.exe`, even for the 64-bit version) -*We assume the robot is using its default IP address: 192.168.1.10* + Windows - using GCC + + ```bat + mkdir build + cd build + cmake .. -G "MinGW Makefiles" -DCMAKE_BUILD_TYPE=release [-DKORTEX_SUB_DIR=] + mingw32-make + ``` -Before you start make sure you run the test in a safe area - some examples contain movement. Also verify that your Gen3 device is correctly afixed to your working surface. +

-Prerequisites: -+ The examples require a wired connection to your computer -+ Configure a static IP on your network interface (e.g: 192.168.1.11/24) -+ Add a route to arm actuators: - + under Windows - ```batch - route ADD -p 10.10.0.0 MASK 255.255.255.0 192.168.1.10 METRIC 1 - ``` - + under Linux - ```sh - ip route add 10.10.0.0/24 via 192.168.1.10 - ``` +

+Windows - using Visual Studio 2017 + ```sh + mkdir build + cd build + cmake .. -G "Visual Studio 15 2017 [arch]" -DCMAKE_SH=CMAKE_SH-NOTFOUND -DCMAKE_BUILD_TYPE=release [-DKORTEX_SUB_DIR=] + ``` -Now you're ready to compile the example. There are two ways to build the example: build all, or by sub directory. +

-To build all, you need change the current directory to the example directory. To build a sub directory you need to change the current directory to the parent directory of the one you want to build. The build instruction below is the same. -```sh -examples/kortex_api -┬ -├ api_cpp/ -└ ┬ - ├ doc/ - ├ examples/ (Here to build all example) - └ ┬ - ├ 000-Getting_started/ (Here to build this specific directory) - └ .../ +

+Windows - using command-line MSVC build -``` + Setup the build environment + + **Note:** Make sure to adjust the path to match the location of your installed BuildTools call: + + `C:\Program Files (x86)\Microsoft Visual Studio\2017\BuildTools\VC\Auxiliary\Build\vcvars64.bat` -Create a build directory -```sh -mkdir build +```bat + mkdir build + cmake .. -G "NMake Makefiles" -DCMAKE_BUILD_TYPE=Release [-DKORTEX_SUB_DIR=] + nmake ``` -Change the current directory to the build directory and build the example using one of the following commands: +

+ + +# Run + +We assume the robot is using its default IP address: `192.168.1.10`. + +Before you start make sure you run the test in a safe area - some examples contain movement. Also verify that your Gen3 device is correctly afixed to your working surface. + +Prerequisites: ++ The examples require a wired connection to your computer ++ Configure a static IP on your network interface (e.g: `192.168.1.11/24`) + +Each example has its own `main` function so you can run them individually from the examples folder. + +On Linux : ```sh -cd build -[Windows]: cmake -G "MinGW Makefiles" -DCMAKE_BUILD_TYPE=Release .. && minGW32-make -[Linux]: cmake -DCMAKE_BUILD_TYPE=Release .. && make +./build/ ``` -Each example have it's own ``main`` function so you can run them individually. Change the current directory to the newly-created example folder to execute them. +On Windows : ```sh -cd -[Windows]: .exe -[Linux]: ./ +build\.exe ``` -# API documentation -Here is a link to the generated documentation +# C++ API documentation +Here is a link to the generated documentation: [API C++ Services Documentation](../doc/markdown/index.md) @@ -259,5 +258,5 @@ Here is a link to the generated documentation __________________________ -# Back to root topic: **[readme.md](../../readme.md)** +## Back to root topic: **[readme.md](../../readme.md)** diff --git a/api_cpp/examples/scripts/download_kortex_api.bat b/api_cpp/examples/scripts/download_kortex_api.bat new file mode 100644 index 00000000..3353e0f0 --- /dev/null +++ b/api_cpp/examples/scripts/download_kortex_api.bat @@ -0,0 +1,34 @@ +echo off +echo Checking if you need to download Kortex API +set /A return_code=1 +:: Check if OS-specific folders were copied in kortex_api +if exist ..\kortex_api\win_mingw_x86\ ( + echo Found the folder win_mingw_x86 + set /A return_code=0 +) else ( + echo Could not find folder win_mingw_x86 in folder kortex_api +) + +if exist ..\kortex_api\win_msvc_x86-64\ ( + echo Found the folder win_msvc_x86-64 + set /A return_code=0 +) else ( + echo Could not find folder win_msvc_x86-64 in folder kortex_api +) + +:: If not, check if include and lib folders were copied in kortex_api +if exist ..\kortex_api\include\ ( + echo Found the folder include + if exist ..\kortex_api\lib\ ( + echo Found the folder lib + set /A return_code=0 + ) +) + +if /I "%return_code%" equ "1" ( + echo You need to download the Kortex API + echo Please download it here : https://drive.google.com/open?id=1Kn6tl7sZi5sAiVHh9aW5OO9bJOWisuw7 + echo Unzip it in api_cpp\examples\kortex_api +) + +exit %return_code% diff --git a/api_cpp/doc/markdown/references/enm_ActuatorConfig_CommandMode.md b/api_python/doc/markdown/enums/ActuatorConfig/CommandMode.md similarity index 69% rename from api_cpp/doc/markdown/references/enm_ActuatorConfig_CommandMode.md rename to api_python/doc/markdown/enums/ActuatorConfig/CommandMode.md index 5cc4c77a..38d2357a 100644 --- a/api_cpp/doc/markdown/references/enm_ActuatorConfig_CommandMode.md +++ b/api_python/doc/markdown/enums/ActuatorConfig/CommandMode.md @@ -1,12 +1,8 @@ # Enum CommandMode -This page describes the C++ Kinova::Api::ActuatorConfig::CommandMode enumeration. - ## Overview / Purpose -List of admissible command modes - -## Enumeration definition +Enumeration CommandMode |Enumerator|Value|Description| |----------|-----|-----------| @@ -17,5 +13,5 @@ List of admissible command modes |CYCLIC\_JITTERCOMPENSATED\_VELOCITY|4|Smoothing using position and velocity inputs| |CYCLIC\_JITTERCOMPENSATED\_ACCELERATION|5|Smoothing using position, velocity and acceleration inputs \(not supported\)| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_cpp/doc/markdown/references/enm_ActuatorConfig_ControlLoopSelection.md b/api_python/doc/markdown/enums/ActuatorConfig/ControlLoopSelection.md similarity index 67% rename from api_cpp/doc/markdown/references/enm_ActuatorConfig_ControlLoopSelection.md rename to api_python/doc/markdown/enums/ActuatorConfig/ControlLoopSelection.md index 95a5edf0..37f8cd57 100644 --- a/api_cpp/doc/markdown/references/enm_ActuatorConfig_ControlLoopSelection.md +++ b/api_python/doc/markdown/enums/ActuatorConfig/ControlLoopSelection.md @@ -1,12 +1,8 @@ # Enum ControlLoopSelection -This page describes the C++ Kinova::Api::ActuatorConfig::ControlLoopSelection enumeration. - ## Overview / Purpose -List of admissible control loop selections - -## Enumeration definition +Enumeration ControlLoopSelection |Enumerator|Value|Description| |----------|-----|-----------| @@ -18,5 +14,5 @@ List of admissible control loop selections |JOINT\_TORQUE|16|0x10 - Joint torque control| |MOTOR\_CURRENT|32|0x20 - Motor current control| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_python/doc/markdown/references/enm_ActuatorConfig_ControlMode.md b/api_python/doc/markdown/enums/ActuatorConfig/ControlMode.md similarity index 53% rename from api_python/doc/markdown/references/enm_ActuatorConfig_ControlMode.md rename to api_python/doc/markdown/enums/ActuatorConfig/ControlMode.md index 287f496e..843549e2 100644 --- a/api_python/doc/markdown/references/enm_ActuatorConfig_ControlMode.md +++ b/api_python/doc/markdown/enums/ActuatorConfig/ControlMode.md @@ -1,12 +1,8 @@ # Enum ControlMode -This page describes the Python Kinova.Api.ActuatorConfig.ControlMode enumeration. - ## Overview / Purpose -List of admissible control modes - -## Enumeration definition +Enumeration ControlMode |Enumerator|Value|Description| |----------|-----|-----------| @@ -17,5 +13,5 @@ List of admissible control modes |CURRENT|4|Current mode| |CUSTOM|5|Custom mode| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_python/doc/markdown/references/enm_ActuatorConfig_CustomDataIndex.md b/api_python/doc/markdown/enums/ActuatorConfig/CustomDataIndex.md similarity index 90% rename from api_python/doc/markdown/references/enm_ActuatorConfig_CustomDataIndex.md rename to api_python/doc/markdown/enums/ActuatorConfig/CustomDataIndex.md index 41cc4c65..0497a9b9 100644 --- a/api_python/doc/markdown/references/enm_ActuatorConfig_CustomDataIndex.md +++ b/api_python/doc/markdown/enums/ActuatorConfig/CustomDataIndex.md @@ -1,10 +1,8 @@ # Enum CustomDataIndex -This page describes the Python Kinova.Api.ActuatorConfig.CustomDataIndex enumeration. - ## Overview / Purpose -## Enumeration definition +Enumeration CustomDataIndex |Enumerator|Value|Description| |----------|-----|-----------| @@ -26,7 +24,8 @@ This page describes the Python Kinova.Api.ActuatorConfig.CustomDataIndex enumera |UINT32\_MOTOR\_ENCODER\_RAW\_LATCH\_ON\_INDEX\_RISING|15|Rotor optical encoder incremental value at last index signal rising edge \(raw\)| |UINT32\_JOINT\_ENCODER\_RAW\_LATCH\_ON\_INDEX\_RISING|16|Joint optical encoder incremental value at last index signal rising edge \(raw\)| |UINT32\_ABSOLUTE\_POSITION\_SENSOR\_RAW|17|Absolute position sensor integer value \(raw\)| -|FLOAT\_ABSOLUTE\_POSITION\_SENSOR|18|Absolute position sensor converted value \(degrees\) FLOAT\_CONTROL\_POSITION\_JOINT\_REQUESTED = 19; // Last axis position command received via Ethernet| +|FLOAT\_ABSOLUTE\_POSITION\_SENSOR|18|Absolute position sensor converted value \(degrees\)| +|FLOAT\_CONTROL\_POSITION\_JOINT\_REQUESTED|19|Last axis position command received via Ethernet| |UINT32\_JIG\_FLAGS|20|Jig status flags \(internal use\)| |UINT32\_TICK\_MOTOR\_CONTROL|21|Rotor optical encoder incremental value corrected for counter overflow \(raw\)| |UINT32\_TICK\_JOINT\_CONTROL|22|Joint optical encoder incremental value corrected for counter overflow \(raw\)| @@ -60,6 +59,9 @@ This page describes the Python Kinova.Api.ActuatorConfig.CustomDataIndex enumera |FLOAT\_PHASE\_PWM\_1|50|Pulse width modulation duty cycle applied to motor phase 1 \(percentage\)| |FLOAT\_PHASE\_PWM\_2|51|Pulse width modulation duty cycle applied to motor phase 2 \(percentage\)| |FLOAT\_MOTOR\_ELECTRICAL\_ANGLE|52|Motor electrical angle \(degrees\)| +|FLOAT\_CURRENT\_MOTOR\_CMD|53|Motor current command sent to motor drive \(Amperes\)| +|FLOAT\_TORQUE\_JOINT\_CMD|54|Axis torque command sent to joint torque control loop \(Newton-meters\)| +|FLOAT\_POSITION\_UNWRAPPED|55|Actuator position unwrapped \(degrees\)| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_python/doc/markdown/references/enm_ActuatorConfig_SafetyIdentifier.md b/api_python/doc/markdown/enums/ActuatorConfig/SafetyIdentifierBankA.md similarity index 78% rename from api_python/doc/markdown/references/enm_ActuatorConfig_SafetyIdentifier.md rename to api_python/doc/markdown/enums/ActuatorConfig/SafetyIdentifierBankA.md index db7a6a28..f0f77224 100644 --- a/api_python/doc/markdown/references/enm_ActuatorConfig_SafetyIdentifier.md +++ b/api_python/doc/markdown/enums/ActuatorConfig/SafetyIdentifierBankA.md @@ -1,16 +1,12 @@ -# Enum SafetyIdentifier - -This page describes the Python Kinova.Api.ActuatorConfig.SafetyIdentifier enumeration. +# Enum SafetyIdentifierBankA ## Overview / Purpose -List of admissible actuator safeties - -## Enumeration definition +Enumeration SafetyIdentifierBankA |Enumerator|Value|Description| |----------|-----|-----------| -|UNSPECIFIED\_ACTUATOR\_SAFETY\_IDENTIFIER|0|0x0 - Unspecified actuator safety| +|UNSPECIFIED\_ACTUATOR\_SAFETY\_IDENTIFIER\_BANK\_A|0|0x0 - Unspecified actuator safety| |FOLLOWING\_ERROR|1|0x1 - Following error| |MAXIMUM\_VELOCITY|2|0x2 - Maximum velocity| |JOINT\_LIMIT\_HIGH|4|0x4 - Joint position limit high| @@ -35,6 +31,8 @@ List of admissible actuator safeties |EMERGENCY\_LINE\_ASSERTED|2097152|0x200000 - Emergency line asserted| |COMMUNICATION\_TICK\_LOST|4194304|0x400000 - Communication tick lost| |WATCHDOG\_TRIGGERED|8388608|0x800000 - Watchdog triggered| +|UNRELIABLE\_CAPACITIVE\_SENSOR|16777216|0x1000000 - Capacitive sensor is unreliable| +|UNEXPECTED\_GEAR\_RATIO|33554432|0x2000000 - Incorrect gear ratio for detected configuration| -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) diff --git a/api_python/doc/markdown/enums/ActuatorConfig/SafetyLimitType.md b/api_python/doc/markdown/enums/ActuatorConfig/SafetyLimitType.md new file mode 100644 index 00000000..47c1fcc8 --- /dev/null +++ b/api_python/doc/markdown/enums/ActuatorConfig/SafetyLimitType.md @@ -0,0 +1,13 @@ +# Enum SafetyLimitType + +## Overview / Purpose + +Enumeration SafetyLimitType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|MAXIMAL\_LIMIT|0|Maximal limit| +|MINIMAL\_LIMIT|1|Minimal limit| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/enums/ActuatorConfig/ServiceVersion.md b/api_python/doc/markdown/enums/ActuatorConfig/ServiceVersion.md new file mode 100644 index 00000000..e9010e2a --- /dev/null +++ b/api_python/doc/markdown/enums/ActuatorConfig/ServiceVersion.md @@ -0,0 +1,13 @@ +# Enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/references/enm_ActuatorCyclic_CommandFlags.md b/api_python/doc/markdown/enums/ActuatorCyclic/CommandFlags.md similarity index 77% rename from api_python/doc/markdown/references/enm_ActuatorCyclic_CommandFlags.md rename to api_python/doc/markdown/enums/ActuatorCyclic/CommandFlags.md index 413a26ed..88790bbe 100644 --- a/api_python/doc/markdown/references/enm_ActuatorCyclic_CommandFlags.md +++ b/api_python/doc/markdown/enums/ActuatorCyclic/CommandFlags.md @@ -1,12 +1,8 @@ # Enum CommandFlags -This page describes the Python Kinova.Api.ActuatorCyclic.CommandFlags enumeration. - ## Overview / Purpose -Enumeration used to identify actuator commands - -## Enumeration definition +Enumeration CommandFlags |Enumerator|Value|Description| |----------|-----|-----------| @@ -22,5 +18,5 @@ Enumeration used to identify actuator commands |LED\_0|256|0x100 Activate LED 0 \(interface module buttons 0\)| |LED\_1|512|0x200 Activate LED 1 \(interface module buttons 1\)| -**Parent topic:** [ActuatorCyclic](../references/summary_ActuatorCyclic.md) +**Parent topic:** [ActuatorCyclic \(Python\)](../../summary_pages/ActuatorCyclic.md) diff --git a/api_python/doc/markdown/enums/ActuatorCyclic/ServiceVersion.md b/api_python/doc/markdown/enums/ActuatorCyclic/ServiceVersion.md new file mode 100644 index 00000000..fbf158cc --- /dev/null +++ b/api_python/doc/markdown/enums/ActuatorCyclic/ServiceVersion.md @@ -0,0 +1,13 @@ +# Enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [ActuatorCyclic \(Python\)](../../summary_pages/ActuatorCyclic.md) + diff --git a/api_python/doc/markdown/references/enm_ActuatorCyclic_StatusFlags.md b/api_python/doc/markdown/enums/ActuatorCyclic/StatusFlags.md similarity index 85% rename from api_python/doc/markdown/references/enm_ActuatorCyclic_StatusFlags.md rename to api_python/doc/markdown/enums/ActuatorCyclic/StatusFlags.md index f7b109b3..e5e30a39 100644 --- a/api_python/doc/markdown/references/enm_ActuatorCyclic_StatusFlags.md +++ b/api_python/doc/markdown/enums/ActuatorCyclic/StatusFlags.md @@ -1,12 +1,8 @@ # Enum StatusFlags -This page describes the Python Kinova.Api.ActuatorCyclic.StatusFlags enumeration. - ## Overview / Purpose -Enumeration used to identify actuator status - -## Enumeration definition +Enumeration StatusFlags |Enumerator|Value|Description| |----------|-----|-----------| @@ -36,5 +32,5 @@ Enumeration used to identify actuator status |SW0\_ACTIVE|67108864|0x4000000 Status of interface module buttons 0| |SW1\_ACTIVE|134217728|0x8000000 Status of interface module buttons 1| -**Parent topic:** [ActuatorCyclic](../references/summary_ActuatorCyclic.md) +**Parent topic:** [ActuatorCyclic \(Python\)](../../summary_pages/ActuatorCyclic.md) diff --git a/api_cpp/doc/markdown/references/enm_Api_ErrorCodes.md b/api_python/doc/markdown/enums/Api/ErrorCodes.md similarity index 62% rename from api_cpp/doc/markdown/references/enm_Api_ErrorCodes.md rename to api_python/doc/markdown/enums/Api/ErrorCodes.md index 71f181c6..85050af9 100644 --- a/api_cpp/doc/markdown/references/enm_Api_ErrorCodes.md +++ b/api_python/doc/markdown/enums/Api/ErrorCodes.md @@ -1,12 +1,8 @@ # Enum ErrorCodes -This page describes the C++ Kinova::Api::ErrorCodes enumeration. - ## Overview / Purpose -List of possible error codes - -## Enumeration definition +Enumeration ErrorCodes |Enumerator|Value|Description| |----------|-----|-----------| @@ -16,5 +12,5 @@ List of possible error codes |ERROR\_DEVICE|3|Device error| |ERROR\_INTERNAL|4|Internal error| -**Parent topic:** [Api](../references/summary_Api.md) +**Parent topic:** [Api \(Python\)](../../summary_pages/Api.md) diff --git a/api_cpp/doc/markdown/references/enm_Api_SubErrorCodes.md b/api_python/doc/markdown/enums/Api/SubErrorCodes.md similarity index 91% rename from api_cpp/doc/markdown/references/enm_Api_SubErrorCodes.md rename to api_python/doc/markdown/enums/Api/SubErrorCodes.md index a3a4466e..061891e0 100644 --- a/api_cpp/doc/markdown/references/enm_Api_SubErrorCodes.md +++ b/api_python/doc/markdown/enums/Api/SubErrorCodes.md @@ -1,12 +1,8 @@ # Enum SubErrorCodes -This page describes the C++ Kinova::Api::SubErrorCodes enumeration. - ## Overview / Purpose -List of possible sub errror codes - -## Enumeration definition +Enumeration SubErrorCodes |Enumerator|Value|Description| |----------|-----|-----------| @@ -86,6 +82,7 @@ List of possible sub errror codes |CONTROL\_NO\_ACTION|73|Action does not exist| |CONTROL\_UNDEFINED|74|Undefined error| |WRONG\_SERVOING\_MODE|75|Robot is in not in the right servoing mode| +|CONTROL\_WRONG\_STARTING\_SPEED|76|Robot is not at the right speed when starting a new trajectory.| |USERNAME\_LENGTH\_EXCEEDED|100|User profile username length exceeds maximum allowed length| |FIRSTNAME\_LENGTH\_EXCEEDED|101|User profile first name length exceeds maximum allowed length| |LASTNAME\_LENGTH\_EXCEEDED|102|User profile last name length exceeds maximum allowed length| @@ -96,6 +93,11 @@ List of possible sub errror codes |MAXIMUM\_USER\_PROFILES\_USED|107|Maximum number of user profiles in use| |ROUTER\_UNVAILABLE|108|The client router is currently unavailable. This can happen if an API method is called after the router has been deactivated via the method SetActivationStatus.| |ADDRESS\_NOT\_IN\_VALID\_RANGE|120|IP Address not valid against netmask| +|SESSION\_NOT\_IN\_CONTROL|130|Trying to perform command from a non-controlling session in single-level mode| +|METHOD\_TIMEOUT|131|Timeout occured during method execution| +|UNSUPPORTED\_ROBOT\_CONFIGURATION|132|Product Configuration setter method failed because changing this parameter is unsupported on your robot model| +|NVRAM\_READ\_FAIL|133|Failed to read in NVRAM.| +|NVRAM\_WRITE\_FAIL|134|Failed to write in NVRAM.| -**Parent topic:** [Api](../references/summary_Api.md) +**Parent topic:** [Api \(Python\)](../../summary_pages/Api.md) diff --git a/api_python/doc/markdown/enums/Base/ActionEvent.md b/api_python/doc/markdown/enums/Base/ActionEvent.md new file mode 100644 index 00000000..33c8ee48 --- /dev/null +++ b/api_python/doc/markdown/enums/Base/ActionEvent.md @@ -0,0 +1,22 @@ +# Enum ActionEvent + +## Overview / Purpose + +Enumeration ActionEvent + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_ACTION\_EVENT|0|Unspecified action event| +|ACTION\_END|1|Action execution end reached| +|ACTION\_ABORT|2|Action execution aborted| +|ACTION\_PAUSE|3|Action execution paused| +|ACTION\_START|4|Action execution started| +|ACTION\_PREPROCESS\_START|5|Action pre-process started| +|ACTION\_PREPROCESS\_ABORT|6|Action pre-process aborted| +|ACTION\_PREPROCESS\_END|7|Action pre-process ended| +|ACTION\_POSTPROCESS\_START|8|Action post-process started| +|ACTION\_POSTPROCESS\_ABORT|9|Action post-process aborted| +|ACTION\_POSTPROCESS\_END|10|Action post-process ended| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/enums/Base/ActionType.md b/api_python/doc/markdown/enums/Base/ActionType.md new file mode 100644 index 00000000..1da1c790 --- /dev/null +++ b/api_python/doc/markdown/enums/Base/ActionType.md @@ -0,0 +1,31 @@ +# Enum ActionType + +## Overview / Purpose + +Enumeration ActionType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_ACTION|0|Unspecified action type| +|SEND\_TWIST\_COMMAND|1|Control the robot in Cartesian velocity| +|SEND\_WRENCH\_COMMAND|2|Control the robot in force| +|SEND\_JOINT\_SPEEDS|4|Control each joint speed| +|REACH\_POSE|6|Reach a pose| +|REACH\_JOINT\_ANGLES|7|Reach a series of joint angles| +|TOGGLE\_ADMITTANCE\_MODE|13|Enable or disable the admittance mode| +|SWITCH\_CONTROL\_MAPPING|16|Switch the active controller map| +|NAVIGATE\_JOINTS|17|Select the next actuator to control from control mapping| +|NAVIGATE\_MAPPINGS|18|Select a different map| +|CHANGE\_TWIST|22|Change the twist| +|CHANGE\_JOINT\_SPEEDS|23|Change the joint speeds individually| +|CHANGE\_WRENCH|25|Change the Cartesian force| +|APPLY\_EMERGENCY\_STOP|28|Apply robot emergency stop| +|CLEAR\_FAULTS|29|Clear faults. Robot will be able to move if there is no more fault \(see BaseCyclic.BaseFeedback.\[fault\_bank\_a | fault\_bank\_b\]\)| +|TIME\_DELAY|31|Apply a delay| +|EXECUTE\_ACTION|32|Execute an existing action| +|SEND\_GRIPPER\_COMMAND|33|Send a gripper command| +|STOP\_ACTION|35|Stop robot movement| +|PLAY\_PRE\_COMPUTED\_TRAJECTORY|39|Play a pre-computed trajectory| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/references/enm_Base_AdmittanceMode.md b/api_python/doc/markdown/enums/Base/AdmittanceMode.md similarity index 61% rename from api_python/doc/markdown/references/enm_Base_AdmittanceMode.md rename to api_python/doc/markdown/enums/Base/AdmittanceMode.md index bba3f67b..0069d222 100644 --- a/api_python/doc/markdown/references/enm_Base_AdmittanceMode.md +++ b/api_python/doc/markdown/enums/Base/AdmittanceMode.md @@ -1,12 +1,8 @@ # Enum AdmittanceMode -This page describes the Python Kinova.Api.Base.AdmittanceMode enumeration. - ## Overview / Purpose -List of admissible admittance modes - -## Enumeration definition +Enumeration AdmittanceMode |Enumerator|Value|Description| |----------|-----|-----------| @@ -16,5 +12,5 @@ List of admissible admittance modes |NULL\_SPACE|3|Null space admittance mode| |DISABLED|4|No admittance| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/references/enm_Base_BackupEvent.md b/api_python/doc/markdown/enums/Base/BackupEvent.md similarity index 58% rename from api_python/doc/markdown/references/enm_Base_BackupEvent.md rename to api_python/doc/markdown/enums/Base/BackupEvent.md index 95bd45f3..86ee42db 100644 --- a/api_python/doc/markdown/references/enm_Base_BackupEvent.md +++ b/api_python/doc/markdown/enums/Base/BackupEvent.md @@ -1,12 +1,8 @@ # Enum BackupEvent -This page describes the Python Kinova.Api.Base.BackupEvent enumeration. - ## Overview / Purpose -List of admissible backup events \(future\) - -## Enumeration definition +Enumeration BackupEvent |Enumerator|Value|Description| |----------|-----|-----------| @@ -14,5 +10,5 @@ List of admissible backup events \(future\) |BACKUP\_RESTORED|1|Configuration backup restored| |BACKUP\_UPLOADED|2|Configuration backup uploaded on robot| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/enums/Base/BridgeStatus.md b/api_python/doc/markdown/enums/Base/BridgeStatus.md new file mode 100644 index 00000000..767a83e8 --- /dev/null +++ b/api_python/doc/markdown/enums/Base/BridgeStatus.md @@ -0,0 +1,18 @@ +# Enum BridgeStatus + +## Overview / Purpose + +Enumeration BridgeStatus + +|Enumerator|Value|Description| +|----------|-----|-----------| +|BRIDGE\_STATUS\_OK|0|No error encountered.| +|BRIDGE\_STATUS\_OUTP\_UNAVAILABLE|1|Requested output port unavailable.| +|BRIDGE\_STATUS\_UNKNOWN\_DEVID|2|Given device identifier is unknown \(no device associated with it\).| +|BRIDGE\_STATUS\_UNKNOWN\_BRIDGE\_TYPE|3|Unknown bridge type used.| +|BRIDGE\_STATUS\_NOT\_FOUND|4|Requested bridge not found.| +|BRIDGE\_STATUS\_NOT\_INITIALIZED|5|Bridge manager not initialized.| +|BRIDGE\_STATUS\_UNKNOWN|6|Unknown error.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/enums/Base/BridgeType.md b/api_python/doc/markdown/enums/Base/BridgeType.md new file mode 100644 index 00000000..5710fc38 --- /dev/null +++ b/api_python/doc/markdown/enums/Base/BridgeType.md @@ -0,0 +1,14 @@ +# Enum BridgeType + +## Overview / Purpose + +Enumeration BridgeType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|BRIDGE\_TYPE\_UNSPECIFIED|0|Unspecified Type \(custom bridge\)| +|BRIDGE\_TYPE\_UART|1|Bridge to uart bridge TCP port.| +|BRIDGE\_TYPE\_TELNET|2|Bridge to telnet port| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/enums/Base/CapSenseMode.md b/api_python/doc/markdown/enums/Base/CapSenseMode.md new file mode 100644 index 00000000..2eb24302 --- /dev/null +++ b/api_python/doc/markdown/enums/Base/CapSenseMode.md @@ -0,0 +1,17 @@ +# Enum CapSenseMode + +## Overview / Purpose + +Enumeration CapSenseMode + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED|0|Reserved, do not use| +|INACTIVE|1|Cap sensor is inactive| +|ACTIVE\_AUTO\_THRESHOLD|2|Cap sensor is active in automatic threshold mode| +|ACTIVE\_NOISE\_ATT|4|Cap sensor is active with noise mitigation enabled| +|ACTIVE\_NORMAL|5|Cap sensor is active in normal mode| +|CONFIGURATION|6|Configuration mode| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/enm_Base_ConfigurationNotificationEvent.md b/api_python/doc/markdown/enums/Base/ConfigurationNotificationEvent.md similarity index 65% rename from api_cpp/doc/markdown/references/enm_Base_ConfigurationNotificationEvent.md rename to api_python/doc/markdown/enums/Base/ConfigurationNotificationEvent.md index 67cb5ac7..5e937a3d 100644 --- a/api_cpp/doc/markdown/references/enm_Base_ConfigurationNotificationEvent.md +++ b/api_python/doc/markdown/enums/Base/ConfigurationNotificationEvent.md @@ -1,12 +1,8 @@ # Enum ConfigurationNotificationEvent -This page describes the C++ Kinova::Api::Base::ConfigurationNotificationEvent enumeration. - ## Overview / Purpose -List of admissible configuration events - -## Enumeration definition +Enumeration ConfigurationNotificationEvent |Enumerator|Value|Description| |----------|-----|-----------| @@ -16,5 +12,5 @@ List of admissible configuration events |CONFIGURATION\_DELETED\_ALL|3|All configurations deleted| |CONFIGURATION\_CREATED|4|Configuration created| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/enm_Base_ControlMode.md b/api_python/doc/markdown/enums/Base/ControlMode.md similarity index 73% rename from api_cpp/doc/markdown/references/enm_Base_ControlMode.md rename to api_python/doc/markdown/enums/Base/ControlMode.md index 750821aa..79153409 100644 --- a/api_cpp/doc/markdown/references/enm_Base_ControlMode.md +++ b/api_python/doc/markdown/enums/Base/ControlMode.md @@ -1,12 +1,8 @@ # Enum ControlMode -This page describes the C++ Kinova::Api::Base::ControlMode enumeration. - ## Overview / Purpose -List of admissible robot control modes - -## Enumeration definition +Enumeration ControlMode |Enumerator|Value|Description| |----------|-----|-----------| @@ -19,7 +15,9 @@ List of admissible robot control modes |CARTESIAN\_ADMITTANCE|6|Cartesian admittance mode| |JOINT\_ADMITTANCE|7|Joint admittance mode| |NULL\_SPACE\_ADMITTANCE|8|Null space mode| +|FORCE\_CONTROL|10|Force control mode| +|FORCE\_CONTROL\_MOTION\_RESTRICTED|11|Force control motion restricted mode| |IDLE|13|Idle| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/enm_Base_ControllerBehavior.md b/api_python/doc/markdown/enums/Base/ControllerBehavior.md similarity index 68% rename from api_cpp/doc/markdown/references/enm_Base_ControllerBehavior.md rename to api_python/doc/markdown/enums/Base/ControllerBehavior.md index 3a67d161..575d3bff 100644 --- a/api_cpp/doc/markdown/references/enm_Base_ControllerBehavior.md +++ b/api_python/doc/markdown/enums/Base/ControllerBehavior.md @@ -1,12 +1,8 @@ # Enum ControllerBehavior -This page describes the C++ Kinova::Api::Base::ControllerBehavior enumeration. - ## Overview / Purpose -List of admissible controller input behaviors - -## Enumeration definition +Enumeration ControllerBehavior |Enumerator|Value|Description| |----------|-----|-----------| @@ -17,5 +13,5 @@ List of admissible controller input behaviors |CONTROLLER\_AXIS\_NEGATIVE|4|Negative axis movement| |CONTROLLER\_BUTTON\_CLICK|5|Button down and up within X msec| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/enm_Base_ControllerElementEventType.md b/api_python/doc/markdown/enums/Base/ControllerElementEventType.md similarity index 59% rename from api_cpp/doc/markdown/references/enm_Base_ControllerElementEventType.md rename to api_python/doc/markdown/enums/Base/ControllerElementEventType.md index 9aff55d6..c3fcf49f 100644 --- a/api_cpp/doc/markdown/references/enm_Base_ControllerElementEventType.md +++ b/api_python/doc/markdown/enums/Base/ControllerElementEventType.md @@ -1,12 +1,8 @@ # Enum ControllerElementEventType -This page describes the C++ Kinova::Api::Base::ControllerElementEventType enumeration. - ## Overview / Purpose -List of admissible controller element event types - -## Enumeration definition +Enumeration ControllerElementEventType |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,5 +11,5 @@ List of admissible controller element event types |BUTTON\_DOWN|2|Controller button pressed| |BUTTON\_UP|3|Controller button released| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/enm_Base_ControllerEventType.md b/api_python/doc/markdown/enums/Base/ControllerEventType.md similarity index 58% rename from api_cpp/doc/markdown/references/enm_Base_ControllerEventType.md rename to api_python/doc/markdown/enums/Base/ControllerEventType.md index d8dae22d..ed3ed10c 100644 --- a/api_cpp/doc/markdown/references/enm_Base_ControllerEventType.md +++ b/api_python/doc/markdown/enums/Base/ControllerEventType.md @@ -1,12 +1,8 @@ # Enum ControllerEventType -This page describes the C++ Kinova::Api::Base::ControllerEventType enumeration. - ## Overview / Purpose -List of admissible controller event types - -## Enumeration definition +Enumeration ControllerEventType |Enumerator|Value|Description| |----------|-----|-----------| @@ -14,5 +10,5 @@ List of admissible controller event types |CONTROLLER\_DISCONNECTED|1|Controller is disconnected| |CONTROLLER\_CONNECTED|2|Controller is connected| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/enm_Base_ControllerInputType.md b/api_python/doc/markdown/enums/Base/ControllerInputType.md similarity index 57% rename from api_cpp/doc/markdown/references/enm_Base_ControllerInputType.md rename to api_python/doc/markdown/enums/Base/ControllerInputType.md index 33f47793..993860e2 100644 --- a/api_cpp/doc/markdown/references/enm_Base_ControllerInputType.md +++ b/api_python/doc/markdown/enums/Base/ControllerInputType.md @@ -1,12 +1,8 @@ # Enum ControllerInputType -This page describes the C++ Kinova::Api::Base::ControllerInputType enumeration. - ## Overview / Purpose -List of admissible controller input types - -## Enumeration definition +Enumeration ControllerInputType |Enumerator|Value|Description| |----------|-----|-----------| @@ -14,5 +10,5 @@ List of admissible controller input types |ANALOG|1|Analog controller input type| |DIGITAL|2|Digital controller input type| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/enums/Base/ControllerType.md b/api_python/doc/markdown/enums/Base/ControllerType.md new file mode 100644 index 00000000..3e3ddcda --- /dev/null +++ b/api_python/doc/markdown/enums/Base/ControllerType.md @@ -0,0 +1,15 @@ +# Enum ControllerType + +## Overview / Purpose + +Enumeration ControllerType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_CONTROLLER\_TYPE|0|Unspecified controller device type| +|XBOX\_CONTROLLER|1|Xbox gamepad| +|WRIST\_CONTROLLER|2|Wrist buttons| +|GPIO\_JOYSTICK|3|GPIO joystick connected to Kinova robot base| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/enm_Base_EventIdSequenceInfoNotification.md b/api_python/doc/markdown/enums/Base/EventIdSequenceInfoNotification.md similarity index 68% rename from api_cpp/doc/markdown/references/enm_Base_EventIdSequenceInfoNotification.md rename to api_python/doc/markdown/enums/Base/EventIdSequenceInfoNotification.md index 3f9a5108..fcaae240 100644 --- a/api_cpp/doc/markdown/references/enm_Base_EventIdSequenceInfoNotification.md +++ b/api_python/doc/markdown/enums/Base/EventIdSequenceInfoNotification.md @@ -1,12 +1,8 @@ # Enum EventIdSequenceInfoNotification -This page describes the C++ Kinova::Api::Base::EventIdSequenceInfoNotification enumeration. - ## Overview / Purpose -List of admissible sequence event types - -## Enumeration definition +Enumeration EventIdSequenceInfoNotification |Enumerator|Value|Description| |----------|-----|-----------| @@ -18,5 +14,5 @@ List of admissible sequence event types |SEQUENCE\_TASK\_COMPLETED|5|Sequence task completed| |SEQUENCE\_STARTED|6|Sequence started| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/enm_Base_FactoryEvent.md b/api_python/doc/markdown/enums/Base/FactoryEvent.md similarity index 57% rename from api_cpp/doc/markdown/references/enm_Base_FactoryEvent.md rename to api_python/doc/markdown/enums/Base/FactoryEvent.md index 887f8ae1..64373a18 100644 --- a/api_cpp/doc/markdown/references/enm_Base_FactoryEvent.md +++ b/api_python/doc/markdown/enums/Base/FactoryEvent.md @@ -1,18 +1,14 @@ # Enum FactoryEvent -This page describes the C++ Kinova::Api::Base::FactoryEvent enumeration. - ## Overview / Purpose -List of admissible factory events - -## Enumeration definition +Enumeration FactoryEvent |Enumerator|Value|Description| |----------|-----|-----------| |UNSPECIFIED\_FACTORY\_EVENT|0|Unspecified factory event| |FACTORY\_DEFAULT\_RESTORED|1|Factory defaults restored on robot| -|NETWORK\_FACTORY\_DEFAULT\_RESTORED|2|Network factory defaults restored on robot \(future\)| +|NETWORK\_FACTORY\_DEFAULT\_RESTORED|2|Network factory defaults restored on robot \(not implemented yet\)| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/references/enm_Base_GpioState.md b/api_python/doc/markdown/enums/Base/GpioState.md similarity index 55% rename from api_python/doc/markdown/references/enm_Base_GpioState.md rename to api_python/doc/markdown/enums/Base/GpioState.md index 2151f1e2..104dc247 100644 --- a/api_python/doc/markdown/references/enm_Base_GpioState.md +++ b/api_python/doc/markdown/enums/Base/GpioState.md @@ -1,12 +1,8 @@ # Enum GpioState -This page describes the Python Kinova.Api.Base.GpioState enumeration. - ## Overview / Purpose -List of admissible GPIO states \(future\) - -## Enumeration definition +Enumeration GpioState |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,5 +11,5 @@ List of admissible GPIO states \(future\) |GPIO\_PULSE|2|GPIO is in pulse state| |GPIO\_ON|3|GPIO is on| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/enums/Base/GripperMode.md b/api_python/doc/markdown/enums/Base/GripperMode.md new file mode 100644 index 00000000..a79098b5 --- /dev/null +++ b/api_python/doc/markdown/enums/Base/GripperMode.md @@ -0,0 +1,15 @@ +# Enum GripperMode + +## Overview / Purpose + +Enumeration GripperMode + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_GRIPPER\_MODE|0|Unspecified gripper mode| +|GRIPPER\_FORCE|1|Force control \(in Newton\) \(not implemented yet\)| +|GRIPPER\_SPEED|2|Speed control \(in meters per second\)| +|GRIPPER\_POSITION|3|Position control \(in meters\)| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/enm_Base_JointNavigationDirection.md b/api_python/doc/markdown/enums/Base/JointNavigationDirection.md similarity index 56% rename from api_cpp/doc/markdown/references/enm_Base_JointNavigationDirection.md rename to api_python/doc/markdown/enums/Base/JointNavigationDirection.md index bb99ee35..865c1a9f 100644 --- a/api_cpp/doc/markdown/references/enm_Base_JointNavigationDirection.md +++ b/api_python/doc/markdown/enums/Base/JointNavigationDirection.md @@ -1,12 +1,8 @@ # Enum JointNavigationDirection -This page describes the C++ Kinova::Api::Base::JointNavigationDirection enumeration. - ## Overview / Purpose -List of admissible joint navigation directions - -## Enumeration definition +Enumeration JointNavigationDirection |Enumerator|Value|Description| |----------|-----|-----------| @@ -14,5 +10,5 @@ List of admissible joint navigation directions |JOINT\_NEXT|1|Go to next joint| |JOINT\_PREVIOUS|2|Go to previous joint| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/enm_Base_JointTrajectoryConstraintType.md b/api_python/doc/markdown/enums/Base/JointTrajectoryConstraintType.md similarity index 52% rename from api_cpp/doc/markdown/references/enm_Base_JointTrajectoryConstraintType.md rename to api_python/doc/markdown/enums/Base/JointTrajectoryConstraintType.md index cddc4e44..28de0ce1 100644 --- a/api_cpp/doc/markdown/references/enm_Base_JointTrajectoryConstraintType.md +++ b/api_python/doc/markdown/enums/Base/JointTrajectoryConstraintType.md @@ -1,18 +1,14 @@ # Enum JointTrajectoryConstraintType -This page describes the C++ Kinova::Api::Base::JointTrajectoryConstraintType enumeration. - ## Overview / Purpose -List of admissible constraint types that can be applied when controlling a joint in trajectory mode - -## Enumeration definition +Enumeration JointTrajectoryConstraintType |Enumerator|Value|Description| |----------|-----|-----------| |UNSPECIFIED\_JOINT\_CONSTRAINT|0|Unspecified joint constraint| |JOINT\_CONSTRAINT\_DURATION|1|Duration constraint \(in second\)| -|JOINT\_CONSTRAINT\_SPEED|2|Speed constraint \(in meters per second\) \(future\)| +|JOINT\_CONSTRAINT\_SPEED|2|Speed constraint \(in meters per second\) \(not implemented yet\)| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/references/enm_Base_LedState.md b/api_python/doc/markdown/enums/Base/LedState.md similarity index 55% rename from api_python/doc/markdown/references/enm_Base_LedState.md rename to api_python/doc/markdown/enums/Base/LedState.md index 5638b2b7..767601ff 100644 --- a/api_python/doc/markdown/references/enm_Base_LedState.md +++ b/api_python/doc/markdown/enums/Base/LedState.md @@ -1,12 +1,8 @@ # Enum LedState -This page describes the Python Kinova.Api.Base.LedState enumeration. - ## Overview / Purpose -List of admissible LED states \(future\) - -## Enumeration definition +Enumeration LedState |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,5 +11,5 @@ List of admissible LED states \(future\) |LED\_PULSE|2|LED is in pulse state| |LED\_ON|3|LED is one| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/enums/Base/LimitationType.md b/api_python/doc/markdown/enums/Base/LimitationType.md new file mode 100644 index 00000000..7d38c646 --- /dev/null +++ b/api_python/doc/markdown/enums/Base/LimitationType.md @@ -0,0 +1,16 @@ +# Enum LimitationType + +## Overview / Purpose + +Enumeration LimitationType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_LIMITATION|0|Unspecified limitation| +|FORCE\_LIMITATION|1|Force limitation \(not implemented yet\)| +|ACCELERATION\_LIMITATION|2|Acceleration limitation \(not implemented yet\)| +|VELOCITY\_LIMITATION|3|Velocity limitation| +|TORQUE\_LIMITATION|4|Torque limitation| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/enums/Base/NavigationDirection.md b/api_python/doc/markdown/enums/Base/NavigationDirection.md new file mode 100644 index 00000000..b329f80a --- /dev/null +++ b/api_python/doc/markdown/enums/Base/NavigationDirection.md @@ -0,0 +1,16 @@ +# Enum NavigationDirection + +## Overview / Purpose + +Enumeration NavigationDirection + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_NAVIGATION\_DIRECTION|0|Unspecified navigation direction| +|NEXT|1|Go to next map| +|UP|2|Go to parent map group \(not implemented yet\)| +|DOWN|3|Go to children map group \(not implemented yet\)| +|PREVIOUS|4|Go to previous map| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/references/enm_Base_NetworkEvent.md b/api_python/doc/markdown/enums/Base/NetworkEvent.md similarity index 78% rename from api_python/doc/markdown/references/enm_Base_NetworkEvent.md rename to api_python/doc/markdown/enums/Base/NetworkEvent.md index a98914d1..c87f0400 100644 --- a/api_python/doc/markdown/references/enm_Base_NetworkEvent.md +++ b/api_python/doc/markdown/enums/Base/NetworkEvent.md @@ -1,12 +1,8 @@ # Enum NetworkEvent -This page describes the Python Kinova.Api.Base.NetworkEvent enumeration. - ## Overview / Purpose -List of admissible network events - -## Enumeration definition +Enumeration NetworkEvent |Enumerator|Value|Description| |----------|-----|-----------| @@ -22,5 +18,5 @@ List of admissible network events |WIFI\_AUTH\_CONN\_FAILED|9|Wi-Fi connection failure during auth| |WIFI\_AUTH\_FAILED|10|Wi-Fi authentication failure| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/references/enm_Base_NetworkType.md b/api_python/doc/markdown/enums/Base/NetworkType.md similarity index 55% rename from api_python/doc/markdown/references/enm_Base_NetworkType.md rename to api_python/doc/markdown/enums/Base/NetworkType.md index 5af31d2a..14e3b8b5 100644 --- a/api_python/doc/markdown/references/enm_Base_NetworkType.md +++ b/api_python/doc/markdown/enums/Base/NetworkType.md @@ -1,12 +1,8 @@ # Enum NetworkType -This page describes the Python Kinova.Api.Base.NetworkType enumeration. - ## Overview / Purpose -List of admissible network types - -## Enumeration definition +Enumeration NetworkType |Enumerator|Value|Description| |----------|-----|-----------| @@ -14,5 +10,5 @@ List of admissible network types |WIFI|1|Wi-Fi network| |WIRED\_ETHERNET|2|Wired Ethernet network| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/references/enm_Base_OperatingMode.md b/api_python/doc/markdown/enums/Base/OperatingMode.md similarity index 68% rename from api_python/doc/markdown/references/enm_Base_OperatingMode.md rename to api_python/doc/markdown/enums/Base/OperatingMode.md index 29fdc934..06f2ae8c 100644 --- a/api_python/doc/markdown/references/enm_Base_OperatingMode.md +++ b/api_python/doc/markdown/enums/Base/OperatingMode.md @@ -1,12 +1,8 @@ # Enum OperatingMode -This page describes the Python Kinova.Api.Base.OperatingMode enumeration. - ## Overview / Purpose -List of admissible robot operating modes \(used to report robot firmware upgrade current state\) - -## Enumeration definition +Enumeration OperatingMode |Enumerator|Value|Description| |----------|-----|-----------| @@ -19,5 +15,5 @@ List of admissible robot operating modes \(used to report robot firmware upgrade |RUN\_MODE|6|Robot properly running \(or normal operation mode\)| |UPDATING\_DEVICE\_MODE|7|Robot updating device| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/enm_Base_ProtectionZoneEvent.md b/api_python/doc/markdown/enums/Base/ProtectionZoneEvent.md similarity index 61% rename from api_cpp/doc/markdown/references/enm_Base_ProtectionZoneEvent.md rename to api_python/doc/markdown/enums/Base/ProtectionZoneEvent.md index 6cfe5e59..5c1b8d55 100644 --- a/api_cpp/doc/markdown/references/enm_Base_ProtectionZoneEvent.md +++ b/api_python/doc/markdown/enums/Base/ProtectionZoneEvent.md @@ -1,12 +1,8 @@ # Enum ProtectionZoneEvent -This page describes the C++ Kinova::Api::Base::ProtectionZoneEvent enumeration. - ## Overview / Purpose -List of admissible protection zone events - -## Enumeration definition +Enumeration ProtectionZoneEvent |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,5 +11,5 @@ List of admissible protection zone events |ENTERED|2|Protection zone limit is entered| |EXITED|3|Protection zone limit is exited| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/enums/Base/RobotEvent.md b/api_python/doc/markdown/enums/Base/RobotEvent.md new file mode 100644 index 00000000..6ce00286 --- /dev/null +++ b/api_python/doc/markdown/enums/Base/RobotEvent.md @@ -0,0 +1,16 @@ +# Enum RobotEvent + +## Overview / Purpose + +Enumeration RobotEvent + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_ROBOT\_EVENT|0|Unspecified robot event| +|ARM\_CONNECTED|1|Robot arm is connected| +|ARM\_DISCONNECTED|2|Robot arm is disconnected| +|TOOL\_CONNECTED|5|Tool is connected to the interface module \(not implemented yet\)| +|TOOL\_DISCONNECTED|6|Tool is disconnected from the interface module \(not implemented yet\)| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/references/enm_Base_SafetyIdentifier.md b/api_python/doc/markdown/enums/Base/SafetyIdentifier.md similarity index 60% rename from api_python/doc/markdown/references/enm_Base_SafetyIdentifier.md rename to api_python/doc/markdown/enums/Base/SafetyIdentifier.md index ee0a4933..bddee217 100644 --- a/api_python/doc/markdown/references/enm_Base_SafetyIdentifier.md +++ b/api_python/doc/markdown/enums/Base/SafetyIdentifier.md @@ -1,45 +1,43 @@ # Enum SafetyIdentifier -This page describes the Python Kinova.Api.Base.SafetyIdentifier enumeration. - ## Overview / Purpose -List of admissible Base safeties. Used with BaseCyclic.BaseFeedback.\[fault\_bank\_a | fault\_bank\_b | warning\_bank\_a | warning\_bank\_b\] - -## Enumeration definition +Enumeration SafetyIdentifier |Enumerator|Value|Description| |----------|-----|-----------| |UNSPECIFIED\_BASE\_SAFETY\_IDENTIFIER|0|0x0 - Unspecified base safety| |FIRMWARE\_UPDATE\_FAILURE|1|0x1 - Firmware update failure| -|EXTERNAL\_COMMUNICATION\_ERROR|2|0x2 - External communication error \(future\)| +|EXTERNAL\_COMMUNICATION\_ERROR|2|0x2 - External communication error \(not implemented yet\)| |MAXIMUM\_AMBIENT\_TEMPERATURE|4|0x4 - Maximum ambient temperature reached| |MAXIMUM\_CORE\_TEMPERATURE|8|0x8 - Maximum core temperature reached| |JOINT\_FAULT|16|0x10 - Joint fault| -|CYCLIC\_DATA\_JITTER|32|0x20 - Cyclic data jitter \(future\)| -|REACHED\_MAXIMUM\_EVENT\_LOGS|64|0x40 - Reached Maximum number of event log entries \(future\)| -|NO\_KINEMATICS\_SUPPORT|128|0x80 - No kinematics support \(future\)| +|CYCLIC\_DATA\_JITTER|32|0x20 - Cyclic data jitter \(not implemented yet\)| +|REACHED\_MAXIMUM\_EVENT\_LOGS|64|0x40 - Reached Maximum number of event log entries \(not implemented yet\)| +|NO\_KINEMATICS\_SUPPORT|128|0x80 - No kinematics support \(not implemented yet\)| |ABOVE\_MAXIMUM\_DOF|256|0x100 - Above maximum DoF| -|NETWORK\_ERROR|512|0x200 - Network error \(future\)| +|NETWORK\_ERROR|512|0x200 - Network error \(not implemented yet\)| |UNABLE\_TO\_REACH\_POSE|1024|0x400 - Unable to reach pose| |JOINT\_DETECTION\_ERROR|2048|0x800 - Joint detection error| |NETWORK\_INITIALIZATION\_ERROR|4096|0x1000 - Network initialization error| |MAXIMUM\_CURRENT|8192|0x2000 - Maximum current reached| |MAXIMUM\_VOLTAGE|16384|0x4000 - Maximum voltage reached| |MINIMUM\_VOLTAGE|32768|0x8000 - Minimum voltage reached| -|MAXIMUM\_END\_EFFECTOR\_TRANSLATION\_VELOCITY|65536|0x10000 - Maximum end effector translation velocity reached \(future\)| -|MAXIMUM\_END\_EFFECTOR\_ORIENTATION\_VELOCITY|131072|0x20000 - Maximum end effector orientation velocity reached \(future\)| -|MAXIMUM\_END\_EFFECTOR\_TRANSLATION\_ACCELERATION|262144|0x40000 - Maximum end effector translation acceleration reached \(future\)| -|MAXIMUM\_END\_EFFECTOR\_ORIENTATION\_ACCELERATION|524288|0x80000 - Maximum end effector orientation acceleration reached \(future\)| -|MAXIMUM\_END\_EFFECTOR\_TRANSLATION\_FORCE|1048576|0x100000 - Maximum end effector translation force reached \(future\)| -|MAXIMUM\_END\_EFFECTOR\_ORIENTATION\_FORCE|2097152|0x200000 - Maximum end effector orientation force reached \(future\)| -|MAXIMUM\_END\_EFFECTOR\_PAYLOAD|4194304|0x400000 - Maximum end effector payload reached \(future\)| +|MAXIMUM\_END\_EFFECTOR\_TRANSLATION\_VELOCITY|65536|0x10000 - Maximum tool translation velocity reached \(not implemented yet\)| +|MAXIMUM\_END\_EFFECTOR\_ORIENTATION\_VELOCITY|131072|0x20000 - Maximum tool orientation velocity reached \(not implemented yet\)| +|MAXIMUM\_END\_EFFECTOR\_TRANSLATION\_ACCELERATION|262144|0x40000 - Maximum tool translation acceleration reached \(not implemented yet\)| +|MAXIMUM\_END\_EFFECTOR\_ORIENTATION\_ACCELERATION|524288|0x80000 - Maximum tool orientation acceleration reached \(not implemented yet\)| +|MAXIMUM\_END\_EFFECTOR\_TRANSLATION\_FORCE|1048576|0x100000 - Maximum tool translation force reached \(not implemented yet\)| +|MAXIMUM\_END\_EFFECTOR\_ORIENTATION\_FORCE|2097152|0x200000 - Maximum tool orientation force reached \(not implemented yet\)| +|MAXIMUM\_END\_EFFECTOR\_PAYLOAD|4194304|0x400000 - Maximum tool payload reached \(not implemented yet\)| |EMERGENCY\_STOP\_ACTIVATED|8388608|0x800000 - Emergency stop activated| |EMERGENCY\_LINE\_ACTIVATED|16777216|0x1000000 - Emergency line activated| |INRUSH\_CURRENT\_LIMITER\_FAULT|33554432|0x2000000 - In rush current limiter fault| -|NVRAM\_CORRUPTED|67108864|0x4000000 - NVRAM corrupted \(future\)| +|NVRAM\_CORRUPTED|67108864|0x4000000 - NVRAM corrupted \(not implemented yet\)| |INCOMPATIBLE\_FIRMWARE\_VERSION|134217728|0x8000000 - Incompatible firmware version| |POWERON\_SELF\_TEST\_FAILURE|268435456|0x10000000 - Power on seflt test failure| +|DISCRETE\_INPUT\_STUCK\_ACTIVE|536870912|0x20000000 - Discrete Input stuck active| +|ARM\_INTO\_ILLEGAL\_POSITION|1073741824|0x40000000 - Arm is in an illegal position \(sigularity\)| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/enums/Base/ServiceVersion.md b/api_python/doc/markdown/enums/Base/ServiceVersion.md new file mode 100644 index 00000000..fd29a329 --- /dev/null +++ b/api_python/doc/markdown/enums/Base/ServiceVersion.md @@ -0,0 +1,13 @@ +# Enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/enm_Base_ServoingMode.md b/api_python/doc/markdown/enums/Base/ServoingMode.md similarity index 55% rename from api_cpp/doc/markdown/references/enm_Base_ServoingMode.md rename to api_python/doc/markdown/enums/Base/ServoingMode.md index e6d2af67..f90b2702 100644 --- a/api_cpp/doc/markdown/references/enm_Base_ServoingMode.md +++ b/api_python/doc/markdown/enums/Base/ServoingMode.md @@ -1,20 +1,15 @@ # Enum ServoingMode -This page describes the C++ Kinova::Api::Base::ServoingMode enumeration. - ## Overview / Purpose -List of admissible servoing modes - -## Enumeration definition +Enumeration ServoingMode |Enumerator|Value|Description| |----------|-----|-----------| |UNSPECIFIED\_SERVOING\_MODE|0|Unspecified servoing mode| -|MULTI\_LEVEL\_SERVOING|1|Multi-level servoing| |SINGLE\_LEVEL\_SERVOING|2|Single-level servoing| |LOW\_LEVEL\_SERVOING|3|Low-level servoing| |BYPASS\_SERVOING|4|Bypass mode| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/enm_Base_ShapeType.md b/api_python/doc/markdown/enums/Base/ShapeType.md similarity index 57% rename from api_cpp/doc/markdown/references/enm_Base_ShapeType.md rename to api_python/doc/markdown/enums/Base/ShapeType.md index 346f820f..3060bc4d 100644 --- a/api_cpp/doc/markdown/references/enm_Base_ShapeType.md +++ b/api_python/doc/markdown/enums/Base/ShapeType.md @@ -1,12 +1,8 @@ # Enum ShapeType -This page describes the C++ Kinova::Api::Base::ShapeType enumeration. - ## Overview / Purpose -List of admissible protection zone shape types - -## Enumeration definition +Enumeration ShapeType |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,5 +11,5 @@ List of admissible protection zone shape types |SPHERE|2|Sphere shape type| |RECTANGULAR\_PRISM|3|Rectangular prism shape type| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/references/enm_Base_SignalQuality.md b/api_python/doc/markdown/enums/Base/SignalQuality.md similarity index 61% rename from api_python/doc/markdown/references/enm_Base_SignalQuality.md rename to api_python/doc/markdown/enums/Base/SignalQuality.md index fc8fcbee..ab4e67b7 100644 --- a/api_python/doc/markdown/references/enm_Base_SignalQuality.md +++ b/api_python/doc/markdown/enums/Base/SignalQuality.md @@ -1,12 +1,8 @@ # Enum SignalQuality -This page describes the Python Kinova.Api.Base.SignalQuality enumeration. - ## Overview / Purpose -List of admissible signal quality values - -## Enumeration definition +Enumeration SignalQuality |Enumerator|Value|Description| |----------|-----|-----------| @@ -17,5 +13,5 @@ List of admissible signal quality values |EXCELLENT|4|Excellent signal quality| |NONE|5|No signal| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/enm_Base_SoundType.md b/api_python/doc/markdown/enums/Base/SoundType.md similarity index 54% rename from api_cpp/doc/markdown/references/enm_Base_SoundType.md rename to api_python/doc/markdown/enums/Base/SoundType.md index 489c355d..fe4718c4 100644 --- a/api_cpp/doc/markdown/references/enm_Base_SoundType.md +++ b/api_python/doc/markdown/enums/Base/SoundType.md @@ -1,12 +1,8 @@ # Enum SoundType -This page describes the C++ Kinova::Api::Base::SoundType enumeration. - ## Overview / Purpose -List of admissible sound types \(future\) - -## Enumeration definition +Enumeration SoundType |Enumerator|Value|Description| |----------|-----|-----------| @@ -14,5 +10,5 @@ List of admissible sound types \(future\) |BIP\_SERIES|1|Bip series sound type| |SINGLE\_BIP|2|Single bin sound type| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/enums/Base/TrajectoryContinuityMode.md b/api_python/doc/markdown/enums/Base/TrajectoryContinuityMode.md new file mode 100644 index 00000000..f7a0248a --- /dev/null +++ b/api_python/doc/markdown/enums/Base/TrajectoryContinuityMode.md @@ -0,0 +1,15 @@ +# Enum TrajectoryContinuityMode + +## Overview / Purpose + +Enumeration TrajectoryContinuityMode + +|Enumerator|Value|Description| +|----------|-----|-----------| +|TRAJECTORY\_CONTINUITY\_MODE\_UNSPECIFIED|0|Unspecified continuity| +|TRAJECTORY\_CONTINUITY\_MODE\_POSITION|1|Position continuity only| +|TRAJECTORY\_CONTINUITY\_MODE\_SPEED|2|Position and speed continuity| +|TRAJECTORY\_CONTINUITY\_MODE\_ACCELERATION|3|Position, speed and acceleration continuity| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/enums/Base/TrajectoryErrorIdentifier.md b/api_python/doc/markdown/enums/Base/TrajectoryErrorIdentifier.md new file mode 100644 index 00000000..47a1c51e --- /dev/null +++ b/api_python/doc/markdown/enums/Base/TrajectoryErrorIdentifier.md @@ -0,0 +1,17 @@ +# Enum TrajectoryErrorIdentifier + +## Overview / Purpose + +Enumeration TrajectoryErrorIdentifier + +|Enumerator|Value|Description| +|----------|-----|-----------| +|TRAJECTORY\_ERROR\_IDENTIFIER\_UNSPECIFIED|0|Unspecified error identifier| +|TRAJECTORY\_ERROR\_IDENTIFIER\_UNAPPLICABLE|1|No identifier required for this error| +|TRAJECTORY\_ERROR\_IDENTIFIER\_TIME|2|Time validation failed| +|TRAJECTORY\_ERROR\_IDENTIFIER\_POSITION|3|Position validation failed| +|TRAJECTORY\_ERROR\_IDENTIFIER\_VELOCITY|4|Velocity validation failed| +|TRAJECTORY\_ERROR\_IDENTIFIER\_ACCELERATION|5|Acceleration validation failed| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/enums/Base/TrajectoryErrorType.md b/api_python/doc/markdown/enums/Base/TrajectoryErrorType.md new file mode 100644 index 00000000..1c41af70 --- /dev/null +++ b/api_python/doc/markdown/enums/Base/TrajectoryErrorType.md @@ -0,0 +1,31 @@ +# Enum TrajectoryErrorType + +## Overview / Purpose + +Enumeration TrajectoryErrorType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|TRAJECTORY\_ERROR\_TYPE\_UNSPECIFIED|0|Unspecified error type| +|TRAJECTORY\_ERROR\_TYPE\_OUTSIDE\_WORKSPACE|1|The trajectory point is outside robot workspace| +|TRAJECTORY\_ERROR\_TYPE\_ACTUATOR\_COUNT\_MISMATCH|2|There is an actuator count mismatch with the robot| +|TRAJECTORY\_ERROR\_TYPE\_INVALID\_DURATION|3|The trajectory has an invalid duration| +|TRAJECTORY\_ERROR\_TYPE\_ZERO\_DISTANCE|4|The trajectory does not move the robot because the delta is either zero or too small| +|TRAJECTORY\_ERROR\_TYPE\_INVALID\_SPEED|5|The speed for a trajectory point for an actuator is invalid| +|TRAJECTORY\_ERROR\_TYPE\_LARGE\_SPEED|6|The speed for a trajectory point for an actuator exceeds its limit| +|TRAJECTORY\_ERROR\_TYPE\_INVALID\_ACCELERATION|7|The acceleration for a trajectory point for an actuator is invalid| +|TRAJECTORY\_ERROR\_TYPE\_INVALID\_TIME\_STEP|8|The time step for a trajectory point is invalid| +|TRAJECTORY\_ERROR\_TYPE\_LARGE\_SIZE|9|The trajectory is too large| +|TRAJECTORY\_ERROR\_TYPE\_WRONG\_MODE|10|The robot is not currently in Trajectory Control mode| +|TRAJECTORY\_ERROR\_TYPE\_JOINT\_POSITION\_LIMIT|11|The position limit for a trajectory point for an actuator is exceeded| +|TRAJECTORY\_ERROR\_TYPE\_FILE\_ERROR|12|An internal file error was encountered| +|TRAJECTORY\_ERROR\_TYPE\_NO\_FILE\_IN\_MEMORY|13|An internal file memory error was encountered| +|TRAJECTORY\_ERROR\_TYPE\_INDEX\_OUT\_OF\_TRAJ|14|The index for a trajectory point is invalid| +|TRAJECTORY\_ERROR\_TYPE\_ALREADY\_RUNNING|15|A trajectory is already running| +|TRAJECTORY\_ERROR\_TYPE\_WRONG\_STARTING\_POINT|16|The difference between the trajectory's starting point and the current position is too large| +|TRAJECTORY\_ERROR\_TYPE\_CARTESIAN\_CANNOT\_START|17|The cartesian trajectory is not able to start| +|TRAJECTORY\_ERROR\_TYPE\_WRONG\_STARTING\_SPEED|18|The difference between the trajectory's starting speed and the current speed is too large| +|TRAJECTORY\_ERROR\_TYPE\_INVALID\_POSITION|19|The position for a trajectory point for an actuator is invalid| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/enm_Base_UserEvent.md b/api_python/doc/markdown/enums/Base/UserEvent.md similarity index 53% rename from api_cpp/doc/markdown/references/enm_Base_UserEvent.md rename to api_python/doc/markdown/enums/Base/UserEvent.md index e394eb95..940037b7 100644 --- a/api_cpp/doc/markdown/references/enm_Base_UserEvent.md +++ b/api_python/doc/markdown/enums/Base/UserEvent.md @@ -1,12 +1,8 @@ # Enum UserEvent -This page describes the C++ Kinova::Api::Base::UserEvent enumeration. - ## Overview / Purpose -List of admissible user event types - -## Enumeration definition +Enumeration UserEvent |Enumerator|Value|Description| |----------|-----|-----------| @@ -14,5 +10,5 @@ List of admissible user event types |LOGGED\_OUT|1|User logged out| |LOGGED\_IN|2|User logged in| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/enums/Base/WifiEncryptionType.md b/api_python/doc/markdown/enums/Base/WifiEncryptionType.md new file mode 100644 index 00000000..abdc67b9 --- /dev/null +++ b/api_python/doc/markdown/enums/Base/WifiEncryptionType.md @@ -0,0 +1,15 @@ +# Enum WifiEncryptionType + +## Overview / Purpose + +Enumeration WifiEncryptionType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_ENCRYPTION|0|Unspecified Wi-Fi encryption type| +|AES\_ENCRYPTION|1|AES encryption| +|TKIP\_ENCRYPTION|2|TKIP encryption| +|WEP\_ENCRYPTION|4|WEP encryption| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/enm_Base_WifiSecurityType.md b/api_python/doc/markdown/enums/Base/WifiSecurityType.md similarity index 54% rename from api_cpp/doc/markdown/references/enm_Base_WifiSecurityType.md rename to api_python/doc/markdown/enums/Base/WifiSecurityType.md index e0fc6636..e3085ed9 100644 --- a/api_cpp/doc/markdown/references/enm_Base_WifiSecurityType.md +++ b/api_python/doc/markdown/enums/Base/WifiSecurityType.md @@ -1,20 +1,16 @@ # Enum WifiSecurityType -This page describes the C++ Kinova::Api::Base::WifiSecurityType enumeration. - ## Overview / Purpose -List of admissible Wi-Fi Security types - -## Enumeration definition +Enumeration WifiSecurityType |Enumerator|Value|Description| |----------|-----|-----------| -|UNSPECIFIED\_AUTHENTICATION|0|Unspecified wifi security type| +|UNSPECIFIED\_AUTHENTICATION|0|Unspecified Wi-Fi security type| |WEP|1|WEP authentication required| |WPA2\_PERSONAL|2|WPA2 Personal authentication required| |WPA\_PERSONAL|4|WPA Personal authentication required| |NO\_AUTHENTICATION|8|No authentication required| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/enums/Base/WrenchMode.md b/api_python/doc/markdown/enums/Base/WrenchMode.md new file mode 100644 index 00000000..f69f0e38 --- /dev/null +++ b/api_python/doc/markdown/enums/Base/WrenchMode.md @@ -0,0 +1,14 @@ +# Enum WrenchMode + +## Overview / Purpose + +Enumeration WrenchMode + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_WRENCH\_MODE|0|Unspecified wrench mode| +|WRENCH\_RESTRICTED|1|Wrench restricted mode \(tool motion is authorized only in the direction of the wrench command\)| +|WRENCH\_NORMAL|2|Wrench normal mode \(tool motion is authorized in any direction\)| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_cpp/doc/markdown/references/enm_Base_Xbox360AnalogInputIdentifier.md b/api_python/doc/markdown/enums/Base/Xbox360AnalogInputIdentifier.md similarity index 68% rename from api_cpp/doc/markdown/references/enm_Base_Xbox360AnalogInputIdentifier.md rename to api_python/doc/markdown/enums/Base/Xbox360AnalogInputIdentifier.md index 757a1067..e2dd1e78 100644 --- a/api_cpp/doc/markdown/references/enm_Base_Xbox360AnalogInputIdentifier.md +++ b/api_python/doc/markdown/enums/Base/Xbox360AnalogInputIdentifier.md @@ -1,12 +1,8 @@ # Enum Xbox360AnalogInputIdentifier -This page describes the C++ Kinova::Api::Base::Xbox360AnalogInputIdentifier enumeration. - ## Overview / Purpose -List of admissible XBOX360 analog inputs - -## Enumeration definition +Enumeration Xbox360AnalogInputIdentifier |Enumerator|Value|Description| |----------|-----|-----------| @@ -18,5 +14,5 @@ List of admissible XBOX360 analog inputs |XBOX360\_TRIGGER\_LEFT|5|Trigger left input| |XBOX360\_TRIGGER\_RIGHT|6|Trigger right input| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_cpp/doc/markdown/references/enm_Base_Xbox360DigitalInputIdentifier.md b/api_python/doc/markdown/enums/Base/Xbox360DigitalInputIdentifier.md similarity index 79% rename from api_cpp/doc/markdown/references/enm_Base_Xbox360DigitalInputIdentifier.md rename to api_python/doc/markdown/enums/Base/Xbox360DigitalInputIdentifier.md index 29086aec..ed68b1f0 100644 --- a/api_cpp/doc/markdown/references/enm_Base_Xbox360DigitalInputIdentifier.md +++ b/api_python/doc/markdown/enums/Base/Xbox360DigitalInputIdentifier.md @@ -1,12 +1,8 @@ # Enum Xbox360DigitalInputIdentifier -This page describes the C++ Kinova::Api::Base::Xbox360DigitalInputIdentifier enumeration. - ## Overview / Purpose -List of admissible XBOX360 digital inputs - -## Enumeration definition +Enumeration Xbox360DigitalInputIdentifier |Enumerator|Value|Description| |----------|-----|-----------| @@ -26,5 +22,5 @@ List of admissible XBOX360 digital inputs |XBOX360\_BUTTON\_X|15|Button X input| |XBOX360\_BUTTON\_Y|16|Button Y input| -**Parent topic:** [Base](../references/summary_Base.md) +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) diff --git a/api_python/doc/markdown/enums/BaseCyclic/ServiceVersion.md b/api_python/doc/markdown/enums/BaseCyclic/ServiceVersion.md new file mode 100644 index 00000000..4e71a83f --- /dev/null +++ b/api_python/doc/markdown/enums/BaseCyclic/ServiceVersion.md @@ -0,0 +1,13 @@ +# Enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [BaseCyclic \(Python\)](../../summary_pages/BaseCyclic.md) + diff --git a/api_cpp/doc/markdown/references/enm_Common_ArmState.md b/api_python/doc/markdown/enums/Common/ArmState.md similarity index 83% rename from api_cpp/doc/markdown/references/enm_Common_ArmState.md rename to api_python/doc/markdown/enums/Common/ArmState.md index b8f9b169..7b047de3 100644 --- a/api_cpp/doc/markdown/references/enm_Common_ArmState.md +++ b/api_python/doc/markdown/enums/Common/ArmState.md @@ -1,12 +1,8 @@ # Enum ArmState -This page describes the C++ Kinova::Api::Common::ArmState enumeration. - ## Overview / Purpose -List of admissible arm states - -## Enumeration definition +Enumeration ArmState |Enumerator|Value|Description| |----------|-----|-----------| @@ -22,5 +18,5 @@ List of admissible arm states |ARMSTATE\_SERVOING\_MANUALLY\_CONTROLLED|9|Arm is currently being controlled manually| |ARMSTATE\_RESERVED|255|For debugging, this state must never be reported outside the base. this means that a state is not mapped correctly| -**Parent topic:** [Common](../references/summary_Common.md) +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) diff --git a/api_python/doc/markdown/enums/Common/CartesianReferenceFrame.md b/api_python/doc/markdown/enums/Common/CartesianReferenceFrame.md new file mode 100644 index 00000000..003d8b41 --- /dev/null +++ b/api_python/doc/markdown/enums/Common/CartesianReferenceFrame.md @@ -0,0 +1,15 @@ +# Enum CartesianReferenceFrame + +## Overview / Purpose + +Enumeration CartesianReferenceFrame + +|Enumerator|Value|Description| +|----------|-----|-----------| +|CARTESIAN\_REFERENCE\_FRAME\_UNSPECIFIED|0|Unspecified Cartesian reference frame| +|CARTESIAN\_REFERENCE\_FRAME\_MIXED|1|Mixed reference frame where translation reference = base and orientation reference = tool| +|CARTESIAN\_REFERENCE\_FRAME\_TOOL|2|Tool reference frame where translation reference = tool and orientation reference = tool| +|CARTESIAN\_REFERENCE\_FRAME\_BASE|3|Base reference frame where the translation reference = base and orientation reference = base| + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/enums/Common/CountryCodeIdentifier.md b/api_python/doc/markdown/enums/Common/CountryCodeIdentifier.md new file mode 100644 index 00000000..a06f1f59 --- /dev/null +++ b/api_python/doc/markdown/enums/Common/CountryCodeIdentifier.md @@ -0,0 +1,124 @@ +# Enum CountryCodeIdentifier + +## Overview / Purpose + +Enumeration CountryCodeIdentifier + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_COUNTRY\_CODE|0| | +|UNITED\_ARAB\_EMIRATES\_AE|1| | +|ANTIGUA\_AND\_BARBUDA\_AG|2| | +|ANGUILLA\_AI|3| | +|ALBANIA\_AL|4| | +|AMERICAN\_SAMOA\_AS|5| | +|AUSTRIA\_AT|6| | +|AUSTRALIA\_AU|7| | +|ARUBA\_AW|8| | +|AZERBAIJAN\_AZ|9| | +|BOSNIA\_AND\_HERZEGOVINA\_BA|10| | +|BANGLADESH\_BD|11| | +|BELGIUM\_BE|12| | +|BULGARIA\_BG|13| | +|BAHRAIN\_BH|14| | +|BERMUDA\_BM|15| | +|BRUNEI\_DARUSSALAM\_BN|16| | +|BRAZIL\_BR|17| | +|BAHAMAS\_BS|18| | +|BELARUS\_BY|19| | +|SWITZERLAND\_CH|20| | +|CANADA\_CA|21| | +|CHINA\_CN|22| | +|COLOMBIA\_CO|23| | +|COSTA\_RICA\_CR|24| | +|CYPRUS\_CY|25| | +|CZECH\_REPUBLIC\_CZ|26| | +|GERMANY\_DE|27| | +|DENMARK\_DK|28| | +|ECUADOR\_EC|29| | +|ESTONIA\_EE|30| | +|EGYPT\_EG|31| | +|SPAIN\_ES|32| | +|ETHIOPIA\_ET|33| | +|FINLAND\_FI|34| | +|FRANCE\_FR|35| | +|UNITED\_KINGDOM\_GB|36| | +|GRENADA\_GD|37| | +|FRENCH\_GUIANA\_GF|38| | +|GUADELOUPE\_GP|39| | +|GREECE\_GR|40| | +|GUATEMALA\_GT|41| | +|GUAM\_GU|42| | +|HONG\_KONG\_HK|43| | +|CROATIA\_HR|44| | +|HUNGARY\_HU|45| | +|INDIA\_IN|46| | +|INDONESIA\_ID|47| | +|IRELAND\_IE|48| | +|ISRAEL\_IL|49| | +|ICELAND\_IS|50| | +|ITALY\_IT|51| | +|JORDAN\_JO|52| | +|JAPAN\_JP|53| | +|CAMBODIA\_KH|54| | +|REPUBLIC\_OF\_KOREA\_KR|55| | +|KUWAIT\_KW|56| | +|CAYMAN\_ISLANDS\_KY|57| | +|LAO\_PDR\_LA|58| | +|LEBANON\_LB|59| | +|LIECHTENSTEIN\_LI|60| | +|SRI\_LANKA\_LK|61| | +|LESOTHO\_LS|62| | +|LITHUANIA\_LT|63| | +|LUXEMBOURG\_LU|64| | +|LATVIA\_LV|65| | +|MOROCCO\_MA|66| | +|MONACO\_MC|67| | +|MOLDOVA\_MD|68| | +|MONTENEGRO\_ME|69| | +|REPUBLIC\_OF\_MACEDONIA\_MK|70| | +|MONGOLIA\_MN|71| | +|MARTINIQUE\_MQ|72| | +|MAURITANIA\_MR|73| | +|MALTA\_MT|74| | +|MAURITIUS\_MU|75| | +|MALDIVES\_MV|76| | +|MALAWI\_MW|77| | +|MEXICO\_MX|78| | +|MALAYSIA\_MY|79| | +|NICARAGUA\_NI|80| | +|NETHERLANDS\_NL|81| | +|NORWAY\_NO|82| | +|NEW\_ZEALAND\_NZ|83| | +|OMAN\_OM|84| | +|PANAMA\_PA|85| | +|PERU\_PE|86| | +|PHILIPPINES\_PH|87| | +|POLAND\_PL|88| | +|PUERTO\_RICO\_PR|89| | +|PORTUGAL\_PT|90| | +|PARAGUAY\_PY|91| | +|REUNION\_RE|92| | +|ROMANIA\_RO|93| | +|SERBIA\_RS|94| | +|RUSSIAN\_FEDERATION\_RU|95| | +|SWEDEN\_SE|96| | +|SINGAPORE\_SI|97| | +|SLOVAKIA\_SK|98| | +|EL\_SALVADOR\_SV|99| | +|THAILAND\_TH|100| | +|TUNISIA\_TN|101| | +|TURKEY\_TR|102| | +|TRINIDAD\_AND\_TOBAGO\_TT|103| | +|TAIWAN\_PROVINCE\_OF\_CHINA\_TW|104| | +|UKRAINE\_UA|105| | +|UNITED\_STATES\_US|106| | +|HOLY\_SEE\_VATICAN\_CITY\_STATE\_VA|107| | +|BOLIVARIAN\_REPUBLIC\_OF\_VENEZUELA\_VE|108| | +|BRITISH\_VIRGIN\_ISLANDS\_VG|109| | +|VIETNAM\_VN|110| | +|MAYOTTE\_YT|111| | +|SOUTH\_AFRICA\_ZA|112| | + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_cpp/doc/markdown/references/enm_Common_DeviceTypes.md b/api_python/doc/markdown/enums/Common/DeviceTypes.md similarity index 57% rename from api_cpp/doc/markdown/references/enm_Common_DeviceTypes.md rename to api_python/doc/markdown/enums/Common/DeviceTypes.md index 6eac8c0b..5f12d2f3 100644 --- a/api_cpp/doc/markdown/references/enm_Common_DeviceTypes.md +++ b/api_python/doc/markdown/enums/Common/DeviceTypes.md @@ -1,12 +1,8 @@ # Enum DeviceTypes -This page describes the C++ Kinova::Api::Common::DeviceTypes enumeration. - ## Overview / Purpose -List of admissible device types - -## Enumeration definition +Enumeration DeviceTypes |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,8 +11,10 @@ List of admissible device types |VISION|2|Vision module| |BIG\_ACTUATOR|3|Big actuator module| |SMALL\_ACTUATOR|4|Small actuator module| -|INTERCONNECT|5|Interconnect module| +|INTERCONNECT|5|Interface module| |GRIPPER|6|Gripper module| +|MEDIUM\_ACTUATOR|7|Medium actuator module| +|XBIG\_ACTUATOR|8|XBig actuator module| -**Parent topic:** [Common](../references/summary_Common.md) +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) diff --git a/api_cpp/doc/markdown/references/enm_Common_NotificationType.md b/api_python/doc/markdown/enums/Common/NotificationType.md similarity index 55% rename from api_cpp/doc/markdown/references/enm_Common_NotificationType.md rename to api_python/doc/markdown/enums/Common/NotificationType.md index 78a7f239..350c27d5 100644 --- a/api_cpp/doc/markdown/references/enm_Common_NotificationType.md +++ b/api_python/doc/markdown/enums/Common/NotificationType.md @@ -1,19 +1,15 @@ # Enum NotificationType -This page describes the C++ Kinova::Api::Common::NotificationType enumeration. - ## Overview / Purpose -List of admissible notification types - -## Enumeration definition +Enumeration NotificationType |Enumerator|Value|Description| |----------|-----|-----------| |NOTIFICATION\_TYPE\_UNSPECIFIED|0|Unspecified notification| -|NOTIFICATION\_TYPE\_THRESHOLD|1|Threshold notification. Refers to a notification sent beyond a specific threshold \(future\)| -|NOTIFICATION\_TYPE\_FIX\_RATE|2|Fix rate notification. Refers to a notification sent at a predetermined fix rate \(future\)| +|NOTIFICATION\_TYPE\_THRESHOLD|1|Threshold notification. Refers to a notification sent beyond a specific threshold \(not implemented yet\)| +|NOTIFICATION\_TYPE\_FIX\_RATE|2|Fix rate notification. Refers to a notification sent at a predetermined fix rate \(not implemented yet\)| |NOTIFICATION\_TYPE\_EVENT|3|Event type notification. Refers to a notification sent in response to an event| -**Parent topic:** [Common](../references/summary_Common.md) +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) diff --git a/api_cpp/doc/markdown/references/enm_Common_Permission.md b/api_python/doc/markdown/enums/Common/Permission.md similarity index 64% rename from api_cpp/doc/markdown/references/enm_Common_Permission.md rename to api_python/doc/markdown/enums/Common/Permission.md index 4cd17f36..109d08ca 100644 --- a/api_cpp/doc/markdown/references/enm_Common_Permission.md +++ b/api_python/doc/markdown/enums/Common/Permission.md @@ -1,12 +1,8 @@ # Enum Permission -This page describes the C++ Kinova::Api::Common::Permission enumeration. - ## Overview / Purpose -List of admissible permissions. Used as bitfields - -## Enumeration definition +Enumeration Permission |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,5 +11,5 @@ List of admissible permissions. Used as bitfields |UPDATE\_PERMISSION|2|Update permission. Refers to an entity that can be modified| |DELETE\_PERMISSION|4|Delete permission. Refers to an entity that can be deleted| -**Parent topic:** [Common](../references/summary_Common.md) +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) diff --git a/api_cpp/doc/markdown/references/enm_Common_SafetyStatusValue.md b/api_python/doc/markdown/enums/Common/SafetyStatusValue.md similarity index 60% rename from api_cpp/doc/markdown/references/enm_Common_SafetyStatusValue.md rename to api_python/doc/markdown/enums/Common/SafetyStatusValue.md index 9f33461a..c0795a6e 100644 --- a/api_cpp/doc/markdown/references/enm_Common_SafetyStatusValue.md +++ b/api_python/doc/markdown/enums/Common/SafetyStatusValue.md @@ -1,12 +1,8 @@ # Enum SafetyStatusValue -This page describes the C++ Kinova::Api::Common::SafetyStatusValue enumeration. - ## Overview / Purpose -List of admissible safety statuses - -## Enumeration definition +Enumeration SafetyStatusValue |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,5 +11,5 @@ List of admissible safety statuses |SAFETY\_STATUS\_ERROR|2|Error safety reached| |SAFETY\_STATUS\_NORMAL|3|Safety is off| -**Parent topic:** [Common](../references/summary_Common.md) +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) diff --git a/api_python/doc/markdown/enums/Common/UARTParity.md b/api_python/doc/markdown/enums/Common/UARTParity.md new file mode 100644 index 00000000..2c4cce3d --- /dev/null +++ b/api_python/doc/markdown/enums/Common/UARTParity.md @@ -0,0 +1,15 @@ +# Enum UARTParity + +## Overview / Purpose + +Enumeration UARTParity + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UART\_PARITY\_UNSPECIFIED|0|Unspecified UART parity| +|UART\_PARITY\_NONE|1|No parity| +|UART\_PARITY\_ODD|2|Odd parity| +|UART\_PARITY\_EVEN|3|Even parity| + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/enums/Common/UARTSpeed.md b/api_python/doc/markdown/enums/Common/UARTSpeed.md new file mode 100644 index 00000000..7fb7b700 --- /dev/null +++ b/api_python/doc/markdown/enums/Common/UARTSpeed.md @@ -0,0 +1,27 @@ +# Enum UARTSpeed + +## Overview / Purpose + +Enumeration UARTSpeed + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UART\_SPEED\_UNSPECIFIED|0|Unspecified UART speed| +|UART\_SPEED\_4800|1|4800 bps| +|UART\_SPEED\_9600|2|9600 bps| +|UART\_SPEED\_19200|3|19200 bps| +|UART\_SPEED\_38400|4|38400 bps| +|UART\_SPEED\_57600|5|57600 bps| +|UART\_SPEED\_115200|6|115200 bps| +|UART\_SPEED\_230400|7|230400 bps| +|UART\_SPEED\_460800|8|460800 bps| +|UART\_SPEED\_921600|9|921600 bps| +|UART\_SPEED\_1382400|10|1382400 bps| +|UART\_SPEED\_1612800|11|1612800 bps| +|UART\_SPEED\_1843200|12|1843200 bps| +|UART\_SPEED\_2073600|13|2073600 bps| +|UART\_SPEED\_2188800|14|2188800 bps| +|UART\_SPEED\_2246400|15|2246400 bps| + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/enums/Common/UARTStopBits.md b/api_python/doc/markdown/enums/Common/UARTStopBits.md new file mode 100644 index 00000000..2c970c21 --- /dev/null +++ b/api_python/doc/markdown/enums/Common/UARTStopBits.md @@ -0,0 +1,16 @@ +# Enum UARTStopBits + +## Overview / Purpose + +Enumeration UARTStopBits + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UART\_STOP\_BITS\_UNSPECIFIED|0|Unspecified UART stop bits| +|UART\_STOP\_BITS\_0\_5|1|0.5 stop bit| +|UART\_STOP\_BITS\_1|2|1 stop bit| +|UART\_STOP\_BITS\_1\_5|3|1.5 stop bits| +|UART\_STOP\_BITS\_2|4|2 stop bits| + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/enums/Common/UARTWordLength.md b/api_python/doc/markdown/enums/Common/UARTWordLength.md new file mode 100644 index 00000000..21ecc2a1 --- /dev/null +++ b/api_python/doc/markdown/enums/Common/UARTWordLength.md @@ -0,0 +1,15 @@ +# Enum UARTWordLength + +## Overview / Purpose + +Enumeration UARTWordLength + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UART\_WORD\_LENGTH\_UNSPECIFIED|0|Unspecified UART word length| +|UART\_WORD\_LENGTH\_7|1|7 bits| +|UART\_WORD\_LENGTH\_8|2|8 bits| +|UART\_WORD\_LENGTH\_9|3|9 bits| + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_cpp/doc/markdown/references/enm_Common_Unit.md b/api_python/doc/markdown/enums/Common/Unit.md similarity index 72% rename from api_cpp/doc/markdown/references/enm_Common_Unit.md rename to api_python/doc/markdown/enums/Common/Unit.md index 6ddc785d..d7cce0fb 100644 --- a/api_cpp/doc/markdown/references/enm_Common_Unit.md +++ b/api_python/doc/markdown/enums/Common/Unit.md @@ -1,12 +1,8 @@ # Enum Unit -This page describes the C++ Kinova::Api::Common::Unit enumeration. - ## Overview / Purpose -List of admissible units used throughout API methods - -## Enumeration definition +Enumeration Unit |Enumerator|Value|Description| |----------|-----|-----------| @@ -25,5 +21,5 @@ List of admissible units used throughout API methods |TICK|12|Tick| |DEGREE\_PER\_MILLISECOND|13|Degre per millisecond| -**Parent topic:** [Common](../references/summary_Common.md) +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) diff --git a/api_python/doc/markdown/enums/ControlConfig/ControlConfigurationEvent.md b/api_python/doc/markdown/enums/ControlConfig/ControlConfigurationEvent.md new file mode 100644 index 00000000..1e540acb --- /dev/null +++ b/api_python/doc/markdown/enums/ControlConfig/ControlConfigurationEvent.md @@ -0,0 +1,26 @@ +# Enum ControlConfigurationEvent + +## Overview / Purpose + +Enumeration ControlConfigurationEvent + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_CONTROL\_CONFIGURATION\_EVENT|0|Unspecified control configuration event| +|ANGLE\_UNIT\_CHANGED|1|Angle unit changed event| +|GRAVITY\_VECTOR\_CHANGED|2|Gravity vector changed event| +|VISION\_JOYSTICK\_CONFIGURATION\_CHANGED|3|Vision joystick configuration changed event| +|JOINT\_ADMITTANCE\_CONFIGURATION\_CHANGED|4|Joint admittance configuration changed event| +|NULL\_ADMITTANCE\_CONFIGURATION\_CHANGED|5|Null admittance configuration changed event| +|CARTESIAN\_ADMITTANCE\_CONFIGURATION\_CHANGED|6|Cartesian admittance configuration changed event| +|JOINT\_TORQUE\_HYBRID\_CONFIGURATION\_CHANGED|7|Joint torque hybrid configuraiton changed event| +|WRENCH\_COMMAND\_NORMAL\_CONFIGURATION\_CHANGED|8|Wrench commmand normal configuration changed event| +|WRENCH\_COMMAND\_RESTRICTED\_CONFIGURATION\_CHANGED|9|Wrench command restricted configuration changed event| +|CONTROL\_CONFIGURATION\_FACTORY\_RESTORED|10|Control configuration factory restored event| +|TOOL\_CONFIGURATION\_CHANGED|11|Tool configuration event| +|PAYLOAD\_CONFIGURATION\_CHANGED|12|Payload configuration event| +|CARTESIAN\_REFERENCE\_CHANGED|13|Cartesian reference event| +|CHANGE\_CONTROL\_MODE\_FAILED|14|Control mode change fail event| + +**Parent topic:** [ControlConfig \(Python\)](../../summary_pages/ControlConfig.md) + diff --git a/api_python/doc/markdown/enums/ControlConfig/ServiceVersion.md b/api_python/doc/markdown/enums/ControlConfig/ServiceVersion.md new file mode 100644 index 00000000..8748ce6b --- /dev/null +++ b/api_python/doc/markdown/enums/ControlConfig/ServiceVersion.md @@ -0,0 +1,13 @@ +# Enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [ControlConfig \(Python\)](../../summary_pages/ControlConfig.md) + diff --git a/api_python/doc/markdown/enums/DeviceConfig/CalibrationItem.md b/api_python/doc/markdown/enums/DeviceConfig/CalibrationItem.md new file mode 100644 index 00000000..03173043 --- /dev/null +++ b/api_python/doc/markdown/enums/DeviceConfig/CalibrationItem.md @@ -0,0 +1,16 @@ +# Enum CalibrationItem + +## Overview / Purpose + +Enumeration CalibrationItem + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_CALIBRATION\_ITEM|0|Unspecified calibration item| +|COGGING|1|Cogging calibration| +|MAGNETIC|2|Magnetic sensors calibration| +|MOTOR|3|Motor calibration| +|POSITION\_RANGE|4|Position range calibration| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/enums/DeviceConfig/CalibrationStatus.md b/api_python/doc/markdown/enums/DeviceConfig/CalibrationStatus.md new file mode 100644 index 00000000..131df653 --- /dev/null +++ b/api_python/doc/markdown/enums/DeviceConfig/CalibrationStatus.md @@ -0,0 +1,16 @@ +# Enum CalibrationStatus + +## Overview / Purpose + +Enumeration CalibrationStatus + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_CALIBRATION\_STATUS|0|Unspecified calibration status| +|NOT\_CALIBRATED|1|Calibration is not done| +|IN\_PROGRESS|2|Calibration is in progress| +|CALIBRATED|3|Calibration was successfully completed| +|IN\_FAULT|4|Calibration failed| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/enums/DeviceConfig/CapSenseMode.md b/api_python/doc/markdown/enums/DeviceConfig/CapSenseMode.md new file mode 100644 index 00000000..65340ffc --- /dev/null +++ b/api_python/doc/markdown/enums/DeviceConfig/CapSenseMode.md @@ -0,0 +1,17 @@ +# Enum CapSenseMode + +## Overview / Purpose + +Enumeration CapSenseMode + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED|0|Reserved, do not use.| +|INACTIVE|1|Cap sensor is inactive.| +|ACTIVE\_AUTO\_THRESHOLD|2|Cap sensor is active in automatic threshold mode.| +|ACTIVE\_NOISE\_ATT|4|Cap sensor is active with noise mitigation enabled.| +|ACTIVE\_NORMAL|5|Cap sensor is active in normal mode.| +|CONFIGURATION|6|Configuration mode.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/references/enm_DeviceConfig_RunModes.md b/api_python/doc/markdown/enums/DeviceConfig/RunModes.md similarity index 51% rename from api_python/doc/markdown/references/enm_DeviceConfig_RunModes.md rename to api_python/doc/markdown/enums/DeviceConfig/RunModes.md index cbb6c3bf..1d9c7878 100644 --- a/api_python/doc/markdown/references/enm_DeviceConfig_RunModes.md +++ b/api_python/doc/markdown/enums/DeviceConfig/RunModes.md @@ -1,20 +1,16 @@ # Enum RunModes -This page describes the Python Kinova.Api.DeviceConfig.RunModes enumeration. - ## Overview / Purpose -Options for the run mode for the device - -## Enumeration definition +Enumeration RunModes |Enumerator|Value|Description| |----------|-----|-----------| -|RUN\_MODE|0| | +|RUN\_MODE|0| | |CALIBRATION\_MODE|1|calibration mode| |CONFIGURATION\_MODE|2|configuration mode| |DEBUG\_MODE|3|debug mode| |TUNING\_MODE|4|tuning mode| -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) diff --git a/api_cpp/doc/markdown/references/enm_DeviceConfig_SafetyLimitType.md b/api_python/doc/markdown/enums/DeviceConfig/SafetyLimitType.md similarity index 63% rename from api_cpp/doc/markdown/references/enm_DeviceConfig_SafetyLimitType.md rename to api_python/doc/markdown/enums/DeviceConfig/SafetyLimitType.md index edc75612..d169f2f4 100644 --- a/api_cpp/doc/markdown/references/enm_DeviceConfig_SafetyLimitType.md +++ b/api_python/doc/markdown/enums/DeviceConfig/SafetyLimitType.md @@ -1,19 +1,15 @@ # Enum SafetyLimitType -This page describes the C++ Kinova::Api::DeviceConfig::SafetyLimitType enumeration. - ## Overview / Purpose -Types of safeties limits - -## Enumeration definition +Enumeration SafetyLimitType |Enumerator|Value|Description| |----------|-----|-----------| -|UNSPECIFIED\_SAFETY\_LIMIT\_TYPE|0| | +|UNSPECIFIED\_SAFETY\_LIMIT\_TYPE|0| | |MINIMAL\_LIMIT|1|Safety that will kick in below a certain Minimum threshold \(e.g. Minimum temperature safety\)| |MAXIMAL\_LIMIT|2|Safety that will kick in above a certain Maximum threshold \(e.g. Maximum voltage safety\)| |EVENT\_LIMIT|3|Safety that will kick in in reaction to a specific event \(e.g. motor drive fault\)| -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) diff --git a/api_python/doc/markdown/enums/DeviceConfig/ServiceVersion.md b/api_python/doc/markdown/enums/DeviceConfig/ServiceVersion.md new file mode 100644 index 00000000..36ef3443 --- /dev/null +++ b/api_python/doc/markdown/enums/DeviceConfig/ServiceVersion.md @@ -0,0 +1,13 @@ +# Enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/enums/DeviceManager/ServiceVersion.md b/api_python/doc/markdown/enums/DeviceManager/ServiceVersion.md new file mode 100644 index 00000000..a61cd589 --- /dev/null +++ b/api_python/doc/markdown/enums/DeviceManager/ServiceVersion.md @@ -0,0 +1,13 @@ +# Enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [DeviceManager \(Python\)](../../summary_pages/DeviceManager.md) + diff --git a/api_python/doc/markdown/enums/GripperConfig/RobotiqGripperStatusFlags.md b/api_python/doc/markdown/enums/GripperConfig/RobotiqGripperStatusFlags.md new file mode 100644 index 00000000..41032398 --- /dev/null +++ b/api_python/doc/markdown/enums/GripperConfig/RobotiqGripperStatusFlags.md @@ -0,0 +1,16 @@ +# Enum RobotiqGripperStatusFlags + +## Overview / Purpose + +Enumeration RobotiqGripperStatusFlags + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_ROBOTIQ\_STATUS|0|0x0| +|ROBOTIQ\_STAT\_INITIALIZED|1|0x01| +|ROBOTIQ\_STAT\_OBJECT\_DETECTED|2|0x02| +|ROBOTIQ\_STAT\_POS\_REACHED|4|0x04| +|ROBOTIQ\_STAT\_STOPPED|8|0x08| + +**Parent topic:** [GripperConfig \(Python\)](../../summary_pages/GripperConfig.md) + diff --git a/api_python/doc/markdown/enums/GripperConfig/SafetyIdentifier.md b/api_python/doc/markdown/enums/GripperConfig/SafetyIdentifier.md new file mode 100644 index 00000000..d77478ce --- /dev/null +++ b/api_python/doc/markdown/enums/GripperConfig/SafetyIdentifier.md @@ -0,0 +1,21 @@ +# Enum SafetyIdentifier + +## Overview / Purpose + +Enumeration SafetyIdentifier + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UNSPECIFIED\_ACTUATOR\_SAFETY\_IDENTIFIER|0|0x0| +|MAXIMUM\_MOTOR\_CURRENT|1|0x1| +|MAXIMUM\_VOLTAGE|2|0x2| +|MINIMUM\_VOLTAGE|4|0x4| +|MAXIMUM\_MOTOR\_TEMPERATURE|8|0x8| +|MAXIMUM\_CORE\_TEMPERATURE|16|0x10| +|NON\_VOLATILE\_MEMORY\_CORRUPTED|32|0x20| +|EMERGENCY\_LINE\_ASSERTED|64|0x40| +|COMMUNICATION\_TICK\_LOST|128|0x80| +|WATCHDOG\_TRIGGERED|256|0x100| + +**Parent topic:** [GripperConfig \(Python\)](../../summary_pages/GripperConfig.md) + diff --git a/api_python/doc/markdown/enums/GripperCyclic/ServiceVersion.md b/api_python/doc/markdown/enums/GripperCyclic/ServiceVersion.md new file mode 100644 index 00000000..ebee7ef7 --- /dev/null +++ b/api_python/doc/markdown/enums/GripperCyclic/ServiceVersion.md @@ -0,0 +1,13 @@ +# Enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0| | +|CURRENT\_VERSION|1|Current Version| + +**Parent topic:** [GripperCyclic \(Python\)](../../summary_pages/GripperCyclic.md) + diff --git a/api_python/doc/markdown/enums/InterconnectConfig/EthernetDevice.md b/api_python/doc/markdown/enums/InterconnectConfig/EthernetDevice.md new file mode 100644 index 00000000..ac720c4a --- /dev/null +++ b/api_python/doc/markdown/enums/InterconnectConfig/EthernetDevice.md @@ -0,0 +1,13 @@ +# Enum EthernetDevice + +## Overview / Purpose + +Enumeration EthernetDevice + +|Enumerator|Value|Description| +|----------|-----|-----------| +|ETHERNET\_DEVICE\_UNSPECIFIED|0|Unspecified ethernet device| +|ETHERNET\_DEVICE\_EXPANSION|1|Ethernet port located on the expansion connector| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/enums/InterconnectConfig/EthernetDuplex.md b/api_python/doc/markdown/enums/InterconnectConfig/EthernetDuplex.md new file mode 100644 index 00000000..89c101e0 --- /dev/null +++ b/api_python/doc/markdown/enums/InterconnectConfig/EthernetDuplex.md @@ -0,0 +1,14 @@ +# Enum EthernetDuplex + +## Overview / Purpose + +Enumeration EthernetDuplex + +|Enumerator|Value|Description| +|----------|-----|-----------| +|ETHERNET\_DUPLEX\_UNSPECIFIED|0|Unspecified ethernet duplex| +|ETHERNET\_DUPLEX\_HALF|1|Half duplex| +|ETHERNET\_DUPLEX\_FULL|2|Full duplex| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/enums/InterconnectConfig/EthernetSpeed.md b/api_python/doc/markdown/enums/InterconnectConfig/EthernetSpeed.md new file mode 100644 index 00000000..bb63f8e4 --- /dev/null +++ b/api_python/doc/markdown/enums/InterconnectConfig/EthernetSpeed.md @@ -0,0 +1,14 @@ +# Enum EthernetSpeed + +## Overview / Purpose + +Enumeration EthernetSpeed + +|Enumerator|Value|Description| +|----------|-----|-----------| +|ETHERNET\_SPEED\_UNSPECIFIED|0|Unspecified ethernet speed| +|ETHERNET\_SPEED\_10M|1|10 Mbps| +|ETHERNET\_SPEED\_100M|2|100 Mbps| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/enums/InterconnectConfig/GPIOIdentifier.md b/api_python/doc/markdown/enums/InterconnectConfig/GPIOIdentifier.md new file mode 100644 index 00000000..dcb132b7 --- /dev/null +++ b/api_python/doc/markdown/enums/InterconnectConfig/GPIOIdentifier.md @@ -0,0 +1,16 @@ +# Enum GPIOIdentifier + +## Overview / Purpose + +Enumeration GPIOIdentifier + +|Enumerator|Value|Description| +|----------|-----|-----------| +|GPIO\_IDENTIFIER\_UNSPECIFIED|0|Unspecified GPIO identifier| +|GPIO\_IDENTIFIER\_1|1|GPIO identifier 1| +|GPIO\_IDENTIFIER\_2|2|GPIO identifier 2| +|GPIO\_IDENTIFIER\_3|3|GPIO identifier 3| +|GPIO\_IDENTIFIER\_4|4|GPIO identifier 4| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/enums/InterconnectConfig/GPIOMode.md b/api_python/doc/markdown/enums/InterconnectConfig/GPIOMode.md new file mode 100644 index 00000000..eab7c45a --- /dev/null +++ b/api_python/doc/markdown/enums/InterconnectConfig/GPIOMode.md @@ -0,0 +1,15 @@ +# Enum GPIOMode + +## Overview / Purpose + +Enumeration GPIOMode + +|Enumerator|Value|Description| +|----------|-----|-----------| +|GPIO\_MODE\_UNSPECIFIED|0|Unspecified GPIO mode| +|GPIO\_MODE\_INPUT\_FLOATING|1|Input floating| +|GPIO\_MODE\_OUTPUT\_PUSH\_PULL|2|Output push-pull| +|GPIO\_MODE\_OUTPUT\_OPEN\_DRAIN|3|Output open drain| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/enums/InterconnectConfig/GPIOPull.md b/api_python/doc/markdown/enums/InterconnectConfig/GPIOPull.md new file mode 100644 index 00000000..4da62ce8 --- /dev/null +++ b/api_python/doc/markdown/enums/InterconnectConfig/GPIOPull.md @@ -0,0 +1,15 @@ +# Enum GPIOPull + +## Overview / Purpose + +Enumeration GPIOPull + +|Enumerator|Value|Description| +|----------|-----|-----------| +|GPIO\_PULL\_UNSPECIFIED|0|Unspecified GPIO pull| +|GPIO\_PULL\_NONE|1|Pull none| +|GPIO\_PULL\_UP|2|Pull up| +|GPIO\_PULL\_DOWN|3|Pull down| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/enums/InterconnectConfig/GPIOValue.md b/api_python/doc/markdown/enums/InterconnectConfig/GPIOValue.md new file mode 100644 index 00000000..62a3c3eb --- /dev/null +++ b/api_python/doc/markdown/enums/InterconnectConfig/GPIOValue.md @@ -0,0 +1,14 @@ +# Enum GPIOValue + +## Overview / Purpose + +Enumeration GPIOValue + +|Enumerator|Value|Description| +|----------|-----|-----------| +|GPIO\_VALUE\_UNSPECIFIED|0|Unspecified GPIO value| +|GPIO\_VALUE\_LOW|1|Low| +|GPIO\_VALUE\_HIGH|2|High| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/enums/InterconnectConfig/I2CDevice.md b/api_python/doc/markdown/enums/InterconnectConfig/I2CDevice.md new file mode 100644 index 00000000..e3d42cdb --- /dev/null +++ b/api_python/doc/markdown/enums/InterconnectConfig/I2CDevice.md @@ -0,0 +1,13 @@ +# Enum I2CDevice + +## Overview / Purpose + +Enumeration I2CDevice + +|Enumerator|Value|Description| +|----------|-----|-----------| +|I2C\_DEVICE\_UNSPECIFIED|0|Unspecified I2C device| +|I2C\_DEVICE\_EXPANSION|1|I2C device located on the expansion connector| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/enums/InterconnectConfig/I2CDeviceAddressing.md b/api_python/doc/markdown/enums/InterconnectConfig/I2CDeviceAddressing.md new file mode 100644 index 00000000..fbdd0a31 --- /dev/null +++ b/api_python/doc/markdown/enums/InterconnectConfig/I2CDeviceAddressing.md @@ -0,0 +1,14 @@ +# Enum I2CDeviceAddressing + +## Overview / Purpose + +Enumeration I2CDeviceAddressing + +|Enumerator|Value|Description| +|----------|-----|-----------| +|I2C\_DEVICE\_ADDRESSING\_UNSPECIFIED|0|Unspecified device addressing| +|I2C\_DEVICE\_ADDRESSING\_7\_BITS|1|7 bits device addressing| +|I2C\_DEVICE\_ADDRESSING\_10\_BITS|2|10 bits device addressing| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/enums/InterconnectConfig/I2CMode.md b/api_python/doc/markdown/enums/InterconnectConfig/I2CMode.md new file mode 100644 index 00000000..f48bb4b1 --- /dev/null +++ b/api_python/doc/markdown/enums/InterconnectConfig/I2CMode.md @@ -0,0 +1,15 @@ +# Enum I2CMode + +## Overview / Purpose + +Enumeration I2CMode + +|Enumerator|Value|Description| +|----------|-----|-----------| +|I2C\_MODE\_UNSPECIFIED|0|Unspecified I2C mode| +|I2C\_MODE\_STANDARD|1|Standard mode| +|I2C\_MODE\_FAST|2|Fast mode| +|I2C\_MODE\_FAST\_PLUS|3|Fast plus mode| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/enums/InterconnectConfig/I2CRegisterAddressSize.md b/api_python/doc/markdown/enums/InterconnectConfig/I2CRegisterAddressSize.md new file mode 100644 index 00000000..89446f4a --- /dev/null +++ b/api_python/doc/markdown/enums/InterconnectConfig/I2CRegisterAddressSize.md @@ -0,0 +1,14 @@ +# Enum I2CRegisterAddressSize + +## Overview / Purpose + +Enumeration I2CRegisterAddressSize + +|Enumerator|Value|Description| +|----------|-----|-----------| +|I2C\_REGISTER\_ADDRESS\_SIZE\_UNSPECIFIED|0|Unspecified I2C register address size| +|I2C\_REGISTER\_ADDRESS\_SIZE\_8\_BITS|1|8 bits register address size| +|I2C\_REGISTER\_ADDRESS\_SIZE\_16\_BITS|2|16 bits register address size| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_cpp/doc/markdown/references/enm_InterconnectConfig_SafetyIdentifier.md b/api_python/doc/markdown/enums/InterconnectConfig/SafetyIdentifier.md similarity index 65% rename from api_cpp/doc/markdown/references/enm_InterconnectConfig_SafetyIdentifier.md rename to api_python/doc/markdown/enums/InterconnectConfig/SafetyIdentifier.md index c90b17b1..0dd96c1e 100644 --- a/api_cpp/doc/markdown/references/enm_InterconnectConfig_SafetyIdentifier.md +++ b/api_python/doc/markdown/enums/InterconnectConfig/SafetyIdentifier.md @@ -1,16 +1,12 @@ # Enum SafetyIdentifier -This page describes the C++ Kinova::Api::InterconnectConfig::SafetyIdentifier enumeration. - ## Overview / Purpose -List of admissible interconnect module safeties - -## Enumeration definition +Enumeration SafetyIdentifier |Enumerator|Value|Description| |----------|-----|-----------| -|UNSPECIFIED\_ACTUATOR\_SAFETY\_IDENTIFIER|0|0x0 - Unspecified actuator safety| +|UNSPECIFIED\_INTERCONNECT\_SAFETY\_IDENTIFIER|0|0x0 - Unspecified actuator safety| |MAXIMUM\_MOTOR\_CURRENT|1|0x1 - Maximum motor current| |MAXIMUM\_VOLTAGE|2|0x2 - Maximum voltage| |MINIMUM\_VOLTAGE|4|0x4 - Minimum voltage| @@ -21,5 +17,5 @@ List of admissible interconnect module safeties |COMMUNICATION\_TICK\_LOST|128|0x80 - Communication tick lost| |WATCHDOG\_TRIGGERED|256|0x100 - Watchdog triggered| -**Parent topic:** [InterconnectConfig](../references/summary_InterconnectConfig.md) +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) diff --git a/api_python/doc/markdown/enums/InterconnectConfig/ServiceVersion.md b/api_python/doc/markdown/enums/InterconnectConfig/ServiceVersion.md new file mode 100644 index 00000000..a9b86abf --- /dev/null +++ b/api_python/doc/markdown/enums/InterconnectConfig/ServiceVersion.md @@ -0,0 +1,13 @@ +# Enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/enums/InterconnectConfig/UARTPortId.md b/api_python/doc/markdown/enums/InterconnectConfig/UARTPortId.md new file mode 100644 index 00000000..d1e6bd6c --- /dev/null +++ b/api_python/doc/markdown/enums/InterconnectConfig/UARTPortId.md @@ -0,0 +1,13 @@ +# Enum UARTPortId + +## Overview / Purpose + +Enumeration UARTPortId + +|Enumerator|Value|Description| +|----------|-----|-----------| +|UART\_PORT\_UNSPECIFIED|0|Unspecified UART port| +|UART\_PORT\_EXPANSION|1|UART port located on the expansion connector| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/enums/InterconnectCyclic/ServiceVersion.md b/api_python/doc/markdown/enums/InterconnectCyclic/ServiceVersion.md new file mode 100644 index 00000000..a6977cdb --- /dev/null +++ b/api_python/doc/markdown/enums/InterconnectCyclic/ServiceVersion.md @@ -0,0 +1,13 @@ +# Enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [InterconnectCyclic \(Python\)](../../summary_pages/InterconnectCyclic.md) + diff --git a/api_python/doc/markdown/enums/ProductConfiguration/ArmLaterality.md b/api_python/doc/markdown/enums/ProductConfiguration/ArmLaterality.md new file mode 100644 index 00000000..05f8c0a4 --- /dev/null +++ b/api_python/doc/markdown/enums/ProductConfiguration/ArmLaterality.md @@ -0,0 +1,15 @@ +# Enum ArmLaterality + +## Overview / Purpose + +Enumeration ArmLaterality + +|Enumerator|Value|Description| +|----------|-----|-----------| +|ARM\_LATERALITY\_UNSPECIFIED|0|Unspecified arm laterality| +|ARM\_LATERALITY\_NOT\_APPLICABLE|1|Not Applicable| +|ARM\_LATERALITY\_LEFT|2|Left Laterality| +|ARM\_LATERALITY\_RIGHT|3|Right Laterality| + +**Parent topic:** [ProductConfiguration \(Python\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_python/doc/markdown/enums/ProductConfiguration/BaseType.md b/api_python/doc/markdown/enums/ProductConfiguration/BaseType.md new file mode 100644 index 00000000..72f1bda8 --- /dev/null +++ b/api_python/doc/markdown/enums/ProductConfiguration/BaseType.md @@ -0,0 +1,15 @@ +# Enum BaseType + +## Overview / Purpose + +Enumeration BaseType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|BASE\_TYPE\_UNSPECIFIED|0|Unspecified base type| +|BASE\_TYPE\_L53\_QUICK\_CONNECT|1|L53 \(Gen3\) Quick Connect Base| +|BASE\_TYPE\_L31\_FIXED|3|L31 \(PICO\) Fixed Base| +|BASE\_TYPE\_HDK\_FIXED|4|HDK Fixed Base| + +**Parent topic:** [ProductConfiguration \(Python\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_python/doc/markdown/enums/ProductConfiguration/EndEffectorType.md b/api_python/doc/markdown/enums/ProductConfiguration/EndEffectorType.md new file mode 100644 index 00000000..f20a3166 --- /dev/null +++ b/api_python/doc/markdown/enums/ProductConfiguration/EndEffectorType.md @@ -0,0 +1,15 @@ +# Enum EndEffectorType + +## Overview / Purpose + +Enumeration EndEffectorType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|END\_EFFECTOR\_TYPE\_UNSPECIFIED|0|Unspecified end-effector type| +|END\_EFFECTOR\_TYPE\_NOT\_INSTALLED|1|No gripper installed| +|END\_EFFECTOR\_TYPE\_L31\_GRIPPER\_2F|2|L31 \(PICO\) gripper, 2 fingers| +|END\_EFFECTOR\_TYPE\_ROBOTIQ\_2F\_85|3|Robotiq 2F-85 gripper, 2 fingers| + +**Parent topic:** [ProductConfiguration \(Python\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_python/doc/markdown/enums/ProductConfiguration/InterfaceModuleType.md b/api_python/doc/markdown/enums/ProductConfiguration/InterfaceModuleType.md new file mode 100644 index 00000000..d43fb029 --- /dev/null +++ b/api_python/doc/markdown/enums/ProductConfiguration/InterfaceModuleType.md @@ -0,0 +1,15 @@ +# Enum InterfaceModuleType + +## Overview / Purpose + +Enumeration InterfaceModuleType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|INTERFACE\_MODULE\_TYPE\_UNSPECIFIED|0|Unspecified interface module type| +|INTERFACE\_MODULE\_TYPE\_NOT\_INSTALLED|1|Not Applicable / Not Installed| +|INTERFACE\_MODULE\_TYPE\_L53|2|L53 \(Gen3\) Interface Module| +|INTERFACE\_MODULE\_TYPE\_L31|3|L31 \(PICO\) Interface Module| + +**Parent topic:** [ProductConfiguration \(Python\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_python/doc/markdown/enums/ProductConfiguration/ModelId.md b/api_python/doc/markdown/enums/ProductConfiguration/ModelId.md new file mode 100644 index 00000000..856b9f29 --- /dev/null +++ b/api_python/doc/markdown/enums/ProductConfiguration/ModelId.md @@ -0,0 +1,15 @@ +# Enum ModelId + +## Overview / Purpose + +Enumeration ModelId + +|Enumerator|Value|Description| +|----------|-----|-----------| +|MODEL\_ID\_UNSPECIFIED|0|Unspecified Model identification| +|MODEL\_ID\_L53|1|Gen3 Ultra Lightweight Robot| +|MODEL\_ID\_L31|2|PICO| +|MODEL\_ID\_HDK|3|Hardware Development Kit| + +**Parent topic:** [ProductConfiguration \(Python\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_python/doc/markdown/enums/ProductConfiguration/VisionModuleType.md b/api_python/doc/markdown/enums/ProductConfiguration/VisionModuleType.md new file mode 100644 index 00000000..aaced651 --- /dev/null +++ b/api_python/doc/markdown/enums/ProductConfiguration/VisionModuleType.md @@ -0,0 +1,16 @@ +# Enum VisionModuleType + +## Overview / Purpose + +Enumeration VisionModuleType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|VISION\_MODULE\_TYPE\_UNSPECIFIED|0|Unspecified vision module type| +|VISION\_MODULE\_TYPE\_NOT\_INSTALLED|1|Not Applicable / Not Installed| +|VISION\_MODULE\_TYPE\_L53\_2D3D|2|L53 \(Gen3\) Vision Module| +|VISION\_MODULE\_TYPE\_L53\_2D|3|L53 \(Gen3\) Vision Module without 3D sensor| +|VISION\_MODULE\_TYPE\_EOD|4|EOD Vision Module| + +**Parent topic:** [ProductConfiguration \(Python\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_python/doc/markdown/enums/ProductConfiguration/WristType.md b/api_python/doc/markdown/enums/ProductConfiguration/WristType.md new file mode 100644 index 00000000..2a2871b0 --- /dev/null +++ b/api_python/doc/markdown/enums/ProductConfiguration/WristType.md @@ -0,0 +1,15 @@ +# Enum WristType + +## Overview / Purpose + +Enumeration WristType + +|Enumerator|Value|Description| +|----------|-----|-----------| +|WRIST\_TYPE\_UNSPECIFIED|0|Unspecified wrist type| +|WRIST\_TYPE\_NOT\_APPLICABLE|1|Not Applicable| +|WRIST\_TYPE\_SPHERICAL|2|Spherical Wrist| +|WRIST\_TYPE\_CURVED|3|Curved Wrist| + +**Parent topic:** [ProductConfiguration \(Python\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_python/doc/markdown/enums/Session/ServiceVersion.md b/api_python/doc/markdown/enums/Session/ServiceVersion.md new file mode 100644 index 00000000..390d44df --- /dev/null +++ b/api_python/doc/markdown/enums/Session/ServiceVersion.md @@ -0,0 +1,13 @@ +# Enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [Session \(Python\)](../../summary_pages/Session.md) + diff --git a/api_cpp/doc/markdown/references/enm_VisionConfig_BitRate.md b/api_python/doc/markdown/enums/VisionConfig/BitRate.md similarity index 69% rename from api_cpp/doc/markdown/references/enm_VisionConfig_BitRate.md rename to api_python/doc/markdown/enums/VisionConfig/BitRate.md index 12d17bca..bf21c30e 100644 --- a/api_cpp/doc/markdown/references/enm_VisionConfig_BitRate.md +++ b/api_python/doc/markdown/enums/VisionConfig/BitRate.md @@ -1,12 +1,8 @@ # Enum BitRate -This page describes the C++ Kinova::Api::VisionConfig::BitRate enumeration. - ## Overview / Purpose -Select the maximum encoded bit rate, in Mbps. - -## Enumeration definition +Enumeration BitRate |Enumerator|Value|Description| |----------|-----|-----------| @@ -16,5 +12,5 @@ Select the maximum encoded bit rate, in Mbps. |BITRATE\_20\_MBPS|3|20 Mbps maximum bit rate \(supported on color sensor only\)| |BITRATE\_25\_MBPS|4|25 Mbps maximum bit rate \(supported on color sensor only\)| -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) diff --git a/api_python/doc/markdown/references/enm_VisionConfig_FocusAction.md b/api_python/doc/markdown/enums/VisionConfig/FocusAction.md similarity index 56% rename from api_python/doc/markdown/references/enm_VisionConfig_FocusAction.md rename to api_python/doc/markdown/enums/VisionConfig/FocusAction.md index 708dd9dd..5a5efd02 100644 --- a/api_python/doc/markdown/references/enm_VisionConfig_FocusAction.md +++ b/api_python/doc/markdown/enums/VisionConfig/FocusAction.md @@ -1,12 +1,8 @@ # Enum FocusAction -This page describes the Python Kinova.Api.VisionConfig.FocusAction enumeration. - ## Overview / Purpose -Select the focus action to perform \(start/pause continuous, focus now, disable\). Supported only with Color sensor. - -## Enumeration definition +Enumeration FocusAction |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,6 +11,8 @@ Select the focus action to perform \(start/pause continuous, focus now, disable\ |FOCUSACTION\_PAUSE\_CONTINUOUS\_FOCUS|2|Pause continuous focus| |FOCUSACTION\_FOCUS\_NOW|3|Focus now \(single-shot\)| |FOCUSACTION\_DISABLE\_FOCUS|4|Disable focus| +|FOCUSACTION\_SET\_FOCUS\_POINT|5|Set a focus point| +|FOCUSACTION\_SET\_MANUAL\_FOCUS|6|Set the manual focus distance| -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) diff --git a/api_cpp/doc/markdown/references/enm_VisionConfig_FrameRate.md b/api_python/doc/markdown/enums/VisionConfig/FrameRate.md similarity index 60% rename from api_cpp/doc/markdown/references/enm_VisionConfig_FrameRate.md rename to api_python/doc/markdown/enums/VisionConfig/FrameRate.md index d020fd40..6cf557ac 100644 --- a/api_cpp/doc/markdown/references/enm_VisionConfig_FrameRate.md +++ b/api_python/doc/markdown/enums/VisionConfig/FrameRate.md @@ -1,12 +1,8 @@ # Enum FrameRate -This page describes the C++ Kinova::Api::VisionConfig::FrameRate enumeration. - ## Overview / Purpose -Select the camera frame rate. - -## Enumeration definition +Enumeration FrameRate |Enumerator|Value|Description| |----------|-----|-----------| @@ -15,5 +11,5 @@ Select the camera frame rate. |FRAMERATE\_15\_FPS|2|15 frames per second| |FRAMERATE\_30\_FPS|3|30 frame per second| -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) diff --git a/api_cpp/doc/markdown/references/enm_VisionConfig_Option.md b/api_python/doc/markdown/enums/VisionConfig/Option.md similarity index 95% rename from api_cpp/doc/markdown/references/enm_VisionConfig_Option.md rename to api_python/doc/markdown/enums/VisionConfig/Option.md index 067ed6a6..fcd7a0a7 100644 --- a/api_cpp/doc/markdown/references/enm_VisionConfig_Option.md +++ b/api_python/doc/markdown/enums/VisionConfig/Option.md @@ -1,12 +1,8 @@ # Enum Option -This page describes the C++ Kinova::Api::VisionConfig::Option enumeration. - ## Overview / Purpose -List of admissible Vision module options. !!!!! - -## Enumeration definition +Enumeration Option |Enumerator|Value|Description| |----------|-----|-----------| @@ -54,5 +50,5 @@ List of admissible Vision module options. !!!!! |OPTION\_STEREO\_BASELINE|41|The distance in mm between the first and the second imagers in stereo-based depth cameras \(supported on depth sensor only: 55.241055 to 55.241055, step 0.0\)| |OPTION\_AUTO\_EXPOSURE\_CONVERGE\_STEP|42|Allows dynamically ajust the converge step value of the target exposure in Auto-Exposure algorithm \(unsupported\)| -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) diff --git a/api_cpp/doc/markdown/references/enm_VisionConfig_Resolution.md b/api_python/doc/markdown/enums/VisionConfig/Resolution.md similarity index 75% rename from api_cpp/doc/markdown/references/enm_VisionConfig_Resolution.md rename to api_python/doc/markdown/enums/VisionConfig/Resolution.md index fac82723..c2bf510a 100644 --- a/api_cpp/doc/markdown/references/enm_VisionConfig_Resolution.md +++ b/api_python/doc/markdown/enums/VisionConfig/Resolution.md @@ -1,12 +1,8 @@ # Enum Resolution -This page describes the C++ Kinova::Api::VisionConfig::Resolution enumeration. - ## Overview / Purpose -Select the camera resolution. - -## Enumeration definition +Enumeration Resolution |Enumerator|Value|Description| |----------|-----|-----------| @@ -18,5 +14,5 @@ Select the camera resolution. |RESOLUTION\_1280x720|5|1280 x 720 pixels \(HD\) \(supported on color sensor only\)| |RESOLUTION\_1920x1080|6|1920 x 1080 pixels \(full HD\) \(supported on color sensor only\)| -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) diff --git a/api_cpp/doc/markdown/references/enm_VisionConfig_Sensor.md b/api_python/doc/markdown/enums/VisionConfig/Sensor.md similarity index 53% rename from api_cpp/doc/markdown/references/enm_VisionConfig_Sensor.md rename to api_python/doc/markdown/enums/VisionConfig/Sensor.md index 57294ab8..4cec53a3 100644 --- a/api_cpp/doc/markdown/references/enm_VisionConfig_Sensor.md +++ b/api_python/doc/markdown/enums/VisionConfig/Sensor.md @@ -1,12 +1,8 @@ # Enum Sensor -This page describes the C++ Kinova::Api::VisionConfig::Sensor enumeration. - ## Overview / Purpose -Select the Vision module camera sensor to configure. - -## Enumeration definition +Enumeration Sensor |Enumerator|Value|Description| |----------|-----|-----------| @@ -14,5 +10,5 @@ Select the Vision module camera sensor to configure. |SENSOR\_COLOR|1|Select the Vision module color sensor| |SENSOR\_DEPTH|2|Select the Vision module depth sensor| -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) diff --git a/api_python/doc/markdown/enums/VisionConfig/ServiceVersion.md b/api_python/doc/markdown/enums/VisionConfig/ServiceVersion.md new file mode 100644 index 00000000..e70ebf70 --- /dev/null +++ b/api_python/doc/markdown/enums/VisionConfig/ServiceVersion.md @@ -0,0 +1,13 @@ +# Enum ServiceVersion + +## Overview / Purpose + +Enumeration ServiceVersion + +|Enumerator|Value|Description| +|----------|-----|-----------| +|RESERVED\_0|0|Reserved| +|CURRENT\_VERSION|1|Current version| + +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) + diff --git a/api_python/doc/markdown/references/enm_VisionConfig_VisionEvent.md b/api_python/doc/markdown/enums/VisionConfig/VisionEvent.md similarity index 55% rename from api_python/doc/markdown/references/enm_VisionConfig_VisionEvent.md rename to api_python/doc/markdown/enums/VisionConfig/VisionEvent.md index f347f3b5..c73baf99 100644 --- a/api_python/doc/markdown/references/enm_VisionConfig_VisionEvent.md +++ b/api_python/doc/markdown/enums/VisionConfig/VisionEvent.md @@ -1,12 +1,8 @@ # Enum VisionEvent -This page describes the Python Kinova.Api.VisionConfig.VisionEvent enumeration. - ## Overview / Purpose -List of admissible Vision module events. - -## Enumeration definition +Enumeration VisionEvent |Enumerator|Value|Description| |----------|-----|-----------| @@ -14,5 +10,5 @@ List of admissible Vision module events. |SENSOR\_SETTINGS\_CHANGED|1|Sensor setting changed event| |OPTION\_VALUE\_CHANGED|2|Option value changed event| -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) diff --git a/api_python/doc/markdown/index.md b/api_python/doc/markdown/index.md index 03975893..eb26b700 100644 --- a/api_python/doc/markdown/index.md +++ b/api_python/doc/markdown/index.md @@ -1,294 +1,395 @@ -# KINOVA® KORTEX™ Python API Reference +# Kortex Api Reference -- [ActuatorConfig](references/summary_ActuatorConfig.md) - - [Message AxisOffsets](references/msg_ActuatorConfig_AxisOffsets.md) - - [Message AxisPosition](references/msg_ActuatorConfig_AxisPosition.md) - - [Message CommandModeInformation](references/msg_ActuatorConfig_CommandModeInformation.md) - - [Message ControlLoop](references/msg_ActuatorConfig_ControlLoop.md) - - [Message ControlLoopParameters](references/msg_ActuatorConfig_ControlLoopParameters.md) - - [Message ControlModeInformation](references/msg_ActuatorConfig_ControlModeInformation.md) - - [Message CustomDataSelection](references/msg_ActuatorConfig_CustomDataSelection.md) - - [Message EncoderDerivativeParameters](references/msg_ActuatorConfig_EncoderDerivativeParameters.md) - - [Message FrequencyResponse](references/msg_ActuatorConfig_FrequencyResponse.md) - - [Message LoopSelection](references/msg_ActuatorConfig_LoopSelection.md) - - [Message PositionCommand](references/msg_ActuatorConfig_PositionCommand.md) - - [Message RampResponse](references/msg_ActuatorConfig_RampResponse.md) - - [Message Servoing](references/msg_ActuatorConfig_Servoing.md) - - [Message StepResponse](references/msg_ActuatorConfig_StepResponse.md) - - [Message TorqueCalibration](references/msg_ActuatorConfig_TorqueCalibration.md) - - [Message TorqueOffset](references/msg_ActuatorConfig_TorqueOffset.md) - - [Message VectorDriveParameters](references/msg_ActuatorConfig_VectorDriveParameters.md) - - [Enum CommandMode](references/enm_ActuatorConfig_CommandMode.md) - - [Enum ControlLoopSelection](references/enm_ActuatorConfig_ControlLoopSelection.md) - - [Enum ControlMode](references/enm_ActuatorConfig_ControlMode.md) - - [Enum CustomDataIndex](references/enm_ActuatorConfig_CustomDataIndex.md) - - [Enum SafetyIdentifier](references/enm_ActuatorConfig_SafetyIdentifier.md) - - [Enum SafetyLimitType](references/enm_ActuatorConfig_SafetyLimitType.md) - - [Enum ServiceVersion](references/enm_ActuatorConfig_ServiceVersion.md) -- [ActuatorCyclic](references/summary_ActuatorCyclic.md) - - [Message Command](references/msg_ActuatorCyclic_Command.md) - - [Message CustomData](references/msg_ActuatorCyclic_CustomData.md) - - [Message Feedback](references/msg_ActuatorCyclic_Feedback.md) - - [Message MessageId](references/msg_ActuatorCyclic_MessageId.md) - - [Enum CommandFlags](references/enm_ActuatorCyclic_CommandFlags.md) - - [Enum ServiceVersion](references/enm_ActuatorCyclic_ServiceVersion.md) - - [Enum StatusFlags](references/enm_ActuatorCyclic_StatusFlags.md) -- [Api](references/summary_Api.md) - - [Enum ErrorCodes](references/enm_Api_ErrorCodes.md) - - [Enum SubErrorCodes](references/enm_Api_SubErrorCodes.md) -- [Base](references/summary_Base.md) - - [Message Action](references/msg_Base_Action.md) - - [Message ActionExecutionState](references/msg_Base_ActionExecutionState.md) - - [Message ActionHandle](references/msg_Base_ActionHandle.md) - - [Message ActionList](references/msg_Base_ActionList.md) - - [Message ActionNotification](references/msg_Base_ActionNotification.md) - - [Message ActionNotificationList](references/msg_Base_ActionNotificationList.md) - - [Message ActivateMapHandle](references/msg_Base_ActivateMapHandle.md) - - [Message ActuatorInformation](references/msg_Base_ActuatorInformation.md) - - [Message Admittance](references/msg_Base_Admittance.md) - - [Message AdvancedSequenceHandle](references/msg_Base_AdvancedSequenceHandle.md) - - [Message AppendActionInformation](references/msg_Base_AppendActionInformation.md) - - [Message ArmStateInformation](references/msg_Base_ArmStateInformation.md) - - [Message ArmStateNotification](references/msg_Base_ArmStateNotification.md) - - [Message CartesianLimitation](references/msg_Base_CartesianLimitation.md) - - [Message CartesianLimitationList](references/msg_Base_CartesianLimitationList.md) - - [Message CartesianReferenceFrameRequest](references/msg_Base_CartesianReferenceFrameRequest.md) - - [Message CartesianSpeed](references/msg_Base_CartesianSpeed.md) - - [Message CartesianTrajectoryConstraint](references/msg_Base_CartesianTrajectoryConstraint.md) - - [Message ChangeJointSpeeds](references/msg_Base_ChangeJointSpeeds.md) - - [Message ChangeTwist](references/msg_Base_ChangeTwist.md) - - [Message CommunicationInterfaceConfiguration](references/msg_Base_CommunicationInterfaceConfiguration.md) - - [Message ConfigurationChangeNotification](references/msg_Base_ConfigurationChangeNotification.md) - - [Message ConfigurationChangeNotificationList](references/msg_Base_ConfigurationChangeNotificationList.md) - - [Message ConstrainedJointAngle](references/msg_Base_ConstrainedJointAngle.md) - - [Message ConstrainedJointAngles](references/msg_Base_ConstrainedJointAngles.md) - - [Message ConstrainedOrientation](references/msg_Base_ConstrainedOrientation.md) - - [Message ConstrainedPose](references/msg_Base_ConstrainedPose.md) - - [Message ConstrainedPosition](references/msg_Base_ConstrainedPosition.md) - - [Message ControlModeInformation](references/msg_Base_ControlModeInformation.md) - - [Message ControlModeNotification](references/msg_Base_ControlModeNotification.md) - - [Message ControlModeNotificationList](references/msg_Base_ControlModeNotificationList.md) - - [Message ControllerElementHandle](references/msg_Base_ControllerElementHandle.md) - - [Message ControllerElementState](references/msg_Base_ControllerElementState.md) - - [Message ControllerEvent](references/msg_Base_ControllerEvent.md) - - [Message ControllerHandle](references/msg_Base_ControllerHandle.md) - - [Message ControllerList](references/msg_Base_ControllerList.md) - - [Message ControllerNotification](references/msg_Base_ControllerNotification.md) - - [Message ControllerNotificationList](references/msg_Base_ControllerNotificationList.md) - - [Message ControllerState](references/msg_Base_ControllerState.md) - - [Message CountryCode](references/msg_Base_CountryCode.md) - - [Message Delay](references/msg_Base_Delay.md) - - [Message EmergencyStop](references/msg_Base_EmergencyStop.md) - - [Message FactoryNotification](references/msg_Base_FactoryNotification.md) - - [Message Faults](references/msg_Base_Faults.md) - - [Message Finger](references/msg_Base_Finger.md) - - [Message FullIPv4Configuration](references/msg_Base_FullIPv4Configuration.md) - - [Message FullUserProfile](references/msg_Base_FullUserProfile.md) - - [Message GpioEvent](references/msg_Base_GpioEvent.md) - - [Message Gripper](references/msg_Base_Gripper.md) - - [Message GripperCommand](references/msg_Base_GripperCommand.md) - - [Message GripperRequest](references/msg_Base_GripperRequest.md) - - [Message IPv4Configuration](references/msg_Base_IPv4Configuration.md) - - [Message IPv4Information](references/msg_Base_IPv4Information.md) - - [Message JointAngle](references/msg_Base_JointAngle.md) - - [Message JointAngles](references/msg_Base_JointAngles.md) - - [Message JointLimitation](references/msg_Base_JointLimitation.md) - - [Message JointLimitationTypeIdentifier](references/msg_Base_JointLimitationTypeIdentifier.md) - - [Message JointLimitationValue](references/msg_Base_JointLimitationValue.md) - - [Message JointLimitationValueList](references/msg_Base_JointLimitationValueList.md) - - [Message JointSpeed](references/msg_Base_JointSpeed.md) - - [Message JointSpeeds](references/msg_Base_JointSpeeds.md) - - [Message JointTrajectoryConstraint](references/msg_Base_JointTrajectoryConstraint.md) - - [Message LimitationTypeIdentifier](references/msg_Base_LimitationTypeIdentifier.md) - - [Message Map](references/msg_Base_Map.md) - - [Message MapElement](references/msg_Base_MapElement.md) - - [Message MapEvent](references/msg_Base_MapEvent.md) - - [Message MapGroup](references/msg_Base_MapGroup.md) - - [Message MapGroupHandle](references/msg_Base_MapGroupHandle.md) - - [Message MapGroupList](references/msg_Base_MapGroupList.md) - - [Message MapHandle](references/msg_Base_MapHandle.md) - - [Message MapList](references/msg_Base_MapList.md) - - [Message Mapping](references/msg_Base_Mapping.md) - - [Message MappingHandle](references/msg_Base_MappingHandle.md) - - [Message MappingInfoNotification](references/msg_Base_MappingInfoNotification.md) - - [Message MappingInfoNotificationList](references/msg_Base_MappingInfoNotificationList.md) - - [Message MappingList](references/msg_Base_MappingList.md) - - [Message NetworkHandle](references/msg_Base_NetworkHandle.md) - - [Message NetworkNotification](references/msg_Base_NetworkNotification.md) - - [Message NetworkNotificationList](references/msg_Base_NetworkNotificationList.md) - - [Message OperatingModeInformation](references/msg_Base_OperatingModeInformation.md) - - [Message OperatingModeNotification](references/msg_Base_OperatingModeNotification.md) - - [Message OperatingModeNotificationList](references/msg_Base_OperatingModeNotificationList.md) - - [Message Orientation](references/msg_Base_Orientation.md) - - [Message PasswordChange](references/msg_Base_PasswordChange.md) - - [Message Point](references/msg_Base_Point.md) - - [Message Pose](references/msg_Base_Pose.md) - - [Message Position](references/msg_Base_Position.md) - - [Message ProtectionZone](references/msg_Base_ProtectionZone.md) - - [Message ProtectionZoneHandle](references/msg_Base_ProtectionZoneHandle.md) - - [Message ProtectionZoneInformation](references/msg_Base_ProtectionZoneInformation.md) - - [Message ProtectionZoneList](references/msg_Base_ProtectionZoneList.md) - - [Message ProtectionZoneNotification](references/msg_Base_ProtectionZoneNotification.md) - - [Message ProtectionZoneNotificationList](references/msg_Base_ProtectionZoneNotificationList.md) - - [Message Query](references/msg_Base_Query.md) - - [Message RequestedActionType](references/msg_Base_RequestedActionType.md) - - [Message RobotEventNotification](references/msg_Base_RobotEventNotification.md) - - [Message RobotEventNotificationList](references/msg_Base_RobotEventNotificationList.md) - - [Message RotationMatrix](references/msg_Base_RotationMatrix.md) - - [Message RotationMatrixRow](references/msg_Base_RotationMatrixRow.md) - - [Message SafetyEvent](references/msg_Base_SafetyEvent.md) - - [Message SafetyNotificationList](references/msg_Base_SafetyNotificationList.md) - - [Message Sequence](references/msg_Base_Sequence.md) - - [Message SequenceHandle](references/msg_Base_SequenceHandle.md) - - [Message SequenceInfoNotification](references/msg_Base_SequenceInfoNotification.md) - - [Message SequenceInfoNotificationList](references/msg_Base_SequenceInfoNotificationList.md) - - [Message SequenceInformation](references/msg_Base_SequenceInformation.md) - - [Message SequenceList](references/msg_Base_SequenceList.md) - - [Message SequenceTask](references/msg_Base_SequenceTask.md) - - [Message SequenceTaskHandle](references/msg_Base_SequenceTaskHandle.md) - - [Message ServoingModeInformation](references/msg_Base_ServoingModeInformation.md) - - [Message ServoingModeNotification](references/msg_Base_ServoingModeNotification.md) - - [Message ServoingModeNotificationList](references/msg_Base_ServoingModeNotificationList.md) - - [Message Ssid](references/msg_Base_Ssid.md) - - [Message Stop](references/msg_Base_Stop.md) - - [Message SwitchControlMapping](references/msg_Base_SwitchControlMapping.md) - - [Message SystemTime](references/msg_Base_SystemTime.md) - - [Message Timeout](references/msg_Base_Timeout.md) - - [Message TransformationMatrix](references/msg_Base_TransformationMatrix.md) - - [Message TransformationRow](references/msg_Base_TransformationRow.md) - - [Message Twist](references/msg_Base_Twist.md) - - [Message TwistCommand](references/msg_Base_TwistCommand.md) - - [Message UserList](references/msg_Base_UserList.md) - - [Message UserNotification](references/msg_Base_UserNotification.md) - - [Message UserNotificationList](references/msg_Base_UserNotificationList.md) - - [Message UserProfile](references/msg_Base_UserProfile.md) - - [Message UserProfileList](references/msg_Base_UserProfileList.md) - - [Message WifiConfiguration](references/msg_Base_WifiConfiguration.md) - - [Message WifiConfigurationList](references/msg_Base_WifiConfigurationList.md) - - [Message WifiInformation](references/msg_Base_WifiInformation.md) - - [Message WifiInformationList](references/msg_Base_WifiInformationList.md) - - [Message ZoneShape](references/msg_Base_ZoneShape.md) - - [Enum ActionEvent](references/enm_Base_ActionEvent.md) - - [Enum ActionType](references/enm_Base_ActionType.md) - - [Enum AdmittanceMode](references/enm_Base_AdmittanceMode.md) - - [Enum BackupEvent](references/enm_Base_BackupEvent.md) - - [Enum CartesianReferenceFrame](references/enm_Base_CartesianReferenceFrame.md) - - [Enum ConfigurationNotificationEvent](references/enm_Base_ConfigurationNotificationEvent.md) - - [Enum ControlMode](references/enm_Base_ControlMode.md) - - [Enum ControllerBehavior](references/enm_Base_ControllerBehavior.md) - - [Enum ControllerElementEventType](references/enm_Base_ControllerElementEventType.md) - - [Enum ControllerEventType](references/enm_Base_ControllerEventType.md) - - [Enum ControllerInputType](references/enm_Base_ControllerInputType.md) - - [Enum ControllerType](references/enm_Base_ControllerType.md) - - [Enum CountryCodeIdentifier](references/enm_Base_CountryCodeIdentifier.md) - - [Enum EventIdSequenceInfoNotification](references/enm_Base_EventIdSequenceInfoNotification.md) - - [Enum FactoryEvent](references/enm_Base_FactoryEvent.md) - - [Enum GpioState](references/enm_Base_GpioState.md) - - [Enum GripperMode](references/enm_Base_GripperMode.md) - - [Enum JointNavigationDirection](references/enm_Base_JointNavigationDirection.md) - - [Enum JointTrajectoryConstraintType](references/enm_Base_JointTrajectoryConstraintType.md) - - [Enum LedState](references/enm_Base_LedState.md) - - [Enum LimitationType](references/enm_Base_LimitationType.md) - - [Enum NavigationDirection](references/enm_Base_NavigationDirection.md) - - [Enum NetworkEvent](references/enm_Base_NetworkEvent.md) - - [Enum NetworkType](references/enm_Base_NetworkType.md) - - [Enum OperatingMode](references/enm_Base_OperatingMode.md) - - [Enum ProtectionZoneEvent](references/enm_Base_ProtectionZoneEvent.md) - - [Enum RobotEvent](references/enm_Base_RobotEvent.md) - - [Enum SafetyIdentifier](references/enm_Base_SafetyIdentifier.md) - - [Enum ServiceVersion](references/enm_Base_ServiceVersion.md) - - [Enum ServoingMode](references/enm_Base_ServoingMode.md) - - [Enum ShapeType](references/enm_Base_ShapeType.md) - - [Enum SignalQuality](references/enm_Base_SignalQuality.md) - - [Enum SoundType](references/enm_Base_SoundType.md) - - [Enum TwistMode](references/enm_Base_TwistMode.md) - - [Enum UserEvent](references/enm_Base_UserEvent.md) - - [Enum WifiEncryptionType](references/enm_Base_WifiEncryptionType.md) - - [Enum WifiSecurityType](references/enm_Base_WifiSecurityType.md) - - [Enum Xbox360AnalogInputIdentifier](references/enm_Base_Xbox360AnalogInputIdentifier.md) - - [Enum Xbox360DigitalInputIdentifier](references/enm_Base_Xbox360DigitalInputIdentifier.md) -- [BaseCyclic](references/summary_BaseCyclic.md) - - [Message ActuatorCommand](references/msg_BaseCyclic_ActuatorCommand.md) - - [Message ActuatorCustomData](references/msg_BaseCyclic_ActuatorCustomData.md) - - [Message ActuatorFeedback](references/msg_BaseCyclic_ActuatorFeedback.md) - - [Message BaseFeedback](references/msg_BaseCyclic_BaseFeedback.md) - - [Message Command](references/msg_BaseCyclic_Command.md) - - [Message CustomData](references/msg_BaseCyclic_CustomData.md) - - [Message Feedback](references/msg_BaseCyclic_Feedback.md) - - [Message InterconnectCommand](references/msg_BaseCyclic_InterconnectCommand.md) - - [Message InterconnectCustomData](references/msg_BaseCyclic_InterconnectCustomData.md) - - [Message InterconnectFeedback](references/msg_BaseCyclic_InterconnectFeedback.md) - - [Enum ServiceVersion](references/enm_BaseCyclic_ServiceVersion.md) -- [Common](references/summary_Common.md) - - [Message Connection](references/msg_Common_Connection.md) - - [Message DeviceHandle](references/msg_Common_DeviceHandle.md) - - [Message Empty](references/msg_Common_Empty.md) - - [Message NotificationHandle](references/msg_Common_NotificationHandle.md) - - [Message NotificationOptions](references/msg_Common_NotificationOptions.md) - - [Message SafetyHandle](references/msg_Common_SafetyHandle.md) - - [Message SafetyNotification](references/msg_Common_SafetyNotification.md) - - [Message Timestamp](references/msg_Common_Timestamp.md) - - [Message UserProfileHandle](references/msg_Common_UserProfileHandle.md) - - [Enum ArmState](references/enm_Common_ArmState.md) - - [Enum DeviceTypes](references/enm_Common_DeviceTypes.md) - - [Enum NotificationType](references/enm_Common_NotificationType.md) - - [Enum Permission](references/enm_Common_Permission.md) - - [Enum SafetyStatusValue](references/enm_Common_SafetyStatusValue.md) - - [Enum Unit](references/enm_Common_Unit.md) -- [DeviceConfig](references/summary_DeviceConfig.md) - - [Message BootloaderVersion](references/msg_DeviceConfig_BootloaderVersion.md) - - [Message DeviceType](references/msg_DeviceConfig_DeviceType.md) - - [Message FirmwareVersion](references/msg_DeviceConfig_FirmwareVersion.md) - - [Message IPv4Settings](references/msg_DeviceConfig_IPv4Settings.md) - - [Message MACAddress](references/msg_DeviceConfig_MACAddress.md) - - [Message ModelNumber](references/msg_DeviceConfig_ModelNumber.md) - - [Message PartNumber](references/msg_DeviceConfig_PartNumber.md) - - [Message PartNumberRevision](references/msg_DeviceConfig_PartNumberRevision.md) - - [Message PowerOnSelfTestResult](references/msg_DeviceConfig_PowerOnSelfTestResult.md) - - [Message RebootRqst](references/msg_DeviceConfig_RebootRqst.md) - - [Message RunMode](references/msg_DeviceConfig_RunMode.md) - - [Message SafetyConfiguration](references/msg_DeviceConfig_SafetyConfiguration.md) - - [Message SafetyConfigurationList](references/msg_DeviceConfig_SafetyConfigurationList.md) - - [Message SafetyEnable](references/msg_DeviceConfig_SafetyEnable.md) - - [Message SafetyInformation](references/msg_DeviceConfig_SafetyInformation.md) - - [Message SafetyInformationList](references/msg_DeviceConfig_SafetyInformationList.md) - - [Message SafetyStatus](references/msg_DeviceConfig_SafetyStatus.md) - - [Message SafetyThreshold](references/msg_DeviceConfig_SafetyThreshold.md) - - [Message SerialNumber](references/msg_DeviceConfig_SerialNumber.md) - - [Enum RunModes](references/enm_DeviceConfig_RunModes.md) - - [Enum SafetyLimitType](references/enm_DeviceConfig_SafetyLimitType.md) - - [Enum ServiceVersion](references/enm_DeviceConfig_ServiceVersion.md) -- [DeviceManager](references/summary_DeviceManager.md) - - [Message DeviceHandles](references/msg_DeviceManager_DeviceHandles.md) - - [Enum ServiceVersion](references/enm_DeviceManager_ServiceVersion.md) -- [InterconnectConfig](references/summary_InterconnectConfig.md) - - [Enum SafetyIdentifier](references/enm_InterconnectConfig_SafetyIdentifier.md) - - [Enum ServiceVersion](references/enm_InterconnectConfig_ServiceVersion.md) -- [InterconnectCyclic](references/summary_InterconnectCyclic.md) - - [Message Command](references/msg_InterconnectCyclic_Command.md) - - [Message CustomData](references/msg_InterconnectCyclic_CustomData.md) - - [Message Feedback](references/msg_InterconnectCyclic_Feedback.md) - - [Message MessageId](references/msg_InterconnectCyclic_MessageId.md) - - [Enum ServiceVersion](references/enm_InterconnectCyclic_ServiceVersion.md) -- [Session](references/summary_Session.md) - - [Message ConnectionList](references/msg_Session_ConnectionList.md) - - [Message CreateSessionInfo](references/msg_Session_CreateSessionInfo.md) - - [Enum ServiceVersion](references/enm_Session_ServiceVersion.md) -- [VisionConfig](references/summary_VisionConfig.md) - - [Message IntrinsicParameters](references/msg_VisionConfig_IntrinsicParameters.md) - - [Message OptionIdentifier](references/msg_VisionConfig_OptionIdentifier.md) - - [Message OptionInformation](references/msg_VisionConfig_OptionInformation.md) - - [Message OptionValue](references/msg_VisionConfig_OptionValue.md) - - [Message SensorFocusAction](references/msg_VisionConfig_SensorFocusAction.md) - - [Message SensorIdentifier](references/msg_VisionConfig_SensorIdentifier.md) - - [Message SensorSettings](references/msg_VisionConfig_SensorSettings.md) - - [Message VisionNotification](references/msg_VisionConfig_VisionNotification.md) - - [Enum BitRate](references/enm_VisionConfig_BitRate.md) - - [Enum FocusAction](references/enm_VisionConfig_FocusAction.md) - - [Enum FrameRate](references/enm_VisionConfig_FrameRate.md) - - [Enum Option](references/enm_VisionConfig_Option.md) - - [Enum Resolution](references/enm_VisionConfig_Resolution.md) - - [Enum Sensor](references/enm_VisionConfig_Sensor.md) - - [Enum ServiceVersion](references/enm_VisionConfig_ServiceVersion.md) - - [Enum VisionEvent](references/enm_VisionConfig_VisionEvent.md) +- [ActuatorConfig \(Python\)](summary_pages/ActuatorConfig.md) + - [class AxisOffsets](messages/ActuatorConfig/AxisOffsets.md) + - [class AxisPosition](messages/ActuatorConfig/AxisPosition.md) + - [class CommandModeInformation](messages/ActuatorConfig/CommandModeInformation.md) + - [class ControlLoop](messages/ActuatorConfig/ControlLoop.md) + - [class ControlLoopParameters](messages/ActuatorConfig/ControlLoopParameters.md) + - [class ControlModeInformation](messages/ActuatorConfig/ControlModeInformation.md) + - [class CustomDataSelection](messages/ActuatorConfig/CustomDataSelection.md) + - [class EncoderDerivativeParameters](messages/ActuatorConfig/EncoderDerivativeParameters.md) + - [class FrequencyResponse](messages/ActuatorConfig/FrequencyResponse.md) + - [class LoopSelection](messages/ActuatorConfig/LoopSelection.md) + - [class PositionCommand](messages/ActuatorConfig/PositionCommand.md) + - [class RampResponse](messages/ActuatorConfig/RampResponse.md) + - [class Servoing](messages/ActuatorConfig/Servoing.md) + - [class StepResponse](messages/ActuatorConfig/StepResponse.md) + - [class TorqueCalibration](messages/ActuatorConfig/TorqueCalibration.md) + - [class TorqueOffset](messages/ActuatorConfig/TorqueOffset.md) + - [class VectorDriveParameters](messages/ActuatorConfig/VectorDriveParameters.md) + - [Enum CommandMode](enums/ActuatorConfig/CommandMode.md) + - [Enum ControlLoopSelection](enums/ActuatorConfig/ControlLoopSelection.md) + - [Enum ControlMode](enums/ActuatorConfig/ControlMode.md) + - [Enum CustomDataIndex](enums/ActuatorConfig/CustomDataIndex.md) + - [Enum SafetyIdentifierBankA](enums/ActuatorConfig/SafetyIdentifierBankA.md) + - [Enum SafetyLimitType](enums/ActuatorConfig/SafetyLimitType.md) + - [Enum ServiceVersion](enums/ActuatorConfig/ServiceVersion.md) +- [ActuatorCyclic \(Python\)](summary_pages/ActuatorCyclic.md) + - [class Command](messages/ActuatorCyclic/Command.md) + - [class CustomData](messages/ActuatorCyclic/CustomData.md) + - [class Feedback](messages/ActuatorCyclic/Feedback.md) + - [class MessageId](messages/ActuatorCyclic/MessageId.md) + - [Enum CommandFlags](enums/ActuatorCyclic/CommandFlags.md) + - [Enum ServiceVersion](enums/ActuatorCyclic/ServiceVersion.md) + - [Enum StatusFlags](enums/ActuatorCyclic/StatusFlags.md) +- [Api \(Python\)](summary_pages/Api.md) + - [Enum ErrorCodes](enums/Api/ErrorCodes.md) + - [Enum SubErrorCodes](enums/Api/SubErrorCodes.md) +- [Base \(Python\)](summary_pages/Base.md) + - [class Action](messages/Base/Action.md) + - [class ActionExecutionState](messages/Base/ActionExecutionState.md) + - [class ActionHandle](messages/Base/ActionHandle.md) + - [class ActionList](messages/Base/ActionList.md) + - [class ActionNotification](messages/Base/ActionNotification.md) + - [class ActionNotificationList](messages/Base/ActionNotificationList.md) + - [class ActivateMapHandle](messages/Base/ActivateMapHandle.md) + - [class ActuatorInformation](messages/Base/ActuatorInformation.md) + - [class Admittance](messages/Base/Admittance.md) + - [class AdvancedSequenceHandle](messages/Base/AdvancedSequenceHandle.md) + - [class AppendActionInformation](messages/Base/AppendActionInformation.md) + - [class ArmStateInformation](messages/Base/ArmStateInformation.md) + - [class ArmStateNotification](messages/Base/ArmStateNotification.md) + - [class BridgeConfig](messages/Base/BridgeConfig.md) + - [class BridgeIdentifier](messages/Base/BridgeIdentifier.md) + - [class BridgeList](messages/Base/BridgeList.md) + - [class BridgePortConfig](messages/Base/BridgePortConfig.md) + - [class BridgeResult](messages/Base/BridgeResult.md) + - [class CapSenseConfig](messages/Base/CapSenseConfig.md) + - [class CartesianLimitation](messages/Base/CartesianLimitation.md) + - [class CartesianLimitationList](messages/Base/CartesianLimitationList.md) + - [class CartesianSpeed](messages/Base/CartesianSpeed.md) + - [class CartesianTrajectoryConstraint](messages/Base/CartesianTrajectoryConstraint.md) + - [class ChangeJointSpeeds](messages/Base/ChangeJointSpeeds.md) + - [class ChangeTwist](messages/Base/ChangeTwist.md) + - [class ChangeWrench](messages/Base/ChangeWrench.md) + - [class CommunicationInterfaceConfiguration](messages/Base/CommunicationInterfaceConfiguration.md) + - [class ConfigurationChangeNotification](messages/Base/ConfigurationChangeNotification.md) + - [class ConfigurationChangeNotificationList](messages/Base/ConfigurationChangeNotificationList.md) + - [class ConstrainedJointAngle](messages/Base/ConstrainedJointAngle.md) + - [class ConstrainedJointAngles](messages/Base/ConstrainedJointAngles.md) + - [class ConstrainedOrientation](messages/Base/ConstrainedOrientation.md) + - [class ConstrainedPose](messages/Base/ConstrainedPose.md) + - [class ConstrainedPosition](messages/Base/ConstrainedPosition.md) + - [class ControlModeInformation](messages/Base/ControlModeInformation.md) + - [class ControlModeNotification](messages/Base/ControlModeNotification.md) + - [class ControlModeNotificationList](messages/Base/ControlModeNotificationList.md) + - [class ControllerElementHandle](messages/Base/ControllerElementHandle.md) + - [class ControllerElementState](messages/Base/ControllerElementState.md) + - [class ControllerEvent](messages/Base/ControllerEvent.md) + - [class ControllerHandle](messages/Base/ControllerHandle.md) + - [class ControllerList](messages/Base/ControllerList.md) + - [class ControllerNotification](messages/Base/ControllerNotification.md) + - [class ControllerNotificationList](messages/Base/ControllerNotificationList.md) + - [class ControllerState](messages/Base/ControllerState.md) + - [class Delay](messages/Base/Delay.md) + - [class EmergencyStop](messages/Base/EmergencyStop.md) + - [class FactoryNotification](messages/Base/FactoryNotification.md) + - [class Faults](messages/Base/Faults.md) + - [class Finger](messages/Base/Finger.md) + - [class FullIPv4Configuration](messages/Base/FullIPv4Configuration.md) + - [class FullUserProfile](messages/Base/FullUserProfile.md) + - [class GpioEvent](messages/Base/GpioEvent.md) + - [class Gripper](messages/Base/Gripper.md) + - [class GripperCommand](messages/Base/GripperCommand.md) + - [class GripperRequest](messages/Base/GripperRequest.md) + - [class IPv4Configuration](messages/Base/IPv4Configuration.md) + - [class IPv4Information](messages/Base/IPv4Information.md) + - [class JointAngle](messages/Base/JointAngle.md) + - [class JointAngles](messages/Base/JointAngles.md) + - [class JointLimitation](messages/Base/JointLimitation.md) + - [class JointSpeed](messages/Base/JointSpeed.md) + - [class JointSpeeds](messages/Base/JointSpeeds.md) + - [class JointTorque](messages/Base/JointTorque.md) + - [class JointTorques](messages/Base/JointTorques.md) + - [class JointTrajectoryConstraint](messages/Base/JointTrajectoryConstraint.md) + - [class JointsLimitationsList](messages/Base/JointsLimitationsList.md) + - [class Map](messages/Base/Map.md) + - [class MapElement](messages/Base/MapElement.md) + - [class MapEvent](messages/Base/MapEvent.md) + - [class MapGroup](messages/Base/MapGroup.md) + - [class MapGroupHandle](messages/Base/MapGroupHandle.md) + - [class MapGroupList](messages/Base/MapGroupList.md) + - [class MapHandle](messages/Base/MapHandle.md) + - [class MapList](messages/Base/MapList.md) + - [class Mapping](messages/Base/Mapping.md) + - [class MappingHandle](messages/Base/MappingHandle.md) + - [class MappingInfoNotification](messages/Base/MappingInfoNotification.md) + - [class MappingInfoNotificationList](messages/Base/MappingInfoNotificationList.md) + - [class MappingList](messages/Base/MappingList.md) + - [class NetworkHandle](messages/Base/NetworkHandle.md) + - [class NetworkNotification](messages/Base/NetworkNotification.md) + - [class NetworkNotificationList](messages/Base/NetworkNotificationList.md) + - [class OperatingModeInformation](messages/Base/OperatingModeInformation.md) + - [class OperatingModeNotification](messages/Base/OperatingModeNotification.md) + - [class OperatingModeNotificationList](messages/Base/OperatingModeNotificationList.md) + - [class Orientation](messages/Base/Orientation.md) + - [class PasswordChange](messages/Base/PasswordChange.md) + - [class Point](messages/Base/Point.md) + - [class Pose](messages/Base/Pose.md) + - [class Position](messages/Base/Position.md) + - [class PreComputedJointTrajectory](messages/Base/PreComputedJointTrajectory.md) + - [class PreComputedJointTrajectoryElement](messages/Base/PreComputedJointTrajectoryElement.md) + - [class ProtectionZone](messages/Base/ProtectionZone.md) + - [class ProtectionZoneHandle](messages/Base/ProtectionZoneHandle.md) + - [class ProtectionZoneInformation](messages/Base/ProtectionZoneInformation.md) + - [class ProtectionZoneList](messages/Base/ProtectionZoneList.md) + - [class ProtectionZoneNotification](messages/Base/ProtectionZoneNotification.md) + - [class ProtectionZoneNotificationList](messages/Base/ProtectionZoneNotificationList.md) + - [class Query](messages/Base/Query.md) + - [class RequestedActionType](messages/Base/RequestedActionType.md) + - [class RobotEventNotification](messages/Base/RobotEventNotification.md) + - [class RobotEventNotificationList](messages/Base/RobotEventNotificationList.md) + - [class RotationMatrix](messages/Base/RotationMatrix.md) + - [class RotationMatrixRow](messages/Base/RotationMatrixRow.md) + - [class SafetyEvent](messages/Base/SafetyEvent.md) + - [class SafetyNotificationList](messages/Base/SafetyNotificationList.md) + - [class Sequence](messages/Base/Sequence.md) + - [class SequenceHandle](messages/Base/SequenceHandle.md) + - [class SequenceInfoNotification](messages/Base/SequenceInfoNotification.md) + - [class SequenceInfoNotificationList](messages/Base/SequenceInfoNotificationList.md) + - [class SequenceInformation](messages/Base/SequenceInformation.md) + - [class SequenceList](messages/Base/SequenceList.md) + - [class SequenceTask](messages/Base/SequenceTask.md) + - [class SequenceTaskHandle](messages/Base/SequenceTaskHandle.md) + - [class ServoingModeInformation](messages/Base/ServoingModeInformation.md) + - [class ServoingModeNotification](messages/Base/ServoingModeNotification.md) + - [class ServoingModeNotificationList](messages/Base/ServoingModeNotificationList.md) + - [class Ssid](messages/Base/Ssid.md) + - [class Stop](messages/Base/Stop.md) + - [class SwitchControlMapping](messages/Base/SwitchControlMapping.md) + - [class SystemTime](messages/Base/SystemTime.md) + - [class Timeout](messages/Base/Timeout.md) + - [class TrajectoryErrorElement](messages/Base/TrajectoryErrorElement.md) + - [class TrajectoryErrorReport](messages/Base/TrajectoryErrorReport.md) + - [class TransformationMatrix](messages/Base/TransformationMatrix.md) + - [class TransformationRow](messages/Base/TransformationRow.md) + - [class Twist](messages/Base/Twist.md) + - [class TwistCommand](messages/Base/TwistCommand.md) + - [class TwistLimitation](messages/Base/TwistLimitation.md) + - [class UserList](messages/Base/UserList.md) + - [class UserNotification](messages/Base/UserNotification.md) + - [class UserNotificationList](messages/Base/UserNotificationList.md) + - [class UserProfile](messages/Base/UserProfile.md) + - [class UserProfileList](messages/Base/UserProfileList.md) + - [class WifiConfiguration](messages/Base/WifiConfiguration.md) + - [class WifiConfigurationList](messages/Base/WifiConfigurationList.md) + - [class WifiInformation](messages/Base/WifiInformation.md) + - [class WifiInformationList](messages/Base/WifiInformationList.md) + - [class Wrench](messages/Base/Wrench.md) + - [class WrenchCommand](messages/Base/WrenchCommand.md) + - [class WrenchLimitation](messages/Base/WrenchLimitation.md) + - [class ZoneShape](messages/Base/ZoneShape.md) + - [Enum ActionEvent](enums/Base/ActionEvent.md) + - [Enum ActionType](enums/Base/ActionType.md) + - [Enum AdmittanceMode](enums/Base/AdmittanceMode.md) + - [Enum BackupEvent](enums/Base/BackupEvent.md) + - [Enum BridgeStatus](enums/Base/BridgeStatus.md) + - [Enum BridgeType](enums/Base/BridgeType.md) + - [Enum CapSenseMode](enums/Base/CapSenseMode.md) + - [Enum ConfigurationNotificationEvent](enums/Base/ConfigurationNotificationEvent.md) + - [Enum ControlMode](enums/Base/ControlMode.md) + - [Enum ControllerBehavior](enums/Base/ControllerBehavior.md) + - [Enum ControllerElementEventType](enums/Base/ControllerElementEventType.md) + - [Enum ControllerEventType](enums/Base/ControllerEventType.md) + - [Enum ControllerInputType](enums/Base/ControllerInputType.md) + - [Enum ControllerType](enums/Base/ControllerType.md) + - [Enum EventIdSequenceInfoNotification](enums/Base/EventIdSequenceInfoNotification.md) + - [Enum FactoryEvent](enums/Base/FactoryEvent.md) + - [Enum GpioState](enums/Base/GpioState.md) + - [Enum GripperMode](enums/Base/GripperMode.md) + - [Enum JointNavigationDirection](enums/Base/JointNavigationDirection.md) + - [Enum JointTrajectoryConstraintType](enums/Base/JointTrajectoryConstraintType.md) + - [Enum LedState](enums/Base/LedState.md) + - [Enum LimitationType](enums/Base/LimitationType.md) + - [Enum NavigationDirection](enums/Base/NavigationDirection.md) + - [Enum NetworkEvent](enums/Base/NetworkEvent.md) + - [Enum NetworkType](enums/Base/NetworkType.md) + - [Enum OperatingMode](enums/Base/OperatingMode.md) + - [Enum ProtectionZoneEvent](enums/Base/ProtectionZoneEvent.md) + - [Enum RobotEvent](enums/Base/RobotEvent.md) + - [Enum SafetyIdentifier](enums/Base/SafetyIdentifier.md) + - [Enum ServiceVersion](enums/Base/ServiceVersion.md) + - [Enum ServoingMode](enums/Base/ServoingMode.md) + - [Enum ShapeType](enums/Base/ShapeType.md) + - [Enum SignalQuality](enums/Base/SignalQuality.md) + - [Enum SoundType](enums/Base/SoundType.md) + - [Enum TrajectoryContinuityMode](enums/Base/TrajectoryContinuityMode.md) + - [Enum TrajectoryErrorIdentifier](enums/Base/TrajectoryErrorIdentifier.md) + - [Enum TrajectoryErrorType](enums/Base/TrajectoryErrorType.md) + - [Enum UserEvent](enums/Base/UserEvent.md) + - [Enum WifiEncryptionType](enums/Base/WifiEncryptionType.md) + - [Enum WifiSecurityType](enums/Base/WifiSecurityType.md) + - [Enum WrenchMode](enums/Base/WrenchMode.md) + - [Enum Xbox360AnalogInputIdentifier](enums/Base/Xbox360AnalogInputIdentifier.md) + - [Enum Xbox360DigitalInputIdentifier](enums/Base/Xbox360DigitalInputIdentifier.md) +- [BaseCyclic \(Python\)](summary_pages/BaseCyclic.md) + - [class ActuatorCommand](messages/BaseCyclic/ActuatorCommand.md) + - [class ActuatorCustomData](messages/BaseCyclic/ActuatorCustomData.md) + - [class ActuatorFeedback](messages/BaseCyclic/ActuatorFeedback.md) + - [class BaseFeedback](messages/BaseCyclic/BaseFeedback.md) + - [class Command](messages/BaseCyclic/Command.md) + - [class CustomData](messages/BaseCyclic/CustomData.md) + - [class Feedback](messages/BaseCyclic/Feedback.md) + - [Enum ServiceVersion](enums/BaseCyclic/ServiceVersion.md) +- [Common \(Python\)](summary_pages/Common.md) + - [class Connection](messages/Common/Connection.md) + - [class CountryCode](messages/Common/CountryCode.md) + - [class DeviceHandle](messages/Common/DeviceHandle.md) + - [class Empty](messages/Common/Empty.md) + - [class NotificationHandle](messages/Common/NotificationHandle.md) + - [class NotificationOptions](messages/Common/NotificationOptions.md) + - [class SafetyHandle](messages/Common/SafetyHandle.md) + - [class SafetyNotification](messages/Common/SafetyNotification.md) + - [class Timestamp](messages/Common/Timestamp.md) + - [class UARTConfiguration](messages/Common/UARTConfiguration.md) + - [class UARTDeviceIdentification](messages/Common/UARTDeviceIdentification.md) + - [class UserProfileHandle](messages/Common/UserProfileHandle.md) + - [Enum ArmState](enums/Common/ArmState.md) + - [Enum CartesianReferenceFrame](enums/Common/CartesianReferenceFrame.md) + - [Enum CountryCodeIdentifier](enums/Common/CountryCodeIdentifier.md) + - [Enum DeviceTypes](enums/Common/DeviceTypes.md) + - [Enum NotificationType](enums/Common/NotificationType.md) + - [Enum Permission](enums/Common/Permission.md) + - [Enum SafetyStatusValue](enums/Common/SafetyStatusValue.md) + - [Enum UARTParity](enums/Common/UARTParity.md) + - [Enum UARTSpeed](enums/Common/UARTSpeed.md) + - [Enum UARTStopBits](enums/Common/UARTStopBits.md) + - [Enum UARTWordLength](enums/Common/UARTWordLength.md) + - [Enum Unit](enums/Common/Unit.md) +- [ControlConfig \(Python\)](summary_pages/ControlConfig.md) + - [class CartesianReferenceFrameInfo](messages/ControlConfig/CartesianReferenceFrameInfo.md) + - [class CartesianTransform](messages/ControlConfig/CartesianTransform.md) + - [class ControlConfigurationNotification](messages/ControlConfig/ControlConfigurationNotification.md) + - [class GravityVector](messages/ControlConfig/GravityVector.md) + - [class PayloadInformation](messages/ControlConfig/PayloadInformation.md) + - [class Position](messages/ControlConfig/Position.md) + - [class ToolConfiguration](messages/ControlConfig/ToolConfiguration.md) + - [Enum ControlConfigurationEvent](enums/ControlConfig/ControlConfigurationEvent.md) + - [Enum ServiceVersion](enums/ControlConfig/ServiceVersion.md) +- [DeviceConfig \(Python\)](summary_pages/DeviceConfig.md) + - [class BootloaderVersion](messages/DeviceConfig/BootloaderVersion.md) + - [class Calibration](messages/DeviceConfig/Calibration.md) + - [class CalibrationElement](messages/DeviceConfig/CalibrationElement.md) + - [class CalibrationParameter](messages/DeviceConfig/CalibrationParameter.md) + - [class CalibrationResult](messages/DeviceConfig/CalibrationResult.md) + - [class CapSenseConfig](messages/DeviceConfig/CapSenseConfig.md) + - [class CapSenseRegister](messages/DeviceConfig/CapSenseRegister.md) + - [class DeviceType](messages/DeviceConfig/DeviceType.md) + - [class FirmwareVersion](messages/DeviceConfig/FirmwareVersion.md) + - [class IPv4Settings](messages/DeviceConfig/IPv4Settings.md) + - [class MACAddress](messages/DeviceConfig/MACAddress.md) + - [class ModelNumber](messages/DeviceConfig/ModelNumber.md) + - [class PartNumber](messages/DeviceConfig/PartNumber.md) + - [class PartNumberRevision](messages/DeviceConfig/PartNumberRevision.md) + - [class PowerOnSelfTestResult](messages/DeviceConfig/PowerOnSelfTestResult.md) + - [class RebootRqst](messages/DeviceConfig/RebootRqst.md) + - [class RunMode](messages/DeviceConfig/RunMode.md) + - [class SafetyConfiguration](messages/DeviceConfig/SafetyConfiguration.md) + - [class SafetyConfigurationList](messages/DeviceConfig/SafetyConfigurationList.md) + - [class SafetyEnable](messages/DeviceConfig/SafetyEnable.md) + - [class SafetyInformation](messages/DeviceConfig/SafetyInformation.md) + - [class SafetyInformationList](messages/DeviceConfig/SafetyInformationList.md) + - [class SafetyStatus](messages/DeviceConfig/SafetyStatus.md) + - [class SafetyThreshold](messages/DeviceConfig/SafetyThreshold.md) + - [class SerialNumber](messages/DeviceConfig/SerialNumber.md) + - [Enum CalibrationItem](enums/DeviceConfig/CalibrationItem.md) + - [Enum CalibrationStatus](enums/DeviceConfig/CalibrationStatus.md) + - [Enum CapSenseMode](enums/DeviceConfig/CapSenseMode.md) + - [Enum RunModes](enums/DeviceConfig/RunModes.md) + - [Enum SafetyLimitType](enums/DeviceConfig/SafetyLimitType.md) + - [Enum ServiceVersion](enums/DeviceConfig/ServiceVersion.md) +- [DeviceManager \(Python\)](summary_pages/DeviceManager.md) + - [class DeviceHandles](messages/DeviceManager/DeviceHandles.md) + - [Enum ServiceVersion](enums/DeviceManager/ServiceVersion.md) +- [GripperConfig \(Python\)](summary_pages/GripperConfig.md) + - [Enum RobotiqGripperStatusFlags](enums/GripperConfig/RobotiqGripperStatusFlags.md) + - [Enum SafetyIdentifier](enums/GripperConfig/SafetyIdentifier.md) +- [GripperCyclic \(Python\)](summary_pages/GripperCyclic.md) + - [class Command](messages/GripperCyclic/Command.md) + - [class CustomData](messages/GripperCyclic/CustomData.md) + - [class CustomDataUnit](messages/GripperCyclic/CustomDataUnit.md) + - [class Feedback](messages/GripperCyclic/Feedback.md) + - [class MessageId](messages/GripperCyclic/MessageId.md) + - [class MotorCommand](messages/GripperCyclic/MotorCommand.md) + - [class MotorFeedback](messages/GripperCyclic/MotorFeedback.md) + - [Enum ServiceVersion](enums/GripperCyclic/ServiceVersion.md) +- [InterconnectConfig \(Python\)](summary_pages/InterconnectConfig.md) + - [class EthernetConfiguration](messages/InterconnectConfig/EthernetConfiguration.md) + - [class EthernetDeviceIdentification](messages/InterconnectConfig/EthernetDeviceIdentification.md) + - [class GPIOConfiguration](messages/InterconnectConfig/GPIOConfiguration.md) + - [class GPIOIdentification](messages/InterconnectConfig/GPIOIdentification.md) + - [class GPIOState](messages/InterconnectConfig/GPIOState.md) + - [class I2CConfiguration](messages/InterconnectConfig/I2CConfiguration.md) + - [class I2CData](messages/InterconnectConfig/I2CData.md) + - [class I2CDeviceIdentification](messages/InterconnectConfig/I2CDeviceIdentification.md) + - [class I2CReadParameter](messages/InterconnectConfig/I2CReadParameter.md) + - [class I2CReadRegisterParameter](messages/InterconnectConfig/I2CReadRegisterParameter.md) + - [class I2CWriteParameter](messages/InterconnectConfig/I2CWriteParameter.md) + - [class I2CWriteRegisterParameter](messages/InterconnectConfig/I2CWriteRegisterParameter.md) + - [Enum EthernetDevice](enums/InterconnectConfig/EthernetDevice.md) + - [Enum EthernetDuplex](enums/InterconnectConfig/EthernetDuplex.md) + - [Enum EthernetSpeed](enums/InterconnectConfig/EthernetSpeed.md) + - [Enum GPIOIdentifier](enums/InterconnectConfig/GPIOIdentifier.md) + - [Enum GPIOMode](enums/InterconnectConfig/GPIOMode.md) + - [Enum GPIOPull](enums/InterconnectConfig/GPIOPull.md) + - [Enum GPIOValue](enums/InterconnectConfig/GPIOValue.md) + - [Enum I2CDevice](enums/InterconnectConfig/I2CDevice.md) + - [Enum I2CDeviceAddressing](enums/InterconnectConfig/I2CDeviceAddressing.md) + - [Enum I2CMode](enums/InterconnectConfig/I2CMode.md) + - [Enum I2CRegisterAddressSize](enums/InterconnectConfig/I2CRegisterAddressSize.md) + - [Enum SafetyIdentifier](enums/InterconnectConfig/SafetyIdentifier.md) + - [Enum ServiceVersion](enums/InterconnectConfig/ServiceVersion.md) + - [Enum UARTPortId](enums/InterconnectConfig/UARTPortId.md) +- [InterconnectCyclic \(Python\)](summary_pages/InterconnectCyclic.md) + - [class Command](messages/InterconnectCyclic/Command.md) + - [class CustomData](messages/InterconnectCyclic/CustomData.md) + - [class Feedback](messages/InterconnectCyclic/Feedback.md) + - [class MessageId](messages/InterconnectCyclic/MessageId.md) + - [Enum ServiceVersion](enums/InterconnectCyclic/ServiceVersion.md) +- [ProductConfiguration \(Python\)](summary_pages/ProductConfiguration.md) + - [class CompleteProductConfiguration](messages/ProductConfiguration/CompleteProductConfiguration.md) + - [class ProductConfigurationBaseType](messages/ProductConfiguration/ProductConfigurationBaseType.md) + - [class ProductConfigurationDegreeOfFreedom](messages/ProductConfiguration/ProductConfigurationDegreeOfFreedom.md) + - [class ProductConfigurationEndEffectorType](messages/ProductConfiguration/ProductConfigurationEndEffectorType.md) + - [class ProductConfigurationInterfaceModuleType](messages/ProductConfiguration/ProductConfigurationInterfaceModuleType.md) + - [class ProductConfigurationLaterality](messages/ProductConfiguration/ProductConfigurationLaterality.md) + - [class ProductConfigurationVisionModuleType](messages/ProductConfiguration/ProductConfigurationVisionModuleType.md) + - [class ProductConfigurationWristType](messages/ProductConfiguration/ProductConfigurationWristType.md) + - [Enum ArmLaterality](enums/ProductConfiguration/ArmLaterality.md) + - [Enum BaseType](enums/ProductConfiguration/BaseType.md) + - [Enum EndEffectorType](enums/ProductConfiguration/EndEffectorType.md) + - [Enum InterfaceModuleType](enums/ProductConfiguration/InterfaceModuleType.md) + - [Enum ModelId](enums/ProductConfiguration/ModelId.md) + - [Enum VisionModuleType](enums/ProductConfiguration/VisionModuleType.md) + - [Enum WristType](enums/ProductConfiguration/WristType.md) +- [Session \(Python\)](summary_pages/Session.md) + - [class ConnectionList](messages/Session/ConnectionList.md) + - [class CreateSessionInfo](messages/Session/CreateSessionInfo.md) + - [Enum ServiceVersion](enums/Session/ServiceVersion.md) +- [VisionConfig \(Python\)](summary_pages/VisionConfig.md) + - [class DistortionCoefficients](messages/VisionConfig/DistortionCoefficients.md) + - [class ExtrinsicParameters](messages/VisionConfig/ExtrinsicParameters.md) + - [class FocusPoint](messages/VisionConfig/FocusPoint.md) + - [class IntrinsicParameters](messages/VisionConfig/IntrinsicParameters.md) + - [class IntrinsicProfileIdentifier](messages/VisionConfig/IntrinsicProfileIdentifier.md) + - [class ManualFocus](messages/VisionConfig/ManualFocus.md) + - [class OptionIdentifier](messages/VisionConfig/OptionIdentifier.md) + - [class OptionInformation](messages/VisionConfig/OptionInformation.md) + - [class OptionValue](messages/VisionConfig/OptionValue.md) + - [class RotationMatrix](messages/VisionConfig/RotationMatrix.md) + - [class RotationMatrixRow](messages/VisionConfig/RotationMatrixRow.md) + - [class SensorFocusAction](messages/VisionConfig/SensorFocusAction.md) + - [class SensorIdentifier](messages/VisionConfig/SensorIdentifier.md) + - [class SensorSettings](messages/VisionConfig/SensorSettings.md) + - [class TranslationVector](messages/VisionConfig/TranslationVector.md) + - [class VisionNotification](messages/VisionConfig/VisionNotification.md) + - [Enum BitRate](enums/VisionConfig/BitRate.md) + - [Enum FocusAction](enums/VisionConfig/FocusAction.md) + - [Enum FrameRate](enums/VisionConfig/FrameRate.md) + - [Enum Option](enums/VisionConfig/Option.md) + - [Enum Resolution](enums/VisionConfig/Resolution.md) + - [Enum Sensor](enums/VisionConfig/Sensor.md) + - [Enum ServiceVersion](enums/VisionConfig/ServiceVersion.md) + - [Enum VisionEvent](enums/VisionConfig/VisionEvent.md) diff --git a/api_python/doc/markdown/messages/ActuatorConfig/AxisOffsets.md b/api_python/doc/markdown/messages/ActuatorConfig/AxisOffsets.md new file mode 100644 index 00000000..91372205 --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorConfig/AxisOffsets.md @@ -0,0 +1,11 @@ +# class AxisOffsets + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|absolute\_offset|float|Absolute offset value \(meters\)|You can manipulate the field absolute\_offset as if it were a regular field. To clear the value of absolute\_offset and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|relative\_offset|float|Relative offset value \(meters\)|You can manipulate the field relative\_offset as if it were a regular field. To clear the value of relative\_offset and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/messages/ActuatorConfig/AxisPosition.md b/api_python/doc/markdown/messages/ActuatorConfig/AxisPosition.md new file mode 100644 index 00000000..fd347e8c --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorConfig/AxisPosition.md @@ -0,0 +1,10 @@ +# class AxisPosition + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|position|float|Axis position \(meters\)|You can manipulate the field position as if it were a regular field. To clear the value of position and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/messages/ActuatorConfig/CommandModeInformation.md b/api_python/doc/markdown/messages/ActuatorConfig/CommandModeInformation.md new file mode 100644 index 00000000..91b68ed7 --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorConfig/CommandModeInformation.md @@ -0,0 +1,10 @@ +# class CommandModeInformation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|command\_mode|int|Command mode|You can manipulate the field command\_mode as if it were a regular field. To clear the value of command\_mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/messages/ActuatorConfig/ControlLoop.md b/api_python/doc/markdown/messages/ActuatorConfig/ControlLoop.md new file mode 100644 index 00000000..72d3eb52 --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorConfig/ControlLoop.md @@ -0,0 +1,10 @@ +# class ControlLoop + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|control\_loop|int|Use ControlLoopSelection enum values to form bitmask|You can manipulate the field control\_loop as if it were a regular field. To clear the value of control\_loop and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/messages/ActuatorConfig/ControlLoopParameters.md b/api_python/doc/markdown/messages/ActuatorConfig/ControlLoopParameters.md new file mode 100644 index 00000000..8d29f293 --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorConfig/ControlLoopParameters.md @@ -0,0 +1,15 @@ +# class ControlLoopParameters + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|loop\_selection|int|ControlLoopSelection enum|You can manipulate the field loop\_selection as if it were a regular field. To clear the value of loop\_selection and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|error\_saturation|float|Error saturation value|You can manipulate the field error\_saturation as if it were a regular field. To clear the value of error\_saturation and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|output\_saturation|float|Output saturation value|You can manipulate the field output\_saturation as if it were a regular field. To clear the value of output\_saturation and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|kAz|float|KAz \(index 0 to 4\): denominator gains A1 to A5|You can manipulate the field kAz as if it were a regular field. To clear the value of kAz and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|kBz|float|KBz \(index 0 to 5\): numerator gains B0 to B5|You can manipulate the field kBz as if it were a regular field. To clear the value of kBz and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|error\_dead\_band|float|Error dead band value|You can manipulate the field error\_dead\_band as if it were a regular field. To clear the value of error\_dead\_band and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/messages/ActuatorConfig/ControlModeInformation.md b/api_python/doc/markdown/messages/ActuatorConfig/ControlModeInformation.md new file mode 100644 index 00000000..cd26fd18 --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorConfig/ControlModeInformation.md @@ -0,0 +1,10 @@ +# class ControlModeInformation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|control\_mode|int|Control mode|You can manipulate the field control\_mode as if it were a regular field. To clear the value of control\_mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/messages/ActuatorConfig/CustomDataSelection.md b/api_python/doc/markdown/messages/ActuatorConfig/CustomDataSelection.md new file mode 100644 index 00000000..41d01095 --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorConfig/CustomDataSelection.md @@ -0,0 +1,10 @@ +# class CustomDataSelection + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|channel|int|16 channels maximum|You can manipulate the field channel as if it were a regular field. To clear the value of channel and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/messages/ActuatorConfig/EncoderDerivativeParameters.md b/api_python/doc/markdown/messages/ActuatorConfig/EncoderDerivativeParameters.md new file mode 100644 index 00000000..eadac371 --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorConfig/EncoderDerivativeParameters.md @@ -0,0 +1,11 @@ +# class EncoderDerivativeParameters + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|max\_window\_width|int|Maximum window width|You can manipulate the field max\_window\_width as if it were a regular field. To clear the value of max\_window\_width and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|min\_encoder\_tick\_count|int|Minimum encoder tick count|You can manipulate the field min\_encoder\_tick\_count as if it were a regular field. To clear the value of min\_encoder\_tick\_count and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/messages/ActuatorConfig/FrequencyResponse.md b/api_python/doc/markdown/messages/ActuatorConfig/FrequencyResponse.md new file mode 100644 index 00000000..018b2cdf --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorConfig/FrequencyResponse.md @@ -0,0 +1,14 @@ +# class FrequencyResponse + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|loop\_selection|int|ControlLoopSelection enum|You can manipulate the field loop\_selection as if it were a regular field. To clear the value of loop\_selection and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|min\_frequency|float|Minimum frequency value|You can manipulate the field min\_frequency as if it were a regular field. To clear the value of min\_frequency and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|max\_frequency|float|Maximum frequency value|You can manipulate the field max\_frequency as if it were a regular field. To clear the value of max\_frequency and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|amplitude|float|Amplitude value|You can manipulate the field amplitude as if it were a regular field. To clear the value of amplitude and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|duration|float|Duration \(in seconds\)|You can manipulate the field duration as if it were a regular field. To clear the value of duration and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/messages/ActuatorConfig/LoopSelection.md b/api_python/doc/markdown/messages/ActuatorConfig/LoopSelection.md new file mode 100644 index 00000000..86854692 --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorConfig/LoopSelection.md @@ -0,0 +1,10 @@ +# class LoopSelection + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|loop\_selection|int|ControlLoopSelection enum|You can manipulate the field loop\_selection as if it were a regular field. To clear the value of loop\_selection and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/messages/ActuatorConfig/PositionCommand.md b/api_python/doc/markdown/messages/ActuatorConfig/PositionCommand.md new file mode 100644 index 00000000..09a4e0f0 --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorConfig/PositionCommand.md @@ -0,0 +1,12 @@ +# class PositionCommand + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|position|float|Position value \(degrees\)|You can manipulate the field position as if it were a regular field. To clear the value of position and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|velocity|float|Velocity value \(degrees per second\)|You can manipulate the field velocity as if it were a regular field. To clear the value of velocity and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|acceleration|float|Acceleration value \(degrees per second^squared\)|You can manipulate the field acceleration as if it were a regular field. To clear the value of acceleration and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/messages/ActuatorConfig/RampResponse.md b/api_python/doc/markdown/messages/ActuatorConfig/RampResponse.md new file mode 100644 index 00000000..9e9fd1a7 --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorConfig/RampResponse.md @@ -0,0 +1,13 @@ +# class RampResponse + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|loop\_selection|int|ControlLoopSelection enum|You can manipulate the field loop\_selection as if it were a regular field. To clear the value of loop\_selection and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|slope|float|Slope value|You can manipulate the field slope as if it were a regular field. To clear the value of slope and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|ramp\_delay|float|Ramp delay value|You can manipulate the field ramp\_delay as if it were a regular field. To clear the value of ramp\_delay and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|duration|float|Duration \(in seconds\)|You can manipulate the field duration as if it were a regular field. To clear the value of duration and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/messages/ActuatorConfig/Servoing.md b/api_python/doc/markdown/messages/ActuatorConfig/Servoing.md new file mode 100644 index 00000000..2877a0a2 --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorConfig/Servoing.md @@ -0,0 +1,10 @@ +# class Servoing + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|enabled|bool|Servoing enabled|You can manipulate the field enabled as if it were a regular field. To clear the value of enabled and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/messages/ActuatorConfig/StepResponse.md b/api_python/doc/markdown/messages/ActuatorConfig/StepResponse.md new file mode 100644 index 00000000..b5a52171 --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorConfig/StepResponse.md @@ -0,0 +1,13 @@ +# class StepResponse + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|loop\_selection|int|ControlLoopSelection enum|You can manipulate the field loop\_selection as if it were a regular field. To clear the value of loop\_selection and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|amplitude|float|Amplitude value|You can manipulate the field amplitude as if it were a regular field. To clear the value of amplitude and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|step\_delay|float|Step delay value|You can manipulate the field step\_delay as if it were a regular field. To clear the value of step\_delay and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|duration|float|Duration \(in seconds\)|You can manipulate the field duration as if it were a regular field. To clear the value of duration and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/messages/ActuatorConfig/TorqueCalibration.md b/api_python/doc/markdown/messages/ActuatorConfig/TorqueCalibration.md new file mode 100644 index 00000000..63bfc7c2 --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorConfig/TorqueCalibration.md @@ -0,0 +1,13 @@ +# class TorqueCalibration + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|global\_gain|float|Global gain value|You can manipulate the field global\_gain as if it were a regular field. To clear the value of global\_gain and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|global\_offset|float|Global offset value|You can manipulate the field global\_offset as if it were a regular field. To clear the value of global\_offset and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|gain|float|Gain \(index 0 to 3\)|You can manipulate the field gain as if it were a regular field. To clear the value of gain and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|offset|float|Offset \(index 0 to 3\)|You can manipulate the field offset as if it were a regular field. To clear the value of offset and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/messages/ActuatorConfig/TorqueOffset.md b/api_python/doc/markdown/messages/ActuatorConfig/TorqueOffset.md new file mode 100644 index 00000000..ab042cd8 --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorConfig/TorqueOffset.md @@ -0,0 +1,10 @@ +# class TorqueOffset + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|torque\_offset|float|Torque offset value|You can manipulate the field torque\_offset as if it were a regular field. To clear the value of torque\_offset and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/messages/ActuatorConfig/VectorDriveParameters.md b/api_python/doc/markdown/messages/ActuatorConfig/VectorDriveParameters.md new file mode 100644 index 00000000..a9d0891e --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorConfig/VectorDriveParameters.md @@ -0,0 +1,13 @@ +# class VectorDriveParameters + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|kpq|float|Quadrature axis current proportional gain|You can manipulate the field kpq as if it were a regular field. To clear the value of kpq and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|kiq|float|Quadrature axis current integral gain|You can manipulate the field kiq as if it were a regular field. To clear the value of kiq and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|kpd|float|Direct axis current proportional gain|You can manipulate the field kpd as if it were a regular field. To clear the value of kpd and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|kid|float|Direct axis current integral gain|You can manipulate the field kid as if it were a regular field. To clear the value of kid and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorConfig \(Python\)](../../summary_pages/ActuatorConfig.md) + diff --git a/api_python/doc/markdown/messages/ActuatorCyclic/Command.md b/api_python/doc/markdown/messages/ActuatorCyclic/Command.md new file mode 100644 index 00000000..b89b3915 --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorCyclic/Command.md @@ -0,0 +1,15 @@ +# class Command + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|command\_id| [MessageId](MessageId.md#)|MessageId|To set command\_id, you simply assign a value directly to a field within command\_id. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|flags|int|Command flags \(see enum CommandFlags\)|You can manipulate the field flags as if it were a regular field. To clear the value of flags and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|position|float|Desired position of the actuator \(degrees\)|You can manipulate the field position as if it were a regular field. To clear the value of position and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|velocity|float|Desired velocity of the actuator \(degrees per second\)|You can manipulate the field velocity as if it were a regular field. To clear the value of velocity and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|torque\_joint|float|Desired torque of the actuator \(Newton-meters\)|You can manipulate the field torque\_joint as if it were a regular field. To clear the value of torque\_joint and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|current\_motor|float|Desired current of the motor \(Amperes\)|You can manipulate the field current\_motor as if it were a regular field. To clear the value of current\_motor and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorCyclic \(Python\)](../../summary_pages/ActuatorCyclic.md) + diff --git a/api_python/doc/markdown/messages/ActuatorCyclic/CustomData.md b/api_python/doc/markdown/messages/ActuatorCyclic/CustomData.md new file mode 100644 index 00000000..ea98e7db --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorCyclic/CustomData.md @@ -0,0 +1,26 @@ +# class CustomData + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|custom\_data\_id| [MessageId](MessageId.md#)|MessageId|To set custom\_data\_id, you simply assign a value directly to a field within custom\_data\_id. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|custom\_data\_0|int|Custom data word 0|You can manipulate the field custom\_data\_0 as if it were a regular field. To clear the value of custom\_data\_0 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_1|int|Custom data word 1|You can manipulate the field custom\_data\_1 as if it were a regular field. To clear the value of custom\_data\_1 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_2|int|Custom data word 2|You can manipulate the field custom\_data\_2 as if it were a regular field. To clear the value of custom\_data\_2 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_3|int|Custom data word 3|You can manipulate the field custom\_data\_3 as if it were a regular field. To clear the value of custom\_data\_3 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_4|int|Custom data word 4|You can manipulate the field custom\_data\_4 as if it were a regular field. To clear the value of custom\_data\_4 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_5|int|Custom data word 5|You can manipulate the field custom\_data\_5 as if it were a regular field. To clear the value of custom\_data\_5 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_6|int|Custom data word 6|You can manipulate the field custom\_data\_6 as if it were a regular field. To clear the value of custom\_data\_6 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_7|int|Custom data word 7|You can manipulate the field custom\_data\_7 as if it were a regular field. To clear the value of custom\_data\_7 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_8|int|Custom data word 8|You can manipulate the field custom\_data\_8 as if it were a regular field. To clear the value of custom\_data\_8 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_9|int|Custom data word 9|You can manipulate the field custom\_data\_9 as if it were a regular field. To clear the value of custom\_data\_9 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_10|int|Custom data word 10|You can manipulate the field custom\_data\_10 as if it were a regular field. To clear the value of custom\_data\_10 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_11|int|Custom data word 11|You can manipulate the field custom\_data\_11 as if it were a regular field. To clear the value of custom\_data\_11 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_12|int|Custom data word 12|You can manipulate the field custom\_data\_12 as if it were a regular field. To clear the value of custom\_data\_12 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_13|int|Custom data word 13|You can manipulate the field custom\_data\_13 as if it were a regular field. To clear the value of custom\_data\_13 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_14|int|Custom data word 14|You can manipulate the field custom\_data\_14 as if it were a regular field. To clear the value of custom\_data\_14 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_15|int|Custom data word 15|You can manipulate the field custom\_data\_15 as if it were a regular field. To clear the value of custom\_data\_15 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorCyclic \(Python\)](../../summary_pages/ActuatorCyclic.md) + diff --git a/api_python/doc/markdown/messages/ActuatorCyclic/Feedback.md b/api_python/doc/markdown/messages/ActuatorCyclic/Feedback.md new file mode 100644 index 00000000..6ee1ad34 --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorCyclic/Feedback.md @@ -0,0 +1,23 @@ +# class Feedback + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|feedback\_id| [MessageId](MessageId.md#)|MessageId|To set feedback\_id, you simply assign a value directly to a field within feedback\_id. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|status\_flags|int|Status flags \(see enum StatusFlags for the rest\)|You can manipulate the field status\_flags as if it were a regular field. To clear the value of status\_flags and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|jitter\_comm|int|Jitter from the communication in μs|You can manipulate the field jitter\_comm as if it were a regular field. To clear the value of jitter\_comm and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|position|float|Position of the actuator \(degrees\)|You can manipulate the field position as if it were a regular field. To clear the value of position and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|velocity|float|Angular velocity of the actuator \(degrees per second\)|You can manipulate the field velocity as if it were a regular field. To clear the value of velocity and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|torque|float|Torque of the actuator \(Newton meter\)|You can manipulate the field torque as if it were a regular field. To clear the value of torque and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|current\_motor|float|Current of the motor \(Amperes\)|You can manipulate the field current\_motor as if it were a regular field. To clear the value of current\_motor and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|voltage|float|Voltage of the main board in \(Volt\)|You can manipulate the field voltage as if it were a regular field. To clear the value of voltage and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|temperature\_motor|float|Motor temperature \(average of the three \(3\) temperatures \(degrees Celsius\)\)|You can manipulate the field temperature\_motor as if it were a regular field. To clear the value of temperature\_motor and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|temperature\_core|float|Microcontroller temperature in \(degrees Celsius\)|You can manipulate the field temperature\_core as if it were a regular field. To clear the value of temperature\_core and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|fault\_bank\_a|int|Bank A Fault \(see ActuatorConfig.SafetyIdentifier\)|You can manipulate the field fault\_bank\_a as if it were a regular field. To clear the value of fault\_bank\_a and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|fault\_bank\_b|int|Bank B Fault \(see ActuatorConfig.SafetyIdentifier\)|You can manipulate the field fault\_bank\_b as if it were a regular field. To clear the value of fault\_bank\_b and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|warning\_bank\_a|int|Bank A Warning \(see ActuatorConfig.SafetyIdentifier\)|You can manipulate the field warning\_bank\_a as if it were a regular field. To clear the value of warning\_bank\_a and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|warning\_bank\_b|int|Bank B Warning \(see ActuatorConfig.SafetyIdentifier\)|You can manipulate the field warning\_bank\_b as if it were a regular field. To clear the value of warning\_bank\_b and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorCyclic \(Python\)](../../summary_pages/ActuatorCyclic.md) + diff --git a/api_python/doc/markdown/messages/ActuatorCyclic/MessageId.md b/api_python/doc/markdown/messages/ActuatorCyclic/MessageId.md new file mode 100644 index 00000000..de51ccc1 --- /dev/null +++ b/api_python/doc/markdown/messages/ActuatorCyclic/MessageId.md @@ -0,0 +1,10 @@ +# class MessageId + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|int|Message ID \(first 2 bytes : device ID, last 2 bytes : sequence number\). By default, set to zero|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ActuatorCyclic \(Python\)](../../summary_pages/ActuatorCyclic.md) + diff --git a/api_python/doc/markdown/messages/Base/Action.md b/api_python/doc/markdown/messages/Base/Action.md new file mode 100644 index 00000000..d28e49bd --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Action.md @@ -0,0 +1,31 @@ +# class Action + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|handle| [ActionHandle](ActionHandle.md#)|Reference to the action \(useful when updating an existing action\)|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|name|str|Action friendly name|You can manipulate the field name as if it were a regular field. To clear the value of name and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|application\_data|str|Application data \(reserved for use by Web App\)|You can manipulate the field application\_data as if it were a regular field. To clear the value of application\_data and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|send\_twist\_command|oneof:action\_parameters [TwistCommand](TwistCommand.md#)|Control the tool in velocity|You can manipulate the field send\_twist\_command as if it were a regular field. To clear the value of send\_twist\_command and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|send\_wrench\_command|oneof:action\_parameters [WrenchCommand](WrenchCommand.md#)|Control the tool in force \(EXPERIMENTAL\)|You can manipulate the field send\_wrench\_command as if it were a regular field. To clear the value of send\_wrench\_command and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|send\_joint\_speeds|oneof:action\_parameters [JointSpeeds](JointSpeeds.md#)|Action to control each joint speed|You can manipulate the field send\_joint\_speeds as if it were a regular field. To clear the value of send\_joint\_speeds and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|reach\_pose|oneof:action\_parameters [ConstrainedPose](ConstrainedPose.md#)|Reach a pose given Cartesian constraints|You can manipulate the field reach\_pose as if it were a regular field. To clear the value of reach\_pose and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|reach\_joint\_angles|oneof:action\_parameters [ConstrainedJointAngles](ConstrainedJointAngles.md#)|Reach a series of joint angles given angular constraints|You can manipulate the field reach\_joint\_angles as if it were a regular field. To clear the value of reach\_joint\_angles and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|toggle\_admittance\_mode|oneof:action\_parameters int|Enable or disable the admittance mode|You can manipulate the field toggle\_admittance\_mode as if it were a regular field. To clear the value of toggle\_admittance\_mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|switch\_control\_mapping|oneof:action\_parameters [SwitchControlMapping](SwitchControlMapping.md#)|Switch the active controller map|You can manipulate the field switch\_control\_mapping as if it were a regular field. To clear the value of switch\_control\_mapping and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|navigate\_joints|oneof:action\_parameters int|Select the next actuator to control in a map|You can manipulate the field navigate\_joints as if it were a regular field. To clear the value of navigate\_joints and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|navigate\_mappings|oneof:action\_parameters int|Select a different map|You can manipulate the field navigate\_mappings as if it were a regular field. To clear the value of navigate\_mappings and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|change\_twist|oneof:action\_parameters [ChangeTwist](ChangeTwist.md#)|Change tool twist|You can manipulate the field change\_twist as if it were a regular field. To clear the value of change\_twist and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|change\_joint\_speeds|oneof:action\_parameters [ChangeJointSpeeds](ChangeJointSpeeds.md#)|Change the joint speeds individually|You can manipulate the field change\_joint\_speeds as if it were a regular field. To clear the value of change\_joint\_speeds and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|change\_wrench|oneof:action\_parameters [ChangeWrench](ChangeWrench.md#)|Change the Cartesian force|You can manipulate the field change\_wrench as if it were a regular field. To clear the value of change\_wrench and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|apply\_emergency\_stop|oneof:action\_parameters [EmergencyStop](EmergencyStop.md#)|Apply robot emergency stop|You can manipulate the field apply\_emergency\_stop as if it were a regular field. To clear the value of apply\_emergency\_stop and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|clear\_faults|oneof:action\_parameters [Faults](Faults.md#)|Clear faults. Robot will be able to move if there is no more fault \(see BaseCyclic.BaseFeedback.\[fault\_bank\_a | fault\_bank\_b\]\)|You can manipulate the field clear\_faults as if it were a regular field. To clear the value of clear\_faults and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|delay|oneof:action\_parameters [Delay](Delay.md#)|Apply a delay|You can manipulate the field delay as if it were a regular field. To clear the value of delay and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|execute\_action|oneof:action\_parameters [ActionHandle](ActionHandle.md#)|Execute an existing action|You can manipulate the field execute\_action as if it were a regular field. To clear the value of execute\_action and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|send\_gripper\_command|oneof:action\_parameters [GripperCommand](GripperCommand.md#)|Send a gripper command|You can manipulate the field send\_gripper\_command as if it were a regular field. To clear the value of send\_gripper\_command and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|stop\_action|oneof:action\_parameters [Stop](Stop.md#)|Stop movement|You can manipulate the field stop\_action as if it were a regular field. To clear the value of stop\_action and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|play\_pre\_computed\_trajectory|oneof:action\_parameters [PreComputedJointTrajectory](PreComputedJointTrajectory.md#)|Play a pre-computed joint trajectory|You can manipulate the field play\_pre\_computed\_trajectory as if it were a regular field. To clear the value of play\_pre\_computed\_trajectory and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ActionExecutionState.md b/api_python/doc/markdown/messages/Base/ActionExecutionState.md new file mode 100644 index 00000000..3a9544f9 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ActionExecutionState.md @@ -0,0 +1,11 @@ +# class ActionExecutionState + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|action\_event|int|Action event type|You can manipulate the field action\_event as if it were a regular field. To clear the value of action\_event and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|handle| [ActionHandle](ActionHandle.md#)|Identifies the action for which this event occured|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ActionHandle.md b/api_python/doc/markdown/messages/Base/ActionHandle.md new file mode 100644 index 00000000..9fe30625 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ActionHandle.md @@ -0,0 +1,12 @@ +# class ActionHandle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|int|Action identifier|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|action\_type|int|Action type|You can manipulate the field action\_type as if it were a regular field. To clear the value of action\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|permission|int|Permission of specified Action entity. Must use 'Kinova.Api.Common.Permission' enum.|You can manipulate the field permission as if it were a regular field. To clear the value of permission and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ActionList.md b/api_python/doc/markdown/messages/Base/ActionList.md new file mode 100644 index 00000000..34ef841d --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ActionList.md @@ -0,0 +1,10 @@ +# class ActionList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|action\_list| [Action](Action.md#)|Action|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ActionNotification.md b/api_python/doc/markdown/messages/Base/ActionNotification.md new file mode 100644 index 00000000..8b54defb --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ActionNotification.md @@ -0,0 +1,15 @@ +# class ActionNotification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|action\_event|int|Action event type|You can manipulate the field action\_event as if it were a regular field. To clear the value of action\_event and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|handle| [ActionHandle](ActionHandle.md#)|Identifies the action for which this event occured|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp|To set timestamp, you simply assign a value directly to a field within timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the action event|To set user\_handle, you simply assign a value directly to a field within user\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|abort\_details|int|Details if action\_event is equal to ACTION\_ABORT|You can manipulate the field abort\_details as if it were a regular field. To clear the value of abort\_details and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the action event|To set connection, you simply assign a value directly to a field within connection. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ActionNotificationList.md b/api_python/doc/markdown/messages/Base/ActionNotificationList.md new file mode 100644 index 00000000..c4c1ffcf --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ActionNotificationList.md @@ -0,0 +1,10 @@ +# class ActionNotificationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|notifications| [ActionNotification](ActionNotification.md#)|Notification|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ActivateMapHandle.md b/api_python/doc/markdown/messages/Base/ActivateMapHandle.md new file mode 100644 index 00000000..482b852b --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ActivateMapHandle.md @@ -0,0 +1,12 @@ +# class ActivateMapHandle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|mapping\_handle| [MappingHandle](MappingHandle.md#)|Mapping that the active map is asked for|To set mapping\_handle, you simply assign a value directly to a field within mapping\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|map\_group\_handle| [MapGroupHandle](MapGroupHandle.md#)|Map group that the active map is asked for \(not implemented yet\)|To set map\_group\_handle, you simply assign a value directly to a field within map\_group\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|map\_handle| [MapHandle](MapHandle.md#)|New active map|To set map\_handle, you simply assign a value directly to a field within map\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ActuatorInformation.md b/api_python/doc/markdown/messages/Base/ActuatorInformation.md new file mode 100644 index 00000000..63ccb7e2 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ActuatorInformation.md @@ -0,0 +1,10 @@ +# class ActuatorInformation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|count|int|Number of actuators|You can manipulate the field count as if it were a regular field. To clear the value of count and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Admittance.md b/api_python/doc/markdown/messages/Base/Admittance.md new file mode 100644 index 00000000..906b596b --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Admittance.md @@ -0,0 +1,10 @@ +# class Admittance + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|admittance\_mode|int|mode|You can manipulate the field admittance\_mode as if it were a regular field. To clear the value of admittance\_mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/AdvancedSequenceHandle.md b/api_python/doc/markdown/messages/Base/AdvancedSequenceHandle.md new file mode 100644 index 00000000..de402ec5 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/AdvancedSequenceHandle.md @@ -0,0 +1,11 @@ +# class AdvancedSequenceHandle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|handle| [SequenceHandle](SequenceHandle.md#)|Sequence handle|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|in\_loop|bool| |You can manipulate the field in\_loop as if it were a regular field. To clear the value of in\_loop and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/AppendActionInformation.md b/api_python/doc/markdown/messages/Base/AppendActionInformation.md new file mode 100644 index 00000000..5dcd934d --- /dev/null +++ b/api_python/doc/markdown/messages/Base/AppendActionInformation.md @@ -0,0 +1,11 @@ +# class AppendActionInformation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|sequence\_handle| [SequenceHandle](SequenceHandle.md#)|Sequence to which action must be appended|To set sequence\_handle, you simply assign a value directly to a field within sequence\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|action| [Action](Action.md#)|Action to append|To set action, you simply assign a value directly to a field within action. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ArmStateInformation.md b/api_python/doc/markdown/messages/Base/ArmStateInformation.md new file mode 100644 index 00000000..244af09b --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ArmStateInformation.md @@ -0,0 +1,11 @@ +# class ArmStateInformation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|active\_state|int|Arm active state|You can manipulate the field active\_state as if it were a regular field. To clear the value of active\_state and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|connection| [Connection](../Common/Connection.md#)|Connection information of the last processed command which triggered an arm state change|To set connection, you simply assign a value directly to a field within connection. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ArmStateNotification.md b/api_python/doc/markdown/messages/Base/ArmStateNotification.md new file mode 100644 index 00000000..6cd385e8 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ArmStateNotification.md @@ -0,0 +1,12 @@ +# class ArmStateNotification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|active\_state|int|New arm state|You can manipulate the field active\_state as if it were a regular field. To clear the value of active\_state and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp|To set timestamp, you simply assign a value directly to a field within timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the arm state event|To set connection, you simply assign a value directly to a field within connection. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/BridgeConfig.md b/api_python/doc/markdown/messages/Base/BridgeConfig.md new file mode 100644 index 00000000..cbddf97e --- /dev/null +++ b/api_python/doc/markdown/messages/Base/BridgeConfig.md @@ -0,0 +1,13 @@ +# class BridgeConfig + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|device\_identifier|int|Identifier of the device to which the bridge is connecting.|You can manipulate the field device\_identifier as if it were a regular field. To clear the value of device\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|bridgetype|int|Bridge type.|You can manipulate the field bridgetype as if it were a regular field. To clear the value of bridgetype and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|port\_config| [BridgePortConfig](BridgePortConfig.md#)|Port configuration. If used to enable port bridging, it is optional. If no port config is given defaults for bridge type is used.|To set port\_config, you simply assign a value directly to a field within port\_config. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|bridge\_id| [BridgeIdentifier](BridgeIdentifier.md#)|Bridge identifier. Not used when creating bridge. It is used when retrieving configuration.|To set bridge\_id, you simply assign a value directly to a field within bridge\_id. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/BridgeIdentifier.md b/api_python/doc/markdown/messages/Base/BridgeIdentifier.md new file mode 100644 index 00000000..cd82b582 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/BridgeIdentifier.md @@ -0,0 +1,10 @@ +# class BridgeIdentifier + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|bridge\_id|int|Unique bridge identifier.|You can manipulate the field bridge\_id as if it were a regular field. To clear the value of bridge\_id and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/BridgeList.md b/api_python/doc/markdown/messages/Base/BridgeList.md new file mode 100644 index 00000000..cd32faa1 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/BridgeList.md @@ -0,0 +1,10 @@ +# class BridgeList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|bridgeConfig| [BridgeConfig](BridgeConfig.md#)|List of bridge configuration.|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/BridgePortConfig.md b/api_python/doc/markdown/messages/Base/BridgePortConfig.md new file mode 100644 index 00000000..ebc89dc1 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/BridgePortConfig.md @@ -0,0 +1,11 @@ +# class BridgePortConfig + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|target\_port|int|Port on target device.|You can manipulate the field target\_port as if it were a regular field. To clear the value of target\_port and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|out\_port|int|Port exposed on base's external interface|You can manipulate the field out\_port as if it were a regular field. To clear the value of out\_port and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/BridgeResult.md b/api_python/doc/markdown/messages/Base/BridgeResult.md new file mode 100644 index 00000000..1cb5262e --- /dev/null +++ b/api_python/doc/markdown/messages/Base/BridgeResult.md @@ -0,0 +1,11 @@ +# class BridgeResult + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|bridge\_id| [BridgeIdentifier](BridgeIdentifier.md#)|ID of the bridge on which operation was performed|To set bridge\_id, you simply assign a value directly to a field within bridge\_id. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|status|int|Result code of operation.|You can manipulate the field status as if it were a regular field. To clear the value of status and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/CapSenseConfig.md b/api_python/doc/markdown/messages/Base/CapSenseConfig.md new file mode 100644 index 00000000..6d239db3 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/CapSenseConfig.md @@ -0,0 +1,15 @@ +# class CapSenseConfig + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|int|MessageId|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|mode|int|Operational mode of the sensor|You can manipulate the field mode as if it were a regular field. To clear the value of mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|threshold\_a|float|Threshold of the sensor A \(successive detection count to trigger a change of state\)|You can manipulate the field threshold\_a as if it were a regular field. To clear the value of threshold\_a and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|threshold\_b|float|Threshold of the sensor B \(successive detection count to trigger a change of state\)|You can manipulate the field threshold\_b as if it were a regular field. To clear the value of threshold\_b and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|sensitivity\_a|float|Sensitivity of the sensor A \(picofarad\)|You can manipulate the field sensitivity\_a as if it were a regular field. To clear the value of sensitivity\_a and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|sensitivity\_b|float|Sensitivity of the sensor B \(picofarad\)|You can manipulate the field sensitivity\_b as if it were a regular field. To clear the value of sensitivity\_b and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/CartesianLimitation.md b/api_python/doc/markdown/messages/Base/CartesianLimitation.md new file mode 100644 index 00000000..d2680727 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/CartesianLimitation.md @@ -0,0 +1,12 @@ +# class CartesianLimitation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|type|int|Limitation type|You can manipulate the field type as if it were a regular field. To clear the value of type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|translation|float|Translation limitation|You can manipulate the field translation as if it were a regular field. To clear the value of translation and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|orientation|float|Orientation limitation|You can manipulate the field orientation as if it were a regular field. To clear the value of orientation and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/CartesianLimitationList.md b/api_python/doc/markdown/messages/Base/CartesianLimitationList.md new file mode 100644 index 00000000..c5bd41b8 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/CartesianLimitationList.md @@ -0,0 +1,10 @@ +# class CartesianLimitationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|limitations| [CartesianLimitation](CartesianLimitation.md#)|Limitation|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/CartesianSpeed.md b/api_python/doc/markdown/messages/Base/CartesianSpeed.md new file mode 100644 index 00000000..9418bdc9 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/CartesianSpeed.md @@ -0,0 +1,11 @@ +# class CartesianSpeed + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|translation|float|Translation speed \(in meters per second\)|You can manipulate the field translation as if it were a regular field. To clear the value of translation and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|orientation|float|Orientation speed \(in degrees per second\)|You can manipulate the field orientation as if it were a regular field. To clear the value of orientation and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/CartesianTrajectoryConstraint.md b/api_python/doc/markdown/messages/Base/CartesianTrajectoryConstraint.md new file mode 100644 index 00000000..9dfab1b2 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/CartesianTrajectoryConstraint.md @@ -0,0 +1,11 @@ +# class CartesianTrajectoryConstraint + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|speed|oneof:type [CartesianSpeed](CartesianSpeed.md#)|Speed constraint \(in meters per second\)|You can manipulate the field speed as if it were a regular field. To clear the value of speed and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|duration|oneof:type float|Duration constraint \(in meters per second\) \(not implemented yet\)|You can manipulate the field duration as if it were a regular field. To clear the value of duration and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ChangeJointSpeeds.md b/api_python/doc/markdown/messages/Base/ChangeJointSpeeds.md new file mode 100644 index 00000000..b44cc326 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ChangeJointSpeeds.md @@ -0,0 +1,10 @@ +# class ChangeJointSpeeds + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|joint\_speeds| [JointSpeeds](JointSpeeds.md#)|Joint speeds|To set joint\_speeds, you simply assign a value directly to a field within joint\_speeds. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ChangeTwist.md b/api_python/doc/markdown/messages/Base/ChangeTwist.md new file mode 100644 index 00000000..ef11ceb4 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ChangeTwist.md @@ -0,0 +1,11 @@ +# class ChangeTwist + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|linear|float|Linear Cartesian velocity increment \(in meters per second\)|You can manipulate the field linear as if it were a regular field. To clear the value of linear and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|angular|float|Angular Cartesian velocity increment \(in degrees per second\)|You can manipulate the field angular as if it were a regular field. To clear the value of angular and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ChangeWrench.md b/api_python/doc/markdown/messages/Base/ChangeWrench.md new file mode 100644 index 00000000..9c9723ed --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ChangeWrench.md @@ -0,0 +1,11 @@ +# class ChangeWrench + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|force|float|Linear force increment \(in Newton\)|You can manipulate the field force as if it were a regular field. To clear the value of force and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|torque|float|Angular torque increment \(in Newton\*meters\)|You can manipulate the field torque as if it were a regular field. To clear the value of torque and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/CommunicationInterfaceConfiguration.md b/api_python/doc/markdown/messages/Base/CommunicationInterfaceConfiguration.md new file mode 100644 index 00000000..202551bc --- /dev/null +++ b/api_python/doc/markdown/messages/Base/CommunicationInterfaceConfiguration.md @@ -0,0 +1,11 @@ +# class CommunicationInterfaceConfiguration + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|type|int|Network type \(e.g. Wi-Fi, Wired Ethernet\)|You can manipulate the field type as if it were a regular field. To clear the value of type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|enable|bool|Enable configuration. Set to true to enable network, false otherwise|You can manipulate the field enable as if it were a regular field. To clear the value of enable and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ConfigurationChangeNotification.md b/api_python/doc/markdown/messages/Base/ConfigurationChangeNotification.md new file mode 100644 index 00000000..ef8d4c75 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ConfigurationChangeNotification.md @@ -0,0 +1,23 @@ +# class ConfigurationChangeNotification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|event|int|Configuration event|You can manipulate the field event as if it were a regular field. To clear the value of event and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp|To set timestamp, you simply assign a value directly to a field within timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the configuration event|To set user\_handle, you simply assign a value directly to a field within user\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|sequence\_handle|oneof:configuration\_change [SequenceHandle](SequenceHandle.md#)|Sequence for which the configuration changed|You can manipulate the field sequence\_handle as if it were a regular field. To clear the value of sequence\_handle and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|action\_handle|oneof:configuration\_change [ActionHandle](ActionHandle.md#)|Action for which the configuration changed|You can manipulate the field action\_handle as if it were a regular field. To clear the value of action\_handle and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|mapping\_handle|oneof:configuration\_change [MappingHandle](MappingHandle.md#)|Mapping for which the configuration changed|You can manipulate the field mapping\_handle as if it were a regular field. To clear the value of mapping\_handle and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|map\_group\_handle|oneof:configuration\_change [MapGroupHandle](MapGroupHandle.md#)|Map group for which the configuration changed|You can manipulate the field map\_group\_handle as if it were a regular field. To clear the value of map\_group\_handle and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|map\_handle|oneof:configuration\_change [MapHandle](MapHandle.md#)|Map for which the configuration changed|You can manipulate the field map\_handle as if it were a regular field. To clear the value of map\_handle and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|user\_profile\_handle|oneof:configuration\_change [UserProfileHandle](../Common/UserProfileHandle.md#)|User Profile for which the configuration changed|You can manipulate the field user\_profile\_handle as if it were a regular field. To clear the value of user\_profile\_handle and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|protection\_zone\_handle|oneof:configuration\_change [ProtectionZoneHandle](ProtectionZoneHandle.md#)|Protection zone for which the configuration changed|You can manipulate the field protection\_zone\_handle as if it were a regular field. To clear the value of protection\_zone\_handle and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|safety\_handle|oneof:configuration\_change [SafetyHandle](../Common/SafetyHandle.md#)|Safety for which the configuration changed|You can manipulate the field safety\_handle as if it were a regular field. To clear the value of safety\_handle and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|network\_handle|oneof:configuration\_change [NetworkHandle](NetworkHandle.md#)|Network element for which the configuration changed|You can manipulate the field network\_handle as if it were a regular field. To clear the value of network\_handle and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|ssid|oneof:configuration\_change [Ssid](Ssid.md#)|Wi-Fi instance for which the configuration changed|You can manipulate the field ssid as if it were a regular field. To clear the value of ssid and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the configuration event|To set connection, you simply assign a value directly to a field within connection. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ConfigurationChangeNotificationList.md b/api_python/doc/markdown/messages/Base/ConfigurationChangeNotificationList.md new file mode 100644 index 00000000..ecd7277f --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ConfigurationChangeNotificationList.md @@ -0,0 +1,10 @@ +# class ConfigurationChangeNotificationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|notifications| [ConfigurationChangeNotification](ConfigurationChangeNotification.md#)|Notification|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ConstrainedJointAngle.md b/api_python/doc/markdown/messages/Base/ConstrainedJointAngle.md new file mode 100644 index 00000000..b048766a --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ConstrainedJointAngle.md @@ -0,0 +1,12 @@ +# class ConstrainedJointAngle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|joint\_identifier|int|Joint identifier \(use device\_identifier\)|You can manipulate the field joint\_identifier as if it were a regular field. To clear the value of joint\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|value|float|Joint value \(in degrees\)|You can manipulate the field value as if it were a regular field. To clear the value of value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|constraint| [JointTrajectoryConstraint](JointTrajectoryConstraint.md#)|Constraint to apply to the joint angle \(optional\)|To set constraint, you simply assign a value directly to a field within constraint. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ConstrainedJointAngles.md b/api_python/doc/markdown/messages/Base/ConstrainedJointAngles.md new file mode 100644 index 00000000..9239cdd3 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ConstrainedJointAngles.md @@ -0,0 +1,11 @@ +# class ConstrainedJointAngles + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|joint\_angles| [JointAngles](JointAngles.md#)|Joint angles values|To set joint\_angles, you simply assign a value directly to a field within joint\_angles. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|constraint| [JointTrajectoryConstraint](JointTrajectoryConstraint.md#)|Constraint to apply to all the joint angles \(optional\)|To set constraint, you simply assign a value directly to a field within constraint. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ConstrainedOrientation.md b/api_python/doc/markdown/messages/Base/ConstrainedOrientation.md new file mode 100644 index 00000000..980201c2 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ConstrainedOrientation.md @@ -0,0 +1,11 @@ +# class ConstrainedOrientation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|target\_orientation| [Orientation](Orientation.md#)|Cartesian orientation|To set target\_orientation, you simply assign a value directly to a field within target\_orientation. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|constraint| [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#)|Constraint to apply to the target orientation|To set constraint, you simply assign a value directly to a field within constraint. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ConstrainedPose.md b/api_python/doc/markdown/messages/Base/ConstrainedPose.md new file mode 100644 index 00000000..53c44f2e --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ConstrainedPose.md @@ -0,0 +1,11 @@ +# class ConstrainedPose + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|target\_pose| [Pose](Pose.md#)|Cartesian pose|To set target\_pose, you simply assign a value directly to a field within target\_pose. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|constraint| [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#)|Constraint to apply to the target pose|To set constraint, you simply assign a value directly to a field within constraint. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ConstrainedPosition.md b/api_python/doc/markdown/messages/Base/ConstrainedPosition.md new file mode 100644 index 00000000..7f73888b --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ConstrainedPosition.md @@ -0,0 +1,11 @@ +# class ConstrainedPosition + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|target\_position| [Position](Position.md#)|Cartesian position|To set target\_position, you simply assign a value directly to a field within target\_position. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|constraint| [CartesianTrajectoryConstraint](CartesianTrajectoryConstraint.md#)|Constraint to apply to the target position|To set constraint, you simply assign a value directly to a field within constraint. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ControlModeInformation.md b/api_python/doc/markdown/messages/Base/ControlModeInformation.md new file mode 100644 index 00000000..d0e730ca --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ControlModeInformation.md @@ -0,0 +1,10 @@ +# class ControlModeInformation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|mode|int|Control mode|You can manipulate the field mode as if it were a regular field. To clear the value of mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ControlModeNotification.md b/api_python/doc/markdown/messages/Base/ControlModeNotification.md new file mode 100644 index 00000000..b698c4da --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ControlModeNotification.md @@ -0,0 +1,13 @@ +# class ControlModeNotification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|control\_mode|int|New control mode|You can manipulate the field control\_mode as if it were a regular field. To clear the value of control\_mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp|To set timestamp, you simply assign a value directly to a field within timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the control mode event|To set user\_handle, you simply assign a value directly to a field within user\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the control mode event|To set connection, you simply assign a value directly to a field within connection. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ControlModeNotificationList.md b/api_python/doc/markdown/messages/Base/ControlModeNotificationList.md new file mode 100644 index 00000000..2548b1d0 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ControlModeNotificationList.md @@ -0,0 +1,10 @@ +# class ControlModeNotificationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|notifications| [ControlModeNotification](ControlModeNotification.md#)|Notification|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ControllerElementHandle.md b/api_python/doc/markdown/messages/Base/ControllerElementHandle.md new file mode 100644 index 00000000..94d6e265 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ControllerElementHandle.md @@ -0,0 +1,12 @@ +# class ControllerElementHandle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|controller\_handle| [ControllerHandle](ControllerHandle.md#)|Controller handle|To set controller\_handle, you simply assign a value directly to a field within controller\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|button|oneof:identifier int|Button identifier \(only set if 'button' controller event, otherwise zero\)|You can manipulate the field button as if it were a regular field. To clear the value of button and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|axis|oneof:identifier int|Axis identifier \(only set if 'axis' controller event, otherwise zero\)|You can manipulate the field axis as if it were a regular field. To clear the value of axis and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ControllerElementState.md b/api_python/doc/markdown/messages/Base/ControllerElementState.md new file mode 100644 index 00000000..b79e612f --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ControllerElementState.md @@ -0,0 +1,12 @@ +# class ControllerElementState + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|handle| [ControllerElementHandle](ControllerElementHandle.md#)|Controller element handle|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|event\_type|int|Type of controller element event that occured|You can manipulate the field event\_type as if it were a regular field. To clear the value of event\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|axis\_value|float|Axis value \(set between -1.0 and 1.0\); only set if 'axis' controller element, otherwise set to zero|You can manipulate the field axis\_value as if it were a regular field. To clear the value of axis\_value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ControllerEvent.md b/api_python/doc/markdown/messages/Base/ControllerEvent.md new file mode 100644 index 00000000..599b5873 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ControllerEvent.md @@ -0,0 +1,12 @@ +# class ControllerEvent + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|input\_type|int|Type of controller input that caused the event\_identifier|You can manipulate the field input\_type as if it were a regular field. To clear the value of input\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|behavior|int|Controller behavior that occured|You can manipulate the field behavior as if it were a regular field. To clear the value of behavior and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|input\_identifier|int|Controller input that caused the event|You can manipulate the field input\_identifier as if it were a regular field. To clear the value of input\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ControllerHandle.md b/api_python/doc/markdown/messages/Base/ControllerHandle.md new file mode 100644 index 00000000..1cacdc66 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ControllerHandle.md @@ -0,0 +1,11 @@ +# class ControllerHandle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|type|int|Controller device type|You can manipulate the field type as if it were a regular field. To clear the value of type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|controller\_identifier|int|Controller device identifier|You can manipulate the field controller\_identifier as if it were a regular field. To clear the value of controller\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ControllerList.md b/api_python/doc/markdown/messages/Base/ControllerList.md new file mode 100644 index 00000000..f7d7a1ad --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ControllerList.md @@ -0,0 +1,10 @@ +# class ControllerList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|handles| [ControllerHandle](ControllerHandle.md#)|Controller handle|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ControllerNotification.md b/api_python/doc/markdown/messages/Base/ControllerNotification.md new file mode 100644 index 00000000..cbc877dd --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ControllerNotification.md @@ -0,0 +1,14 @@ +# class ControllerNotification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|controller\_state|oneof:state [ControllerState](ControllerState.md#)|Used to indicate if a controller connection or disconnection event occured|You can manipulate the field controller\_state as if it were a regular field. To clear the value of controller\_state and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|controller\_element|oneof:state [ControllerElementState](ControllerElementState.md#)|Used to indicate if a specific button \(or axis\) was pressed \(or moved\) \(not implemented yet\)|You can manipulate the field controller\_element as if it were a regular field. To clear the value of controller\_element and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp|To set timestamp, you simply assign a value directly to a field within timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the controller event|To set user\_handle, you simply assign a value directly to a field within user\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the controller event|To set connection, you simply assign a value directly to a field within connection. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ControllerNotificationList.md b/api_python/doc/markdown/messages/Base/ControllerNotificationList.md new file mode 100644 index 00000000..5da9e07b --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ControllerNotificationList.md @@ -0,0 +1,10 @@ +# class ControllerNotificationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|notifications| [ControllerNotification](ControllerNotification.md#)|Notifications|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ControllerState.md b/api_python/doc/markdown/messages/Base/ControllerState.md new file mode 100644 index 00000000..01c52625 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ControllerState.md @@ -0,0 +1,11 @@ +# class ControllerState + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|handle| [ControllerHandle](ControllerHandle.md#)|Controller identifier|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|event\_type|int|Type of controller event that occured|You can manipulate the field event\_type as if it were a regular field. To clear the value of event\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Delay.md b/api_python/doc/markdown/messages/Base/Delay.md new file mode 100644 index 00000000..afcbc4b7 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Delay.md @@ -0,0 +1,10 @@ +# class Delay + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|duration|int|Delay \(in seconds\)|You can manipulate the field duration as if it were a regular field. To clear the value of duration and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/EmergencyStop.md b/api_python/doc/markdown/messages/Base/EmergencyStop.md new file mode 100644 index 00000000..88519e79 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/EmergencyStop.md @@ -0,0 +1,4 @@ +# class EmergencyStop + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/FactoryNotification.md b/api_python/doc/markdown/messages/Base/FactoryNotification.md new file mode 100644 index 00000000..ef9bad9a --- /dev/null +++ b/api_python/doc/markdown/messages/Base/FactoryNotification.md @@ -0,0 +1,13 @@ +# class FactoryNotification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|event|int|Event type|You can manipulate the field event as if it were a regular field. To clear the value of event and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp|To set timestamp, you simply assign a value directly to a field within timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the factory event to occur|To set user\_handle, you simply assign a value directly to a field within user\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the factory event to occur|To set connection, you simply assign a value directly to a field within connection. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Faults.md b/api_python/doc/markdown/messages/Base/Faults.md new file mode 100644 index 00000000..09001aa0 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Faults.md @@ -0,0 +1,4 @@ +# class Faults + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Finger.md b/api_python/doc/markdown/messages/Base/Finger.md new file mode 100644 index 00000000..12d32494 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Finger.md @@ -0,0 +1,11 @@ +# class Finger + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|finger\_identifier|int|Finger identifier|You can manipulate the field finger\_identifier as if it were a regular field. To clear the value of finger\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|value|float| |You can manipulate the field value as if it were a regular field. To clear the value of value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/FullIPv4Configuration.md b/api_python/doc/markdown/messages/Base/FullIPv4Configuration.md new file mode 100644 index 00000000..a2889eca --- /dev/null +++ b/api_python/doc/markdown/messages/Base/FullIPv4Configuration.md @@ -0,0 +1,11 @@ +# class FullIPv4Configuration + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|handle| [NetworkHandle](NetworkHandle.md#)|Network handle|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|ipv4\_configuration| [IPv4Configuration](IPv4Configuration.md#)|IPv4 configuration|To set ipv4\_configuration, you simply assign a value directly to a field within ipv4\_configuration. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/FullUserProfile.md b/api_python/doc/markdown/messages/Base/FullUserProfile.md new file mode 100644 index 00000000..64d79106 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/FullUserProfile.md @@ -0,0 +1,11 @@ +# class FullUserProfile + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|user\_profile| [UserProfile](UserProfile.md#)|Information about the user, including its username.|To set user\_profile, you simply assign a value directly to a field within user\_profile. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|password|str|User's password|You can manipulate the field password as if it were a regular field. To clear the value of password and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/GpioEvent.md b/api_python/doc/markdown/messages/Base/GpioEvent.md new file mode 100644 index 00000000..0d796a0b --- /dev/null +++ b/api_python/doc/markdown/messages/Base/GpioEvent.md @@ -0,0 +1,11 @@ +# class GpioEvent + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|gpio\_state|int|New GPIO state|You can manipulate the field gpio\_state as if it were a regular field. To clear the value of gpio\_state and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|device\_identifier|int|GPIO device identifier for which this event occured|You can manipulate the field device\_identifier as if it were a regular field. To clear the value of device\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Gripper.md b/api_python/doc/markdown/messages/Base/Gripper.md new file mode 100644 index 00000000..dfb4fdfd --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Gripper.md @@ -0,0 +1,10 @@ +# class Gripper + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|finger| [Finger](Finger.md#)|Finger movements|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/GripperCommand.md b/api_python/doc/markdown/messages/Base/GripperCommand.md new file mode 100644 index 00000000..0d400bb1 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/GripperCommand.md @@ -0,0 +1,12 @@ +# class GripperCommand + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|mode|int|Mode in which to control the gripper|You can manipulate the field mode as if it were a regular field. To clear the value of mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|gripper| [Gripper](Gripper.md#)|Gripper movement values|To set gripper, you simply assign a value directly to a field within gripper. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|duration|int|Duration constraint. If not 0, allows to set a limit \(in seconds\) to the GripperCommand|You can manipulate the field duration as if it were a regular field. To clear the value of duration and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/GripperRequest.md b/api_python/doc/markdown/messages/Base/GripperRequest.md new file mode 100644 index 00000000..ed2c4750 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/GripperRequest.md @@ -0,0 +1,10 @@ +# class GripperRequest + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|mode|int|Mode for which the gripper movement status is requested|You can manipulate the field mode as if it were a regular field. To clear the value of mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/IPv4Configuration.md b/api_python/doc/markdown/messages/Base/IPv4Configuration.md new file mode 100644 index 00000000..12cccb7c --- /dev/null +++ b/api_python/doc/markdown/messages/Base/IPv4Configuration.md @@ -0,0 +1,13 @@ +# class IPv4Configuration + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|ip\_address|int|IPv4 address|You can manipulate the field ip\_address as if it were a regular field. To clear the value of ip\_address and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|subnet\_mask|int|IPv4 subnet mask|You can manipulate the field subnet\_mask as if it were a regular field. To clear the value of subnet\_mask and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|default\_gateway|int|Gateway IPv4 address|You can manipulate the field default\_gateway as if it were a regular field. To clear the value of default\_gateway and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|dhcp\_enabled|bool|Enable automatic \(DHCP\) IPv4 configuration. Set to true to enable DHCP instead of static configuration.|You can manipulate the field dhcp\_enabled as if it were a regular field. To clear the value of dhcp\_enabled and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/IPv4Information.md b/api_python/doc/markdown/messages/Base/IPv4Information.md new file mode 100644 index 00000000..0e39240f --- /dev/null +++ b/api_python/doc/markdown/messages/Base/IPv4Information.md @@ -0,0 +1,12 @@ +# class IPv4Information + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|ip\_address|int|IPv4 address|You can manipulate the field ip\_address as if it were a regular field. To clear the value of ip\_address and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|subnet\_mask|int|IPv4 subnet mask|You can manipulate the field subnet\_mask as if it were a regular field. To clear the value of subnet\_mask and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|default\_gateway|int|Gateway IPv4 address|You can manipulate the field default\_gateway as if it were a regular field. To clear the value of default\_gateway and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/JointAngle.md b/api_python/doc/markdown/messages/Base/JointAngle.md new file mode 100644 index 00000000..95cc4be9 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/JointAngle.md @@ -0,0 +1,11 @@ +# class JointAngle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|joint\_identifier|int|Joint identifier|You can manipulate the field joint\_identifier as if it were a regular field. To clear the value of joint\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|value|float|Position \(in degrees\)|You can manipulate the field value as if it were a regular field. To clear the value of value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/JointAngles.md b/api_python/doc/markdown/messages/Base/JointAngles.md new file mode 100644 index 00000000..06ef2696 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/JointAngles.md @@ -0,0 +1,10 @@ +# class JointAngles + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|joint\_angles| [JointAngle](JointAngle.md#)|Array of joint angles|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/JointLimitation.md b/api_python/doc/markdown/messages/Base/JointLimitation.md new file mode 100644 index 00000000..bd99e030 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/JointLimitation.md @@ -0,0 +1,12 @@ +# class JointLimitation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|joint\_identifier|int|Joint device identifier|You can manipulate the field joint\_identifier as if it were a regular field. To clear the value of joint\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|type|int|Joint limitation type|You can manipulate the field type as if it were a regular field. To clear the value of type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|value|float|Joint limitation value|You can manipulate the field value as if it were a regular field. To clear the value of value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/JointSpeed.md b/api_python/doc/markdown/messages/Base/JointSpeed.md new file mode 100644 index 00000000..eb1158fc --- /dev/null +++ b/api_python/doc/markdown/messages/Base/JointSpeed.md @@ -0,0 +1,12 @@ +# class JointSpeed + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|joint\_identifier|int|Joint identifier|You can manipulate the field joint\_identifier as if it were a regular field. To clear the value of joint\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|value|float|Joint speed \(in degrees per second\)|You can manipulate the field value as if it were a regular field. To clear the value of value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|duration|int|Duration constraint. If not 0, allows to set a limit \(in seconds\) to the JointsSpeed \(not implemented yet\)|You can manipulate the field duration as if it were a regular field. To clear the value of duration and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/JointSpeeds.md b/api_python/doc/markdown/messages/Base/JointSpeeds.md new file mode 100644 index 00000000..64e9acdb --- /dev/null +++ b/api_python/doc/markdown/messages/Base/JointSpeeds.md @@ -0,0 +1,11 @@ +# class JointSpeeds + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|joint\_speeds| [JointSpeed](JointSpeed.md#)|Array of joint speeds|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| +|duration|int|Duration constraint. If not 0, allows to set a limit \(in seconds\) common to every joint specified in 'joint\_speeds' \(not implemented yet\)|You can manipulate the field duration as if it were a regular field. To clear the value of duration and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/JointTorque.md b/api_python/doc/markdown/messages/Base/JointTorque.md new file mode 100644 index 00000000..8c6b330f --- /dev/null +++ b/api_python/doc/markdown/messages/Base/JointTorque.md @@ -0,0 +1,12 @@ +# class JointTorque + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|joint\_identifier|int|Joint identifier|You can manipulate the field joint\_identifier as if it were a regular field. To clear the value of joint\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|value|float|Joint speed \(in Newton\*meters\)|You can manipulate the field value as if it were a regular field. To clear the value of value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|duration|int|Duration constraint. If not 0, allows to set a limit \(in seconds\) to the JointTorque \(not implemented yet\)|You can manipulate the field duration as if it were a regular field. To clear the value of duration and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/JointTorques.md b/api_python/doc/markdown/messages/Base/JointTorques.md new file mode 100644 index 00000000..ad470869 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/JointTorques.md @@ -0,0 +1,11 @@ +# class JointTorques + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|joint\_torques| [JointTorque](JointTorque.md#)|Array of joint torque.|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| +|duration|int|Duration constraint. If not 0, allows to set a limit \(in seconds\) common to every joint specified in 'joint\_torques' \(not implemented yet\)|You can manipulate the field duration as if it were a regular field. To clear the value of duration and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/JointTrajectoryConstraint.md b/api_python/doc/markdown/messages/Base/JointTrajectoryConstraint.md new file mode 100644 index 00000000..d640c055 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/JointTrajectoryConstraint.md @@ -0,0 +1,11 @@ +# class JointTrajectoryConstraint + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|type|int|Joint trajectory constraint type|You can manipulate the field type as if it were a regular field. To clear the value of type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|value|float|Constraint value \(in seconds or in meters per second depending on constraint type\)|You can manipulate the field value as if it were a regular field. To clear the value of value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/JointsLimitationsList.md b/api_python/doc/markdown/messages/Base/JointsLimitationsList.md new file mode 100644 index 00000000..f947a082 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/JointsLimitationsList.md @@ -0,0 +1,10 @@ +# class JointsLimitationsList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|joints\_limitations| [JointLimitation](JointLimitation.md#)|Joints Limitations|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Map.md b/api_python/doc/markdown/messages/Base/Map.md new file mode 100644 index 00000000..bb63d55c --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Map.md @@ -0,0 +1,12 @@ +# class Map + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|handle| [MapHandle](MapHandle.md#)|Map handle \(do not set on createMap\(\) call\)|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|name|str|Map friendly name|You can manipulate the field name as if it were a regular field. To clear the value of name and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|elements| [MapElement](MapElement.md#)|Array of map elements|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/MapElement.md b/api_python/doc/markdown/messages/Base/MapElement.md new file mode 100644 index 00000000..d1dd861b --- /dev/null +++ b/api_python/doc/markdown/messages/Base/MapElement.md @@ -0,0 +1,11 @@ +# class MapElement + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|event| [MapEvent](MapEvent.md#)|Map event that occured|To set event, you simply assign a value directly to a field within event. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|action| [Action](Action.md#)|Action to invoke upon event occurence|To set action, you simply assign a value directly to a field within action. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/MapEvent.md b/api_python/doc/markdown/messages/Base/MapEvent.md new file mode 100644 index 00000000..14ddb6f3 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/MapEvent.md @@ -0,0 +1,13 @@ +# class MapEvent + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|safety\_event|oneof:events [SafetyEvent](SafetyEvent.md#)|Mapped safety event \(not implemented yet\)|You can manipulate the field safety\_event as if it were a regular field. To clear the value of safety\_event and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|gpio\_event|oneof:events [GpioEvent](GpioEvent.md#)|Mapped GPIO event \(not implemented yet\)|You can manipulate the field gpio\_event as if it were a regular field. To clear the value of gpio\_event and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|controller\_event|oneof:events [ControllerEvent](ControllerEvent.md#)|Mapped controller event|You can manipulate the field controller\_event as if it were a regular field. To clear the value of controller\_event and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|name|str|Map event friendly name|You can manipulate the field name as if it were a regular field. To clear the value of name and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/MapGroup.md b/api_python/doc/markdown/messages/Base/MapGroup.md new file mode 100644 index 00000000..794d06aa --- /dev/null +++ b/api_python/doc/markdown/messages/Base/MapGroup.md @@ -0,0 +1,16 @@ +# class MapGroup + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|group\_handle| [MapGroupHandle](MapGroupHandle.md#)|Map group handle \(do not set on createMapGroup\(\) call\)|To set group\_handle, you simply assign a value directly to a field within group\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|name|str|Map group friendly name|You can manipulate the field name as if it were a regular field. To clear the value of name and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|related\_mapping\_handle| [MappingHandle](MappingHandle.md#)|Mapping that this map group belongs to|To set related\_mapping\_handle, you simply assign a value directly to a field within related\_mapping\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|parent\_group\_handle| [MapGroupHandle](MapGroupHandle.md#)|Parent map group \(if any\)|To set parent\_group\_handle, you simply assign a value directly to a field within parent\_group\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|children\_map\_group\_handles| [MapGroupHandle](MapGroupHandle.md#)|Children map groups \(if any\)|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| +|map\_handles| [MapHandle](MapHandle.md#)|Array of maps that are included in this map group|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| +|application\_data|str|Application data \(reserved for use by Web App\)|You can manipulate the field application\_data as if it were a regular field. To clear the value of application\_data and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/MapGroupHandle.md b/api_python/doc/markdown/messages/Base/MapGroupHandle.md new file mode 100644 index 00000000..1e4a5148 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/MapGroupHandle.md @@ -0,0 +1,11 @@ +# class MapGroupHandle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|int|Identifier|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|permission|int|Permission of specified map group entity. Must use 'Kinova.Api.Common.Permission' enum.|You can manipulate the field permission as if it were a regular field. To clear the value of permission and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/MapGroupList.md b/api_python/doc/markdown/messages/Base/MapGroupList.md new file mode 100644 index 00000000..6e260df8 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/MapGroupList.md @@ -0,0 +1,10 @@ +# class MapGroupList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|map\_groups| [MapGroup](MapGroup.md#)|Map group|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/MapHandle.md b/api_python/doc/markdown/messages/Base/MapHandle.md new file mode 100644 index 00000000..8fcd7386 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/MapHandle.md @@ -0,0 +1,11 @@ +# class MapHandle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|int|Identifier|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|permission|int|Permission of specified map entity. Must use 'Kinova.Api.Common.Permission' enum.|You can manipulate the field permission as if it were a regular field. To clear the value of permission and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/MapList.md b/api_python/doc/markdown/messages/Base/MapList.md new file mode 100644 index 00000000..62b4e7bf --- /dev/null +++ b/api_python/doc/markdown/messages/Base/MapList.md @@ -0,0 +1,10 @@ +# class MapList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|map\_list| [Map](Map.md#)|map|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Mapping.md b/api_python/doc/markdown/messages/Base/Mapping.md new file mode 100644 index 00000000..ed65544f --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Mapping.md @@ -0,0 +1,17 @@ +# class Mapping + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|handle| [MappingHandle](MappingHandle.md#)|Mapping handle \(do not set on createMapping\(\) call\)|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|name|str|Mapping friendly name|You can manipulate the field name as if it were a regular field. To clear the value of name and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|controller\_identifier|int|Associated controller identifier|You can manipulate the field controller\_identifier as if it were a regular field. To clear the value of controller\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|active\_map\_group\_handle| [MapGroupHandle](MapGroupHandle.md#)|Currently active map group \(not implemented yet\)|To set active\_map\_group\_handle, you simply assign a value directly to a field within active\_map\_group\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|map\_group\_handles| [MapGroupHandle](MapGroupHandle.md#)|Array of associated map groups \(not implemented yet\)|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| +|active\_map\_handle| [MapHandle](MapHandle.md#)|Currently active map|To set active\_map\_handle, you simply assign a value directly to a field within active\_map\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|map\_handles| [MapHandle](MapHandle.md#)|Array of associated maps|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| +|application\_data|str|Application data \(reserved for use by Web App\)|You can manipulate the field application\_data as if it were a regular field. To clear the value of application\_data and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/MappingHandle.md b/api_python/doc/markdown/messages/Base/MappingHandle.md new file mode 100644 index 00000000..cc1a4166 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/MappingHandle.md @@ -0,0 +1,11 @@ +# class MappingHandle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|int|Mapping identifier|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|permission|int|Permission of specified mapping entity. Must use 'Kinova.Api.Common.Permission' enum.|You can manipulate the field permission as if it were a regular field. To clear the value of permission and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/MappingInfoNotification.md b/api_python/doc/markdown/messages/Base/MappingInfoNotification.md new file mode 100644 index 00000000..9bee947a --- /dev/null +++ b/api_python/doc/markdown/messages/Base/MappingInfoNotification.md @@ -0,0 +1,14 @@ +# class MappingInfoNotification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|controller\_identifier|int|Identifier of the controller|You can manipulate the field controller\_identifier as if it were a regular field. To clear the value of controller\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|active\_map\_handle| [MapHandle](MapHandle.md#)|New active map|To set active\_map\_handle, you simply assign a value directly to a field within active\_map\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp|To set timestamp, you simply assign a value directly to a field within timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the mapping information event|To set user\_handle, you simply assign a value directly to a field within user\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the mapping information event|To set connection, you simply assign a value directly to a field within connection. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/MappingInfoNotificationList.md b/api_python/doc/markdown/messages/Base/MappingInfoNotificationList.md new file mode 100644 index 00000000..c6e3efcd --- /dev/null +++ b/api_python/doc/markdown/messages/Base/MappingInfoNotificationList.md @@ -0,0 +1,10 @@ +# class MappingInfoNotificationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|notifications| [MappingInfoNotification](MappingInfoNotification.md#)|Notification|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/MappingList.md b/api_python/doc/markdown/messages/Base/MappingList.md new file mode 100644 index 00000000..8e75ba52 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/MappingList.md @@ -0,0 +1,10 @@ +# class MappingList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|mappings| [Mapping](Mapping.md#)|Mapping|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/NetworkHandle.md b/api_python/doc/markdown/messages/Base/NetworkHandle.md new file mode 100644 index 00000000..48f18551 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/NetworkHandle.md @@ -0,0 +1,10 @@ +# class NetworkHandle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|type|int|Network type|You can manipulate the field type as if it were a regular field. To clear the value of type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/NetworkNotification.md b/api_python/doc/markdown/messages/Base/NetworkNotification.md new file mode 100644 index 00000000..4da83300 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/NetworkNotification.md @@ -0,0 +1,13 @@ +# class NetworkNotification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|event|int|Event type|You can manipulate the field event as if it were a regular field. To clear the value of event and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp|To set timestamp, you simply assign a value directly to a field within timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the network event to occur|To set user\_handle, you simply assign a value directly to a field within user\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the network event to occur|To set connection, you simply assign a value directly to a field within connection. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/NetworkNotificationList.md b/api_python/doc/markdown/messages/Base/NetworkNotificationList.md new file mode 100644 index 00000000..1abd01a5 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/NetworkNotificationList.md @@ -0,0 +1,10 @@ +# class NetworkNotificationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|notifications| [NetworkNotification](NetworkNotification.md#)|Notification|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/OperatingModeInformation.md b/api_python/doc/markdown/messages/Base/OperatingModeInformation.md new file mode 100644 index 00000000..c013f128 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/OperatingModeInformation.md @@ -0,0 +1,11 @@ +# class OperatingModeInformation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|operating\_mode|int|Operating mode|You can manipulate the field operating\_mode as if it were a regular field. To clear the value of operating\_mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|device\_handle| [DeviceHandle](../Common/DeviceHandle.md#)|Device matching operating mode \(if applicable\)|To set device\_handle, you simply assign a value directly to a field within device\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/OperatingModeNotification.md b/api_python/doc/markdown/messages/Base/OperatingModeNotification.md new file mode 100644 index 00000000..526cf943 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/OperatingModeNotification.md @@ -0,0 +1,14 @@ +# class OperatingModeNotification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|operating\_mode|int|New operating mode|You can manipulate the field operating\_mode as if it were a regular field. To clear the value of operating\_mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp|To set timestamp, you simply assign a value directly to a field within timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the operating mode event|To set user\_handle, you simply assign a value directly to a field within user\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the operating mode event|To set connection, you simply assign a value directly to a field within connection. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|device\_handle| [DeviceHandle](../Common/DeviceHandle.md#)|Device matching operating mode \(if applicable\)|To set device\_handle, you simply assign a value directly to a field within device\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/OperatingModeNotificationList.md b/api_python/doc/markdown/messages/Base/OperatingModeNotificationList.md new file mode 100644 index 00000000..1ed4a7cf --- /dev/null +++ b/api_python/doc/markdown/messages/Base/OperatingModeNotificationList.md @@ -0,0 +1,10 @@ +# class OperatingModeNotificationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|notifications| [OperatingModeNotification](OperatingModeNotification.md#)|Notification|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Orientation.md b/api_python/doc/markdown/messages/Base/Orientation.md new file mode 100644 index 00000000..66bbd469 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Orientation.md @@ -0,0 +1,12 @@ +# class Orientation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|theta\_x|float|Theta X orientation \(in degrees\)|You can manipulate the field theta\_x as if it were a regular field. To clear the value of theta\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|theta\_y|float|Theta Y orientation \(in degrees\)|You can manipulate the field theta\_y as if it were a regular field. To clear the value of theta\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|theta\_z|float|Theta Z orientation \(in degrees\)|You can manipulate the field theta\_z as if it were a regular field. To clear the value of theta\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/PasswordChange.md b/api_python/doc/markdown/messages/Base/PasswordChange.md new file mode 100644 index 00000000..c2099a88 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/PasswordChange.md @@ -0,0 +1,12 @@ +# class PasswordChange + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User handle|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|old\_password|str|Current password|You can manipulate the field old\_password as if it were a regular field. To clear the value of old\_password and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|new\_password|str|New password|You can manipulate the field new\_password as if it were a regular field. To clear the value of new\_password and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Point.md b/api_python/doc/markdown/messages/Base/Point.md new file mode 100644 index 00000000..65d9d86d --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Point.md @@ -0,0 +1,12 @@ +# class Point + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|x|float|x \(in meters\)|You can manipulate the field x as if it were a regular field. To clear the value of x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|y|float|y \(in meters\)|You can manipulate the field y as if it were a regular field. To clear the value of y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|z|float|z \(in meters\)|You can manipulate the field z as if it were a regular field. To clear the value of z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Pose.md b/api_python/doc/markdown/messages/Base/Pose.md new file mode 100644 index 00000000..95141691 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Pose.md @@ -0,0 +1,15 @@ +# class Pose + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|x|float|X position \(in meters\)|You can manipulate the field x as if it were a regular field. To clear the value of x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|y|float|Y position \(in meters\)|You can manipulate the field y as if it were a regular field. To clear the value of y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|z|float|Z position \(in meters\)|You can manipulate the field z as if it were a regular field. To clear the value of z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|theta\_x|float|Theta X orientation \(in degrees\)|You can manipulate the field theta\_x as if it were a regular field. To clear the value of theta\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|theta\_y|float|Theta Y orienation \(in degrees\)|You can manipulate the field theta\_y as if it were a regular field. To clear the value of theta\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|theta\_z|float|Theta Z orientation \(in degrees\)|You can manipulate the field theta\_z as if it were a regular field. To clear the value of theta\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Position.md b/api_python/doc/markdown/messages/Base/Position.md new file mode 100644 index 00000000..7b84d377 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Position.md @@ -0,0 +1,12 @@ +# class Position + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|x|float|X position \(in meters\)|You can manipulate the field x as if it were a regular field. To clear the value of x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|y|float|Y position \(in meters\)|You can manipulate the field y as if it were a regular field. To clear the value of y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|z|float|Z position \(in meters\)|You can manipulate the field z as if it were a regular field. To clear the value of z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/PreComputedJointTrajectory.md b/api_python/doc/markdown/messages/Base/PreComputedJointTrajectory.md new file mode 100644 index 00000000..7a89de7d --- /dev/null +++ b/api_python/doc/markdown/messages/Base/PreComputedJointTrajectory.md @@ -0,0 +1,11 @@ +# class PreComputedJointTrajectory + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|mode|int|Trajectory continuity mode|You can manipulate the field mode as if it were a regular field. To clear the value of mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|trajectory\_elements| [PreComputedJointTrajectoryElement](PreComputedJointTrajectoryElement.md#)|List of pre-computed elements composing the trajectory.|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/PreComputedJointTrajectoryElement.md b/api_python/doc/markdown/messages/Base/PreComputedJointTrajectoryElement.md new file mode 100644 index 00000000..6baa73ca --- /dev/null +++ b/api_python/doc/markdown/messages/Base/PreComputedJointTrajectoryElement.md @@ -0,0 +1,13 @@ +# class PreComputedJointTrajectoryElement + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|joint\_angles|float|Angles values for all joints \(in degrees\)|You can manipulate the field joint\_angles as if it were a regular field. To clear the value of joint\_angles and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|joint\_speeds|float|Speed values for all joints \(in degrees per second\)|You can manipulate the field joint\_speeds as if it were a regular field. To clear the value of joint\_speeds and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|joint\_accelerations|float|Acceleration values for all joints \(in degrees per second^2\)|You can manipulate the field joint\_accelerations as if it were a regular field. To clear the value of joint\_accelerations and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|time\_from\_start|float|Absolute elaspsed time since initial point \(in seconds\)|You can manipulate the field time\_from\_start as if it were a regular field. To clear the value of time\_from\_start and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ProtectionZone.md b/api_python/doc/markdown/messages/Base/ProtectionZone.md new file mode 100644 index 00000000..e41e545b --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ProtectionZone.md @@ -0,0 +1,16 @@ +# class ProtectionZone + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|handle| [ProtectionZoneHandle](ProtectionZoneHandle.md#)|Protection zone handle|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|name|str|Protection zone friendly name|You can manipulate the field name as if it were a regular field. To clear the value of name and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|application\_data|str|Application data \(reserved for use by Web App\)|You can manipulate the field application\_data as if it were a regular field. To clear the value of application\_data and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|is\_enabled|bool|True if protection zone is enabled, false otherwise|You can manipulate the field is\_enabled as if it were a regular field. To clear the value of is\_enabled and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|shape| [ZoneShape](ZoneShape.md#)|Protection zone shape|To set shape, you simply assign a value directly to a field within shape. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|limitations| [CartesianLimitation](CartesianLimitation.md#)|List of Cartesian limitation|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| +|envelope\_limitations| [CartesianLimitation](CartesianLimitation.md#)|List of Cartesian limitation of the envelop|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ProtectionZoneHandle.md b/api_python/doc/markdown/messages/Base/ProtectionZoneHandle.md new file mode 100644 index 00000000..59d77676 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ProtectionZoneHandle.md @@ -0,0 +1,11 @@ +# class ProtectionZoneHandle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|int|Protection zone identifier|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|permission|int|Permission of specified Proctection zone entity. Must use 'Kinova.Api.Common.Permission' enum.|You can manipulate the field permission as if it were a regular field. To clear the value of permission and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ProtectionZoneInformation.md b/api_python/doc/markdown/messages/Base/ProtectionZoneInformation.md new file mode 100644 index 00000000..9921e1cd --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ProtectionZoneInformation.md @@ -0,0 +1,10 @@ +# class ProtectionZoneInformation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|event|int|Event type|You can manipulate the field event as if it were a regular field. To clear the value of event and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ProtectionZoneList.md b/api_python/doc/markdown/messages/Base/ProtectionZoneList.md new file mode 100644 index 00000000..26ac0b35 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ProtectionZoneList.md @@ -0,0 +1,10 @@ +# class ProtectionZoneList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|protection\_zones| [ProtectionZone](ProtectionZone.md#)|Protection zone|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ProtectionZoneNotification.md b/api_python/doc/markdown/messages/Base/ProtectionZoneNotification.md new file mode 100644 index 00000000..1f610369 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ProtectionZoneNotification.md @@ -0,0 +1,14 @@ +# class ProtectionZoneNotification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|event|int|Event type|You can manipulate the field event as if it were a regular field. To clear the value of event and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|handle| [ProtectionZoneHandle](ProtectionZoneHandle.md#)|Handle of the protection zone that this event refers to|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp|To set timestamp, you simply assign a value directly to a field within timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the protection zone event to occur|To set user\_handle, you simply assign a value directly to a field within user\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the protection zone event to occur|To set connection, you simply assign a value directly to a field within connection. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ProtectionZoneNotificationList.md b/api_python/doc/markdown/messages/Base/ProtectionZoneNotificationList.md new file mode 100644 index 00000000..e44fc652 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ProtectionZoneNotificationList.md @@ -0,0 +1,10 @@ +# class ProtectionZoneNotificationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|notifications| [ProtectionZoneNotification](ProtectionZoneNotification.md#)|Notification|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Query.md b/api_python/doc/markdown/messages/Base/Query.md new file mode 100644 index 00000000..a5d52602 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Query.md @@ -0,0 +1,12 @@ +# class Query + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|start\_timestamp| [Timestamp](../Common/Timestamp.md#)|Start timestamp \(set to zero to specify it\)|To set start\_timestamp, you simply assign a value directly to a field within start\_timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|end\_timestamp| [Timestamp](../Common/Timestamp.md#)|End timestamp \(set to zero to not specify it\)|To set end\_timestamp, you simply assign a value directly to a field within end\_timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|username|str|Queried username \(set to "" to not specify it\)|You can manipulate the field username as if it were a regular field. To clear the value of username and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/RequestedActionType.md b/api_python/doc/markdown/messages/Base/RequestedActionType.md new file mode 100644 index 00000000..11abc3b1 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/RequestedActionType.md @@ -0,0 +1,10 @@ +# class RequestedActionType + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|action\_type|int|Action type|You can manipulate the field action\_type as if it were a regular field. To clear the value of action\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/RobotEventNotification.md b/api_python/doc/markdown/messages/Base/RobotEventNotification.md new file mode 100644 index 00000000..ebd72bdc --- /dev/null +++ b/api_python/doc/markdown/messages/Base/RobotEventNotification.md @@ -0,0 +1,14 @@ +# class RobotEventNotification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|event|int|Robot event type|You can manipulate the field event as if it were a regular field. To clear the value of event and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|handle| [DeviceHandle](../Common/DeviceHandle.md#)|Identifier of the hardware device connected or disconnected|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp|To set timestamp, you simply assign a value directly to a field within timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the robot event to occur|To set user\_handle, you simply assign a value directly to a field within user\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the robot event to occur|To set connection, you simply assign a value directly to a field within connection. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/RobotEventNotificationList.md b/api_python/doc/markdown/messages/Base/RobotEventNotificationList.md new file mode 100644 index 00000000..d9ed3e1f --- /dev/null +++ b/api_python/doc/markdown/messages/Base/RobotEventNotificationList.md @@ -0,0 +1,10 @@ +# class RobotEventNotificationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|notifications| [RobotEventNotification](RobotEventNotification.md#)|Notification|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/RotationMatrix.md b/api_python/doc/markdown/messages/Base/RotationMatrix.md new file mode 100644 index 00000000..d0a77a87 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/RotationMatrix.md @@ -0,0 +1,12 @@ +# class RotationMatrix + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|row1| [RotationMatrixRow](RotationMatrixRow.md#)|First rotation matrix row|To set row1, you simply assign a value directly to a field within row1. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|row2| [RotationMatrixRow](RotationMatrixRow.md#)|Second rotation matrix row|To set row2, you simply assign a value directly to a field within row2. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|row3| [RotationMatrixRow](RotationMatrixRow.md#)|Third rotation matrix row|To set row3, you simply assign a value directly to a field within row3. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/RotationMatrixRow.md b/api_python/doc/markdown/messages/Base/RotationMatrixRow.md new file mode 100644 index 00000000..929c9d48 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/RotationMatrixRow.md @@ -0,0 +1,12 @@ +# class RotationMatrixRow + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|column1|float|Value between -1.0 and 1.0|You can manipulate the field column1 as if it were a regular field. To clear the value of column1 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|column2|float|Value between -1.0 and 1.0|You can manipulate the field column2 as if it were a regular field. To clear the value of column2 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|column3|float|Value between -1.0 and 1.0|You can manipulate the field column3 as if it were a regular field. To clear the value of column3 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/SafetyEvent.md b/api_python/doc/markdown/messages/Base/SafetyEvent.md new file mode 100644 index 00000000..8a4b1463 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/SafetyEvent.md @@ -0,0 +1,10 @@ +# class SafetyEvent + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|safety\_handle| [SafetyHandle](../Common/SafetyHandle.md#)|Safety that caused the event to occur|To set safety\_handle, you simply assign a value directly to a field within safety\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/SafetyNotificationList.md b/api_python/doc/markdown/messages/Base/SafetyNotificationList.md new file mode 100644 index 00000000..10aa342f --- /dev/null +++ b/api_python/doc/markdown/messages/Base/SafetyNotificationList.md @@ -0,0 +1,10 @@ +# class SafetyNotificationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|notifications| [SafetyNotification](../Common/SafetyNotification.md#)|Notification|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Sequence.md b/api_python/doc/markdown/messages/Base/Sequence.md new file mode 100644 index 00000000..9569572a --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Sequence.md @@ -0,0 +1,13 @@ +# class Sequence + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|handle| [SequenceHandle](SequenceHandle.md#)|Sequence handle|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|name|str|Sequence name|You can manipulate the field name as if it were a regular field. To clear the value of name and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|application\_data|str|Application data \(reserved for use by Web App\)|You can manipulate the field application\_data as if it were a regular field. To clear the value of application\_data and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tasks| [SequenceTask](SequenceTask.md#)|Array of tasks that this sequence contains|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/SequenceHandle.md b/api_python/doc/markdown/messages/Base/SequenceHandle.md new file mode 100644 index 00000000..46c72a5f --- /dev/null +++ b/api_python/doc/markdown/messages/Base/SequenceHandle.md @@ -0,0 +1,11 @@ +# class SequenceHandle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|int|Sequence identifier|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|permission|int|Sequence permission. See 'Kinova.Api.Common.Permission' enum.|You can manipulate the field permission as if it were a regular field. To clear the value of permission and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/SequenceInfoNotification.md b/api_python/doc/markdown/messages/Base/SequenceInfoNotification.md new file mode 100644 index 00000000..430b99e0 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/SequenceInfoNotification.md @@ -0,0 +1,17 @@ +# class SequenceInfoNotification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|event\_identifier|int|Sequence event type|You can manipulate the field event\_identifier as if it were a regular field. To clear the value of event\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|sequence\_handle| [SequenceHandle](SequenceHandle.md#)|Handle of the sequence that this event refers to|To set sequence\_handle, you simply assign a value directly to a field within sequence\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|task\_index|int|Task index|You can manipulate the field task\_index as if it were a regular field. To clear the value of task\_index and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|group\_identifier|int|Specifies the order in which this task must be executed|You can manipulate the field group\_identifier as if it were a regular field. To clear the value of group\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp|To set timestamp, you simply assign a value directly to a field within timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the sequence event|To set user\_handle, you simply assign a value directly to a field within user\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|abort\_details|int|Details if event\_identifier is equal to ABORT|You can manipulate the field abort\_details as if it were a regular field. To clear the value of abort\_details and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the sequence event|To set connection, you simply assign a value directly to a field within connection. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/SequenceInfoNotificationList.md b/api_python/doc/markdown/messages/Base/SequenceInfoNotificationList.md new file mode 100644 index 00000000..f2350db1 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/SequenceInfoNotificationList.md @@ -0,0 +1,10 @@ +# class SequenceInfoNotificationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|notifications| [SequenceInfoNotification](SequenceInfoNotification.md#)|Notification|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/SequenceInformation.md b/api_python/doc/markdown/messages/Base/SequenceInformation.md new file mode 100644 index 00000000..7df9e168 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/SequenceInformation.md @@ -0,0 +1,12 @@ +# class SequenceInformation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|event\_identifier|int|Sequence event type|You can manipulate the field event\_identifier as if it were a regular field. To clear the value of event\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|task\_index|int|Task index|You can manipulate the field task\_index as if it were a regular field. To clear the value of task\_index and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|task\_identifier|int|Task identifier|You can manipulate the field task\_identifier as if it were a regular field. To clear the value of task\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/SequenceList.md b/api_python/doc/markdown/messages/Base/SequenceList.md new file mode 100644 index 00000000..1d351101 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/SequenceList.md @@ -0,0 +1,10 @@ +# class SequenceList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|sequence\_list| [Sequence](Sequence.md#)|Sequence|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/SequenceTask.md b/api_python/doc/markdown/messages/Base/SequenceTask.md new file mode 100644 index 00000000..a113d52d --- /dev/null +++ b/api_python/doc/markdown/messages/Base/SequenceTask.md @@ -0,0 +1,12 @@ +# class SequenceTask + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|group\_identifier|int|Specifies the order in which this task must be executed|You can manipulate the field group\_identifier as if it were a regular field. To clear the value of group\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|action| [Action](Action.md#)|Specifies the action to execute|To set action, you simply assign a value directly to a field within action. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|application\_data|str|Application data \(reserved for use by Web App\)|You can manipulate the field application\_data as if it were a regular field. To clear the value of application\_data and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/SequenceTaskHandle.md b/api_python/doc/markdown/messages/Base/SequenceTaskHandle.md new file mode 100644 index 00000000..899ac1fb --- /dev/null +++ b/api_python/doc/markdown/messages/Base/SequenceTaskHandle.md @@ -0,0 +1,11 @@ +# class SequenceTaskHandle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|sequence\_handle| [SequenceHandle](SequenceHandle.md#)|Sequence handle|To set sequence\_handle, you simply assign a value directly to a field within sequence\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|task\_index|int|Task index inside the sequence|You can manipulate the field task\_index as if it were a regular field. To clear the value of task\_index and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ServoingModeInformation.md b/api_python/doc/markdown/messages/Base/ServoingModeInformation.md new file mode 100644 index 00000000..fd33c3f9 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ServoingModeInformation.md @@ -0,0 +1,10 @@ +# class ServoingModeInformation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|servoing\_mode|int|Servoing mode|You can manipulate the field servoing\_mode as if it were a regular field. To clear the value of servoing\_mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ServoingModeNotification.md b/api_python/doc/markdown/messages/Base/ServoingModeNotification.md new file mode 100644 index 00000000..a7466da9 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ServoingModeNotification.md @@ -0,0 +1,13 @@ +# class ServoingModeNotification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|servoing\_mode|int|New servoing mode|You can manipulate the field servoing\_mode as if it were a regular field. To clear the value of servoing\_mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp|To set timestamp, you simply assign a value directly to a field within timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the servoing mode event|To set user\_handle, you simply assign a value directly to a field within user\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the servoing mode event|To set connection, you simply assign a value directly to a field within connection. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ServoingModeNotificationList.md b/api_python/doc/markdown/messages/Base/ServoingModeNotificationList.md new file mode 100644 index 00000000..2481448c --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ServoingModeNotificationList.md @@ -0,0 +1,10 @@ +# class ServoingModeNotificationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|notifications| [ServoingModeNotification](ServoingModeNotification.md#)|Notification|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Ssid.md b/api_python/doc/markdown/messages/Base/Ssid.md new file mode 100644 index 00000000..addda2d5 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Ssid.md @@ -0,0 +1,10 @@ +# class Ssid + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|str|Wi-Fi Service Set Identifier|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Stop.md b/api_python/doc/markdown/messages/Base/Stop.md new file mode 100644 index 00000000..fe8ff37a --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Stop.md @@ -0,0 +1,4 @@ +# class Stop + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/SwitchControlMapping.md b/api_python/doc/markdown/messages/Base/SwitchControlMapping.md new file mode 100644 index 00000000..7d00657d --- /dev/null +++ b/api_python/doc/markdown/messages/Base/SwitchControlMapping.md @@ -0,0 +1,12 @@ +# class SwitchControlMapping + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|controller\_identifier|int|Identifier of the controller for which changing the active map is requested|You can manipulate the field controller\_identifier as if it were a regular field. To clear the value of controller\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|map\_group\_handle| [MapGroupHandle](MapGroupHandle.md#)|Reference to the map group for which the active map needs to change|To set map\_group\_handle, you simply assign a value directly to a field within map\_group\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|map\_handle| [MapHandle](MapHandle.md#)|Reference to new active map|To set map\_handle, you simply assign a value directly to a field within map\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/SystemTime.md b/api_python/doc/markdown/messages/Base/SystemTime.md new file mode 100644 index 00000000..993907a9 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/SystemTime.md @@ -0,0 +1,15 @@ +# class SystemTime + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|sec|int|Seconds after the minute\(0-59\)|You can manipulate the field sec as if it were a regular field. To clear the value of sec and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|min|int|Minutes after the hour \(0-59\)|You can manipulate the field min as if it were a regular field. To clear the value of min and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|hour|int|Hours since midnight \(0-23\)|You can manipulate the field hour as if it were a regular field. To clear the value of hour and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|mday|int|Day of the month \(1-31\)|You can manipulate the field mday as if it were a regular field. To clear the value of mday and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|mon|int|Months since January \(0-11\)|You can manipulate the field mon as if it were a regular field. To clear the value of mon and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|year|int|Years since 1900|You can manipulate the field year as if it were a regular field. To clear the value of year and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Timeout.md b/api_python/doc/markdown/messages/Base/Timeout.md new file mode 100644 index 00000000..1e0ca64e --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Timeout.md @@ -0,0 +1,10 @@ +# class Timeout + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|value|int|Timeout value \(not implemented yet\)|You can manipulate the field value as if it were a regular field. To clear the value of value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/TrajectoryErrorElement.md b/api_python/doc/markdown/messages/Base/TrajectoryErrorElement.md new file mode 100644 index 00000000..d1749805 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/TrajectoryErrorElement.md @@ -0,0 +1,16 @@ +# class TrajectoryErrorElement + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|error\_type|int|Error type|You can manipulate the field error\_type as if it were a regular field. To clear the value of error\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|error\_identifier|int|Error identifier|You can manipulate the field error\_identifier as if it were a regular field. To clear the value of error\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|error\_value|float|Erroneous value|You can manipulate the field error\_value as if it were a regular field. To clear the value of error\_value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|min\_value|float|Minimum permitted value|You can manipulate the field min\_value as if it were a regular field. To clear the value of min\_value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|max\_value|float|Maximum permitted value|You can manipulate the field max\_value as if it were a regular field. To clear the value of max\_value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|index|int|Actuator index|You can manipulate the field index as if it were a regular field. To clear the value of index and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|message|str|Clarification message for the error|You can manipulate the field message as if it were a regular field. To clear the value of message and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/TrajectoryErrorReport.md b/api_python/doc/markdown/messages/Base/TrajectoryErrorReport.md new file mode 100644 index 00000000..82c09d6e --- /dev/null +++ b/api_python/doc/markdown/messages/Base/TrajectoryErrorReport.md @@ -0,0 +1,10 @@ +# class TrajectoryErrorReport + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|trajectory\_error\_elements| [TrajectoryErrorElement](TrajectoryErrorElement.md#)| |Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/TransformationMatrix.md b/api_python/doc/markdown/messages/Base/TransformationMatrix.md new file mode 100644 index 00000000..047f1389 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/TransformationMatrix.md @@ -0,0 +1,13 @@ +# class TransformationMatrix + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|r0| [TransformationRow](TransformationRow.md#)|First transformation row|To set r0, you simply assign a value directly to a field within r0. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|r1| [TransformationRow](TransformationRow.md#)|Second transformation row|To set r1, you simply assign a value directly to a field within r1. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|r2| [TransformationRow](TransformationRow.md#)|Third transformation row|To set r2, you simply assign a value directly to a field within r2. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|r3| [TransformationRow](TransformationRow.md#)|Fourth transformation row|To set r3, you simply assign a value directly to a field within r3. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/TransformationRow.md b/api_python/doc/markdown/messages/Base/TransformationRow.md new file mode 100644 index 00000000..9433ad81 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/TransformationRow.md @@ -0,0 +1,13 @@ +# class TransformationRow + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|c0|float|First column value|You can manipulate the field c0 as if it were a regular field. To clear the value of c0 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|c1|float|Second column value|You can manipulate the field c1 as if it were a regular field. To clear the value of c1 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|c2|float|Third column value|You can manipulate the field c2 as if it were a regular field. To clear the value of c2 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|c3|float|Fourth column value|You can manipulate the field c3 as if it were a regular field. To clear the value of c3 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Twist.md b/api_python/doc/markdown/messages/Base/Twist.md new file mode 100644 index 00000000..64fa8a18 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Twist.md @@ -0,0 +1,15 @@ +# class Twist + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|linear\_x|float|Linear X velocity \(m/s or ratio between -1.0 and 1.0 if used with joystick command\)|You can manipulate the field linear\_x as if it were a regular field. To clear the value of linear\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|linear\_y|float|Linear Y velocity \(m/s or ratio between -1.0 and 1.0 if used with joystick command\)|You can manipulate the field linear\_y as if it were a regular field. To clear the value of linear\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|linear\_z|float|Linear Z velocity \(m/s or ratio between -1.0 and 1.0 if used with joystick command\)|You can manipulate the field linear\_z as if it were a regular field. To clear the value of linear\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|angular\_x|float|Angular X velocity \(deg/s or ratio between -1.0 and 1.0 if used with joystick command\)|You can manipulate the field angular\_x as if it were a regular field. To clear the value of angular\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|angular\_y|float|Angular Y velocity \(deg/s or ratio between -1.0 and 1.0 if used with joystick command\)|You can manipulate the field angular\_y as if it were a regular field. To clear the value of angular\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|angular\_z|float|Angular Z velocity \(deg/s or ratio between -1.0 and 1.0 if used with joystick command\)|You can manipulate the field angular\_z as if it were a regular field. To clear the value of angular\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/TwistCommand.md b/api_python/doc/markdown/messages/Base/TwistCommand.md new file mode 100644 index 00000000..581829c4 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/TwistCommand.md @@ -0,0 +1,12 @@ +# class TwistCommand + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|reference\_frame|int|The reference frame used for the twist command|You can manipulate the field reference\_frame as if it were a regular field. To clear the value of reference\_frame and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|twist| [Twist](Twist.md#)|Twist value|To set twist, you simply assign a value directly to a field within twist. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|duration|int|Duration constrant. If not 0, allows to set a limit \(in milliseconds\) to the TwistCommand \(not implemented yet\)|You can manipulate the field duration as if it were a regular field. To clear the value of duration and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/TwistLimitation.md b/api_python/doc/markdown/messages/Base/TwistLimitation.md new file mode 100644 index 00000000..8a865616 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/TwistLimitation.md @@ -0,0 +1,11 @@ +# class TwistLimitation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|linear|float|Linear limitation|You can manipulate the field linear as if it were a regular field. To clear the value of linear and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|angular|float|Angular limitation|You can manipulate the field angular as if it were a regular field. To clear the value of angular and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/UserList.md b/api_python/doc/markdown/messages/Base/UserList.md new file mode 100644 index 00000000..694d0b99 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/UserList.md @@ -0,0 +1,10 @@ +# class UserList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|user\_handles| [UserProfileHandle](../Common/UserProfileHandle.md#)|User handle|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/UserNotification.md b/api_python/doc/markdown/messages/Base/UserNotification.md new file mode 100644 index 00000000..1949b986 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/UserNotification.md @@ -0,0 +1,14 @@ +# class UserNotification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|user\_event|int|User event type|You can manipulate the field user\_event as if it were a regular field. To clear the value of user\_event and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|modified\_user| [UserProfileHandle](../Common/UserProfileHandle.md#)|User profile that was modified|To set modified\_user, you simply assign a value directly to a field within modified\_user. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp|To set timestamp, you simply assign a value directly to a field within timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the user profile event \(i.e. user who changed the user profile\)|To set user\_handle, you simply assign a value directly to a field within user\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the user profile event \(i.e. user who changed the user profile\)|To set connection, you simply assign a value directly to a field within connection. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/UserNotificationList.md b/api_python/doc/markdown/messages/Base/UserNotificationList.md new file mode 100644 index 00000000..f367ce85 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/UserNotificationList.md @@ -0,0 +1,10 @@ +# class UserNotificationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|notifications| [UserNotification](UserNotification.md#)|Notification|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/UserProfile.md b/api_python/doc/markdown/messages/Base/UserProfile.md new file mode 100644 index 00000000..081260a0 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/UserProfile.md @@ -0,0 +1,14 @@ +# class UserProfile + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User handle \(no need to set it with CreateUserProfile\(\)\)|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|username|str|Username, which is used to connect to robot \(or login via Web App\)|You can manipulate the field username as if it were a regular field. To clear the value of username and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|firstname|str|User's first name|You can manipulate the field firstname as if it were a regular field. To clear the value of firstname and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|lastname|str|User's last name|You can manipulate the field lastname as if it were a regular field. To clear the value of lastname and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|application\_data|str|Application data \(reserved for use by Web App\)|You can manipulate the field application\_data as if it were a regular field. To clear the value of application\_data and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/UserProfileList.md b/api_python/doc/markdown/messages/Base/UserProfileList.md new file mode 100644 index 00000000..ef654e4c --- /dev/null +++ b/api_python/doc/markdown/messages/Base/UserProfileList.md @@ -0,0 +1,10 @@ +# class UserProfileList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|user\_profiles| [UserProfile](UserProfile.md#)|User profile|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/WifiConfiguration.md b/api_python/doc/markdown/messages/Base/WifiConfiguration.md new file mode 100644 index 00000000..04fa7ec8 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/WifiConfiguration.md @@ -0,0 +1,12 @@ +# class WifiConfiguration + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|ssid| [Ssid](Ssid.md#)|SSID|To set ssid, you simply assign a value directly to a field within ssid. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|security\_key|str|Security key to used when connecting to Wi-Fi network|You can manipulate the field security\_key as if it were a regular field. To clear the value of security\_key and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|connect\_automatically|bool|Connection mode. Set to true so robot automatically connects to this Wi-Fi network at bootup, false otherwise|You can manipulate the field connect\_automatically as if it were a regular field. To clear the value of connect\_automatically and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/WifiConfigurationList.md b/api_python/doc/markdown/messages/Base/WifiConfigurationList.md new file mode 100644 index 00000000..fcd7f5d0 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/WifiConfigurationList.md @@ -0,0 +1,10 @@ +# class WifiConfigurationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|wifi\_configuration\_list| [WifiConfiguration](WifiConfiguration.md#)|Wi-Fi configurations|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/WifiInformation.md b/api_python/doc/markdown/messages/Base/WifiInformation.md new file mode 100644 index 00000000..2e8840fc --- /dev/null +++ b/api_python/doc/markdown/messages/Base/WifiInformation.md @@ -0,0 +1,16 @@ +# class WifiInformation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|ssid| [Ssid](Ssid.md#)|SSID|To set ssid, you simply assign a value directly to a field within ssid. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|security\_type|int|Wi-Fi security type|You can manipulate the field security\_type as if it were a regular field. To clear the value of security\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|encryption\_type|int|Wi-Fi encryption type|You can manipulate the field encryption\_type as if it were a regular field. To clear the value of encryption\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|signal\_quality|int|Wi-Fi signal quality|You can manipulate the field signal\_quality as if it were a regular field. To clear the value of signal\_quality and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|signal\_strength|int|Wi-Fi signal power in dBm|You can manipulate the field signal\_strength as if it were a regular field. To clear the value of signal\_strength and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|frequency|int|Wi-Fi operating frequency \(channel\) in MHz|You can manipulate the field frequency as if it were a regular field. To clear the value of frequency and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|channel|int|Wi-Fi operating channel|You can manipulate the field channel as if it were a regular field. To clear the value of channel and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/WifiInformationList.md b/api_python/doc/markdown/messages/Base/WifiInformationList.md new file mode 100644 index 00000000..bcca13f7 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/WifiInformationList.md @@ -0,0 +1,10 @@ +# class WifiInformationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|wifi\_information\_list| [WifiInformation](WifiInformation.md#)|Wi-Fi information|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/Wrench.md b/api_python/doc/markdown/messages/Base/Wrench.md new file mode 100644 index 00000000..701f9777 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/Wrench.md @@ -0,0 +1,15 @@ +# class Wrench + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|force\_x|float|Linear X force \(Newtons or ratio between -1.0 and 1.0 if used with Joystick command\)|You can manipulate the field force\_x as if it were a regular field. To clear the value of force\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|force\_y|float|Linear Y force \(Newtons or ratio between -1.0 and 1.0 if used with Joystick command\)|You can manipulate the field force\_y as if it were a regular field. To clear the value of force\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|force\_z|float|Linear Z force \(Newtons or ratio between -1.0 and 1.0 if used with Joystick command\)|You can manipulate the field force\_z as if it were a regular field. To clear the value of force\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|torque\_x|float|Angular X torque \(Newton-meters or ratio between -1.0 and 1.0 if used with Joystick command\)|You can manipulate the field torque\_x as if it were a regular field. To clear the value of torque\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|torque\_y|float|Angular Y torque \(Newton-meters or ratio between -1.0 and 1.0 if used with Joystick command\)|You can manipulate the field torque\_y as if it were a regular field. To clear the value of torque\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|torque\_z|float|Angular Z torque \(Newton-meters or ratio between -1.0 and 1.0 if used with Joystick command\)|You can manipulate the field torque\_z as if it were a regular field. To clear the value of torque\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/WrenchCommand.md b/api_python/doc/markdown/messages/Base/WrenchCommand.md new file mode 100644 index 00000000..ee6559ab --- /dev/null +++ b/api_python/doc/markdown/messages/Base/WrenchCommand.md @@ -0,0 +1,13 @@ +# class WrenchCommand + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|reference\_frame|int|The reference frame used for the wrench command|You can manipulate the field reference\_frame as if it were a regular field. To clear the value of reference\_frame and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|mode|int|Mode in which the command is executed|You can manipulate the field mode as if it were a regular field. To clear the value of mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|wrench| [Wrench](Wrench.md#)|Wrench value|To set wrench, you simply assign a value directly to a field within wrench. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|duration|int|Duration constraint. If not 0, allows to set a limit \(in milliseconds\) to the WrenchCommand|You can manipulate the field duration as if it were a regular field. To clear the value of duration and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/WrenchLimitation.md b/api_python/doc/markdown/messages/Base/WrenchLimitation.md new file mode 100644 index 00000000..ef2d62c4 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/WrenchLimitation.md @@ -0,0 +1,11 @@ +# class WrenchLimitation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|force|float|Force limitation|You can manipulate the field force as if it were a regular field. To clear the value of force and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|torque|float|Torque limitation|You can manipulate the field torque as if it were a regular field. To clear the value of torque and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/Base/ZoneShape.md b/api_python/doc/markdown/messages/Base/ZoneShape.md new file mode 100644 index 00000000..6be7f557 --- /dev/null +++ b/api_python/doc/markdown/messages/Base/ZoneShape.md @@ -0,0 +1,14 @@ +# class ZoneShape + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|shape\_type|int|Shape type|You can manipulate the field shape\_type as if it were a regular field. To clear the value of shape\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|origin| [Point](Point.md#)|Origin of the protection zone shape from reference \(in meters\)|To set origin, you simply assign a value directly to a field within origin. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|orientation| [RotationMatrix](RotationMatrix.md#)|Rotation matrix to provide shape orientation|To set orientation, you simply assign a value directly to a field within orientation. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|dimensions|float|Shape size measurement \(in meters\). If rectangular prism: x, y and z dimensions. If cylinder: radius and height. If sphere: radius|You can manipulate the field dimensions as if it were a regular field. To clear the value of dimensions and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|envelope\_thickness|float|Thickness of envelop around shape \(in meters\). The envelop is of same shape type as the shape at its center.|You can manipulate the field envelope\_thickness as if it were a regular field. To clear the value of envelope\_thickness and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Base \(Python\)](../../summary_pages/Base.md) + diff --git a/api_python/doc/markdown/messages/BaseCyclic/ActuatorCommand.md b/api_python/doc/markdown/messages/BaseCyclic/ActuatorCommand.md new file mode 100644 index 00000000..06e700fc --- /dev/null +++ b/api_python/doc/markdown/messages/BaseCyclic/ActuatorCommand.md @@ -0,0 +1,15 @@ +# class ActuatorCommand + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|command\_id|int|Command ID \(first 2 bytes: device ID, last 2 bytes: sequence number\)|You can manipulate the field command\_id as if it were a regular field. To clear the value of command\_id and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|flags|int|Flags|You can manipulate the field flags as if it were a regular field. To clear the value of flags and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|position|float|Desired position of the actuator \(in degrees\)|You can manipulate the field position as if it were a regular field. To clear the value of position and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|velocity|float|Desired velocity of the actuator \(in degrees per second\)|You can manipulate the field velocity as if it were a regular field. To clear the value of velocity and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|torque\_joint|float|Desired torque of the actuator \(in Newton \* meters\)|You can manipulate the field torque\_joint as if it were a regular field. To clear the value of torque\_joint and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|current\_motor|float|Desired current of the motor \(in Amperes\)|You can manipulate the field current\_motor as if it were a regular field. To clear the value of current\_motor and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [BaseCyclic \(Python\)](../../summary_pages/BaseCyclic.md) + diff --git a/api_python/doc/markdown/messages/BaseCyclic/ActuatorCustomData.md b/api_python/doc/markdown/messages/BaseCyclic/ActuatorCustomData.md new file mode 100644 index 00000000..2de18091 --- /dev/null +++ b/api_python/doc/markdown/messages/BaseCyclic/ActuatorCustomData.md @@ -0,0 +1,26 @@ +# class ActuatorCustomData + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|command\_id|int|Command ID \(first 2 bytes: device ID, last 2 bytes: sequence number\)|You can manipulate the field command\_id as if it were a regular field. To clear the value of command\_id and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_0|int|Custom data word 0|You can manipulate the field custom\_data\_0 as if it were a regular field. To clear the value of custom\_data\_0 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_1|int|Custom data word 1|You can manipulate the field custom\_data\_1 as if it were a regular field. To clear the value of custom\_data\_1 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_2|int|Custom data word 2|You can manipulate the field custom\_data\_2 as if it were a regular field. To clear the value of custom\_data\_2 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_3|int|Custom data word 3|You can manipulate the field custom\_data\_3 as if it were a regular field. To clear the value of custom\_data\_3 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_4|int|Custom data word 4|You can manipulate the field custom\_data\_4 as if it were a regular field. To clear the value of custom\_data\_4 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_5|int|Custom data word 5|You can manipulate the field custom\_data\_5 as if it were a regular field. To clear the value of custom\_data\_5 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_6|int|Custom data word 6|You can manipulate the field custom\_data\_6 as if it were a regular field. To clear the value of custom\_data\_6 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_7|int|Custom data word 7|You can manipulate the field custom\_data\_7 as if it were a regular field. To clear the value of custom\_data\_7 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_8|int|Custom data word 8|You can manipulate the field custom\_data\_8 as if it were a regular field. To clear the value of custom\_data\_8 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_9|int|Custom data word 9|You can manipulate the field custom\_data\_9 as if it were a regular field. To clear the value of custom\_data\_9 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_10|int|Custom data word 10|You can manipulate the field custom\_data\_10 as if it were a regular field. To clear the value of custom\_data\_10 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_11|int|Custom data word 11|You can manipulate the field custom\_data\_11 as if it were a regular field. To clear the value of custom\_data\_11 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_12|int|Custom data word 12|You can manipulate the field custom\_data\_12 as if it were a regular field. To clear the value of custom\_data\_12 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_13|int|Custom data word 13|You can manipulate the field custom\_data\_13 as if it were a regular field. To clear the value of custom\_data\_13 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_14|int|Custom data word 14|You can manipulate the field custom\_data\_14 as if it were a regular field. To clear the value of custom\_data\_14 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_15|int|Custom data word 15|You can manipulate the field custom\_data\_15 as if it were a regular field. To clear the value of custom\_data\_15 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [BaseCyclic \(Python\)](../../summary_pages/BaseCyclic.md) + diff --git a/api_python/doc/markdown/messages/BaseCyclic/ActuatorFeedback.md b/api_python/doc/markdown/messages/BaseCyclic/ActuatorFeedback.md new file mode 100644 index 00000000..1129845e --- /dev/null +++ b/api_python/doc/markdown/messages/BaseCyclic/ActuatorFeedback.md @@ -0,0 +1,23 @@ +# class ActuatorFeedback + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|command\_id|int|Command ID \(first 2 bytes: device ID, last 2 bytes: sequence number\)|You can manipulate the field command\_id as if it were a regular field. To clear the value of command\_id and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|status\_flags|int|Status flags|You can manipulate the field status\_flags as if it were a regular field. To clear the value of status\_flags and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|jitter\_comm|int|Jitter from the communication \(in microseconds\)|You can manipulate the field jitter\_comm as if it were a regular field. To clear the value of jitter\_comm and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|position|float|Position of the actuator \(in degrees\)|You can manipulate the field position as if it were a regular field. To clear the value of position and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|velocity|float|Velocity of the actuator \(in degrees per second\)|You can manipulate the field velocity as if it were a regular field. To clear the value of velocity and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|torque|float|Torque of the actuator \(in Newton \* meters\)|You can manipulate the field torque as if it were a regular field. To clear the value of torque and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|current\_motor|float|Current of the motor \(in Amperes\)|You can manipulate the field current\_motor as if it were a regular field. To clear the value of current\_motor and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|voltage|float|Voltage of the main board \(in Volts\)|You can manipulate the field voltage as if it were a regular field. To clear the value of voltage and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|temperature\_motor|float|Motor temperature \(maximum of the three \(3\) phase temperatures in °C\)|You can manipulate the field temperature\_motor as if it were a regular field. To clear the value of temperature\_motor and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|temperature\_core|float|Microcontroller temperature \(in degrees Celsius\)|You can manipulate the field temperature\_core as if it were a regular field. To clear the value of temperature\_core and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|fault\_bank\_a|int|Fault bank A|You can manipulate the field fault\_bank\_a as if it were a regular field. To clear the value of fault\_bank\_a and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|fault\_bank\_b|int|Fault bank B|You can manipulate the field fault\_bank\_b as if it were a regular field. To clear the value of fault\_bank\_b and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|warning\_bank\_a|int|Warning bank A|You can manipulate the field warning\_bank\_a as if it were a regular field. To clear the value of warning\_bank\_a and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|warning\_bank\_b|int|Warning bank B|You can manipulate the field warning\_bank\_b as if it were a regular field. To clear the value of warning\_bank\_b and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [BaseCyclic \(Python\)](../../summary_pages/BaseCyclic.md) + diff --git a/api_python/doc/markdown/messages/BaseCyclic/BaseFeedback.md b/api_python/doc/markdown/messages/BaseCyclic/BaseFeedback.md new file mode 100644 index 00000000..c739a4a0 --- /dev/null +++ b/api_python/doc/markdown/messages/BaseCyclic/BaseFeedback.md @@ -0,0 +1,49 @@ +# class BaseFeedback + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|active\_state\_connection\_identifier|int|Connection identifier of the last processed command which triggered an arm state change|You can manipulate the field active\_state\_connection\_identifier as if it were a regular field. To clear the value of active\_state\_connection\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|active\_state|int|Active state of the arm|You can manipulate the field active\_state as if it were a regular field. To clear the value of active\_state and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|arm\_voltage|float|Arm voltage \(in Volts\)|You can manipulate the field arm\_voltage as if it were a regular field. To clear the value of arm\_voltage and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|arm\_current|float|Arm current \(in Amperes\)|You can manipulate the field arm\_current as if it were a regular field. To clear the value of arm\_current and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|temperature\_cpu|float|CPU temperature \(in degree Celsius\)|You can manipulate the field temperature\_cpu as if it were a regular field. To clear the value of temperature\_cpu and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|temperature\_ambient|float|Ambient temperature \(in degree Celsius\)|You can manipulate the field temperature\_ambient as if it were a regular field. To clear the value of temperature\_ambient and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|imu\_acceleration\_x|float|IMU Measured acceleration \(X-Axis\) of the base \(in meters per second squared\)|You can manipulate the field imu\_acceleration\_x as if it were a regular field. To clear the value of imu\_acceleration\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|imu\_acceleration\_y|float|IMU Measured acceleration \(Y-Axis\) of the base \(in meters per second squared\)|You can manipulate the field imu\_acceleration\_y as if it were a regular field. To clear the value of imu\_acceleration\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|imu\_acceleration\_z|float|IMU Measured acceleration \(Z-Axis\) of the base \(in meters per second squared\)|You can manipulate the field imu\_acceleration\_z as if it were a regular field. To clear the value of imu\_acceleration\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|imu\_angular\_velocity\_x|float|IMU Measured angular velocity \(X-Axis\) of the base \(in degrees per second\)|You can manipulate the field imu\_angular\_velocity\_x as if it were a regular field. To clear the value of imu\_angular\_velocity\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|imu\_angular\_velocity\_y|float|IMU Measured angular velocity \(Y-Axis\) of the base \(in degrees per second\)|You can manipulate the field imu\_angular\_velocity\_y as if it were a regular field. To clear the value of imu\_angular\_velocity\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|imu\_angular\_velocity\_z|float|IMU Measured angular velocity \(Z-Axis\) of the base \(in degrees per second\)|You can manipulate the field imu\_angular\_velocity\_z as if it were a regular field. To clear the value of imu\_angular\_velocity\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_pose\_x|float|Measured Cartesian position \(X-Axis\) of the tool \(in meters\)|You can manipulate the field tool\_pose\_x as if it were a regular field. To clear the value of tool\_pose\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_pose\_y|float|Measured Cartesian position \(Y-Axis\) of the tool \(in meters\)|You can manipulate the field tool\_pose\_y as if it were a regular field. To clear the value of tool\_pose\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_pose\_z|float|Measured Cartesian position \(Z-Axis\) of the tool \(in meters\)|You can manipulate the field tool\_pose\_z as if it were a regular field. To clear the value of tool\_pose\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_pose\_theta\_x|float|Measured Cartesian orientation \(X-Axis\) of the tool \(in degrees\)|You can manipulate the field tool\_pose\_theta\_x as if it were a regular field. To clear the value of tool\_pose\_theta\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_pose\_theta\_y|float|Measured Cartesian orientation \(Y-Axis\) of the tool \(in degrees\)|You can manipulate the field tool\_pose\_theta\_y as if it were a regular field. To clear the value of tool\_pose\_theta\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_pose\_theta\_z|float|Measured Cartesian orientation \(Z-Axis\) of the tool \(in degrees\)|You can manipulate the field tool\_pose\_theta\_z as if it were a regular field. To clear the value of tool\_pose\_theta\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_twist\_linear\_x|float|Measured Cartesian linear velocity \(X-Axis\) of the tool \(in meters\)|You can manipulate the field tool\_twist\_linear\_x as if it were a regular field. To clear the value of tool\_twist\_linear\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_twist\_linear\_y|float|Measured Cartesian linear velocity \(Y-Axis\) of the tool \(in meters\)|You can manipulate the field tool\_twist\_linear\_y as if it were a regular field. To clear the value of tool\_twist\_linear\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_twist\_linear\_z|float|Measured Cartesian linear velocity \(Z-Axis\) of the tool \(in meters\)|You can manipulate the field tool\_twist\_linear\_z as if it were a regular field. To clear the value of tool\_twist\_linear\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_twist\_angular\_x|float|Measured Cartesian angular velocity \(X-Axis\) of the tool \(in degrees per second\)|You can manipulate the field tool\_twist\_angular\_x as if it were a regular field. To clear the value of tool\_twist\_angular\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_twist\_angular\_y|float|Measured Cartesian angular velocity \(Y-Axis\) of the tool \(in degrees per second\)|You can manipulate the field tool\_twist\_angular\_y as if it were a regular field. To clear the value of tool\_twist\_angular\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_twist\_angular\_z|float|Measured Cartesian angular velocity \(Z-Axis\) of the tool \(in degrees per second\)|You can manipulate the field tool\_twist\_angular\_z as if it were a regular field. To clear the value of tool\_twist\_angular\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_external\_wrench\_force\_x|float|Computed force in X-Axis from external wrench \(in Newton\)|You can manipulate the field tool\_external\_wrench\_force\_x as if it were a regular field. To clear the value of tool\_external\_wrench\_force\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_external\_wrench\_force\_y|float|Computed force in Y-Axis from external wrench \(in Newton\)|You can manipulate the field tool\_external\_wrench\_force\_y as if it were a regular field. To clear the value of tool\_external\_wrench\_force\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_external\_wrench\_force\_z|float|Computed force in Z-Axis from external wrench \(in Newton\)|You can manipulate the field tool\_external\_wrench\_force\_z as if it were a regular field. To clear the value of tool\_external\_wrench\_force\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_external\_wrench\_torque\_x|float|Computed torque about X-axis from external wrench \(in Newton-meters\)|You can manipulate the field tool\_external\_wrench\_torque\_x as if it were a regular field. To clear the value of tool\_external\_wrench\_torque\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_external\_wrench\_torque\_y|float|Computed torque about Y-axis from external wrench \(in Newton-meters\)|You can manipulate the field tool\_external\_wrench\_torque\_y as if it were a regular field. To clear the value of tool\_external\_wrench\_torque\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_external\_wrench\_torque\_z|float|Computed torque about Z-axis from external wrench \(in Newton-meters\)|You can manipulate the field tool\_external\_wrench\_torque\_z as if it were a regular field. To clear the value of tool\_external\_wrench\_torque\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|fault\_bank\_a|int|The arm fault flags bank A \(0 if no fault\) see Base.SafetyIdentifier|You can manipulate the field fault\_bank\_a as if it were a regular field. To clear the value of fault\_bank\_a and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|fault\_bank\_b|int|The arm fault flags bank B \(0 if no fault\) see Base.SafetyIdentifier|You can manipulate the field fault\_bank\_b as if it were a regular field. To clear the value of fault\_bank\_b and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|warning\_bank\_a|int|The arm warning flags bank A \(0 if no warning\) see Base.SafetyIdentifier|You can manipulate the field warning\_bank\_a as if it were a regular field. To clear the value of warning\_bank\_a and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|warning\_bank\_b|int|The arm warning flags bank B \(0 if no warning\) see Base.SafetyIdentifier|You can manipulate the field warning\_bank\_b as if it were a regular field. To clear the value of warning\_bank\_b and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|commanded\_tool\_pose\_x|float|Commanded Cartesian position \(X-Axis\) of the tool \(in meters\)|You can manipulate the field commanded\_tool\_pose\_x as if it were a regular field. To clear the value of commanded\_tool\_pose\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|commanded\_tool\_pose\_y|float|Commanded Cartesian position \(Y-Axis\) of the tool \(in meters\)|You can manipulate the field commanded\_tool\_pose\_y as if it were a regular field. To clear the value of commanded\_tool\_pose\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|commanded\_tool\_pose\_z|float|Commanded Cartesian position \(Z-Axis\) of the tool \(in meters\)|You can manipulate the field commanded\_tool\_pose\_z as if it were a regular field. To clear the value of commanded\_tool\_pose\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|commanded\_tool\_pose\_theta\_x|float|Commanded Cartesian orientation \(X-Axis\) of the tool \(in degrees\)|You can manipulate the field commanded\_tool\_pose\_theta\_x as if it were a regular field. To clear the value of commanded\_tool\_pose\_theta\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|commanded\_tool\_pose\_theta\_y|float|Commanded Cartesian orientation \(Y-Axis\) of the tool \(in degrees\)|You can manipulate the field commanded\_tool\_pose\_theta\_y as if it were a regular field. To clear the value of commanded\_tool\_pose\_theta\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|commanded\_tool\_pose\_theta\_z|float|Commanded Cartesian orientation \(Z-Axis\) of the tool \(in degrees\)|You can manipulate the field commanded\_tool\_pose\_theta\_z as if it were a regular field. To clear the value of commanded\_tool\_pose\_theta\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [BaseCyclic \(Python\)](../../summary_pages/BaseCyclic.md) + diff --git a/api_python/doc/markdown/messages/BaseCyclic/Command.md b/api_python/doc/markdown/messages/BaseCyclic/Command.md new file mode 100644 index 00000000..c41f660d --- /dev/null +++ b/api_python/doc/markdown/messages/BaseCyclic/Command.md @@ -0,0 +1,12 @@ +# class Command + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|frame\_id|int|Frame ID|You can manipulate the field frame\_id as if it were a regular field. To clear the value of frame\_id and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|actuators| [ActuatorCommand](ActuatorCommand.md#)|Actuator command \(repeated\)|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| +|interconnect| [Command](../InterconnectCyclic/Command.md#)|Interface command|To set interconnect, you simply assign a value directly to a field within interconnect. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [BaseCyclic \(Python\)](../../summary_pages/BaseCyclic.md) + diff --git a/api_python/doc/markdown/messages/BaseCyclic/CustomData.md b/api_python/doc/markdown/messages/BaseCyclic/CustomData.md new file mode 100644 index 00000000..f58b5505 --- /dev/null +++ b/api_python/doc/markdown/messages/BaseCyclic/CustomData.md @@ -0,0 +1,20 @@ +# class CustomData + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|frame\_id|int|Frame ID|You can manipulate the field frame\_id as if it were a regular field. To clear the value of frame\_id and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_0|int|Custom data word 0|You can manipulate the field custom\_data\_0 as if it were a regular field. To clear the value of custom\_data\_0 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_1|int|Custom data word 1|You can manipulate the field custom\_data\_1 as if it were a regular field. To clear the value of custom\_data\_1 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_2|int|Custom data word 2|You can manipulate the field custom\_data\_2 as if it were a regular field. To clear the value of custom\_data\_2 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_3|int|Custom data word 3|You can manipulate the field custom\_data\_3 as if it were a regular field. To clear the value of custom\_data\_3 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_4|int|Custom data word 4|You can manipulate the field custom\_data\_4 as if it were a regular field. To clear the value of custom\_data\_4 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_5|int|Custom data word 5|You can manipulate the field custom\_data\_5 as if it were a regular field. To clear the value of custom\_data\_5 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_6|int|Custom data word 6|You can manipulate the field custom\_data\_6 as if it were a regular field. To clear the value of custom\_data\_6 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_7|int|Custom data word 7|You can manipulate the field custom\_data\_7 as if it were a regular field. To clear the value of custom\_data\_7 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|actuators\_custom\_data| [ActuatorCustomData](ActuatorCustomData.md#)|Actuator custom data \(repeated\)|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| +|interconnect\_custom\_data| [CustomData](../InterconnectCyclic/CustomData.md#)|Interconnect custom data|To set interconnect\_custom\_data, you simply assign a value directly to a field within interconnect\_custom\_data. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [BaseCyclic \(Python\)](../../summary_pages/BaseCyclic.md) + diff --git a/api_python/doc/markdown/messages/BaseCyclic/Feedback.md b/api_python/doc/markdown/messages/BaseCyclic/Feedback.md new file mode 100644 index 00000000..81eb5729 --- /dev/null +++ b/api_python/doc/markdown/messages/BaseCyclic/Feedback.md @@ -0,0 +1,13 @@ +# class Feedback + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|frame\_id|int|Frame ID|You can manipulate the field frame\_id as if it were a regular field. To clear the value of frame\_id and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|base| [BaseFeedback](BaseFeedback.md#)|Base feedback|To set base, you simply assign a value directly to a field within base. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|actuators| [ActuatorFeedback](ActuatorFeedback.md#)|Actuator feedback|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| +|interconnect| [Feedback](../InterconnectCyclic/Feedback.md#)|Interface feedback|To set interconnect, you simply assign a value directly to a field within interconnect. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [BaseCyclic \(Python\)](../../summary_pages/BaseCyclic.md) + diff --git a/api_python/doc/markdown/messages/Common/Connection.md b/api_python/doc/markdown/messages/Common/Connection.md new file mode 100644 index 00000000..2b063149 --- /dev/null +++ b/api_python/doc/markdown/messages/Common/Connection.md @@ -0,0 +1,12 @@ +# class Connection + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|user\_handle| [UserProfileHandle](UserProfileHandle.md#)|User profile handle, or set to zero if no user logged in|To set user\_handle, you simply assign a value directly to a field within user\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|connection\_information|str|Connection info \(e.g. IP address with port number\)|You can manipulate the field connection\_information as if it were a regular field. To clear the value of connection\_information and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|connection\_identifier|int|Connection identifier|You can manipulate the field connection\_identifier as if it were a regular field. To clear the value of connection\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/messages/Common/CountryCode.md b/api_python/doc/markdown/messages/Common/CountryCode.md new file mode 100644 index 00000000..1bdb8b65 --- /dev/null +++ b/api_python/doc/markdown/messages/Common/CountryCode.md @@ -0,0 +1,10 @@ +# class CountryCode + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|int|ISO3166 country code identifier|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/messages/Common/DeviceHandle.md b/api_python/doc/markdown/messages/Common/DeviceHandle.md new file mode 100644 index 00000000..1395c232 --- /dev/null +++ b/api_python/doc/markdown/messages/Common/DeviceHandle.md @@ -0,0 +1,12 @@ +# class DeviceHandle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|device\_type|int|Device type|You can manipulate the field device\_type as if it were a regular field. To clear the value of device\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|device\_identifier|int|Unique device identifier \(used with other services\)|You can manipulate the field device\_identifier as if it were a regular field. To clear the value of device\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|order|int|Unique value indicating the order of that device versus the others to facilitate representation|You can manipulate the field order as if it were a regular field. To clear the value of order and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/messages/Common/Empty.md b/api_python/doc/markdown/messages/Common/Empty.md new file mode 100644 index 00000000..09c6e6d9 --- /dev/null +++ b/api_python/doc/markdown/messages/Common/Empty.md @@ -0,0 +1,4 @@ +# class Empty + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/messages/Common/NotificationHandle.md b/api_python/doc/markdown/messages/Common/NotificationHandle.md new file mode 100644 index 00000000..7836795b --- /dev/null +++ b/api_python/doc/markdown/messages/Common/NotificationHandle.md @@ -0,0 +1,10 @@ +# class NotificationHandle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|int|Notification identifier|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/messages/Common/NotificationOptions.md b/api_python/doc/markdown/messages/Common/NotificationOptions.md new file mode 100644 index 00000000..b9b111d2 --- /dev/null +++ b/api_python/doc/markdown/messages/Common/NotificationOptions.md @@ -0,0 +1,12 @@ +# class NotificationOptions + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|type|int|Type of notification|You can manipulate the field type as if it were a regular field. To clear the value of type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|rate\_m\_sec|int|Rate value \(in meters per second\) \(if applicable\)|You can manipulate the field rate\_m\_sec as if it were a regular field. To clear the value of rate\_m\_sec and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|threshold\_value|float|Threshold value \(if applicable\)|You can manipulate the field threshold\_value as if it were a regular field. To clear the value of threshold\_value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/messages/Common/SafetyHandle.md b/api_python/doc/markdown/messages/Common/SafetyHandle.md new file mode 100644 index 00000000..918efb99 --- /dev/null +++ b/api_python/doc/markdown/messages/Common/SafetyHandle.md @@ -0,0 +1,10 @@ +# class SafetyHandle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|int|Safety identifier|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/messages/Common/SafetyNotification.md b/api_python/doc/markdown/messages/Common/SafetyNotification.md new file mode 100644 index 00000000..a9658c28 --- /dev/null +++ b/api_python/doc/markdown/messages/Common/SafetyNotification.md @@ -0,0 +1,14 @@ +# class SafetyNotification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|safety\_handle| [SafetyHandle](SafetyHandle.md#)|Safety handle|To set safety\_handle, you simply assign a value directly to a field within safety\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|value|int|New safety status|You can manipulate the field value as if it were a regular field. To clear the value of value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|timestamp| [Timestamp](Timestamp.md#)|Event timestamp|To set timestamp, you simply assign a value directly to a field within timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|user\_handle| [UserProfileHandle](UserProfileHandle.md#)|User that caused the safety event|To set user\_handle, you simply assign a value directly to a field within user\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|connection| [Connection](Connection.md#)|Connection that caused the safety event|To set connection, you simply assign a value directly to a field within connection. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/messages/Common/Timestamp.md b/api_python/doc/markdown/messages/Common/Timestamp.md new file mode 100644 index 00000000..bb96cf3b --- /dev/null +++ b/api_python/doc/markdown/messages/Common/Timestamp.md @@ -0,0 +1,11 @@ +# class Timestamp + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|sec|int|Number of seconds that have elapsed since Epoch|You can manipulate the field sec as if it were a regular field. To clear the value of sec and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|usec|int|Number of microseconds that have elapsed since the last second \(0-999999\)|You can manipulate the field usec as if it were a regular field. To clear the value of usec and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/messages/Common/UARTConfiguration.md b/api_python/doc/markdown/messages/Common/UARTConfiguration.md new file mode 100644 index 00000000..ad790862 --- /dev/null +++ b/api_python/doc/markdown/messages/Common/UARTConfiguration.md @@ -0,0 +1,15 @@ +# class UARTConfiguration + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|port\_id|int|UART port identification|You can manipulate the field port\_id as if it were a regular field. To clear the value of port\_id and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|enabled|bool|True if UART device is enabled, false otherwise|You can manipulate the field enabled as if it were a regular field. To clear the value of enabled and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|speed|int|Speed selection|You can manipulate the field speed as if it were a regular field. To clear the value of speed and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|word\_length|int|Word length|You can manipulate the field word\_length as if it were a regular field. To clear the value of word\_length and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|stop\_bits|int|Stop bits|You can manipulate the field stop\_bits as if it were a regular field. To clear the value of stop\_bits and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|parity|int|Parity mode|You can manipulate the field parity as if it were a regular field. To clear the value of parity and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/messages/Common/UARTDeviceIdentification.md b/api_python/doc/markdown/messages/Common/UARTDeviceIdentification.md new file mode 100644 index 00000000..3b3222e9 --- /dev/null +++ b/api_python/doc/markdown/messages/Common/UARTDeviceIdentification.md @@ -0,0 +1,10 @@ +# class UARTDeviceIdentification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|port\_id|int|UART device port id|You can manipulate the field port\_id as if it were a regular field. To clear the value of port\_id and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/messages/Common/UserProfileHandle.md b/api_python/doc/markdown/messages/Common/UserProfileHandle.md new file mode 100644 index 00000000..1e65d0f7 --- /dev/null +++ b/api_python/doc/markdown/messages/Common/UserProfileHandle.md @@ -0,0 +1,11 @@ +# class UserProfileHandle + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|int|User profile identifier|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|permission|int|Must use 'Permission' as bitwise|You can manipulate the field permission as if it were a regular field. To clear the value of permission and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Common \(Python\)](../../summary_pages/Common.md) + diff --git a/api_python/doc/markdown/messages/ControlConfig/CartesianReferenceFrameInfo.md b/api_python/doc/markdown/messages/ControlConfig/CartesianReferenceFrameInfo.md new file mode 100644 index 00000000..530565c1 --- /dev/null +++ b/api_python/doc/markdown/messages/ControlConfig/CartesianReferenceFrameInfo.md @@ -0,0 +1,10 @@ +# class CartesianReferenceFrameInfo + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|reference\_frame|int|Reference frame|You can manipulate the field reference\_frame as if it were a regular field. To clear the value of reference\_frame and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ControlConfig \(Python\)](../../summary_pages/ControlConfig.md) + diff --git a/api_python/doc/markdown/messages/ControlConfig/CartesianTransform.md b/api_python/doc/markdown/messages/ControlConfig/CartesianTransform.md new file mode 100644 index 00000000..4083d5d3 --- /dev/null +++ b/api_python/doc/markdown/messages/ControlConfig/CartesianTransform.md @@ -0,0 +1,15 @@ +# class CartesianTransform + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|x|float|x \(in meters\)|You can manipulate the field x as if it were a regular field. To clear the value of x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|y|float|y \(in meters\)|You can manipulate the field y as if it were a regular field. To clear the value of y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|z|float|z \(in meters\)|You can manipulate the field z as if it were a regular field. To clear the value of z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|theta\_x|float|Theta x \(in degrees\)|You can manipulate the field theta\_x as if it were a regular field. To clear the value of theta\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|theta\_y|float|Theta y \(in degrees\)|You can manipulate the field theta\_y as if it were a regular field. To clear the value of theta\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|theta\_z|float|Theta z \(in degrees\)|You can manipulate the field theta\_z as if it were a regular field. To clear the value of theta\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ControlConfig \(Python\)](../../summary_pages/ControlConfig.md) + diff --git a/api_python/doc/markdown/messages/ControlConfig/ControlConfigurationNotification.md b/api_python/doc/markdown/messages/ControlConfig/ControlConfigurationNotification.md new file mode 100644 index 00000000..1cba09e5 --- /dev/null +++ b/api_python/doc/markdown/messages/ControlConfig/ControlConfigurationNotification.md @@ -0,0 +1,13 @@ +# class ControlConfigurationNotification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|event|int| |You can manipulate the field event as if it were a regular field. To clear the value of event and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|timestamp| [Timestamp](../Common/Timestamp.md#)|Event timestamp|To set timestamp, you simply assign a value directly to a field within timestamp. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|user\_handle| [UserProfileHandle](../Common/UserProfileHandle.md#)|User that caused the factory event to occur|To set user\_handle, you simply assign a value directly to a field within user\_handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|connection| [Connection](../Common/Connection.md#)|Connection that caused the configuration event|To set connection, you simply assign a value directly to a field within connection. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [ControlConfig \(Python\)](../../summary_pages/ControlConfig.md) + diff --git a/api_python/doc/markdown/messages/ControlConfig/GravityVector.md b/api_python/doc/markdown/messages/ControlConfig/GravityVector.md new file mode 100644 index 00000000..378b1dff --- /dev/null +++ b/api_python/doc/markdown/messages/ControlConfig/GravityVector.md @@ -0,0 +1,12 @@ +# class GravityVector + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|x|float|x \(meters / second^squared\)|You can manipulate the field x as if it were a regular field. To clear the value of x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|y|float|y \(meters / second^squared\)|You can manipulate the field y as if it were a regular field. To clear the value of y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|z|float|z \(meters / second^squared\)|You can manipulate the field z as if it were a regular field. To clear the value of z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ControlConfig \(Python\)](../../summary_pages/ControlConfig.md) + diff --git a/api_python/doc/markdown/messages/ControlConfig/PayloadInformation.md b/api_python/doc/markdown/messages/ControlConfig/PayloadInformation.md new file mode 100644 index 00000000..6d3ee3b8 --- /dev/null +++ b/api_python/doc/markdown/messages/ControlConfig/PayloadInformation.md @@ -0,0 +1,11 @@ +# class PayloadInformation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|payload\_mass|float|Tool mass in kg|You can manipulate the field payload\_mass as if it were a regular field. To clear the value of payload\_mass and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|payload\_mass\_center| [Position](Position.md#)|Tool mass center position relative to the tool reference frame|To set payload\_mass\_center, you simply assign a value directly to a field within payload\_mass\_center. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [ControlConfig \(Python\)](../../summary_pages/ControlConfig.md) + diff --git a/api_python/doc/markdown/messages/ControlConfig/Position.md b/api_python/doc/markdown/messages/ControlConfig/Position.md new file mode 100644 index 00000000..cd6922f1 --- /dev/null +++ b/api_python/doc/markdown/messages/ControlConfig/Position.md @@ -0,0 +1,12 @@ +# class Position + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|x|float|x position \(in meters\)|You can manipulate the field x as if it were a regular field. To clear the value of x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|y|float|y position \(in meters\)|You can manipulate the field y as if it were a regular field. To clear the value of y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|z|float|z position \(in meters\)|You can manipulate the field z as if it were a regular field. To clear the value of z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ControlConfig \(Python\)](../../summary_pages/ControlConfig.md) + diff --git a/api_python/doc/markdown/messages/ControlConfig/ToolConfiguration.md b/api_python/doc/markdown/messages/ControlConfig/ToolConfiguration.md new file mode 100644 index 00000000..b28c3166 --- /dev/null +++ b/api_python/doc/markdown/messages/ControlConfig/ToolConfiguration.md @@ -0,0 +1,12 @@ +# class ToolConfiguration + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|tool\_transform| [CartesianTransform](CartesianTransform.md#)|Cartesian transform tool|To set tool\_transform, you simply assign a value directly to a field within tool\_transform. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|tool\_mass|float|Tool mass \(in kg\)|You can manipulate the field tool\_mass as if it were a regular field. To clear the value of tool\_mass and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|tool\_mass\_center| [Position](Position.md#)|Tool mass center position relative to the interface module reference frame|To set tool\_mass\_center, you simply assign a value directly to a field within tool\_mass\_center. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [ControlConfig \(Python\)](../../summary_pages/ControlConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/BootloaderVersion.md b/api_python/doc/markdown/messages/DeviceConfig/BootloaderVersion.md new file mode 100644 index 00000000..242248cb --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/BootloaderVersion.md @@ -0,0 +1,10 @@ +# class BootloaderVersion + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|bootloader\_version|int|Bootloader version|You can manipulate the field bootloader\_version as if it were a regular field. To clear the value of bootloader\_version and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/Calibration.md b/api_python/doc/markdown/messages/DeviceConfig/Calibration.md new file mode 100644 index 00000000..1c3781b8 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/Calibration.md @@ -0,0 +1,11 @@ +# class Calibration + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|calibration\_item|int|Item to calibrate|You can manipulate the field calibration\_item as if it were a regular field. To clear the value of calibration\_item and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|calibration\_parameter| [CalibrationParameter](CalibrationParameter.md#)|Parameters associated to calibration item|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/CalibrationElement.md b/api_python/doc/markdown/messages/DeviceConfig/CalibrationElement.md new file mode 100644 index 00000000..78709efe --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/CalibrationElement.md @@ -0,0 +1,10 @@ +# class CalibrationElement + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|calibration\_item|int|Item to get status|You can manipulate the field calibration\_item as if it were a regular field. To clear the value of calibration\_item and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/CalibrationParameter.md b/api_python/doc/markdown/messages/DeviceConfig/CalibrationParameter.md new file mode 100644 index 00000000..3d9606e4 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/CalibrationParameter.md @@ -0,0 +1,13 @@ +# class CalibrationParameter + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|calibration\_parameter\_identifier|int|Calibration parameter identifier|You can manipulate the field calibration\_parameter\_identifier as if it were a regular field. To clear the value of calibration\_parameter\_identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|signedIntValue|oneof:value int|Signed int calibration value.|You can manipulate the field signedIntValue as if it were a regular field. To clear the value of signedIntValue and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|unsignedIntValue|oneof:value int|Unsigned int calibration value.|You can manipulate the field unsignedIntValue as if it were a regular field. To clear the value of unsignedIntValue and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|floatValue|oneof:value float|Float calibration value.|You can manipulate the field floatValue as if it were a regular field. To clear the value of floatValue and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/CalibrationResult.md b/api_python/doc/markdown/messages/DeviceConfig/CalibrationResult.md new file mode 100644 index 00000000..9e09ac67 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/CalibrationResult.md @@ -0,0 +1,11 @@ +# class CalibrationResult + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|calibration\_status|int|Calibration status|You can manipulate the field calibration\_status as if it were a regular field. To clear the value of calibration\_status and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|calibration\_details|int|Additional information \(used when status is in fault\)|You can manipulate the field calibration\_details as if it were a regular field. To clear the value of calibration\_details and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/CapSenseConfig.md b/api_python/doc/markdown/messages/DeviceConfig/CapSenseConfig.md new file mode 100644 index 00000000..7e1ab453 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/CapSenseConfig.md @@ -0,0 +1,12 @@ +# class CapSenseConfig + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|mode|int|Operational mode of the sensor|You can manipulate the field mode as if it were a regular field. To clear the value of mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|threshold\_a|float|Sensitivity of the sensor A \(0-100%\).|You can manipulate the field threshold\_a as if it were a regular field. To clear the value of threshold\_a and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|threshold\_b|float|Sensitivity of the sensor B \(0-100%\).|You can manipulate the field threshold\_b as if it were a regular field. To clear the value of threshold\_b and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/CapSenseRegister.md b/api_python/doc/markdown/messages/DeviceConfig/CapSenseRegister.md new file mode 100644 index 00000000..7f36fc46 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/CapSenseRegister.md @@ -0,0 +1,11 @@ +# class CapSenseRegister + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|address|int|Register address|You can manipulate the field address as if it were a regular field. To clear the value of address and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|value|int|Register value|You can manipulate the field value as if it were a regular field. To clear the value of value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/DeviceType.md b/api_python/doc/markdown/messages/DeviceConfig/DeviceType.md new file mode 100644 index 00000000..0a2451e6 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/DeviceType.md @@ -0,0 +1,10 @@ +# class DeviceType + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|device\_type|int|Device type|You can manipulate the field device\_type as if it were a regular field. To clear the value of device\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/FirmwareVersion.md b/api_python/doc/markdown/messages/DeviceConfig/FirmwareVersion.md new file mode 100644 index 00000000..33f19197 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/FirmwareVersion.md @@ -0,0 +1,10 @@ +# class FirmwareVersion + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|firmware\_version|int|Firmware version|You can manipulate the field firmware\_version as if it were a regular field. To clear the value of firmware\_version and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/IPv4Settings.md b/api_python/doc/markdown/messages/DeviceConfig/IPv4Settings.md new file mode 100644 index 00000000..dd5ef6f8 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/IPv4Settings.md @@ -0,0 +1,12 @@ +# class IPv4Settings + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|ipv4\_address|int|IPv4Address|You can manipulate the field ipv4\_address as if it were a regular field. To clear the value of ipv4\_address and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|ipv4\_subnet\_mask|int|IPv4SubnetMask|You can manipulate the field ipv4\_subnet\_mask as if it were a regular field. To clear the value of ipv4\_subnet\_mask and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|ipv4\_default\_gateway|int|IPv4DefaultGateway|You can manipulate the field ipv4\_default\_gateway as if it were a regular field. To clear the value of ipv4\_default\_gateway and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/MACAddress.md b/api_python/doc/markdown/messages/DeviceConfig/MACAddress.md new file mode 100644 index 00000000..fedb0623 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/MACAddress.md @@ -0,0 +1,10 @@ +# class MACAddress + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|mac\_address|str|MAC address|You can manipulate the field mac\_address as if it were a regular field. To clear the value of mac\_address and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/ModelNumber.md b/api_python/doc/markdown/messages/DeviceConfig/ModelNumber.md new file mode 100644 index 00000000..29406475 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/ModelNumber.md @@ -0,0 +1,10 @@ +# class ModelNumber + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|model\_number|str|Model number of size 25 including null character|You can manipulate the field model\_number as if it were a regular field. To clear the value of model\_number and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/PartNumber.md b/api_python/doc/markdown/messages/DeviceConfig/PartNumber.md new file mode 100644 index 00000000..21e92a58 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/PartNumber.md @@ -0,0 +1,10 @@ +# class PartNumber + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|part\_number|str|Part number of size 25 including null character|You can manipulate the field part\_number as if it were a regular field. To clear the value of part\_number and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/PartNumberRevision.md b/api_python/doc/markdown/messages/DeviceConfig/PartNumberRevision.md new file mode 100644 index 00000000..67ae172a --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/PartNumberRevision.md @@ -0,0 +1,10 @@ +# class PartNumberRevision + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|part\_number\_revision|str|Part number revision|You can manipulate the field part\_number\_revision as if it were a regular field. To clear the value of part\_number\_revision and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/PowerOnSelfTestResult.md b/api_python/doc/markdown/messages/DeviceConfig/PowerOnSelfTestResult.md new file mode 100644 index 00000000..f801c4cd --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/PowerOnSelfTestResult.md @@ -0,0 +1,10 @@ +# class PowerOnSelfTestResult + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|power\_on\_self\_test\_result|int|Power on self test result|You can manipulate the field power\_on\_self\_test\_result as if it were a regular field. To clear the value of power\_on\_self\_test\_result and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/RebootRqst.md b/api_python/doc/markdown/messages/DeviceConfig/RebootRqst.md new file mode 100644 index 00000000..c5204dda --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/RebootRqst.md @@ -0,0 +1,10 @@ +# class RebootRqst + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|delay|int|Bootloader delay|You can manipulate the field delay as if it were a regular field. To clear the value of delay and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/RunMode.md b/api_python/doc/markdown/messages/DeviceConfig/RunMode.md new file mode 100644 index 00000000..f40b0f7e --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/RunMode.md @@ -0,0 +1,10 @@ +# class RunMode + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|run\_mode|int|Run mode|You can manipulate the field run\_mode as if it were a regular field. To clear the value of run\_mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/SafetyConfiguration.md b/api_python/doc/markdown/messages/DeviceConfig/SafetyConfiguration.md new file mode 100644 index 00000000..7ab52ccc --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/SafetyConfiguration.md @@ -0,0 +1,13 @@ +# class SafetyConfiguration + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|handle| [SafetyHandle](../Common/SafetyHandle.md#)|Handle to safety to configure|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|error\_threshold|float|Safety error threshold value|You can manipulate the field error\_threshold as if it were a regular field. To clear the value of error\_threshold and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|warning\_threshold|float|Safety warning threshold value|You can manipulate the field warning\_threshold as if it were a regular field. To clear the value of warning\_threshold and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|enable| [SafetyEnable](SafetyEnable.md#)|Safety enable state|To set enable, you simply assign a value directly to a field within enable. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/SafetyConfigurationList.md b/api_python/doc/markdown/messages/DeviceConfig/SafetyConfigurationList.md new file mode 100644 index 00000000..7d7a8942 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/SafetyConfigurationList.md @@ -0,0 +1,10 @@ +# class SafetyConfigurationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|configuration| [SafetyConfiguration](SafetyConfiguration.md#)|Safety configuration|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/SafetyEnable.md b/api_python/doc/markdown/messages/DeviceConfig/SafetyEnable.md new file mode 100644 index 00000000..d51230a6 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/SafetyEnable.md @@ -0,0 +1,11 @@ +# class SafetyEnable + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|handle| [SafetyHandle](../Common/SafetyHandle.md#)|Handle to safety to enable or disable|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|enable|bool|Safety enable state|You can manipulate the field enable as if it were a regular field. To clear the value of enable and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/SafetyInformation.md b/api_python/doc/markdown/messages/DeviceConfig/SafetyInformation.md new file mode 100644 index 00000000..f5edcb83 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/SafetyInformation.md @@ -0,0 +1,20 @@ +# class SafetyInformation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|handle| [SafetyHandle](../Common/SafetyHandle.md#)|Safety handle that this information is about|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|can\_change\_safety\_state|bool|True if related safety configuration can be modified|You can manipulate the field can\_change\_safety\_state as if it were a regular field. To clear the value of can\_change\_safety\_state and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|has\_warning\_threshold|bool|True if safety status can go in Warning|You can manipulate the field has\_warning\_threshold as if it were a regular field. To clear the value of has\_warning\_threshold and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|has\_error\_threshold|bool|True if safety status can go in Error|You can manipulate the field has\_error\_threshold as if it were a regular field. To clear the value of has\_error\_threshold and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|limit\_type|int|Safety limit type|You can manipulate the field limit\_type as if it were a regular field. To clear the value of limit\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|default\_warning\_threshold|float|Default warning threshold \(if 'limit\_type' is either MINIMAL\_LIMIT or MAXIMAL\_LIMIT and 'has\_warning\_threshold' is true\)|You can manipulate the field default\_warning\_threshold as if it were a regular field. To clear the value of default\_warning\_threshold and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|default\_error\_threshold|float|Default error threshold \(if 'limit\_type' is either MINIMAL\_LIMIT or MAXIMAL\_LIMIT and 'has\_error\_threshold' is true\)|You can manipulate the field default\_error\_threshold as if it were a regular field. To clear the value of default\_error\_threshold and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|upper\_hard\_limit|float|Maximal threshold value \(if 'limit\_type' is either MINIMAL\_LIMIT or MAXIMAL\_LIMIT\)|You can manipulate the field upper\_hard\_limit as if it were a regular field. To clear the value of upper\_hard\_limit and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|lower\_hard\_limit|float|Minimal threshold value \(if 'limit\_type' is either MINIMAL\_LIMIT or MAXIMAL\_LIMIT\)|You can manipulate the field lower\_hard\_limit as if it were a regular field. To clear the value of lower\_hard\_limit and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|status|int|Current Safety status|You can manipulate the field status as if it were a regular field. To clear the value of status and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|unit|int|Unit that the safety status is in|You can manipulate the field unit as if it were a regular field. To clear the value of unit and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/SafetyInformationList.md b/api_python/doc/markdown/messages/DeviceConfig/SafetyInformationList.md new file mode 100644 index 00000000..767535d8 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/SafetyInformationList.md @@ -0,0 +1,10 @@ +# class SafetyInformationList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|information| [SafetyInformation](SafetyInformation.md#)| |Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/SafetyStatus.md b/api_python/doc/markdown/messages/DeviceConfig/SafetyStatus.md new file mode 100644 index 00000000..5c2833b7 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/SafetyStatus.md @@ -0,0 +1,10 @@ +# class SafetyStatus + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|value|int|Safety status \(e.g. in error, warning or normal state\)|You can manipulate the field value as if it were a regular field. To clear the value of value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/SafetyThreshold.md b/api_python/doc/markdown/messages/DeviceConfig/SafetyThreshold.md new file mode 100644 index 00000000..fe5a01a9 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/SafetyThreshold.md @@ -0,0 +1,11 @@ +# class SafetyThreshold + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|handle| [SafetyHandle](../Common/SafetyHandle.md#)|Identifies safety to configure|To set handle, you simply assign a value directly to a field within handle. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|value|float|Safety threshold value|You can manipulate the field value as if it were a regular field. To clear the value of value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceConfig/SerialNumber.md b/api_python/doc/markdown/messages/DeviceConfig/SerialNumber.md new file mode 100644 index 00000000..9a9ef8ce --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceConfig/SerialNumber.md @@ -0,0 +1,10 @@ +# class SerialNumber + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|serial\_number|str|Serial number of size 25 including null character|You can manipulate the field serial\_number as if it were a regular field. To clear the value of serial\_number and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [DeviceConfig \(Python\)](../../summary_pages/DeviceConfig.md) + diff --git a/api_python/doc/markdown/messages/DeviceManager/DeviceHandles.md b/api_python/doc/markdown/messages/DeviceManager/DeviceHandles.md new file mode 100644 index 00000000..9c75f1c5 --- /dev/null +++ b/api_python/doc/markdown/messages/DeviceManager/DeviceHandles.md @@ -0,0 +1,10 @@ +# class DeviceHandles + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|device\_handle| [DeviceHandle](../Common/DeviceHandle.md#)|Device handle|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [DeviceManager \(Python\)](../../summary_pages/DeviceManager.md) + diff --git a/api_python/doc/markdown/messages/GripperCyclic/Command.md b/api_python/doc/markdown/messages/GripperCyclic/Command.md new file mode 100644 index 00000000..2d91c5dc --- /dev/null +++ b/api_python/doc/markdown/messages/GripperCyclic/Command.md @@ -0,0 +1,12 @@ +# class Command + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|command\_id| [MessageId](MessageId.md#)|MessageId|To set command\_id, you simply assign a value directly to a field within command\_id. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|flags|int|Flags|You can manipulate the field flags as if it were a regular field. To clear the value of flags and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|motor\_cmd| [MotorCommand](MotorCommand.md#)|Array of finger commands, one for each finger of the gripper.|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [GripperCyclic \(Python\)](../../summary_pages/GripperCyclic.md) + diff --git a/api_python/doc/markdown/messages/GripperCyclic/CustomData.md b/api_python/doc/markdown/messages/GripperCyclic/CustomData.md new file mode 100644 index 00000000..046e11dd --- /dev/null +++ b/api_python/doc/markdown/messages/GripperCyclic/CustomData.md @@ -0,0 +1,12 @@ +# class CustomData + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|custom\_data\_id| [MessageId](MessageId.md#)|MessageId|To set custom\_data\_id, you simply assign a value directly to a field within custom\_data\_id. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|gripper\_custom\_data| [CustomDataUnit](CustomDataUnit.md#)| |To set gripper\_custom\_data, you simply assign a value directly to a field within gripper\_custom\_data. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|motor\_custom\_data| [CustomDataUnit](CustomDataUnit.md#)| |Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [GripperCyclic \(Python\)](../../summary_pages/GripperCyclic.md) + diff --git a/api_python/doc/markdown/messages/GripperCyclic/CustomDataUnit.md b/api_python/doc/markdown/messages/GripperCyclic/CustomDataUnit.md new file mode 100644 index 00000000..47e82edf --- /dev/null +++ b/api_python/doc/markdown/messages/GripperCyclic/CustomDataUnit.md @@ -0,0 +1,25 @@ +# class CustomDataUnit + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|custom\_data\_0|int|Custom data word 0|You can manipulate the field custom\_data\_0 as if it were a regular field. To clear the value of custom\_data\_0 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_1|int|Custom data word 1|You can manipulate the field custom\_data\_1 as if it were a regular field. To clear the value of custom\_data\_1 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_2|int|Custom data word 2|You can manipulate the field custom\_data\_2 as if it were a regular field. To clear the value of custom\_data\_2 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_3|int|Custom data word 3|You can manipulate the field custom\_data\_3 as if it were a regular field. To clear the value of custom\_data\_3 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_4|int|Custom data word 4|You can manipulate the field custom\_data\_4 as if it were a regular field. To clear the value of custom\_data\_4 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_5|int|Custom data word 5|You can manipulate the field custom\_data\_5 as if it were a regular field. To clear the value of custom\_data\_5 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_6|int|Custom data word 6|You can manipulate the field custom\_data\_6 as if it were a regular field. To clear the value of custom\_data\_6 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_7|int|Custom data word 7|You can manipulate the field custom\_data\_7 as if it were a regular field. To clear the value of custom\_data\_7 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_8|int|Custom data word 8|You can manipulate the field custom\_data\_8 as if it were a regular field. To clear the value of custom\_data\_8 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_9|int|Custom data word 9|You can manipulate the field custom\_data\_9 as if it were a regular field. To clear the value of custom\_data\_9 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_10|int|Custom data word 10|You can manipulate the field custom\_data\_10 as if it were a regular field. To clear the value of custom\_data\_10 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_11|int|Custom data word 11|You can manipulate the field custom\_data\_11 as if it were a regular field. To clear the value of custom\_data\_11 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_12|int|Custom data word 12|You can manipulate the field custom\_data\_12 as if it were a regular field. To clear the value of custom\_data\_12 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_13|int|Custom data word 13|You can manipulate the field custom\_data\_13 as if it were a regular field. To clear the value of custom\_data\_13 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_14|int|Custom data word 14|You can manipulate the field custom\_data\_14 as if it were a regular field. To clear the value of custom\_data\_14 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_15|int|Custom data word 15|You can manipulate the field custom\_data\_15 as if it were a regular field. To clear the value of custom\_data\_15 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [GripperCyclic \(Python\)](../../summary_pages/GripperCyclic.md) + diff --git a/api_python/doc/markdown/messages/GripperCyclic/Feedback.md b/api_python/doc/markdown/messages/GripperCyclic/Feedback.md new file mode 100644 index 00000000..89c9b774 --- /dev/null +++ b/api_python/doc/markdown/messages/GripperCyclic/Feedback.md @@ -0,0 +1,16 @@ +# class Feedback + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|feedback\_id| [MessageId](MessageId.md#)|MessageId|To set feedback\_id, you simply assign a value directly to a field within feedback\_id. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|status\_flags|int|Status flags \(see GripperConfig.RobotiqGripperStatusFlags\)|You can manipulate the field status\_flags as if it were a regular field. To clear the value of status\_flags and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|fault\_bank\_a|int|Fault bank A \(see GripperConfig.SafetyIdentifier\)|You can manipulate the field fault\_bank\_a as if it were a regular field. To clear the value of fault\_bank\_a and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|fault\_bank\_b|int|Fault bank B \(see GripperConfig.SafetyIdentifier\)|You can manipulate the field fault\_bank\_b as if it were a regular field. To clear the value of fault\_bank\_b and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|warning\_bank\_a|int|Warning bank A \(see GripperConfig.SafetyIdentifier\)|You can manipulate the field warning\_bank\_a as if it were a regular field. To clear the value of warning\_bank\_a and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|warning\_bank\_b|int|Warning bank B \(see GripperConfig.SafetyIdentifier\)|You can manipulate the field warning\_bank\_b as if it were a regular field. To clear the value of warning\_bank\_b and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|motor| [MotorFeedback](MotorFeedback.md#)| |Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [GripperCyclic \(Python\)](../../summary_pages/GripperCyclic.md) + diff --git a/api_python/doc/markdown/messages/GripperCyclic/MessageId.md b/api_python/doc/markdown/messages/GripperCyclic/MessageId.md new file mode 100644 index 00000000..418f2876 --- /dev/null +++ b/api_python/doc/markdown/messages/GripperCyclic/MessageId.md @@ -0,0 +1,10 @@ +# class MessageId + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|int|Message ID \(first 2 bytes : device ID, last 2 bytes : sequence number\)|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [GripperCyclic \(Python\)](../../summary_pages/GripperCyclic.md) + diff --git a/api_python/doc/markdown/messages/GripperCyclic/MotorCommand.md b/api_python/doc/markdown/messages/GripperCyclic/MotorCommand.md new file mode 100644 index 00000000..d67587cf --- /dev/null +++ b/api_python/doc/markdown/messages/GripperCyclic/MotorCommand.md @@ -0,0 +1,13 @@ +# class MotorCommand + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|motor\_id|int|Motor ID \(1, nb\_motor\)|You can manipulate the field motor\_id as if it were a regular field. To clear the value of motor\_id and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|position|float|Desired position of the gripper fingers in percentage \(0-100%\)|You can manipulate the field position as if it were a regular field. To clear the value of position and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|velocity|float|Desired velocity in percentage \(0-100%\) with which position will be set|You can manipulate the field velocity as if it were a regular field. To clear the value of velocity and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|force|float|Desired force limit of the gripper fingers in percentage \(0-100%\)|You can manipulate the field force as if it were a regular field. To clear the value of force and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [GripperCyclic \(Python\)](../../summary_pages/GripperCyclic.md) + diff --git a/api_python/doc/markdown/messages/GripperCyclic/MotorFeedback.md b/api_python/doc/markdown/messages/GripperCyclic/MotorFeedback.md new file mode 100644 index 00000000..61e05b46 --- /dev/null +++ b/api_python/doc/markdown/messages/GripperCyclic/MotorFeedback.md @@ -0,0 +1,15 @@ +# class MotorFeedback + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|motor\_id|int|Motor ID \(1, nb\_motor\)|You can manipulate the field motor\_id as if it were a regular field. To clear the value of motor\_id and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|position|float|Position of the gripper fingers in percentage \(0-100%\)|You can manipulate the field position as if it were a regular field. To clear the value of position and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|velocity|float|Velocity of the gripper fingers in percentage \(0-100%\)|You can manipulate the field velocity as if it were a regular field. To clear the value of velocity and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|current\_motor|float|Current comsumed by the gripper motor \(mA\)|You can manipulate the field current\_motor as if it were a regular field. To clear the value of current\_motor and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|voltage|float|Motor Voltage \(V\)|You can manipulate the field voltage as if it were a regular field. To clear the value of voltage and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|temperature\_motor|float|Motor temperature. \(degrees Celsius\)|You can manipulate the field temperature\_motor as if it were a regular field. To clear the value of temperature\_motor and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [GripperCyclic \(Python\)](../../summary_pages/GripperCyclic.md) + diff --git a/api_python/doc/markdown/messages/InterconnectConfig/EthernetConfiguration.md b/api_python/doc/markdown/messages/InterconnectConfig/EthernetConfiguration.md new file mode 100644 index 00000000..97bc4a85 --- /dev/null +++ b/api_python/doc/markdown/messages/InterconnectConfig/EthernetConfiguration.md @@ -0,0 +1,13 @@ +# class EthernetConfiguration + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|device|int|Device identification|You can manipulate the field device as if it were a regular field. To clear the value of device and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|enabled|bool|True if the ethernet device is enabled, false otherwise|You can manipulate the field enabled as if it were a regular field. To clear the value of enabled and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|speed|int|Speed selection|You can manipulate the field speed as if it were a regular field. To clear the value of speed and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|duplex|int|Duplex mode|You can manipulate the field duplex as if it were a regular field. To clear the value of duplex and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/messages/InterconnectConfig/EthernetDeviceIdentification.md b/api_python/doc/markdown/messages/InterconnectConfig/EthernetDeviceIdentification.md new file mode 100644 index 00000000..16157ebc --- /dev/null +++ b/api_python/doc/markdown/messages/InterconnectConfig/EthernetDeviceIdentification.md @@ -0,0 +1,10 @@ +# class EthernetDeviceIdentification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|device|int|Ethernet device|You can manipulate the field device as if it were a regular field. To clear the value of device and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/messages/InterconnectConfig/GPIOConfiguration.md b/api_python/doc/markdown/messages/InterconnectConfig/GPIOConfiguration.md new file mode 100644 index 00000000..c7a24913 --- /dev/null +++ b/api_python/doc/markdown/messages/InterconnectConfig/GPIOConfiguration.md @@ -0,0 +1,13 @@ +# class GPIOConfiguration + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|int|GPIO identifier|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|mode|int|Mode|You can manipulate the field mode as if it were a regular field. To clear the value of mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|pull|int|Pull mode|You can manipulate the field pull as if it were a regular field. To clear the value of pull and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|default\_value|int|Default value at power on|You can manipulate the field default\_value as if it were a regular field. To clear the value of default\_value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/messages/InterconnectConfig/GPIOIdentification.md b/api_python/doc/markdown/messages/InterconnectConfig/GPIOIdentification.md new file mode 100644 index 00000000..c214c7fe --- /dev/null +++ b/api_python/doc/markdown/messages/InterconnectConfig/GPIOIdentification.md @@ -0,0 +1,10 @@ +# class GPIOIdentification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|int|GPIO identifier|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/messages/InterconnectConfig/GPIOState.md b/api_python/doc/markdown/messages/InterconnectConfig/GPIOState.md new file mode 100644 index 00000000..3532cb5d --- /dev/null +++ b/api_python/doc/markdown/messages/InterconnectConfig/GPIOState.md @@ -0,0 +1,11 @@ +# class GPIOState + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|int|GPIO identifier|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|value|int|Value|You can manipulate the field value as if it were a regular field. To clear the value of value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/messages/InterconnectConfig/I2CConfiguration.md b/api_python/doc/markdown/messages/InterconnectConfig/I2CConfiguration.md new file mode 100644 index 00000000..171f18b3 --- /dev/null +++ b/api_python/doc/markdown/messages/InterconnectConfig/I2CConfiguration.md @@ -0,0 +1,13 @@ +# class I2CConfiguration + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|device|int|I2C device identification|You can manipulate the field device as if it were a regular field. To clear the value of device and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|enabled|bool|True if I2C device is enabled, false otherwise|You can manipulate the field enabled as if it were a regular field. To clear the value of enabled and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|mode|int|Mode|You can manipulate the field mode as if it were a regular field. To clear the value of mode and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|addressing|int|Addressing mode|You can manipulate the field addressing as if it were a regular field. To clear the value of addressing and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/messages/InterconnectConfig/I2CData.md b/api_python/doc/markdown/messages/InterconnectConfig/I2CData.md new file mode 100644 index 00000000..fa5d1e81 --- /dev/null +++ b/api_python/doc/markdown/messages/InterconnectConfig/I2CData.md @@ -0,0 +1,11 @@ +# class I2CData + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|data|str|Data byte\(s\) array \(max 128 bytes\)|You can manipulate the field data as if it were a regular field. To clear the value of data and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|size|int|Data byte\(s\) array size|You can manipulate the field size as if it were a regular field. To clear the value of size and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/messages/InterconnectConfig/I2CDeviceIdentification.md b/api_python/doc/markdown/messages/InterconnectConfig/I2CDeviceIdentification.md new file mode 100644 index 00000000..c9f38b3f --- /dev/null +++ b/api_python/doc/markdown/messages/InterconnectConfig/I2CDeviceIdentification.md @@ -0,0 +1,10 @@ +# class I2CDeviceIdentification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|device|int|I2C device|You can manipulate the field device as if it were a regular field. To clear the value of device and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/messages/InterconnectConfig/I2CReadParameter.md b/api_python/doc/markdown/messages/InterconnectConfig/I2CReadParameter.md new file mode 100644 index 00000000..f65c161b --- /dev/null +++ b/api_python/doc/markdown/messages/InterconnectConfig/I2CReadParameter.md @@ -0,0 +1,13 @@ +# class I2CReadParameter + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|device|int|I2C device identification|You can manipulate the field device as if it were a regular field. To clear the value of device and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|device\_address|int|I2C device address|You can manipulate the field device\_address as if it were a regular field. To clear the value of device\_address and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|size|int|I2C number of bytes to read \(max 128 bytes\)|You can manipulate the field size as if it were a regular field. To clear the value of size and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|timeout|int|Request timeout in milliseconds|You can manipulate the field timeout as if it were a regular field. To clear the value of timeout and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/messages/InterconnectConfig/I2CReadRegisterParameter.md b/api_python/doc/markdown/messages/InterconnectConfig/I2CReadRegisterParameter.md new file mode 100644 index 00000000..e02080ef --- /dev/null +++ b/api_python/doc/markdown/messages/InterconnectConfig/I2CReadRegisterParameter.md @@ -0,0 +1,15 @@ +# class I2CReadRegisterParameter + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|device|int|I2C device identification|You can manipulate the field device as if it were a regular field. To clear the value of device and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|device\_address|int|I2C device address|You can manipulate the field device\_address as if it were a regular field. To clear the value of device\_address and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|register\_address|int|I2C register address \(8 or 16 bits\)|You can manipulate the field register\_address as if it were a regular field. To clear the value of register\_address and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|register\_address\_size|int|I2C register address size|You can manipulate the field register\_address\_size as if it were a regular field. To clear the value of register\_address\_size and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|size|int|I2C number of bytes to read \(max 128 bytes\)|You can manipulate the field size as if it were a regular field. To clear the value of size and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|timeout|int|Request timeout in milliseconds|You can manipulate the field timeout as if it were a regular field. To clear the value of timeout and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/messages/InterconnectConfig/I2CWriteParameter.md b/api_python/doc/markdown/messages/InterconnectConfig/I2CWriteParameter.md new file mode 100644 index 00000000..075b667e --- /dev/null +++ b/api_python/doc/markdown/messages/InterconnectConfig/I2CWriteParameter.md @@ -0,0 +1,13 @@ +# class I2CWriteParameter + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|device|int|I2C device identification|You can manipulate the field device as if it were a regular field. To clear the value of device and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|device\_address|int|I2C device address|You can manipulate the field device\_address as if it were a regular field. To clear the value of device\_address and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|timeout|int|Request timeout in milliseconds|You can manipulate the field timeout as if it were a regular field. To clear the value of timeout and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|data| [I2CData](I2CData.md#)|Data to write|To set data, you simply assign a value directly to a field within data. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/messages/InterconnectConfig/I2CWriteRegisterParameter.md b/api_python/doc/markdown/messages/InterconnectConfig/I2CWriteRegisterParameter.md new file mode 100644 index 00000000..0df03b6d --- /dev/null +++ b/api_python/doc/markdown/messages/InterconnectConfig/I2CWriteRegisterParameter.md @@ -0,0 +1,15 @@ +# class I2CWriteRegisterParameter + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|device|int|I2C device identification|You can manipulate the field device as if it were a regular field. To clear the value of device and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|device\_address|int|I2C device address|You can manipulate the field device\_address as if it were a regular field. To clear the value of device\_address and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|register\_address|int|I2C register address \(8 or 16 bits\)|You can manipulate the field register\_address as if it were a regular field. To clear the value of register\_address and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|register\_address\_size|int|I2C register address size|You can manipulate the field register\_address\_size as if it were a regular field. To clear the value of register\_address\_size and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|timeout|int|Request timeout in milliseconds|You can manipulate the field timeout as if it were a regular field. To clear the value of timeout and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|data| [I2CData](I2CData.md#)|Data to write|To set data, you simply assign a value directly to a field within data. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [InterconnectConfig \(Python\)](../../summary_pages/InterconnectConfig.md) + diff --git a/api_python/doc/markdown/messages/InterconnectCyclic/Command.md b/api_python/doc/markdown/messages/InterconnectCyclic/Command.md new file mode 100644 index 00000000..964e9fe1 --- /dev/null +++ b/api_python/doc/markdown/messages/InterconnectCyclic/Command.md @@ -0,0 +1,12 @@ +# class Command + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|command\_id| [MessageId](MessageId.md#)|MessageId|To set command\_id, you simply assign a value directly to a field within command\_id. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|flags|int|Flags|You can manipulate the field flags as if it were a regular field. To clear the value of flags and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|gripper\_command|oneof:tool\_command [Command](../GripperCyclic/Command.md#)|Gripper command|You can manipulate the field gripper\_command as if it were a regular field. To clear the value of gripper\_command and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| + +**Parent topic:** [InterconnectCyclic \(Python\)](../../summary_pages/InterconnectCyclic.md) + diff --git a/api_python/doc/markdown/messages/InterconnectCyclic/CustomData.md b/api_python/doc/markdown/messages/InterconnectCyclic/CustomData.md new file mode 100644 index 00000000..98cbe531 --- /dev/null +++ b/api_python/doc/markdown/messages/InterconnectCyclic/CustomData.md @@ -0,0 +1,27 @@ +# class CustomData + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|custom\_data\_id| [MessageId](MessageId.md#)|MessageId|To set custom\_data\_id, you simply assign a value directly to a field within custom\_data\_id. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|custom\_data\_0|int|Custom data word 0|You can manipulate the field custom\_data\_0 as if it were a regular field. To clear the value of custom\_data\_0 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_1|int|Custom data word 1|You can manipulate the field custom\_data\_1 as if it were a regular field. To clear the value of custom\_data\_1 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_2|int|Custom data word 2|You can manipulate the field custom\_data\_2 as if it were a regular field. To clear the value of custom\_data\_2 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_3|int|Custom data word 3|You can manipulate the field custom\_data\_3 as if it were a regular field. To clear the value of custom\_data\_3 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_4|int|Custom data word 4|You can manipulate the field custom\_data\_4 as if it were a regular field. To clear the value of custom\_data\_4 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_5|int|Custom data word 5|You can manipulate the field custom\_data\_5 as if it were a regular field. To clear the value of custom\_data\_5 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_6|int|Custom data word 6|You can manipulate the field custom\_data\_6 as if it were a regular field. To clear the value of custom\_data\_6 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_7|int|Custom data word 7|You can manipulate the field custom\_data\_7 as if it were a regular field. To clear the value of custom\_data\_7 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_8|int|Custom data word 8|You can manipulate the field custom\_data\_8 as if it were a regular field. To clear the value of custom\_data\_8 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_9|int|Custom data word 9|You can manipulate the field custom\_data\_9 as if it were a regular field. To clear the value of custom\_data\_9 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_10|int|Custom data word 10|You can manipulate the field custom\_data\_10 as if it were a regular field. To clear the value of custom\_data\_10 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_11|int|Custom data word 11|You can manipulate the field custom\_data\_11 as if it were a regular field. To clear the value of custom\_data\_11 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_12|int|Custom data word 12|You can manipulate the field custom\_data\_12 as if it were a regular field. To clear the value of custom\_data\_12 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_13|int|Custom data word 13|You can manipulate the field custom\_data\_13 as if it were a regular field. To clear the value of custom\_data\_13 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_14|int|Custom data word 14|You can manipulate the field custom\_data\_14 as if it were a regular field. To clear the value of custom\_data\_14 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|custom\_data\_15|int|Custom data word 15|You can manipulate the field custom\_data\_15 as if it were a regular field. To clear the value of custom\_data\_15 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|gripper\_custom\_data|oneof:tool\_customData [CustomData](../GripperCyclic/CustomData.md#)| |You can manipulate the field gripper\_custom\_data as if it were a regular field. To clear the value of gripper\_custom\_data and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| + +**Parent topic:** [InterconnectCyclic \(Python\)](../../summary_pages/InterconnectCyclic.md) + diff --git a/api_python/doc/markdown/messages/InterconnectCyclic/Feedback.md b/api_python/doc/markdown/messages/InterconnectCyclic/Feedback.md new file mode 100644 index 00000000..713f39a8 --- /dev/null +++ b/api_python/doc/markdown/messages/InterconnectCyclic/Feedback.md @@ -0,0 +1,25 @@ +# class Feedback + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|feedback\_id| [MessageId](MessageId.md#)|MessageId|To set feedback\_id, you simply assign a value directly to a field within feedback\_id. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|status\_flags|int|Status flags|You can manipulate the field status\_flags as if it were a regular field. To clear the value of status\_flags and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|jitter\_comm|int|Jitter from the communication \(in microseconds\)|You can manipulate the field jitter\_comm as if it were a regular field. To clear the value of jitter\_comm and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|imu\_acceleration\_x|float|IMU Measured acceleration \(X-Axis\) of the interface module \(in meters per second ^ squared\)|You can manipulate the field imu\_acceleration\_x as if it were a regular field. To clear the value of imu\_acceleration\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|imu\_acceleration\_y|float|IMU Measured acceleration \(Y-Axis\) of the interface module \(in meters per second ^ squared\)|You can manipulate the field imu\_acceleration\_y as if it were a regular field. To clear the value of imu\_acceleration\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|imu\_acceleration\_z|float|IMU Measured acceleration \(Z-Axis\) of the interface module \(in meters per second ^ squared\)|You can manipulate the field imu\_acceleration\_z as if it were a regular field. To clear the value of imu\_acceleration\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|imu\_angular\_velocity\_x|float|IMU Measured angular velocity \(X-Axis\) of the interface module \(in degrees per second\)|You can manipulate the field imu\_angular\_velocity\_x as if it were a regular field. To clear the value of imu\_angular\_velocity\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|imu\_angular\_velocity\_y|float|IMU Measured angular velocity \(Y-Axis\) of the interface module \(in degrees per second\)|You can manipulate the field imu\_angular\_velocity\_y as if it were a regular field. To clear the value of imu\_angular\_velocity\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|imu\_angular\_velocity\_z|float|IMU Measured angular velocity \(Z-Axis\) of the interface module \(in degrees per second\)|You can manipulate the field imu\_angular\_velocity\_z as if it were a regular field. To clear the value of imu\_angular\_velocity\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|voltage|float|Voltage of the main board \(in Volt\)|You can manipulate the field voltage as if it were a regular field. To clear the value of voltage and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|temperature\_core|float|Microcontroller temperature \(in degrees Celsius\)|You can manipulate the field temperature\_core as if it were a regular field. To clear the value of temperature\_core and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|fault\_bank\_a|int|Fault bank A \(see InterconnectConfig.SafetyIdentifier\)|You can manipulate the field fault\_bank\_a as if it were a regular field. To clear the value of fault\_bank\_a and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|fault\_bank\_b|int|Fault bank B \(see InterconnectConfig.SafetyIdentifier\)|You can manipulate the field fault\_bank\_b as if it were a regular field. To clear the value of fault\_bank\_b and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|warning\_bank\_a|int|Warning bank A \(see InterconnectConfig.SafetyIdentifier\)|You can manipulate the field warning\_bank\_a as if it were a regular field. To clear the value of warning\_bank\_a and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|warning\_bank\_b|int|Warning bank B \(see InterconnectConfig.SafetyIdentifier\)|You can manipulate the field warning\_bank\_b as if it were a regular field. To clear the value of warning\_bank\_b and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|gripper\_feedback|oneof:tool\_feedback [Feedback](../GripperCyclic/Feedback.md#)|Gripper model tool feedback|You can manipulate the field gripper\_feedback as if it were a regular field. To clear the value of gripper\_feedback and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| + +**Parent topic:** [InterconnectCyclic \(Python\)](../../summary_pages/InterconnectCyclic.md) + diff --git a/api_python/doc/markdown/messages/InterconnectCyclic/MessageId.md b/api_python/doc/markdown/messages/InterconnectCyclic/MessageId.md new file mode 100644 index 00000000..2d7b40e6 --- /dev/null +++ b/api_python/doc/markdown/messages/InterconnectCyclic/MessageId.md @@ -0,0 +1,10 @@ +# class MessageId + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|identifier|int|Message ID \(first 2 bytes : device ID, last 2 bytes : sequence number\)|You can manipulate the field identifier as if it were a regular field. To clear the value of identifier and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [InterconnectCyclic \(Python\)](../../summary_pages/InterconnectCyclic.md) + diff --git a/api_python/doc/markdown/messages/ProductConfiguration/CompleteProductConfiguration.md b/api_python/doc/markdown/messages/ProductConfiguration/CompleteProductConfiguration.md new file mode 100644 index 00000000..4fff1257 --- /dev/null +++ b/api_python/doc/markdown/messages/ProductConfiguration/CompleteProductConfiguration.md @@ -0,0 +1,21 @@ +# class CompleteProductConfiguration + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|kin|str|Kinova Identification Number of the device|You can manipulate the field kin as if it were a regular field. To clear the value of kin and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|model|int|Model of the device|You can manipulate the field model as if it were a regular field. To clear the value of model and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|country\_code| [CountryCode](../Common/CountryCode.md#)|Country code for the device|To set country\_code, you simply assign a value directly to a field within country\_code. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|assembly\_plant|str|Assembly plant of the device|You can manipulate the field assembly\_plant as if it were a regular field. To clear the value of assembly\_plant and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|model\_year|str|Year of the model|You can manipulate the field model\_year as if it were a regular field. To clear the value of model\_year and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|degree\_of\_freedom|int|Number of DOF for the device|You can manipulate the field degree\_of\_freedom as if it were a regular field. To clear the value of degree\_of\_freedom and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|base\_type|int|Type of base for the device|You can manipulate the field base\_type as if it were a regular field. To clear the value of base\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|end\_effector\_type|int|End-effector type of the device|You can manipulate the field end\_effector\_type as if it were a regular field. To clear the value of end\_effector\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|vision\_module\_type|int|Vision module type of the device|You can manipulate the field vision\_module\_type as if it were a regular field. To clear the value of vision\_module\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|interface\_module\_type|int|Interface module type of the device|You can manipulate the field interface\_module\_type as if it were a regular field. To clear the value of interface\_module\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|arm\_laterality|int|Arm laterality of the device|You can manipulate the field arm\_laterality as if it were a regular field. To clear the value of arm\_laterality and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|wrist\_type|int|Wrist type of the device|You can manipulate the field wrist\_type as if it were a regular field. To clear the value of wrist\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ProductConfiguration \(Python\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationBaseType.md b/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationBaseType.md new file mode 100644 index 00000000..57c0b612 --- /dev/null +++ b/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationBaseType.md @@ -0,0 +1,10 @@ +# class ProductConfigurationBaseType + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|base\_type|int|New base type|You can manipulate the field base\_type as if it were a regular field. To clear the value of base\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ProductConfiguration \(Python\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationDegreeOfFreedom.md b/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationDegreeOfFreedom.md new file mode 100644 index 00000000..80355048 --- /dev/null +++ b/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationDegreeOfFreedom.md @@ -0,0 +1,10 @@ +# class ProductConfigurationDegreeOfFreedom + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|degree\_of\_freedom|int|New degree of freedom|You can manipulate the field degree\_of\_freedom as if it were a regular field. To clear the value of degree\_of\_freedom and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ProductConfiguration \(Python\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationEndEffectorType.md b/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationEndEffectorType.md new file mode 100644 index 00000000..cdc5bcae --- /dev/null +++ b/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationEndEffectorType.md @@ -0,0 +1,10 @@ +# class ProductConfigurationEndEffectorType + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|end\_effector\_type|int|New end-effector type|You can manipulate the field end\_effector\_type as if it were a regular field. To clear the value of end\_effector\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ProductConfiguration \(Python\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationInterfaceModuleType.md b/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationInterfaceModuleType.md new file mode 100644 index 00000000..10559967 --- /dev/null +++ b/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationInterfaceModuleType.md @@ -0,0 +1,10 @@ +# class ProductConfigurationInterfaceModuleType + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|interface\_module\_type|int|New interface module type|You can manipulate the field interface\_module\_type as if it were a regular field. To clear the value of interface\_module\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ProductConfiguration \(Python\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationLaterality.md b/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationLaterality.md new file mode 100644 index 00000000..ad0c8f66 --- /dev/null +++ b/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationLaterality.md @@ -0,0 +1,10 @@ +# class ProductConfigurationLaterality + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|arm\_laterality|int|New arm laterality|You can manipulate the field arm\_laterality as if it were a regular field. To clear the value of arm\_laterality and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ProductConfiguration \(Python\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationVisionModuleType.md b/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationVisionModuleType.md new file mode 100644 index 00000000..2c145eb7 --- /dev/null +++ b/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationVisionModuleType.md @@ -0,0 +1,10 @@ +# class ProductConfigurationVisionModuleType + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|vision\_module\_type|int|New vision module type|You can manipulate the field vision\_module\_type as if it were a regular field. To clear the value of vision\_module\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ProductConfiguration \(Python\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationWristType.md b/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationWristType.md new file mode 100644 index 00000000..badfdcc0 --- /dev/null +++ b/api_python/doc/markdown/messages/ProductConfiguration/ProductConfigurationWristType.md @@ -0,0 +1,10 @@ +# class ProductConfigurationWristType + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|wrist\_type|int|New wrist type|You can manipulate the field wrist\_type as if it were a regular field. To clear the value of wrist\_type and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [ProductConfiguration \(Python\)](../../summary_pages/ProductConfiguration.md) + diff --git a/api_python/doc/markdown/messages/Session/ConnectionList.md b/api_python/doc/markdown/messages/Session/ConnectionList.md new file mode 100644 index 00000000..1397c062 --- /dev/null +++ b/api_python/doc/markdown/messages/Session/ConnectionList.md @@ -0,0 +1,10 @@ +# class ConnectionList + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|connection| [Connection](../Common/Connection.md#)|Connection|Repeated message fields are represented as an object that acts like a Python sequence. However, You must use add\(\) instead of append\(\). It also has an extend\(\) function that appends an entire list of messages, but makes a copy of every message in the list.| + +**Parent topic:** [Session \(Python\)](../../summary_pages/Session.md) + diff --git a/api_python/doc/markdown/messages/Session/CreateSessionInfo.md b/api_python/doc/markdown/messages/Session/CreateSessionInfo.md new file mode 100644 index 00000000..480a536c --- /dev/null +++ b/api_python/doc/markdown/messages/Session/CreateSessionInfo.md @@ -0,0 +1,13 @@ +# class CreateSessionInfo + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|username|str|User name|You can manipulate the field username as if it were a regular field. To clear the value of username and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|session\_inactivity\_timeout|int|Inactivity period \(in milliseconds\) allowed before the session times out and closes on its own|You can manipulate the field session\_inactivity\_timeout as if it were a regular field. To clear the value of session\_inactivity\_timeout and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|password|str|Password for the user|You can manipulate the field password as if it were a regular field. To clear the value of password and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|connection\_inactivity\_timeout|int|Inactivity period \(in milliseconds\) allowed before the robot stops any movements initiated from this session|You can manipulate the field connection\_inactivity\_timeout as if it were a regular field. To clear the value of connection\_inactivity\_timeout and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [Session \(Python\)](../../summary_pages/Session.md) + diff --git a/api_python/doc/markdown/messages/VisionConfig/DistortionCoefficients.md b/api_python/doc/markdown/messages/VisionConfig/DistortionCoefficients.md new file mode 100644 index 00000000..1b8efc90 --- /dev/null +++ b/api_python/doc/markdown/messages/VisionConfig/DistortionCoefficients.md @@ -0,0 +1,14 @@ +# class DistortionCoefficients + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|k1|float|First radial distortion coefficient|You can manipulate the field k1 as if it were a regular field. To clear the value of k1 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|k2|float|Second radial distortion coefficient|You can manipulate the field k2 as if it were a regular field. To clear the value of k2 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|k3|float|Third radial distortion coefficient|You can manipulate the field k3 as if it were a regular field. To clear the value of k3 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|p1|float|First tangential distortion coefficient|You can manipulate the field p1 as if it were a regular field. To clear the value of p1 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|p2|float|Second tangential distortion coefficient|You can manipulate the field p2 as if it were a regular field. To clear the value of p2 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) + diff --git a/api_python/doc/markdown/messages/VisionConfig/ExtrinsicParameters.md b/api_python/doc/markdown/messages/VisionConfig/ExtrinsicParameters.md new file mode 100644 index 00000000..4a7dd322 --- /dev/null +++ b/api_python/doc/markdown/messages/VisionConfig/ExtrinsicParameters.md @@ -0,0 +1,11 @@ +# class ExtrinsicParameters + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|rotation| [RotationMatrix](RotationMatrix.md#)|The rotation matrix from depth sensor reference frame to color sensor reference frame|To set rotation, you simply assign a value directly to a field within rotation. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|translation| [TranslationVector](TranslationVector.md#)|The translation vector from depth sensor reference frame to color sensor reference frame|To set translation, you simply assign a value directly to a field within translation. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) + diff --git a/api_python/doc/markdown/messages/VisionConfig/FocusPoint.md b/api_python/doc/markdown/messages/VisionConfig/FocusPoint.md new file mode 100644 index 00000000..080642d6 --- /dev/null +++ b/api_python/doc/markdown/messages/VisionConfig/FocusPoint.md @@ -0,0 +1,11 @@ +# class FocusPoint + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|x|int|Pixel value on the X axis, between 0 and the current resolution width - 1|You can manipulate the field x as if it were a regular field. To clear the value of x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|y|int|Pixel value on the Y axis, between 0 and the current resolution height - 1|You can manipulate the field y as if it were a regular field. To clear the value of y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) + diff --git a/api_python/doc/markdown/messages/VisionConfig/IntrinsicParameters.md b/api_python/doc/markdown/messages/VisionConfig/IntrinsicParameters.md new file mode 100644 index 00000000..abb5c4b0 --- /dev/null +++ b/api_python/doc/markdown/messages/VisionConfig/IntrinsicParameters.md @@ -0,0 +1,16 @@ +# class IntrinsicParameters + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|sensor|int|The sensor for which the parameters apply to|You can manipulate the field sensor as if it were a regular field. To clear the value of sensor and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|resolution|int|The resolution for which the parameters apply to|You can manipulate the field resolution as if it were a regular field. To clear the value of resolution and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|principal\_point\_x|float|Horizontal coordinate of the principal point of the image, as a pixel offset from the left edge|You can manipulate the field principal\_point\_x as if it were a regular field. To clear the value of principal\_point\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|principal\_point\_y|float|Vertical coordinate of the principal point of the image, as a pixel offset from the top edge|You can manipulate the field principal\_point\_y as if it were a regular field. To clear the value of principal\_point\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|focal\_length\_x|float|Focal length of the image plane, as a multiple of pixel width|You can manipulate the field focal\_length\_x as if it were a regular field. To clear the value of focal\_length\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|focal\_length\_y|float|Focal length of the image plane, as a multiple of pixel height|You can manipulate the field focal\_length\_y as if it were a regular field. To clear the value of focal\_length\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|distortion\_coeffs| [DistortionCoefficients](DistortionCoefficients.md#)|Distortion coefficients|To set distortion\_coeffs, you simply assign a value directly to a field within distortion\_coeffs. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) + diff --git a/api_python/doc/markdown/messages/VisionConfig/IntrinsicProfileIdentifier.md b/api_python/doc/markdown/messages/VisionConfig/IntrinsicProfileIdentifier.md new file mode 100644 index 00000000..c4cd4464 --- /dev/null +++ b/api_python/doc/markdown/messages/VisionConfig/IntrinsicProfileIdentifier.md @@ -0,0 +1,11 @@ +# class IntrinsicProfileIdentifier + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|sensor|int|Sensor|You can manipulate the field sensor as if it were a regular field. To clear the value of sensor and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|resolution|int|Resolution|You can manipulate the field resolution as if it were a regular field. To clear the value of resolution and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) + diff --git a/api_python/doc/markdown/messages/VisionConfig/ManualFocus.md b/api_python/doc/markdown/messages/VisionConfig/ManualFocus.md new file mode 100644 index 00000000..4d5f3247 --- /dev/null +++ b/api_python/doc/markdown/messages/VisionConfig/ManualFocus.md @@ -0,0 +1,10 @@ +# class ManualFocus + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|value|int|Abstract value allowing to change the focus distance, between 0 \(infinity\) and 1023 \(close plane\)|You can manipulate the field value as if it were a regular field. To clear the value of value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) + diff --git a/api_python/doc/markdown/messages/VisionConfig/OptionIdentifier.md b/api_python/doc/markdown/messages/VisionConfig/OptionIdentifier.md new file mode 100644 index 00000000..75a02e23 --- /dev/null +++ b/api_python/doc/markdown/messages/VisionConfig/OptionIdentifier.md @@ -0,0 +1,11 @@ +# class OptionIdentifier + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|sensor|int|The sensor to configure|You can manipulate the field sensor as if it were a regular field. To clear the value of sensor and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|option|int|The option to configure on the sensor|You can manipulate the field option as if it were a regular field. To clear the value of option and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) + diff --git a/api_python/doc/markdown/messages/VisionConfig/OptionInformation.md b/api_python/doc/markdown/messages/VisionConfig/OptionInformation.md new file mode 100644 index 00000000..731295ef --- /dev/null +++ b/api_python/doc/markdown/messages/VisionConfig/OptionInformation.md @@ -0,0 +1,17 @@ +# class OptionInformation + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|sensor|int|The sensor \(color or depth\)|You can manipulate the field sensor as if it were a regular field. To clear the value of sensor and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|option|int|The option|You can manipulate the field option as if it were a regular field. To clear the value of option and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|supported|bool|Is the option supported by the chosen sensor?|You can manipulate the field supported as if it were a regular field. To clear the value of supported and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|read\_only|bool|Is the option read-only, or can it be changed?|You can manipulate the field read\_only as if it were a regular field. To clear the value of read\_only and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|minimum|float|Minimum value for the option|You can manipulate the field minimum as if it were a regular field. To clear the value of minimum and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|maximum|float|Maximum value for the option|You can manipulate the field maximum as if it were a regular field. To clear the value of maximum and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|step|float|Step size for the option value \(if it takes on discrete values\)|You can manipulate the field step as if it were a regular field. To clear the value of step and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|default\_value|float|Default value for the option|You can manipulate the field default\_value as if it were a regular field. To clear the value of default\_value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) + diff --git a/api_python/doc/markdown/messages/VisionConfig/OptionValue.md b/api_python/doc/markdown/messages/VisionConfig/OptionValue.md new file mode 100644 index 00000000..df7cc51e --- /dev/null +++ b/api_python/doc/markdown/messages/VisionConfig/OptionValue.md @@ -0,0 +1,12 @@ +# class OptionValue + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|sensor|int|The sensor to configure \(color or depth\)|You can manipulate the field sensor as if it were a regular field. To clear the value of sensor and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|option|int|The option to configure|You can manipulate the field option as if it were a regular field. To clear the value of option and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|value|float|The desired value for the option|You can manipulate the field value as if it were a regular field. To clear the value of value and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) + diff --git a/api_python/doc/markdown/messages/VisionConfig/RotationMatrix.md b/api_python/doc/markdown/messages/VisionConfig/RotationMatrix.md new file mode 100644 index 00000000..645168dc --- /dev/null +++ b/api_python/doc/markdown/messages/VisionConfig/RotationMatrix.md @@ -0,0 +1,12 @@ +# class RotationMatrix + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|row1| [RotationMatrixRow](RotationMatrixRow.md#)|First rotation matrix row|To set row1, you simply assign a value directly to a field within row1. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|row2| [RotationMatrixRow](RotationMatrixRow.md#)|Second rotation matrix row|To set row2, you simply assign a value directly to a field within row2. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| +|row3| [RotationMatrixRow](RotationMatrixRow.md#)|Third rotation matrix row|To set row3, you simply assign a value directly to a field within row3. You can also use the parent message's HasField\(\) method to check if a message type field value has been set.| + +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) + diff --git a/api_python/doc/markdown/messages/VisionConfig/RotationMatrixRow.md b/api_python/doc/markdown/messages/VisionConfig/RotationMatrixRow.md new file mode 100644 index 00000000..2a489835 --- /dev/null +++ b/api_python/doc/markdown/messages/VisionConfig/RotationMatrixRow.md @@ -0,0 +1,12 @@ +# class RotationMatrixRow + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|column1|float|Value between -1.0 and 1.0|You can manipulate the field column1 as if it were a regular field. To clear the value of column1 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|column2|float|Value between -1.0 and 1.0|You can manipulate the field column2 as if it were a regular field. To clear the value of column2 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|column3|float|Value between -1.0 and 1.0|You can manipulate the field column3 as if it were a regular field. To clear the value of column3 and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) + diff --git a/api_python/doc/markdown/messages/VisionConfig/SensorFocusAction.md b/api_python/doc/markdown/messages/VisionConfig/SensorFocusAction.md new file mode 100644 index 00000000..38040706 --- /dev/null +++ b/api_python/doc/markdown/messages/VisionConfig/SensorFocusAction.md @@ -0,0 +1,13 @@ +# class SensorFocusAction + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|sensor|int|The sensor on which to perform the focus action|You can manipulate the field sensor as if it were a regular field. To clear the value of sensor and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|focus\_action|int|The focus action to perform on the sensor|You can manipulate the field focus\_action as if it were a regular field. To clear the value of focus\_action and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|focus\_point|oneof:action\_parameters [FocusPoint](FocusPoint.md#)|The X-Y point on which to focus|You can manipulate the field focus\_point as if it were a regular field. To clear the value of focus\_point and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| +|manual\_focus|oneof:action\_parameters [ManualFocus](ManualFocus.md#)|The manual focus abstract value|You can manipulate the field manual\_focus as if it were a regular field. To clear the value of manual\_focus and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface. The message class also has a WhichOneof method that lets you find out which field \(if any\) in the oneof has been set.| + +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) + diff --git a/api_python/doc/markdown/messages/VisionConfig/SensorIdentifier.md b/api_python/doc/markdown/messages/VisionConfig/SensorIdentifier.md new file mode 100644 index 00000000..81827b10 --- /dev/null +++ b/api_python/doc/markdown/messages/VisionConfig/SensorIdentifier.md @@ -0,0 +1,10 @@ +# class SensorIdentifier + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|sensor|int|Sensor|You can manipulate the field sensor as if it were a regular field. To clear the value of sensor and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) + diff --git a/api_python/doc/markdown/messages/VisionConfig/SensorSettings.md b/api_python/doc/markdown/messages/VisionConfig/SensorSettings.md new file mode 100644 index 00000000..cafc9caa --- /dev/null +++ b/api_python/doc/markdown/messages/VisionConfig/SensorSettings.md @@ -0,0 +1,13 @@ +# class SensorSettings + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|sensor|int|The sensor \(color or depth\)|You can manipulate the field sensor as if it were a regular field. To clear the value of sensor and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|resolution|int|The resolution setting|You can manipulate the field resolution as if it were a regular field. To clear the value of resolution and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|frame\_rate|int|Frame rate setting|You can manipulate the field frame\_rate as if it were a regular field. To clear the value of frame\_rate and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|bit\_rate|int|Maximum encoded bit rate|You can manipulate the field bit\_rate as if it were a regular field. To clear the value of bit\_rate and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) + diff --git a/api_python/doc/markdown/messages/VisionConfig/TranslationVector.md b/api_python/doc/markdown/messages/VisionConfig/TranslationVector.md new file mode 100644 index 00000000..1ad76a5a --- /dev/null +++ b/api_python/doc/markdown/messages/VisionConfig/TranslationVector.md @@ -0,0 +1,12 @@ +# class TranslationVector + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|t\_x|float|Translation in meters in the x axis|You can manipulate the field t\_x as if it were a regular field. To clear the value of t\_x and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|t\_y|float|Translation in meters in the y axis|You can manipulate the field t\_y as if it were a regular field. To clear the value of t\_y and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|t\_z|float|Translation in meters in the z axis|You can manipulate the field t\_z as if it were a regular field. To clear the value of t\_z and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) + diff --git a/api_python/doc/markdown/messages/VisionConfig/VisionNotification.md b/api_python/doc/markdown/messages/VisionConfig/VisionNotification.md new file mode 100644 index 00000000..e71153ea --- /dev/null +++ b/api_python/doc/markdown/messages/VisionConfig/VisionNotification.md @@ -0,0 +1,12 @@ +# class VisionNotification + + **Member values** + +|Member name|Data type|Description|Usage| +|-----------|---------|-----------|-----| +|event|int|Vision event|You can manipulate the field event as if it were a regular field. To clear the value of event and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|sensor|int|The sensor that caused the notification \(if applicable\)|You can manipulate the field sensor as if it were a regular field. To clear the value of sensor and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| +|option|int|The option that caused the notification \(if applicable\)|You can manipulate the field option as if it were a regular field. To clear the value of option and reset it to the default value for its type, you call the ClearField\(\) method of the Message interface.| + +**Parent topic:** [VisionConfig \(Python\)](../../summary_pages/VisionConfig.md) + diff --git a/api_python/doc/markdown/references/enm_ActuatorConfig_SafetyLimitType.md b/api_python/doc/markdown/references/enm_ActuatorConfig_SafetyLimitType.md deleted file mode 100644 index fdd9bc75..00000000 --- a/api_python/doc/markdown/references/enm_ActuatorConfig_SafetyLimitType.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum SafetyLimitType - -This page describes the Python Kinova.Api.ActuatorConfig.SafetyLimitType enumeration. - -## Overview / Purpose - -List of of admissible limit types - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|MAXIMAL\_LIMIT|0|Maximal limit| -|MINIMAL\_LIMIT|1|Minimal limit| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/enm_ActuatorConfig_ServiceVersion.md b/api_python/doc/markdown/references/enm_ActuatorConfig_ServiceVersion.md deleted file mode 100644 index 0d88c65d..00000000 --- a/api_python/doc/markdown/references/enm_ActuatorConfig_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the Python Kinova.Api.ActuatorConfig.ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify ActuatorConfig service current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/enm_ActuatorCyclic_ServiceVersion.md b/api_python/doc/markdown/references/enm_ActuatorCyclic_ServiceVersion.md deleted file mode 100644 index fa20e2cc..00000000 --- a/api_python/doc/markdown/references/enm_ActuatorCyclic_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the Python Kinova.Api.ActuatorCyclic.ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify ActuatorCyclic current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [ActuatorCyclic](../references/summary_ActuatorCyclic.md) - diff --git a/api_python/doc/markdown/references/enm_BaseCyclic_ServiceVersion.md b/api_python/doc/markdown/references/enm_BaseCyclic_ServiceVersion.md deleted file mode 100644 index 658f59c1..00000000 --- a/api_python/doc/markdown/references/enm_BaseCyclic_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the Python Kinova.Api.BaseCyclic.ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify BaseCyclic current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) - diff --git a/api_python/doc/markdown/references/enm_Base_ActionEvent.md b/api_python/doc/markdown/references/enm_Base_ActionEvent.md deleted file mode 100644 index 70176843..00000000 --- a/api_python/doc/markdown/references/enm_Base_ActionEvent.md +++ /dev/null @@ -1,20 +0,0 @@ -# Enum ActionEvent - -This page describes the Python Kinova.Api.Base.ActionEvent enumeration. - -## Overview / Purpose - -List of admissible action event types - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_ACTION\_EVENT|0|Unspecified action event| -|ACTION\_END|1|Action execution end reached| -|ACTION\_ABORT|2|Action execution aborted| -|ACTION\_PAUSE|3|Action execution paused| -|ACTION\_START|4|Action execution started| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/enm_Base_ActionType.md b/api_python/doc/markdown/references/enm_Base_ActionType.md deleted file mode 100644 index 29ec253b..00000000 --- a/api_python/doc/markdown/references/enm_Base_ActionType.md +++ /dev/null @@ -1,32 +0,0 @@ -# Enum ActionType - -This page describes the Python Kinova.Api.Base.ActionType enumeration. - -## Overview / Purpose - -List of admissible action types - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_ACTION|0|Unspecified action type| -|SEND\_TWIST\_COMMAND|1|Action to control the robot in velocity| -|SEND\_JOINT\_SPEEDS|4|Action to control each joint speed| -|REACH\_POSE|6|Action to reach a pose| -|REACH\_JOINT\_ANGLES|7|Action to reach a series of joint angles| -|TOGGLE\_ADMITTANCE\_MODE|13|Action to enable or disable the admittance mode| -|SWITCH\_CONTROL\_MAPPING|16|Action to switch the active controller map| -|NAVIGATE\_JOINTS|17|Action to select the next actuator to control from control mapping| -|NAVIGATE\_MAPPINGS|18|Action to select a different map| -|CHANGE\_TWIST|22|Action to change the twist| -|CHANGE\_JOINT\_SPEEDS|23|Action to change the joint speeds individually| -|APPLY\_EMERGENCY\_STOP|28|Action to apply robot emergency stop| -|CLEAR\_FAULTS|29|Action to clear faults. Robot will be able to move if there is no more fault \(see BaseCyclic.BaseFeedback.\[fault\_bank\_a | fault\_bank\_b\]\)| -|TIME\_DELAY|31|Action to apply a delay| -|EXECUTE\_ACTION|32|Action to execute an existing action| -|SEND\_GRIPPER\_COMMAND|33|Action to execute a gripper command| -|STOP\_ACTION|35|Action to stop movement| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/enm_Base_CartesianReferenceFrame.md b/api_python/doc/markdown/references/enm_Base_CartesianReferenceFrame.md deleted file mode 100644 index 319b30ab..00000000 --- a/api_python/doc/markdown/references/enm_Base_CartesianReferenceFrame.md +++ /dev/null @@ -1,18 +0,0 @@ -# Enum CartesianReferenceFrame - -This page describes the Python Kinova.Api.Base.CartesianReferenceFrame enumeration. - -## Overview / Purpose - -List of admissible Cartesian reference frame modes - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_CARTESIAN\_REFERENCE\_FRAME|0|Unspecified Cartesian reference frame| -|MIXED|1|Mixed reference frame where translation reference = base and orientation reference = tool| -|TOOL|2|Tool reference frame where translation reference = tool and orientation reference = tool| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/enm_Base_ControllerType.md b/api_python/doc/markdown/references/enm_Base_ControllerType.md deleted file mode 100644 index 9951f96c..00000000 --- a/api_python/doc/markdown/references/enm_Base_ControllerType.md +++ /dev/null @@ -1,18 +0,0 @@ -# Enum ControllerType - -This page describes the Python Kinova.Api.Base.ControllerType enumeration. - -## Overview / Purpose - -List of admissible controller types - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_CONTROLLER\_TYPE|0|Unspecified controller type| -|XBOX\_CONTROLLER|1|Xbox controller| -|WRIST\_CONTROLLER|2|Wrist controller on Kinova Arm| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/enm_Base_CountryCodeIdentifier.md b/api_python/doc/markdown/references/enm_Base_CountryCodeIdentifier.md deleted file mode 100644 index d9e1295c..00000000 --- a/api_python/doc/markdown/references/enm_Base_CountryCodeIdentifier.md +++ /dev/null @@ -1,128 +0,0 @@ -# Enum CountryCodeIdentifier - -This page describes the Python Kinova.Api.Base.CountryCodeIdentifier enumeration. - -## Overview / Purpose - -List of supported ISO3166 country identifiers - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_COUNTRY\_CODE|0| | -|UNITED\_ARAB\_EMIRATES\_AE|1| | -|ANTIGUA\_AND\_BARBUDA\_AG|2| | -|ANGUILLA\_AI|3| | -|ALBANIA\_AL|4| | -|AMERICAN\_SAMOA\_AS|5| | -|AUSTRIA\_AT|6| | -|AUSTRALIA\_AU|7| | -|ARUBA\_AW|8| | -|AZERBAIJAN\_AZ|9| | -|BOSNIA\_AND\_HERZEGOVINA\_BA|10| | -|BANGLADESH\_BD|11| | -|BELGIUM\_BE|12| | -|BULGARIA\_BG|13| | -|BAHRAIN\_BH|14| | -|BERMUDA\_BM|15| | -|BRUNEI\_DARUSSALAM\_BN|16| | -|BRAZIL\_BR|17| | -|BAHAMAS\_BS|18| | -|BELARUS\_BY|19| | -|SWITZERLAND\_CH|20| | -|CANADA\_CA|21| | -|CHINA\_CN|22| | -|COLOMBIA\_CO|23| | -|COSTA\_RICA\_CR|24| | -|CYPRUS\_CY|25| | -|CZECH\_REPUBLIC\_CZ|26| | -|GERMANY\_DE|27| | -|DENMARK\_DK|28| | -|ECUADOR\_EC|29| | -|ESTONIA\_EE|30| | -|EGYPT\_EG|31| | -|SPAIN\_ES|32| | -|ETHIOPIA\_ET|33| | -|FINLAND\_FI|34| | -|FRANCE\_FR|35| | -|UNITED\_KINGDOM\_GB|36| | -|GRENADA\_GD|37| | -|FRENCH\_GUIANA\_GF|38| | -|GUADELOUPE\_GP|39| | -|GREECE\_GR|40| | -|GUATEMALA\_GT|41| | -|GUAM\_GU|42| | -|HONG\_KONG\_HK|43| | -|CROATIA\_HR|44| | -|HUNGARY\_HU|45| | -|INDIA\_IN|46| | -|INDONESIA\_ID|47| | -|IRELAND\_IE|48| | -|ISRAEL\_IL|49| | -|ICELAND\_IS|50| | -|ITALY\_IT|51| | -|JORDAN\_JO|52| | -|JAPAN\_JP|53| | -|CAMBODIA\_KH|54| | -|REPUBLIC\_OF\_KOREA\_KR|55| | -|KUWAIT\_KW|56| | -|CAYMAN\_ISLANDS\_KY|57| | -|LAO\_PDR\_LA|58| | -|LEBANON\_LB|59| | -|LIECHTENSTEIN\_LI|60| | -|SRI\_LANKA\_LK|61| | -|LESOTHO\_LS|62| | -|LITHUANIA\_LT|63| | -|LUXEMBOURG\_LU|64| | -|LATVIA\_LV|65| | -|MOROCCO\_MA|66| | -|MONACO\_MC|67| | -|MOLDOVA\_MD|68| | -|MONTENEGRO\_ME|69| | -|REPUBLIC\_OF\_MACEDONIA\_MK|70| | -|MONGOLIA\_MN|71| | -|MARTINIQUE\_MQ|72| | -|MAURITANIA\_MR|73| | -|MALTA\_MT|74| | -|MAURITIUS\_MU|75| | -|MALDIVES\_MV|76| | -|MALAWI\_MW|77| | -|MEXICO\_MX|78| | -|MALAYSIA\_MY|79| | -|NICARAGUA\_NI|80| | -|NETHERLANDS\_NL|81| | -|NORWAY\_NO|82| | -|NEW\_ZEALAND\_NZ|83| | -|OMAN\_OM|84| | -|PANAMA\_PA|85| | -|PERU\_PE|86| | -|PHILIPPINES\_PH|87| | -|POLAND\_PL|88| | -|PUERTO\_RICO\_PR|89| | -|PORTUGAL\_PT|90| | -|PARAGUAY\_PY|91| | -|REUNION\_RE|92| | -|ROMANIA\_RO|93| | -|SERBIA\_RS|94| | -|RUSSIAN\_FEDERATION\_RU|95| | -|SWEDEN\_SE|96| | -|SINGAPORE\_SI|97| | -|SLOVAKIA\_SK|98| | -|EL\_SALVADOR\_SV|99| | -|THAILAND\_TH|100| | -|TUNISIA\_TN|101| | -|TURKEY\_TR|102| | -|TRINIDAD\_AND\_TOBAGO\_TT|103| | -|TAIWAN\_PROVINCE\_OF\_CHINA\_TW|104| | -|UKRAINE\_UA|105| | -|UNITED\_STATES\_US|106| | -|HOLY\_SEE\_VATICAN\_CITY\_STATE\_VA|107| | -|BOLIVARIAN\_REPUBLIC\_OF\_VENEZUELA\_VE|108| | -|BRITISH\_VIRGIN\_ISLANDS\_VG|109| | -|VIETNAM\_VN|110| | -|MAYOTTE\_YT|111| | -|SOUTH\_AFRICA\_ZA|112| | - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/enm_Base_GripperMode.md b/api_python/doc/markdown/references/enm_Base_GripperMode.md deleted file mode 100644 index 14cc6f77..00000000 --- a/api_python/doc/markdown/references/enm_Base_GripperMode.md +++ /dev/null @@ -1,19 +0,0 @@ -# Enum GripperMode - -This page describes the Python Kinova.Api.Base.GripperMode enumeration. - -## Overview / Purpose - -List of admissible gripper control mode - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_GRIPPER\_MODE|0|Unspecified gripper mode| -|GRIPPER\_FORCE|1|Force control \(in Newton\) \(future\)| -|GRIPPER\_SPEED|2|Speed control \(in meters per second\) \(future\)| -|GRIPPER\_POSITION|3|position control \(in meters\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/enm_Base_JointTrajectoryConstraintType.md b/api_python/doc/markdown/references/enm_Base_JointTrajectoryConstraintType.md deleted file mode 100644 index e0a3760f..00000000 --- a/api_python/doc/markdown/references/enm_Base_JointTrajectoryConstraintType.md +++ /dev/null @@ -1,18 +0,0 @@ -# Enum JointTrajectoryConstraintType - -This page describes the Python Kinova.Api.Base.JointTrajectoryConstraintType enumeration. - -## Overview / Purpose - -List of admissible constraint types that can be applied when controlling a joint in trajectory mode - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_JOINT\_CONSTRAINT|0|Unspecified joint constraint| -|JOINT\_CONSTRAINT\_DURATION|1|Duration constraint \(in second\)| -|JOINT\_CONSTRAINT\_SPEED|2|Speed constraint \(in meters per second\) \(future\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/enm_Base_LimitationType.md b/api_python/doc/markdown/references/enm_Base_LimitationType.md deleted file mode 100644 index 7ee34b08..00000000 --- a/api_python/doc/markdown/references/enm_Base_LimitationType.md +++ /dev/null @@ -1,19 +0,0 @@ -# Enum LimitationType - -This page describes the Python Kinova.Api.Base.LimitationType enumeration. - -## Overview / Purpose - -List of admisible limitation types - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_LIMITATION|0|Unspecified limitation| -|FORCE\_LIMITATION|1|Force limitation \(future\)| -|ACCELERATION\_LIMITATION|2|Acceleration limitation \(future\)| -|VELOCITY\_LIMITATION|3|Velocity limitation| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/enm_Base_NavigationDirection.md b/api_python/doc/markdown/references/enm_Base_NavigationDirection.md deleted file mode 100644 index 787e7fbc..00000000 --- a/api_python/doc/markdown/references/enm_Base_NavigationDirection.md +++ /dev/null @@ -1,20 +0,0 @@ -# Enum NavigationDirection - -This page describes the Python Kinova.Api.Base.NavigationDirection enumeration. - -## Overview / Purpose - -List of admissible map navigation directions - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_NAVIGATION\_DIRECTION|0|Unspecified navigation direction| -|NEXT|1|Go to next map| -|UP|2|Go to parent map group \(future\)| -|DOWN|3|Go to children map group \(future\)| -|PREVIOUS|4|Go to previous map| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/enm_Base_RobotEvent.md b/api_python/doc/markdown/references/enm_Base_RobotEvent.md deleted file mode 100644 index 8e03fb13..00000000 --- a/api_python/doc/markdown/references/enm_Base_RobotEvent.md +++ /dev/null @@ -1,20 +0,0 @@ -# Enum RobotEvent - -This page describes the Python Kinova.Api.Base.RobotEvent enumeration. - -## Overview / Purpose - -List of admissible robot events - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_ROBOT\_EVENT|0|Unspecified robot event| -|ARM\_CONNECTED|1|Arm is connected| -|ARM\_DISCONNECTED|2|Arm is disconnected| -|TOOL\_CONNECTED|5|Tool is connected to the end effector \(future\)| -|TOOL\_DISCONNECTED|6|Tool is disconnected from end effector \(future\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/enm_Base_ServiceVersion.md b/api_python/doc/markdown/references/enm_Base_ServiceVersion.md deleted file mode 100644 index fb68d4fe..00000000 --- a/api_python/doc/markdown/references/enm_Base_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the Python Kinova.Api.Base.ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify Base service current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/enm_Base_TwistMode.md b/api_python/doc/markdown/references/enm_Base_TwistMode.md deleted file mode 100644 index d06109f6..00000000 --- a/api_python/doc/markdown/references/enm_Base_TwistMode.md +++ /dev/null @@ -1,19 +0,0 @@ -# Enum TwistMode - -This page describes the Python Kinova.Api.Base.TwistMode enumeration. - -## Overview / Purpose - -List of admissible twist \(velocity\) modes - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_TWIST\_MODE|0|Unspecified twist mode| -|TWIST\_TOOL\_JOYSTICK|1|Twist tool joystick mode| -|TWIST\_BASE\_FRAME\_JOYSTICK|2|Twist base frame joystick mode| -|TWIST\_CARTESIAN\_JOYSTICK|3|Twist Cartesian joystick mode| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/enm_Base_UserEvent.md b/api_python/doc/markdown/references/enm_Base_UserEvent.md deleted file mode 100644 index f573602d..00000000 --- a/api_python/doc/markdown/references/enm_Base_UserEvent.md +++ /dev/null @@ -1,18 +0,0 @@ -# Enum UserEvent - -This page describes the Python Kinova.Api.Base.UserEvent enumeration. - -## Overview / Purpose - -List of admissible user event types - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_USER\_EVENT|0|Unspecified user event| -|LOGGED\_OUT|1|User logged out| -|LOGGED\_IN|2|User logged in| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/enm_Base_WifiEncryptionType.md b/api_python/doc/markdown/references/enm_Base_WifiEncryptionType.md deleted file mode 100644 index ffe7f168..00000000 --- a/api_python/doc/markdown/references/enm_Base_WifiEncryptionType.md +++ /dev/null @@ -1,19 +0,0 @@ -# Enum WifiEncryptionType - -This page describes the Python Kinova.Api.Base.WifiEncryptionType enumeration. - -## Overview / Purpose - -List of admissible Wi-Fi encryption types - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_ENCRYPTION|0|Unspecified wifi encryption type| -|AES\_ENCRYPTION|1|AES encryption| -|TKIP\_ENCRYPTION|2|TKIP encryption| -|WEP\_ENCRYPTION|4|WEP encryption| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/enm_Base_WifiSecurityType.md b/api_python/doc/markdown/references/enm_Base_WifiSecurityType.md deleted file mode 100644 index 94c9f38f..00000000 --- a/api_python/doc/markdown/references/enm_Base_WifiSecurityType.md +++ /dev/null @@ -1,20 +0,0 @@ -# Enum WifiSecurityType - -This page describes the Python Kinova.Api.Base.WifiSecurityType enumeration. - -## Overview / Purpose - -List of admissible Wi-Fi Security types - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|UNSPECIFIED\_AUTHENTICATION|0|Unspecified wifi security type| -|WEP|1|WEP authentication required| -|WPA2\_PERSONAL|2|WPA2 Personal authentication required| -|WPA\_PERSONAL|4|WPA Personal authentication required| -|NO\_AUTHENTICATION|8|No authentication required| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/enm_DeviceConfig_ServiceVersion.md b/api_python/doc/markdown/references/enm_DeviceConfig_ServiceVersion.md deleted file mode 100644 index c8f79137..00000000 --- a/api_python/doc/markdown/references/enm_DeviceConfig_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the Python Kinova.Api.DeviceConfig.ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify DeviceConfig current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/enm_DeviceManager_ServiceVersion.md b/api_python/doc/markdown/references/enm_DeviceManager_ServiceVersion.md deleted file mode 100644 index 8cc2ce9a..00000000 --- a/api_python/doc/markdown/references/enm_DeviceManager_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the Python Kinova.Api.DeviceManager.ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify DeviceManager current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [DeviceManager](../references/summary_DeviceManager.md) - diff --git a/api_python/doc/markdown/references/enm_InterconnectConfig_ServiceVersion.md b/api_python/doc/markdown/references/enm_InterconnectConfig_ServiceVersion.md deleted file mode 100644 index b444cfa2..00000000 --- a/api_python/doc/markdown/references/enm_InterconnectConfig_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the Python Kinova.Api.InterconnectConfig.ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify InterconnectConfig current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [InterconnectConfig](../references/summary_InterconnectConfig.md) - diff --git a/api_python/doc/markdown/references/enm_InterconnectCyclic_ServiceVersion.md b/api_python/doc/markdown/references/enm_InterconnectCyclic_ServiceVersion.md deleted file mode 100644 index 90200884..00000000 --- a/api_python/doc/markdown/references/enm_InterconnectCyclic_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the Python Kinova.Api.InterconnectCyclic.ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify InterconnectCyclic current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [InterconnectCyclic](../references/summary_InterconnectCyclic.md) - diff --git a/api_python/doc/markdown/references/enm_Session_ServiceVersion.md b/api_python/doc/markdown/references/enm_Session_ServiceVersion.md deleted file mode 100644 index 96049804..00000000 --- a/api_python/doc/markdown/references/enm_Session_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the Python Kinova.Api.Session.ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify Session current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [Session](../references/summary_Session.md) - diff --git a/api_python/doc/markdown/references/enm_VisionConfig_ServiceVersion.md b/api_python/doc/markdown/references/enm_VisionConfig_ServiceVersion.md deleted file mode 100644 index 6c2889cd..00000000 --- a/api_python/doc/markdown/references/enm_VisionConfig_ServiceVersion.md +++ /dev/null @@ -1,17 +0,0 @@ -# Enum ServiceVersion - -This page describes the Python Kinova.Api.VisionConfig.ServiceVersion enumeration. - -## Overview / Purpose - -Enumeration used to identify VisionConfig current version - -## Enumeration definition - -|Enumerator|Value|Description| -|----------|-----|-----------| -|RESERVED\_0|0|Reserved| -|CURRENT\_VERSION|1|Current version| - -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorConfig_AxisOffsets.md b/api_python/doc/markdown/references/msg_ActuatorConfig_AxisOffsets.md deleted file mode 100644 index 9ffd5c91..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorConfig_AxisOffsets.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message AxisOffsets - -This page describes the Python Kinova.Api.ActuatorConfig.AxisOffsets message. - -## Overview / Purpose - -Defines axis offsets - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|absolute\_offset|float|Absolute offset value| -|relative\_offset|float|Relative offset value| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorConfig_AxisPosition.md b/api_python/doc/markdown/references/msg_ActuatorConfig_AxisPosition.md deleted file mode 100644 index 459f46ca..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorConfig_AxisPosition.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message AxisPosition - -This page describes the Python Kinova.Api.ActuatorConfig.AxisPosition message. - -## Overview / Purpose - -Defines an axis position - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|position|float|Axis position| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorConfig_CommandModeInformation.md b/api_python/doc/markdown/references/msg_ActuatorConfig_CommandModeInformation.md deleted file mode 100644 index 8f98c5c1..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorConfig_CommandModeInformation.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message CommandModeInformation - -This page describes the Python Kinova.Api.ActuatorConfig.CommandModeInformation message. - -## Overview / Purpose - -Selects command mode - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|command\_mode| [CommandMode](enm_ActuatorConfig_CommandMode.md#)|Command mode| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorConfig_ControlLoop.md b/api_python/doc/markdown/references/msg_ActuatorConfig_ControlLoop.md deleted file mode 100644 index 8cfb23e1..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorConfig_ControlLoop.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ControlLoop - -This page describes the Python Kinova.Api.ActuatorConfig.ControlLoop message. - -## Overview / Purpose - -Defines the control loop - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|control\_loop|int|Use ControlLoopSelection enum values to form bitmask| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorConfig_ControlLoopParameters.md b/api_python/doc/markdown/references/msg_ActuatorConfig_ControlLoopParameters.md deleted file mode 100644 index 2d1c7dae..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorConfig_ControlLoopParameters.md +++ /dev/null @@ -1,22 +0,0 @@ -# Message ControlLoopParameters - -This page describes the Python Kinova.Api.ActuatorConfig.ControlLoopParameters message. - -## Overview / Purpose - -Defines control loop parameters \(discrete transfer function\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|loop\_selection| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|ControlLoopSelection enum| -|error\_saturation|float|Error saturation value| -|output\_saturation|float|Output saturation value| -|kAz|Collection of float|KAz \(index 0 to 4\): denominator gains A1 to A5| -|kBz|Collection of float|KBz \(index 0 to 5\): numerator gains B0 to B5| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorConfig_ControlModeInformation.md b/api_python/doc/markdown/references/msg_ActuatorConfig_ControlModeInformation.md deleted file mode 100644 index 2424d4a8..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorConfig_ControlModeInformation.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ControlModeInformation - -This page describes the Python Kinova.Api.ActuatorConfig.ControlModeInformation message. - -## Overview / Purpose - -Defines the control mode - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|control\_mode| [ControlMode](enm_ActuatorConfig_ControlMode.md#)|Control mode| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorConfig_CustomDataSelection.md b/api_python/doc/markdown/references/msg_ActuatorConfig_CustomDataSelection.md deleted file mode 100644 index af34f549..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorConfig_CustomDataSelection.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message CustomDataSelection - -This page describes the Python Kinova.Api.ActuatorConfig.CustomDataSelection message. - -## Overview / Purpose - -Selects custom data channels content - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|channel|Collection of [CustomDataIndex](enm_ActuatorConfig_CustomDataIndex.md#)|16 channels maximum| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorConfig_EncoderDerivativeParameters.md b/api_python/doc/markdown/references/msg_ActuatorConfig_EncoderDerivativeParameters.md deleted file mode 100644 index d24d2286..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorConfig_EncoderDerivativeParameters.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message EncoderDerivativeParameters - -This page describes the Python Kinova.Api.ActuatorConfig.EncoderDerivativeParameters message. - -## Overview / Purpose - -Defines variable window derivative parameters - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|max\_window\_width|int|Maximum window width| -|min\_encoder\_tick\_count|int|Minimum encoder tick count| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorConfig_FrequencyResponse.md b/api_python/doc/markdown/references/msg_ActuatorConfig_FrequencyResponse.md deleted file mode 100644 index f116e89d..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorConfig_FrequencyResponse.md +++ /dev/null @@ -1,22 +0,0 @@ -# Message FrequencyResponse - -This page describes the Python Kinova.Api.ActuatorConfig.FrequencyResponse message. - -## Overview / Purpose - -Defines frequency response - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|loop\_selection| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|ControlLoopSelection enum| -|min\_frequency|float|Minimum frequency value| -|max\_frequency|float|Maximum frequency value| -|amplitude|float|Amplitude value| -|duration|float|Duration \(in seconds\)| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorConfig_LoopSelection.md b/api_python/doc/markdown/references/msg_ActuatorConfig_LoopSelection.md deleted file mode 100644 index 9db01315..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorConfig_LoopSelection.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message LoopSelection - -This page describes the Python Kinova.Api.ActuatorConfig.LoopSelection message. - -## Overview / Purpose - -Defines the loop selection - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|loop\_selection| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|ControlLoopSelection enum| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorConfig_PositionCommand.md b/api_python/doc/markdown/references/msg_ActuatorConfig_PositionCommand.md deleted file mode 100644 index 8a3c3341..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorConfig_PositionCommand.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message PositionCommand - -This page describes the Python Kinova.Api.ActuatorConfig.PositionCommand message. - -## Overview / Purpose - -Defines a position command - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|position|float|Position value| -|velocity|float|Velocity value| -|acceleration|float|Acceleration value| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorConfig_RampResponse.md b/api_python/doc/markdown/references/msg_ActuatorConfig_RampResponse.md deleted file mode 100644 index fc04d999..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorConfig_RampResponse.md +++ /dev/null @@ -1,21 +0,0 @@ -# Message RampResponse - -This page describes the Python Kinova.Api.ActuatorConfig.RampResponse message. - -## Overview / Purpose - -Defines ramp response - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|loop\_selection| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|ControlLoopSelection enum| -|slope|float|Slope value| -|ramp\_delay|float|Ramp delay value| -|duration|float|Duration \(in seconds\)| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorConfig_Servoing.md b/api_python/doc/markdown/references/msg_ActuatorConfig_Servoing.md deleted file mode 100644 index 2ab3ceeb..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorConfig_Servoing.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message Servoing - -This page describes the Python Kinova.Api.ActuatorConfig.Servoing message. - -## Overview / Purpose - -Enables/disables servoing - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|enabled|bool|Servoing enabled| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorConfig_StepResponse.md b/api_python/doc/markdown/references/msg_ActuatorConfig_StepResponse.md deleted file mode 100644 index f9bc23c7..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorConfig_StepResponse.md +++ /dev/null @@ -1,21 +0,0 @@ -# Message StepResponse - -This page describes the Python Kinova.Api.ActuatorConfig.StepResponse message. - -## Overview / Purpose - -Defines step response - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|loop\_selection| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|ControlLoopSelection enum| -|amplitude|float|Amplitude value| -|step\_delay|float|Step delay value| -|duration|float|Duration \(in seconds\)| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorConfig_TorqueCalibration.md b/api_python/doc/markdown/references/msg_ActuatorConfig_TorqueCalibration.md deleted file mode 100644 index 415d3f24..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorConfig_TorqueCalibration.md +++ /dev/null @@ -1,21 +0,0 @@ -# Message TorqueCalibration - -This page describes the Python Kinova.Api.ActuatorConfig.TorqueCalibration message. - -## Overview / Purpose - -Defines torque calibration - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|global\_gain|float|Global gain value| -|global\_offset|float|Global offset value| -|gain|Collection of float|Gain \(index 0 to 3\)| -|offset|Collection of float|Offset \(index 0 to 3\)| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorConfig_TorqueOffset.md b/api_python/doc/markdown/references/msg_ActuatorConfig_TorqueOffset.md deleted file mode 100644 index 78155268..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorConfig_TorqueOffset.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message TorqueOffset - -This page describes the Python Kinova.Api.ActuatorConfig.TorqueOffset message. - -## Overview / Purpose - -Defines torque offset - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|torque\_offset|float|Torque offset value| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorConfig_VectorDriveParameters.md b/api_python/doc/markdown/references/msg_ActuatorConfig_VectorDriveParameters.md deleted file mode 100644 index fc765135..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorConfig_VectorDriveParameters.md +++ /dev/null @@ -1,21 +0,0 @@ -# Message VectorDriveParameters - -This page describes the Python Kinova.Api.ActuatorConfig.VectorDriveParameters message. - -## Overview / Purpose - -Field-oriented control PI controller gain values - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|kpq|float|Quadrature axis current proportional gain| -|kiq|float|Quadrature axis current integral gain| -|kpd|float|Direct axis current proportional gain| -|kid|float|Direct axis current integral gain| - -**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorCyclic_Command.md b/api_python/doc/markdown/references/msg_ActuatorCyclic_Command.md deleted file mode 100644 index 07f9898b..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorCyclic_Command.md +++ /dev/null @@ -1,23 +0,0 @@ -# Message Command - -This page describes the Python Kinova.Api.ActuatorCyclic.Command message. - -## Overview / Purpose - -Defines an actuator module command - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|command\_id| [MessageId](msg_ActuatorCyclic_MessageId.md#)|MessageId| -|flags|int|Command flags \(see enum CommandFlags\)| -|position|float|Desired position of the actuator \(degrees\)| -|velocity|float|Desired velocity of the actuator \(degrees per second\)| -|torque\_joint|float|Desired torque of the actuator \(Newton-meters\)| -|current\_motor|float|Desired current of the motor \(Amperes\)| - -**Parent topic:** [ActuatorCyclic](../references/summary_ActuatorCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorCyclic_CustomData.md b/api_python/doc/markdown/references/msg_ActuatorCyclic_CustomData.md deleted file mode 100644 index 6c08d79c..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorCyclic_CustomData.md +++ /dev/null @@ -1,34 +0,0 @@ -# Message CustomData - -This page describes the Python Kinova.Api.ActuatorCyclic.CustomData message. - -## Overview / Purpose - -Custom development data, content varies according to debug needs - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|custom\_data\_id| [MessageId](msg_ActuatorCyclic_MessageId.md#)|MessageId| -|custom\_data\_0|int|Custom data word 0| -|custom\_data\_1|int|Custom data word 1| -|custom\_data\_2|int|Custom data word 2| -|custom\_data\_3|int|Custom data word 3| -|custom\_data\_4|int|Custom data word 4| -|custom\_data\_5|int|Custom data word 5| -|custom\_data\_6|int|Custom data word 6| -|custom\_data\_7|int|Custom data word 7| -|custom\_data\_8|int|Custom data word 8| -|custom\_data\_9|int|Custom data word 9| -|custom\_data\_10|int|Custom data word 10| -|custom\_data\_11|int|Custom data word 11| -|custom\_data\_12|int|Custom data word 12| -|custom\_data\_13|int|Custom data word 13| -|custom\_data\_14|int|Custom data word 14| -|custom\_data\_15|int|Custom data word 15| - -**Parent topic:** [ActuatorCyclic](../references/summary_ActuatorCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorCyclic_Feedback.md b/api_python/doc/markdown/references/msg_ActuatorCyclic_Feedback.md deleted file mode 100644 index 6bf5b2d5..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorCyclic_Feedback.md +++ /dev/null @@ -1,31 +0,0 @@ -# Message Feedback - -This page describes the Python Kinova.Api.ActuatorCyclic.Feedback message. - -## Overview / Purpose - -Defines the feedback provided by an actuator module - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|feedback\_id| [MessageId](msg_ActuatorCyclic_MessageId.md#)|MessageId| -|status\_flags|int|Status flags \(see enum SatatusFlags for the rest\)| -|jitter\_comm|int|Jitter from the communication in μs| -|position|float|Position of the actuator \(degrees\)| -|velocity|float|Angular velocity of the actuator \(degrees per second\)| -|torque|float|Torque of the actuator \(Newton meter\)| -|current\_motor|float|Current of the motor \(Amperes\)| -|voltage|float|Voltage of the main board in \(Volt\)| -|temperature\_motor|float|Motor temperature \(average of the three \(3\) temperatures \(degrees Celsius\)\)| -|temperature\_core|float|Microcontroller temperature in \(degrees Celsius\)| -|fault\_bank\_a|int|Bank A Fault \(see ActuatorConfig.SafetyIdentifier\)| -|fault\_bank\_b|int|Bank B Fault \(see ActuatorConfig.SafetyIdentifier\)| -|warning\_bank\_a|int|Bank A Warning \(see ActuatorConfig.SafetyIdentifier\)| -|warning\_bank\_b|int|Bank B Warning \(see ActuatorConfig.SafetyIdentifier\)| - -**Parent topic:** [ActuatorCyclic](../references/summary_ActuatorCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_ActuatorCyclic_MessageId.md b/api_python/doc/markdown/references/msg_ActuatorCyclic_MessageId.md deleted file mode 100644 index e3f716ce..00000000 --- a/api_python/doc/markdown/references/msg_ActuatorCyclic_MessageId.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message MessageId - -This page describes the Python Kinova.Api.ActuatorCyclic.MessageId message. - -## Overview / Purpose - -Provides a message identifier - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|identifier|int|Message ID \(first 2 bytes : device ID, last 2 bytes : sequence number\). By default, set to zero| - -**Parent topic:** [ActuatorCyclic](../references/summary_ActuatorCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_BaseCyclic_ActuatorCommand.md b/api_python/doc/markdown/references/msg_BaseCyclic_ActuatorCommand.md deleted file mode 100644 index 323a7fbe..00000000 --- a/api_python/doc/markdown/references/msg_BaseCyclic_ActuatorCommand.md +++ /dev/null @@ -1,23 +0,0 @@ -# Message ActuatorCommand - -This page describes the Python Kinova.Api.BaseCyclic.ActuatorCommand message. - -## Overview / Purpose - -Defines an actuator module command - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|command\_id|int|Command ID \(first 2 bytes: device ID, last 2 bytes: sequence number\)| -|flags|int|Flags| -|position|float|Desired position of the actuator \(in degrees\)| -|velocity|float|Desired velocity of the actuator \(in degrees per second\)| -|torque\_joint|float|Desired torque of the actuator \(in Newton \* meters\)| -|current\_motor|float|Desired current of the motor \(in Amperes\)| - -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_BaseCyclic_ActuatorCustomData.md b/api_python/doc/markdown/references/msg_BaseCyclic_ActuatorCustomData.md deleted file mode 100644 index 773188e5..00000000 --- a/api_python/doc/markdown/references/msg_BaseCyclic_ActuatorCustomData.md +++ /dev/null @@ -1,34 +0,0 @@ -# Message ActuatorCustomData - -This page describes the Python Kinova.Api.BaseCyclic.ActuatorCustomData message. - -## Overview / Purpose - -Custom development data from an actuator module, content varies according to debug needs - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|command\_id|int|Command ID \(first 2 bytes: device ID, last 2 bytes: sequence number\)| -|custom\_data\_0|int|Custom data word 0| -|custom\_data\_1|int|Custom data word 1| -|custom\_data\_2|int|Custom data word 2| -|custom\_data\_3|int|Custom data word 3| -|custom\_data\_4|int|Custom data word 4| -|custom\_data\_5|int|Custom data word 5| -|custom\_data\_6|int|Custom data word 6| -|custom\_data\_7|int|Custom data word 7| -|custom\_data\_8|int|Custom data word 8| -|custom\_data\_9|int|Custom data word 9| -|custom\_data\_10|int|Custom data word 10| -|custom\_data\_11|int|Custom data word 11| -|custom\_data\_12|int|Custom data word 12| -|custom\_data\_13|int|Custom data word 13| -|custom\_data\_14|int|Custom data word 14| -|custom\_data\_15|int|Custom data word 15| - -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_BaseCyclic_ActuatorFeedback.md b/api_python/doc/markdown/references/msg_BaseCyclic_ActuatorFeedback.md deleted file mode 100644 index cfd4edfc..00000000 --- a/api_python/doc/markdown/references/msg_BaseCyclic_ActuatorFeedback.md +++ /dev/null @@ -1,31 +0,0 @@ -# Message ActuatorFeedback - -This page describes the Python Kinova.Api.BaseCyclic.ActuatorFeedback message. - -## Overview / Purpose - -Defines the feedback provided by an actuator module - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|command\_id|int|Command ID \(first 2 bytes: device ID, last 2 bytes: sequence number\)| -|status\_flags|int|Status flags| -|jitter\_comm|int|Jitter from the communication \(in microseconds\)| -|position|float|Position of the actuator \(in degrees\)| -|velocity|float|Velocity of the actuator \(in degrees per second\)| -|torque|float|Torque of the actuator \(in Newton \* meters\)| -|current\_motor|float|Current of the motor \(in Amperes\)| -|voltage|float|Voltage of the main board \(in Volts\)| -|temperature\_motor|float|Motor temperature \(maximum of the three \(3\) phase temperatures in °C\)| -|temperature\_core|float|Microcontroller temperature \(in degrees Celsius\)| -|fault\_bank\_a|int|Fault bank A| -|fault\_bank\_b|int|Fault bank B| -|warning\_bank\_a|int|Warning bank A| -|warning\_bank\_b|int|Warning bank B| - -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_BaseCyclic_BaseFeedback.md b/api_python/doc/markdown/references/msg_BaseCyclic_BaseFeedback.md deleted file mode 100644 index 2f90039b..00000000 --- a/api_python/doc/markdown/references/msg_BaseCyclic_BaseFeedback.md +++ /dev/null @@ -1,51 +0,0 @@ -# Message BaseFeedback - -This page describes the Python Kinova.Api.BaseCyclic.BaseFeedback message. - -## Overview / Purpose - -Defines the feedback provided by the base module - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|active\_state\_connection\_identifier|int|Connection identifier of the last processed command which triggered an arm state change| -|active\_state| [ArmState](enm_Common_ArmState.md#)|Active state of the arm| -|arm\_voltage|float|Arm voltage \(in Volts\)| -|arm\_current|float|Arm current \(in Amperes\)| -|temperature\_cpu|float|CPU temperature \(in degree Celcius\)| -|temperature\_ambient|float|Ambient temperature \(in degree Celcius\)| -|imu\_acceleration\_x|float|IMU Measured acceleration \(X-Axis\) of the base \(in meters per second squared\)| -|imu\_acceleration\_y|float|IMU Measured acceleration \(Y-Axis\) of the base \(in meters per second squared\)| -|imu\_acceleration\_z|float|IMU Measured acceleration \(Z-Axis\) of the base \(in meters per second squared\)| -|imu\_angular\_velocity\_x|float|IMU Measured angular velocity \(X-Axis\) of the base \(in degrees per second\)| -|imu\_angular\_velocity\_y|float|IMU Measured angular velocity \(Y-Axis\) of the base \(in degrees per second\)| -|imu\_angular\_velocity\_z|float|IMU Measured angular velocity \(Z-Axis\) of the base \(in degrees per second\)| -|tool\_pose\_x|float|Measured Cartesian position \(X-Axis\) of the End Effector \(EE\) \(in meters\)| -|tool\_pose\_y|float|Measured Cartesian position \(Y-Axis\) of the End Effector \(EE\) \(in meters\)| -|tool\_pose\_z|float|Measured Cartesian position \(Z-Axis\) of the End Effector \(EE\) \(in meters\)| -|tool\_pose\_theta\_x|float|Measured Cartesian orientation \(X-Axis\) of the End Effector \(EE\) \(in degrees\)| -|tool\_pose\_theta\_y|float|Measured Cartesian orientation \(Y-Axis\) of the End Effector \(EE\) \(in degrees\)| -|tool\_pose\_theta\_z|float|Measured Cartesian orientation \(Z-Axis\) of the End Effector \(EE\) \(in degrees\)| -|tool\_twist\_linear\_x|float|Measured Cartesian linear velocity \(X-Axis\) of the End Effector \(EE\) \(in meters\)| -|tool\_twist\_linear\_y|float|Measured Cartesian linear velocity \(Y-Axis\) of the End Effector \(EE\) \(in meters\)| -|tool\_twist\_linear\_z|float|Measured Cartesian linear velocity \(Z-Axis\) of the End Effector \(EE\) \(in meters\)| -|tool\_twist\_angular\_x|float|Measured Cartesian angular velocity \(X-Axis\) of the End Effector \(EE\) \(in degrees per second\)| -|tool\_twist\_angular\_y|float|Measured Cartesian angular velocity \(Y-Axis\) of the End Effector \(EE\) \(in degrees per second\)| -|tool\_twist\_angular\_z|float|Measured Cartesian angular velocity \(Z-Axis\) of the End Effector \(EE\) \(in degrees per second\)| -|tool\_external\_wrench\_force\_x|float|Calculated force in X-Axis from external wrench \(in Newton\)| -|tool\_external\_wrench\_force\_y|float|Calculated force in Y-Axis from external wrench \(in Newton\)| -|tool\_external\_wrench\_force\_z|float|Calculated force in Z-Axis from external wrench \(in Newton\)| -|tool\_external\_wrench\_torque\_x|float|Calculated torque about X-axis from external wrench \(in Newton \* meters\)| -|tool\_external\_wrench\_torque\_y|float|Calculated torque about Y-axis from external wrench \(in Newton \* meters\)| -|tool\_external\_wrench\_torque\_z|float|Calculated torque about Z-axis from external wrench \(in Newton \* meters\)| -|fault\_bank\_a|int|The arm fault flags bank A \(0 if no fault\) see Base.SafetyIdentifier| -|fault\_bank\_b|int|The arm fault flags bank B \(0 if no fault\) see Base.SafetyIdentifier| -|warning\_bank\_a|int|The arm warning flags bank A \(0 if no warning\) see Base.SafetyIdentifier| -|warning\_bank\_b|int|The arm warning flags bank B \(0 if no warning\) see Base.SafetyIdentifier| - -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_BaseCyclic_Command.md b/api_python/doc/markdown/references/msg_BaseCyclic_Command.md deleted file mode 100644 index deecabb3..00000000 --- a/api_python/doc/markdown/references/msg_BaseCyclic_Command.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message Command - -This page describes the Python Kinova.Api.BaseCyclic.Command message. - -## Overview / Purpose - -Defines a command for many modules \(actuactors and interconnect\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|frame\_id|int|Frame ID| -|actuators|Collection of [ActuatorCommand](msg_BaseCyclic_ActuatorCommand.md#)|Actuator command \(repeated\)| -|interconnect| [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#)|Interconnect command| - -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_BaseCyclic_CustomData.md b/api_python/doc/markdown/references/msg_BaseCyclic_CustomData.md deleted file mode 100644 index 2f724917..00000000 --- a/api_python/doc/markdown/references/msg_BaseCyclic_CustomData.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message CustomData - -This page describes the Python Kinova.Api.BaseCyclic.CustomData message. - -## Overview / Purpose - -Custom development data, content varies according to debug needs - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|frame\_id|int|Frame ID| -|custom\_data\_0|int|Custom data word 0| -|custom\_data\_1|int|Custom data word 1| -|custom\_data\_2|int|Custom data word 2| -|custom\_data\_3|int|Custom data word 3| -|custom\_data\_4|int|Custom data word 4| -|custom\_data\_5|int|Custom data word 5| -|custom\_data\_6|int|Custom data word 6| -|custom\_data\_7|int|Custom data word 7| -|actuators\_custom\_data|Collection of [ActuatorCustomData](msg_BaseCyclic_ActuatorCustomData.md#)|Actuator custom data \(repeated\)| -|interconnect\_custom\_data| [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#)|Interconnect custom data| - -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_BaseCyclic_Feedback.md b/api_python/doc/markdown/references/msg_BaseCyclic_Feedback.md deleted file mode 100644 index 210e7ab6..00000000 --- a/api_python/doc/markdown/references/msg_BaseCyclic_Feedback.md +++ /dev/null @@ -1,21 +0,0 @@ -# Message Feedback - -This page describes the Python Kinova.Api.BaseCyclic.Feedback message. - -## Overview / Purpose - -Defines the feedback provided by many modules \(base, actuactors and interconnect\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|frame\_id|int|Frame ID| -|base| [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#)|Base feedback| -|actuators|Collection of [ActuatorFeedback](msg_BaseCyclic_ActuatorFeedback.md#)|Actuator feedback| -|interconnect| [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#)|Interconnect feedback| - -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_BaseCyclic_InterconnectCommand.md b/api_python/doc/markdown/references/msg_BaseCyclic_InterconnectCommand.md deleted file mode 100644 index 7d2192b2..00000000 --- a/api_python/doc/markdown/references/msg_BaseCyclic_InterconnectCommand.md +++ /dev/null @@ -1,22 +0,0 @@ -# Message InterconnectCommand - -This page describes the Python Kinova.Api.BaseCyclic.InterconnectCommand message. - -## Overview / Purpose - -Defines an interconnect module command - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|command\_id|int|Command ID \(first 2 bytes: device ID, last 2 bytes: sequence number\)| -|flags|int|Flags| -|position|float|Desired position of the gripper fingers \(0-100%\)| -|velocity|float|Desired velocity of the gripper fingers \(0-100%\)| -|force|float|Desired force of the gripper fingers \(0-100%\)| - -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_BaseCyclic_InterconnectCustomData.md b/api_python/doc/markdown/references/msg_BaseCyclic_InterconnectCustomData.md deleted file mode 100644 index 669591cc..00000000 --- a/api_python/doc/markdown/references/msg_BaseCyclic_InterconnectCustomData.md +++ /dev/null @@ -1,34 +0,0 @@ -# Message InterconnectCustomData - -This page describes the Python Kinova.Api.BaseCyclic.InterconnectCustomData message. - -## Overview / Purpose - -Custom development data from an interconnect module, content varies according to debug needs - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|command\_id|int|Command ID \(first 2 bytes: device ID, last 2 bytes: sequence number\)| -|custom\_data\_0|int|Custom data word 0| -|custom\_data\_1|int|Custom data word 1| -|custom\_data\_2|int|Custom data word 2| -|custom\_data\_3|int|Custom data word 3| -|custom\_data\_4|int|Custom data word 4| -|custom\_data\_5|int|Custom data word 5| -|custom\_data\_6|int|Custom data word 6| -|custom\_data\_7|int|Custom data word 7| -|custom\_data\_8|int|Custom data word 8| -|custom\_data\_9|int|Custom data word 9| -|custom\_data\_10|int|Custom data word 10| -|custom\_data\_11|int|Custom data word 11| -|custom\_data\_12|int|Custom data word 12| -|custom\_data\_13|int|Custom data word 13| -|custom\_data\_14|int|Custom data word 14| -|custom\_data\_15|int|Custom data word 15| - -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_BaseCyclic_InterconnectFeedback.md b/api_python/doc/markdown/references/msg_BaseCyclic_InterconnectFeedback.md deleted file mode 100644 index c1557139..00000000 --- a/api_python/doc/markdown/references/msg_BaseCyclic_InterconnectFeedback.md +++ /dev/null @@ -1,35 +0,0 @@ -# Message InterconnectFeedback - -This page describes the Python Kinova.Api.BaseCyclic.InterconnectFeedback message. - -## Overview / Purpose - -Defines the feedback provided by an interconnect module - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|command\_id|int|Command ID \(first 2 bytes: device ID, last 2 bytes: sequence number\)| -|status\_flags|int|Status flags| -|jitter\_comm|int|Jitter from the communication \(in microseconds\)| -|position|float|Position of the gripper fingers \(0-100%\)| -|velocity|float|Velocity of the gripper fingers \(0-100%\)| -|force|float|Force of the gripper fingers \(0-100%\)| -|imu\_acceleration\_x|float|IMU Measured acceleration \(X-Axis\) of the interconnect \(in meters per second ^ squared\)| -|imu\_acceleration\_y|float|IMU Measured acceleration \(Y-Axis\) of the interconnect \(in meters per second ^ squared\)| -|imu\_acceleration\_z|float|IMU Measured acceleration \(Z-Axis\) of the interconnect \(in meters per second ^ squared\)| -|imu\_angular\_velocity\_x|float|IMU Measured angular velocity \(X-Axis\) of the interconnect \(in degrees per second\)| -|imu\_angular\_velocity\_y|float|IMU Measured angular velocity \(Y-Axis\) of the interconnect \(in degrees per second\)| -|imu\_angular\_velocity\_z|float|IMU Measured angular velocity \(Z-Axis\) of the interconnect \(in degrees per second\)| -|voltage|float|Voltage of the main board \(in Volt\)| -|temperature\_core|float|Microcontroller temperature \(in degrees Celsius\)| -|fault\_bank\_a|int|Fault bank A| -|fault\_bank\_b|int|Fault bank B| -|warning\_bank\_a|int|Warning bank A| -|warning\_bank\_b|int|Warning bank B| - -**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Action.md b/api_python/doc/markdown/references/msg_Base_Action.md deleted file mode 100644 index 79c561be..00000000 --- a/api_python/doc/markdown/references/msg_Base_Action.md +++ /dev/null @@ -1,36 +0,0 @@ -# Message Action - -This page describes the Python Kinova.Api.Base.Action message. - -## Overview / Purpose - -Defines an action - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [ActionHandle](msg_Base_ActionHandle.md#)|Action handle \(useful when updating an existing action\)| -|name|str|Action friendly name| -|application\_data|str|Application data \(reserved for use by Web App\)| -|oneof action\_parameters : send\_twist\_command| [TwistCommand](msg_Base_TwistCommand.md#)|Action to control the robot in velocity| -|oneof action\_parameters : send\_joint\_speeds| [JointSpeeds](msg_Base_JointSpeeds.md#)|Action to control each joint speed| -|oneof action\_parameters : reach\_pose| [ConstrainedPose](msg_Base_ConstrainedPose.md#)|Action to reach a pose| -|oneof action\_parameters : reach\_joint\_angles| [ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#)|Action to reach a series of joint angles| -|oneof action\_parameters : toggle\_admittance\_mode| [AdmittanceMode](enm_Base_AdmittanceMode.md#)|Action to enable or disable the admittance mode| -|oneof action\_parameters : switch\_control\_mapping| [SwitchControlMapping](msg_Base_SwitchControlMapping.md#)|Action to switch the active controller map| -|oneof action\_parameters : navigate\_joints| [JointNavigationDirection](enm_Base_JointNavigationDirection.md#)|Action to select the next actuator to control in a map| -|oneof action\_parameters : navigate\_mappings| [NavigationDirection](enm_Base_NavigationDirection.md#)|Action to select a different map| -|oneof action\_parameters : change\_twist| [ChangeTwist](msg_Base_ChangeTwist.md#)|Action to change twist| -|oneof action\_parameters : change\_joint\_speeds| [ChangeJointSpeeds](msg_Base_ChangeJointSpeeds.md#)|Action to change the joint speeds individually| -|oneof action\_parameters : apply\_emergency\_stop| [EmergencyStop](msg_Base_EmergencyStop.md#)|Action to apply robot emergency stop| -|oneof action\_parameters : clear\_faults| [Faults](msg_Base_Faults.md#)|Action to clear faults. Robot will be able to move if there is no more fault \(see BaseCyclic.BaseFeedback.\[fault\_bank\_a | fault\_bank\_b\]\)| -|oneof action\_parameters : delay| [Delay](msg_Base_Delay.md#)|Action to apply a delay| -|oneof action\_parameters : execute\_action| [ActionHandle](msg_Base_ActionHandle.md#)|Action to execute an existing action| -|oneof action\_parameters : send\_gripper\_command| [GripperCommand](msg_Base_GripperCommand.md#)|Action to execute a gripper movement| -|oneof action\_parameters : stop\_action| [Stop](msg_Base_Stop.md#)|Action to stop movement| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ActionExecutionState.md b/api_python/doc/markdown/references/msg_Base_ActionExecutionState.md deleted file mode 100644 index 3e36f9db..00000000 --- a/api_python/doc/markdown/references/msg_Base_ActionExecutionState.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message ActionExecutionState - -This page describes the Python Kinova.Api.Base.ActionExecutionState message. - -## Overview / Purpose - -Indicates the execution state of an action \(future\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|action\_event| [ActionEvent](enm_Base_ActionEvent.md#)|Action event type| -|handle| [ActionHandle](msg_Base_ActionHandle.md#)|Identifies the action for which this event occured| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ActionHandle.md b/api_python/doc/markdown/references/msg_Base_ActionHandle.md deleted file mode 100644 index da95685f..00000000 --- a/api_python/doc/markdown/references/msg_Base_ActionHandle.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message ActionHandle - -This page describes the Python Kinova.Api.Base.ActionHandle message. - -## Overview / Purpose - -Identifies an action - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|identifier|int|Action identifier| -|action\_type| [ActionType](enm_Base_ActionType.md#)|Action type| -|permission|int|Permission of specified Action entity. Must use 'Kinova.Api.Common.Permission' enum.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ActionList.md b/api_python/doc/markdown/references/msg_Base_ActionList.md deleted file mode 100644 index 20784153..00000000 --- a/api_python/doc/markdown/references/msg_Base_ActionList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ActionList - -This page describes the Python Kinova.Api.Base.ActionList message. - -## Overview / Purpose - -Array of actions - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|action\_list|Collection of [Action](msg_Base_Action.md#)|Action| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ActionNotification.md b/api_python/doc/markdown/references/msg_Base_ActionNotification.md deleted file mode 100644 index d14818d7..00000000 --- a/api_python/doc/markdown/references/msg_Base_ActionNotification.md +++ /dev/null @@ -1,23 +0,0 @@ -# Message ActionNotification - -This page describes the Python Kinova.Api.Base.ActionNotification message. - -## Overview / Purpose - -Message that contains an action event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|action\_event| [ActionEvent](enm_Base_ActionEvent.md#)|Action event type| -|handle| [ActionHandle](msg_Base_ActionHandle.md#)|Identifies the action for which this event occured| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the action event| -|abort\_details| [SubErrorCodes](enm_Api_SubErrorCodes.md#)|Details if action\_event is equal to ACTION\_ABORT| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the action event| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ActionNotificationList.md b/api_python/doc/markdown/references/msg_Base_ActionNotificationList.md deleted file mode 100644 index 1264e0ae..00000000 --- a/api_python/doc/markdown/references/msg_Base_ActionNotificationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ActionNotificationList - -This page describes the Python Kinova.Api.Base.ActionNotificationList message. - -## Overview / Purpose - -Array of action notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [ActionNotification](msg_Base_ActionNotification.md#)|Notification| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ActivateMapHandle.md b/api_python/doc/markdown/references/msg_Base_ActivateMapHandle.md deleted file mode 100644 index 105bfd36..00000000 --- a/api_python/doc/markdown/references/msg_Base_ActivateMapHandle.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message ActivateMapHandle - -This page describes the Python Kinova.Api.Base.ActivateMapHandle message. - -## Overview / Purpose - -Specifies a new active map for the specified mapping and map group - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|mapping\_handle| [MappingHandle](msg_Base_MappingHandle.md#)|Mapping that the active map is asked for| -|map\_group\_handle| [MapGroupHandle](msg_Base_MapGroupHandle.md#)|Map group that the active map is asked for \(future\)| -|map\_handle| [MapHandle](msg_Base_MapHandle.md#)|New active map| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ActuatorInformation.md b/api_python/doc/markdown/references/msg_Base_ActuatorInformation.md deleted file mode 100644 index 1ce00ac7..00000000 --- a/api_python/doc/markdown/references/msg_Base_ActuatorInformation.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ActuatorInformation - -This page describes the Python Kinova.Api.Base.ActuatorInformation message. - -## Overview / Purpose - -Provides information about actuators - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|count|int|Number of actuators| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Admittance.md b/api_python/doc/markdown/references/msg_Base_Admittance.md deleted file mode 100644 index 148c8929..00000000 --- a/api_python/doc/markdown/references/msg_Base_Admittance.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message Admittance - -This page describes the Python Kinova.Api.Base.Admittance message. - -## Overview / Purpose - -Defines the admittance mode - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|admittance\_mode| [AdmittanceMode](enm_Base_AdmittanceMode.md#)|mode| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_AdvancedSequenceHandle.md b/api_python/doc/markdown/references/msg_Base_AdvancedSequenceHandle.md deleted file mode 100644 index a4c38c6a..00000000 --- a/api_python/doc/markdown/references/msg_Base_AdvancedSequenceHandle.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message AdvancedSequenceHandle - -This page describes the Python Kinova.Api.Base.AdvancedSequenceHandle message. - -## Overview / Purpose - -Associates execution options to a sequence - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [SequenceHandle](msg_Base_SequenceHandle.md#)|Sequence handle| -|in\_loop|bool|Loop execution. Set to true to play the sequence in loop, false otherwise. When a sequence is executed in loop, it will automatically go back to first task within the sequence after completing execution of last task and continue execution forever unless the sequence is explicitely stopped| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_AppendActionInformation.md b/api_python/doc/markdown/references/msg_Base_AppendActionInformation.md deleted file mode 100644 index 375a9980..00000000 --- a/api_python/doc/markdown/references/msg_Base_AppendActionInformation.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message AppendActionInformation - -This page describes the Python Kinova.Api.Base.AppendActionInformation message. - -## Overview / Purpose - -Appends an action to an existing sequence \(future\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sequence\_handle| [SequenceHandle](msg_Base_SequenceHandle.md#)|Sequence to which action must be appended| -|action| [Action](msg_Base_Action.md#)|Action to append| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ArmStateInformation.md b/api_python/doc/markdown/references/msg_Base_ArmStateInformation.md deleted file mode 100644 index 8287a054..00000000 --- a/api_python/doc/markdown/references/msg_Base_ArmStateInformation.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message ArmStateInformation - -This page describes the Python Kinova.Api.Base.ArmStateInformation message. - -## Overview / Purpose - -Provides information about the arm state - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|active\_state| [ArmState](enm_Common_ArmState.md#)|Arm active state| -|connection| [Connection](msg_Common_Connection.md#)|Connection information of the last processed command which triggered an arm state change| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ArmStateNotification.md b/api_python/doc/markdown/references/msg_Base_ArmStateNotification.md deleted file mode 100644 index 0b6cb907..00000000 --- a/api_python/doc/markdown/references/msg_Base_ArmStateNotification.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message ArmStateNotification - -This page describes the Python Kinova.Api.Base.ArmStateNotification message. - -## Overview / Purpose - -Message that contains a arm state event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|active\_state| [ArmState](enm_Common_ArmState.md#)|New arm state| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the arm state event| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_CartesianLimitation.md b/api_python/doc/markdown/references/msg_Base_CartesianLimitation.md deleted file mode 100644 index 29e824e8..00000000 --- a/api_python/doc/markdown/references/msg_Base_CartesianLimitation.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message CartesianLimitation - -This page describes the Python Kinova.Api.Base.CartesianLimitation message. - -## Overview / Purpose - -Provides a Cartesian limitation configuration - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|type| [LimitationType](enm_Base_LimitationType.md#)|Limitation type| -|translation|float|Translation limitation| -|orientation|float|Orientation limitation| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_CartesianLimitationList.md b/api_python/doc/markdown/references/msg_Base_CartesianLimitationList.md deleted file mode 100644 index 61dd5051..00000000 --- a/api_python/doc/markdown/references/msg_Base_CartesianLimitationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message CartesianLimitationList - -This page describes the Python Kinova.Api.Base.CartesianLimitationList message. - -## Overview / Purpose - -Array of Cartesian limitations - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|limitations|Collection of [CartesianLimitation](msg_Base_CartesianLimitation.md#)|Limitation| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_CartesianReferenceFrameRequest.md b/api_python/doc/markdown/references/msg_Base_CartesianReferenceFrameRequest.md deleted file mode 100644 index 01f1f95f..00000000 --- a/api_python/doc/markdown/references/msg_Base_CartesianReferenceFrameRequest.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message CartesianReferenceFrameRequest - -This page describes the Python Kinova.Api.Base.CartesianReferenceFrameRequest message. - -## Overview / Purpose - -Defines a Cartesian reference frame - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|reference\_frame| [CartesianReferenceFrame](enm_Base_CartesianReferenceFrame.md#)|Reference frame| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_CartesianSpeed.md b/api_python/doc/markdown/references/msg_Base_CartesianSpeed.md deleted file mode 100644 index 3b2d2821..00000000 --- a/api_python/doc/markdown/references/msg_Base_CartesianSpeed.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message CartesianSpeed - -This page describes the Python Kinova.Api.Base.CartesianSpeed message. - -## Overview / Purpose - -Defines a Cartesian speed - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|translation|float|Translation speed \(in meters per second\)| -|orientation|float|Orientation speed \(in degrees per second\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_CartesianTrajectoryConstraint.md b/api_python/doc/markdown/references/msg_Base_CartesianTrajectoryConstraint.md deleted file mode 100644 index 619447ed..00000000 --- a/api_python/doc/markdown/references/msg_Base_CartesianTrajectoryConstraint.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message CartesianTrajectoryConstraint - -This page describes the Python Kinova.Api.Base.CartesianTrajectoryConstraint message. - -## Overview / Purpose - -Defines a Cartesian trajectory constraint that can be applied when controlling in Cartesian trajectory mode - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|oneof type : speed| [CartesianSpeed](msg_Base_CartesianSpeed.md#)|Speed constraint \(in meters per second\)| -|oneof type : duration|float|Duration constraint \(in meters per second\) \(future\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ChangeJointSpeeds.md b/api_python/doc/markdown/references/msg_Base_ChangeJointSpeeds.md deleted file mode 100644 index 4ad49728..00000000 --- a/api_python/doc/markdown/references/msg_Base_ChangeJointSpeeds.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ChangeJointSpeeds - -This page describes the Python Kinova.Api.Base.ChangeJointSpeeds message. - -## Overview / Purpose - -Defines an action to increase \(or reduce\) the maximum angular velocity per joint by a specific increment - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|joint\_speeds| [JointSpeeds](msg_Base_JointSpeeds.md#)|Joint speeds| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ChangeTwist.md b/api_python/doc/markdown/references/msg_Base_ChangeTwist.md deleted file mode 100644 index 05e8ecd5..00000000 --- a/api_python/doc/markdown/references/msg_Base_ChangeTwist.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message ChangeTwist - -This page describes the Python Kinova.Api.Base.ChangeTwist message. - -## Overview / Purpose - -Defines an action to increase \(or reduce\) the maximum Cartesian velocity by a specific increment - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|linear|float|Linear Cartesian velocity increment \(in meters per second\)| -|angular|float|Angular Cartesian velocity increment \(in degrees per second\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_CommunicationInterfaceConfiguration.md b/api_python/doc/markdown/references/msg_Base_CommunicationInterfaceConfiguration.md deleted file mode 100644 index d8a9999a..00000000 --- a/api_python/doc/markdown/references/msg_Base_CommunicationInterfaceConfiguration.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message CommunicationInterfaceConfiguration - -This page describes the Python Kinova.Api.Base.CommunicationInterfaceConfiguration message. - -## Overview / Purpose - -Enables or disables a specific communication interface \(e.g. Wi-Fi, Wired Ethernet\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|type| [NetworkType](enm_Base_NetworkType.md#)|Network type \(e.g. Wi-Fi, Wired Ethernet\)| -|enable|bool|Enable configuration. Set to true to enable network, false otherwise| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ConfigurationChangeNotification.md b/api_python/doc/markdown/references/msg_Base_ConfigurationChangeNotification.md deleted file mode 100644 index 9c3ca2da..00000000 --- a/api_python/doc/markdown/references/msg_Base_ConfigurationChangeNotification.md +++ /dev/null @@ -1,31 +0,0 @@ -# Message ConfigurationChangeNotification - -This page describes the Python Kinova.Api.Base.ConfigurationChangeNotification message. - -## Overview / Purpose - -Message that contains a configuration change event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event| [ConfigurationNotificationEvent](enm_Base_ConfigurationNotificationEvent.md#)|Configuration event| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the configuration event| -|oneof configuration\_change : sequence\_handle| [SequenceHandle](msg_Base_SequenceHandle.md#)|Sequence for which the configuration changed| -|oneof configuration\_change : action\_handle| [ActionHandle](msg_Base_ActionHandle.md#)|Action for which the configuration changed| -|oneof configuration\_change : mapping\_handle| [MappingHandle](msg_Base_MappingHandle.md#)|Mapping for which the configuration changed| -|oneof configuration\_change : map\_group\_handle| [MapGroupHandle](msg_Base_MapGroupHandle.md#)|Map group for which the configuration changed| -|oneof configuration\_change : map\_handle| [MapHandle](msg_Base_MapHandle.md#)|Map for which the configuration changed| -|oneof configuration\_change : user\_profile\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User Profile for which the configuration changed| -|oneof configuration\_change : protection\_zone\_handle| [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)|Protection zone for which the configuration changed| -|oneof configuration\_change : safety\_handle| [SafetyHandle](msg_Common_SafetyHandle.md#)|Safety for which the configuration changed| -|oneof configuration\_change : network\_handle| [NetworkHandle](msg_Base_NetworkHandle.md#)|Network element for which the configuration changed| -|oneof configuration\_change : ssid| [Ssid](msg_Base_Ssid.md#)|Wi-Fi instance for which the configuration changed| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the configuration event| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ConfigurationChangeNotificationList.md b/api_python/doc/markdown/references/msg_Base_ConfigurationChangeNotificationList.md deleted file mode 100644 index cc5b374b..00000000 --- a/api_python/doc/markdown/references/msg_Base_ConfigurationChangeNotificationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ConfigurationChangeNotificationList - -This page describes the Python Kinova.Api.Base.ConfigurationChangeNotificationList message. - -## Overview / Purpose - -Array of configuration change notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [ConfigurationChangeNotification](msg_Base_ConfigurationChangeNotification.md#)|Notification| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ConstrainedJointAngle.md b/api_python/doc/markdown/references/msg_Base_ConstrainedJointAngle.md deleted file mode 100644 index 90c824d7..00000000 --- a/api_python/doc/markdown/references/msg_Base_ConstrainedJointAngle.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message ConstrainedJointAngle - -This page describes the Python Kinova.Api.Base.ConstrainedJointAngle message. - -## Overview / Purpose - -Defines a single joint angle value with constraint - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|joint\_identifier|int|Joint identifier \(use device\_identifier\)| -|value|float|Joint value \(in degrees\)| -|constraint| [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#)|Constraint to apply to the joint angle \(optional\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ConstrainedJointAngles.md b/api_python/doc/markdown/references/msg_Base_ConstrainedJointAngles.md deleted file mode 100644 index d31e62a0..00000000 --- a/api_python/doc/markdown/references/msg_Base_ConstrainedJointAngles.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message ConstrainedJointAngles - -This page describes the Python Kinova.Api.Base.ConstrainedJointAngles message. - -## Overview / Purpose - -Defines a series of joint angles value with constraint - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|joint\_angles| [JointAngles](msg_Base_JointAngles.md#)|Joint angles value| -|constraint| [JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#)|Constraint to apply to all the joint angles \(optional\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ConstrainedOrientation.md b/api_python/doc/markdown/references/msg_Base_ConstrainedOrientation.md deleted file mode 100644 index ee611e39..00000000 --- a/api_python/doc/markdown/references/msg_Base_ConstrainedOrientation.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message ConstrainedOrientation - -This page describes the Python Kinova.Api.Base.ConstrainedOrientation message. - -## Overview / Purpose - -Defines a Cartesian orientation with constraint - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|target\_orientation| [Orientation](msg_Base_Orientation.md#)|Cartesian orientation| -|constraint| [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#)|Constraint to apply to the target orientation| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ConstrainedPose.md b/api_python/doc/markdown/references/msg_Base_ConstrainedPose.md deleted file mode 100644 index 0ef08895..00000000 --- a/api_python/doc/markdown/references/msg_Base_ConstrainedPose.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message ConstrainedPose - -This page describes the Python Kinova.Api.Base.ConstrainedPose message. - -## Overview / Purpose - -Defines a Cartesian pose with constraint - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|target\_pose| [Pose](msg_Base_Pose.md#)|Cartesian pose| -|constraint| [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#)|Constraint to apply to the target pose| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ConstrainedPosition.md b/api_python/doc/markdown/references/msg_Base_ConstrainedPosition.md deleted file mode 100644 index 290f9cce..00000000 --- a/api_python/doc/markdown/references/msg_Base_ConstrainedPosition.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message ConstrainedPosition - -This page describes the Python Kinova.Api.Base.ConstrainedPosition message. - -## Overview / Purpose - -Defines a Cartesian position with constraint - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|target\_position| [Position](msg_Base_Position.md#)|Cartesian position| -|constraint| [CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#)|Constraint to apply to the target position| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ControlModeInformation.md b/api_python/doc/markdown/references/msg_Base_ControlModeInformation.md deleted file mode 100644 index cba826e4..00000000 --- a/api_python/doc/markdown/references/msg_Base_ControlModeInformation.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ControlModeInformation - -This page describes the Python Kinova.Api.Base.ControlModeInformation message. - -## Overview / Purpose - -Provides control mode information - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|mode| [ControlMode](enm_Base_ControlMode.md#)|Control mode| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ControlModeNotification.md b/api_python/doc/markdown/references/msg_Base_ControlModeNotification.md deleted file mode 100644 index dedce251..00000000 --- a/api_python/doc/markdown/references/msg_Base_ControlModeNotification.md +++ /dev/null @@ -1,21 +0,0 @@ -# Message ControlModeNotification - -This page describes the Python Kinova.Api.Base.ControlModeNotification message. - -## Overview / Purpose - -Message that contains a control mode event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|control\_mode| [ControlMode](enm_Base_ControlMode.md#)|New control mode| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the control mode event| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the control mode event| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ControlModeNotificationList.md b/api_python/doc/markdown/references/msg_Base_ControlModeNotificationList.md deleted file mode 100644 index 7f08f26c..00000000 --- a/api_python/doc/markdown/references/msg_Base_ControlModeNotificationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ControlModeNotificationList - -This page describes the Python Kinova.Api.Base.ControlModeNotificationList message. - -## Overview / Purpose - -Array of control mode notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [ControlModeNotification](msg_Base_ControlModeNotification.md#)|Notification| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ControllerElementHandle.md b/api_python/doc/markdown/references/msg_Base_ControllerElementHandle.md deleted file mode 100644 index 10d7c5d1..00000000 --- a/api_python/doc/markdown/references/msg_Base_ControllerElementHandle.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message ControllerElementHandle - -This page describes the Python Kinova.Api.Base.ControllerElementHandle message. - -## Overview / Purpose - -Identifies a specific button \(or axis\) of a controller - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|controller\_handle| [ControllerHandle](msg_Base_ControllerHandle.md#)|Controller handle| -|oneof identifier : button|int|Button identifier \(only set if 'button' controller event, otherwise zero\)| -|oneof identifier : axis|int|Axis identifier \(only set if 'axis' controller event, otherwise zero\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ControllerElementState.md b/api_python/doc/markdown/references/msg_Base_ControllerElementState.md deleted file mode 100644 index 2eebef04..00000000 --- a/api_python/doc/markdown/references/msg_Base_ControllerElementState.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message ControllerElementState - -This page describes the Python Kinova.Api.Base.ControllerElementState message. - -## Overview / Purpose - -Indicates if a specific button \(or axis\) was pressed \(or moved\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [ControllerElementHandle](msg_Base_ControllerElementHandle.md#)|Controller element handle| -|event\_type| [ControllerElementEventType](enm_Base_ControllerElementEventType.md#)|Type of controller element event that occured| -|axis\_value|float|Axis value \(set between -1.0 and 1.0\); only set if 'axis' controller element, otherwise set to zero| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ControllerEvent.md b/api_python/doc/markdown/references/msg_Base_ControllerEvent.md deleted file mode 100644 index e25c2534..00000000 --- a/api_python/doc/markdown/references/msg_Base_ControllerEvent.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message ControllerEvent - -This page describes the Python Kinova.Api.Base.ControllerEvent message. - -## Overview / Purpose - -Identifies a controller event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|input\_type| [ControllerInputType](enm_Base_ControllerInputType.md#)|Type of controller input that caused the event\_identifier| -|behavior| [ControllerBehavior](enm_Base_ControllerBehavior.md#)|Controller behavior that occured| -|input\_identifier|int|Controller input that caused the event| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ControllerHandle.md b/api_python/doc/markdown/references/msg_Base_ControllerHandle.md deleted file mode 100644 index 2e02a5b8..00000000 --- a/api_python/doc/markdown/references/msg_Base_ControllerHandle.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message ControllerHandle - -This page describes the Python Kinova.Api.Base.ControllerHandle message. - -## Overview / Purpose - -Identifies a specific controller - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|type| [ControllerType](enm_Base_ControllerType.md#)|Controller type| -|controller\_identifier|int|Controller identifier| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ControllerList.md b/api_python/doc/markdown/references/msg_Base_ControllerList.md deleted file mode 100644 index e3e069ea..00000000 --- a/api_python/doc/markdown/references/msg_Base_ControllerList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ControllerList - -This page describes the Python Kinova.Api.Base.ControllerList message. - -## Overview / Purpose - -Array of controllers - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handles|Collection of [ControllerHandle](msg_Base_ControllerHandle.md#)|Controller handle| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ControllerNotification.md b/api_python/doc/markdown/references/msg_Base_ControllerNotification.md deleted file mode 100644 index b220587f..00000000 --- a/api_python/doc/markdown/references/msg_Base_ControllerNotification.md +++ /dev/null @@ -1,22 +0,0 @@ -# Message ControllerNotification - -This page describes the Python Kinova.Api.Base.ControllerNotification message. - -## Overview / Purpose - -Message that contains a controller event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|oneof state : controller\_state| [ControllerState](msg_Base_ControllerState.md#)|Used to indicate if a controller connection or disconnection event occured| -|oneof state : controller\_element| [ControllerElementState](msg_Base_ControllerElementState.md#)|Used to indicate if a specifif button \(or axis\) was pressed \(or moved\) \(future\)| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the controller event| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the controller event| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ControllerNotificationList.md b/api_python/doc/markdown/references/msg_Base_ControllerNotificationList.md deleted file mode 100644 index d755f2c4..00000000 --- a/api_python/doc/markdown/references/msg_Base_ControllerNotificationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ControllerNotificationList - -This page describes the Python Kinova.Api.Base.ControllerNotificationList message. - -## Overview / Purpose - -Array of controller notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [ControllerNotification](msg_Base_ControllerNotification.md#)|Notifications| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ControllerState.md b/api_python/doc/markdown/references/msg_Base_ControllerState.md deleted file mode 100644 index 6d6a1feb..00000000 --- a/api_python/doc/markdown/references/msg_Base_ControllerState.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message ControllerState - -This page describes the Python Kinova.Api.Base.ControllerState message. - -## Overview / Purpose - -Indicates if a controller is connected \(or disconnected\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [ControllerHandle](msg_Base_ControllerHandle.md#)|Controller identifier| -|event\_type| [ControllerEventType](enm_Base_ControllerEventType.md#)|Type of controller event that occured| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_CountryCode.md b/api_python/doc/markdown/references/msg_Base_CountryCode.md deleted file mode 100644 index b923691a..00000000 --- a/api_python/doc/markdown/references/msg_Base_CountryCode.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message CountryCode - -This page describes the Python Kinova.Api.Base.CountryCode message. - -## Overview / Purpose - -Country code - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|identifier| [CountryCodeIdentifier](enm_Base_CountryCodeIdentifier.md#)|ISO3166 country code identifier| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Delay.md b/api_python/doc/markdown/references/msg_Base_Delay.md deleted file mode 100644 index ec79d770..00000000 --- a/api_python/doc/markdown/references/msg_Base_Delay.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message Delay - -This page describes the Python Kinova.Api.Base.Delay message. - -## Overview / Purpose - -Defines an action to apply a delay - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|duration|int|Delay \(in seconds\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_EmergencyStop.md b/api_python/doc/markdown/references/msg_Base_EmergencyStop.md deleted file mode 100644 index e61c4750..00000000 --- a/api_python/doc/markdown/references/msg_Base_EmergencyStop.md +++ /dev/null @@ -1,10 +0,0 @@ -# Message EmergencyStop - -This page describes the Python Kinova.Api.Base.EmergencyStop message. - -## Overview / Purpose - -Defines an action to force an emergency of the robot - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_FactoryNotification.md b/api_python/doc/markdown/references/msg_Base_FactoryNotification.md deleted file mode 100644 index 209cd1ac..00000000 --- a/api_python/doc/markdown/references/msg_Base_FactoryNotification.md +++ /dev/null @@ -1,21 +0,0 @@ -# Message FactoryNotification - -This page describes the Python Kinova.Api.Base.FactoryNotification message. - -## Overview / Purpose - -Message that contains a factory event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event| [FactoryEvent](enm_Base_FactoryEvent.md#)|Event type| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the factory event to occur| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the factory event to occur| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Faults.md b/api_python/doc/markdown/references/msg_Base_Faults.md deleted file mode 100644 index e1974b43..00000000 --- a/api_python/doc/markdown/references/msg_Base_Faults.md +++ /dev/null @@ -1,10 +0,0 @@ -# Message Faults - -This page describes the Python Kinova.Api.Base.Faults message. - -## Overview / Purpose - -Defines an action to clear faults - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Finger.md b/api_python/doc/markdown/references/msg_Base_Finger.md deleted file mode 100644 index 415c02ab..00000000 --- a/api_python/doc/markdown/references/msg_Base_Finger.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message Finger - -This page describes the Python Kinova.Api.Base.Finger message. - -## Overview / Purpose - -Defines a finger movement - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|finger\_identifier|int|Finger identifier| -|value|float|In position, admissible values for each finger is between 0 and 1.0, where 0 is closed and 1.0 is fully open. In speed or torque, admissible values for each finger is between -1.0 and 1.0, where 1.0 corresponds to maximum opening speed and -1.0 corresponds to maximum closing speed.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_FullIPv4Configuration.md b/api_python/doc/markdown/references/msg_Base_FullIPv4Configuration.md deleted file mode 100644 index 8b7e48f1..00000000 --- a/api_python/doc/markdown/references/msg_Base_FullIPv4Configuration.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message FullIPv4Configuration - -This page describes the Python Kinova.Api.Base.FullIPv4Configuration message. - -## Overview / Purpose - -Provides an IPv4 configuration for a specific network - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [NetworkHandle](msg_Base_NetworkHandle.md#)|Network handle| -|ipv4\_configuration| [IPv4Configuration](msg_Base_IPv4Configuration.md#)|IPv4 configuration| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_FullUserProfile.md b/api_python/doc/markdown/references/msg_Base_FullUserProfile.md deleted file mode 100644 index 9db89a08..00000000 --- a/api_python/doc/markdown/references/msg_Base_FullUserProfile.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message FullUserProfile - -This page describes the Python Kinova.Api.Base.FullUserProfile message. - -## Overview / Purpose - -Provides complete infomation about a user. Used when creating a user profile. - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|user\_profile| [UserProfile](msg_Base_UserProfile.md#)|Information about the user, including its username.| -|password|str|User's password| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_GpioEvent.md b/api_python/doc/markdown/references/msg_Base_GpioEvent.md deleted file mode 100644 index 71422124..00000000 --- a/api_python/doc/markdown/references/msg_Base_GpioEvent.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message GpioEvent - -This page describes the Python Kinova.Api.Base.GpioEvent message. - -## Overview / Purpose - -Identifies a GPIO event \(future\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|gpio\_state| [GpioState](enm_Base_GpioState.md#)|New GPIO state| -|device\_identifier|int|GPIO device identifier for which this event occured| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Gripper.md b/api_python/doc/markdown/references/msg_Base_Gripper.md deleted file mode 100644 index 936ce02c..00000000 --- a/api_python/doc/markdown/references/msg_Base_Gripper.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message Gripper - -This page describes the Python Kinova.Api.Base.Gripper message. - -## Overview / Purpose - -Defines a gripper movement, which is composed of a series of fingers movement - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|finger|Collection of [Finger](msg_Base_Finger.md#)|Finger movements| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_GripperCommand.md b/api_python/doc/markdown/references/msg_Base_GripperCommand.md deleted file mode 100644 index a6f0f94a..00000000 --- a/api_python/doc/markdown/references/msg_Base_GripperCommand.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message GripperCommand - -This page describes the Python Kinova.Api.Base.GripperCommand message. - -## Overview / Purpose - -Defines a command to control the gripper movement - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|mode| [GripperMode](enm_Base_GripperMode.md#)|Mode in which to control the gripper| -|gripper| [Gripper](msg_Base_Gripper.md#)|In position, admissible values for each finger is between 0 and 1.0, where 0 is closed and 1.0 is fully open. In speed or torque, admissible values for each finger is between -1.0 and 1.0, where 1.0 corresponds to maximum opening speed and -1.0 corresponds to maximum closing speed. Gripper movement values| -|duration|int|Duration constraint. If not 0, allows to set a limit \(in seconds\) to the GripperCommand| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_GripperRequest.md b/api_python/doc/markdown/references/msg_Base_GripperRequest.md deleted file mode 100644 index 98fa4ba1..00000000 --- a/api_python/doc/markdown/references/msg_Base_GripperRequest.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message GripperRequest - -This page describes the Python Kinova.Api.Base.GripperRequest message. - -## Overview / Purpose - -Message used to request the current gripper movement in either position, force or speed - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|mode| [GripperMode](enm_Base_GripperMode.md#)|Mode for which the gripper movement status is requested| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_IPv4Configuration.md b/api_python/doc/markdown/references/msg_Base_IPv4Configuration.md deleted file mode 100644 index bcd1613f..00000000 --- a/api_python/doc/markdown/references/msg_Base_IPv4Configuration.md +++ /dev/null @@ -1,21 +0,0 @@ -# Message IPv4Configuration - -This page describes the Python Kinova.Api.Base.IPv4Configuration message. - -## Overview / Purpose - -Provides an IPv4 configuration - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|ip\_address|int|IPv4 address| -|subnet\_mask|int|IPv4 subnet mask| -|default\_gateway|int|Gateway IPv4 address| -|dhcp\_enabled|bool|Enable automatic \(DHCP\) IPv4 configuration. Set to true to enable DHCP instead of static configuration.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_IPv4Information.md b/api_python/doc/markdown/references/msg_Base_IPv4Information.md deleted file mode 100644 index 8e5635e6..00000000 --- a/api_python/doc/markdown/references/msg_Base_IPv4Information.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message IPv4Information - -This page describes the Python Kinova.Api.Base.IPv4Information message. - -## Overview / Purpose - -Provides information about an IPv4 endpoint - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|ip\_address|int|IPv4 address| -|subnet\_mask|int|IPv4 subnet mask| -|default\_gateway|int|Gateway IPv4 address| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_JointAngle.md b/api_python/doc/markdown/references/msg_Base_JointAngle.md deleted file mode 100644 index e1682446..00000000 --- a/api_python/doc/markdown/references/msg_Base_JointAngle.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message JointAngle - -This page describes the Python Kinova.Api.Base.JointAngle message. - -## Overview / Purpose - -Position of a specific joint - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|joint\_identifier|int|Joint identifier| -|value|float|Position \(in degrees\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_JointAngles.md b/api_python/doc/markdown/references/msg_Base_JointAngles.md deleted file mode 100644 index 46205a0b..00000000 --- a/api_python/doc/markdown/references/msg_Base_JointAngles.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message JointAngles - -This page describes the Python Kinova.Api.Base.JointAngles message. - -## Overview / Purpose - -Position of a series of joints - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|joint\_angles|Collection of [JointAngle](msg_Base_JointAngle.md#)|Array of joint angle| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_JointLimitation.md b/api_python/doc/markdown/references/msg_Base_JointLimitation.md deleted file mode 100644 index 700a6de9..00000000 --- a/api_python/doc/markdown/references/msg_Base_JointLimitation.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message JointLimitation - -This page describes the Python Kinova.Api.Base.JointLimitation message. - -## Overview / Purpose - -Defines a joint limitation - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|device\_identifier|int|Joint device identifier| -|limitation\_value| [JointLimitationValue](msg_Base_JointLimitationValue.md#)|Joint limitation value| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_JointLimitationTypeIdentifier.md b/api_python/doc/markdown/references/msg_Base_JointLimitationTypeIdentifier.md deleted file mode 100644 index 7e858d7e..00000000 --- a/api_python/doc/markdown/references/msg_Base_JointLimitationTypeIdentifier.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message JointLimitationTypeIdentifier - -This page describes the Python Kinova.Api.Base.JointLimitationTypeIdentifier message. - -## Overview / Purpose - -Identifies a joint limitation for a specific joint - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|device\_identifier|int|Joint device identifier| -|type| [LimitationType](enm_Base_LimitationType.md#)|Joint limitation type| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_JointLimitationValue.md b/api_python/doc/markdown/references/msg_Base_JointLimitationValue.md deleted file mode 100644 index ca191b6d..00000000 --- a/api_python/doc/markdown/references/msg_Base_JointLimitationValue.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message JointLimitationValue - -This page describes the Python Kinova.Api.Base.JointLimitationValue message. - -## Overview / Purpose - -Defines joint limitation value - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|type| [LimitationType](enm_Base_LimitationType.md#)|Limitation type| -|value|float|Limitation value| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_JointLimitationValueList.md b/api_python/doc/markdown/references/msg_Base_JointLimitationValueList.md deleted file mode 100644 index 5bd7088b..00000000 --- a/api_python/doc/markdown/references/msg_Base_JointLimitationValueList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message JointLimitationValueList - -This page describes the Python Kinova.Api.Base.JointLimitationValueList message. - -## Overview / Purpose - -List of joint limitations - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|joint\_limitation\_values|Collection of [JointLimitationValue](msg_Base_JointLimitationValue.md#)|Joint limitation| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_JointSpeed.md b/api_python/doc/markdown/references/msg_Base_JointSpeed.md deleted file mode 100644 index 664ddd4f..00000000 --- a/api_python/doc/markdown/references/msg_Base_JointSpeed.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message JointSpeed - -This page describes the Python Kinova.Api.Base.JointSpeed message. - -## Overview / Purpose - -Defines the speed of a specific joint - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|joint\_identifier|int|Joint identifier| -|value|float|Joint speed \(in degrees per second\)| -|duration|int|Duration constraint. If not 0, allows to set a limit \(in seconds\) to the JointsSpeed \(future\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_JointSpeeds.md b/api_python/doc/markdown/references/msg_Base_JointSpeeds.md deleted file mode 100644 index a36975e8..00000000 --- a/api_python/doc/markdown/references/msg_Base_JointSpeeds.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message JointSpeeds - -This page describes the Python Kinova.Api.Base.JointSpeeds message. - -## Overview / Purpose - -Defines a series of joint speeds - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|joint\_speeds|Collection of [JointSpeed](msg_Base_JointSpeed.md#)|Array of joint speed| -|duration|int|Duration constraint. If not 0, allows to set a limit \(in seconds\) common to every joint specified in 'joint\_speeds' \(future\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_JointTrajectoryConstraint.md b/api_python/doc/markdown/references/msg_Base_JointTrajectoryConstraint.md deleted file mode 100644 index 93cf60c9..00000000 --- a/api_python/doc/markdown/references/msg_Base_JointTrajectoryConstraint.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message JointTrajectoryConstraint - -This page describes the Python Kinova.Api.Base.JointTrajectoryConstraint message. - -## Overview / Purpose - -Defines a joint trajectory constraint that can be applied when controlling a joint in trajectory mode - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|type| [JointTrajectoryConstraintType](enm_Base_JointTrajectoryConstraintType.md#)|Joint trajectory constraint type| -|value|float|Constraint value \(in seconds or in meters per second depending on constraint type\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_LimitationTypeIdentifier.md b/api_python/doc/markdown/references/msg_Base_LimitationTypeIdentifier.md deleted file mode 100644 index d2fdf2fc..00000000 --- a/api_python/doc/markdown/references/msg_Base_LimitationTypeIdentifier.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message LimitationTypeIdentifier - -This page describes the Python Kinova.Api.Base.LimitationTypeIdentifier message. - -## Overview / Purpose - -Identifies a limitation - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|type| [LimitationType](enm_Base_LimitationType.md#)|Limitation type| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Map.md b/api_python/doc/markdown/references/msg_Base_Map.md deleted file mode 100644 index 8659798b..00000000 --- a/api_python/doc/markdown/references/msg_Base_Map.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message Map - -This page describes the Python Kinova.Api.Base.Map message. - -## Overview / Purpose - -Defines a map as an array of map elements - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [MapHandle](msg_Base_MapHandle.md#)|Map handle \(do not set on createMap\(\) call\)| -|name|str|Map friendly name| -|elements|Collection of [MapElement](msg_Base_MapElement.md#)|Array of map elements| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_MapElement.md b/api_python/doc/markdown/references/msg_Base_MapElement.md deleted file mode 100644 index 36374655..00000000 --- a/api_python/doc/markdown/references/msg_Base_MapElement.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message MapElement - -This page describes the Python Kinova.Api.Base.MapElement message. - -## Overview / Purpose - -Associates a map event to map action - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event| [MapEvent](msg_Base_MapEvent.md#)|Map event that occured| -|action| [Action](msg_Base_Action.md#)|Action to invoke upon event occurence| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_MapEvent.md b/api_python/doc/markdown/references/msg_Base_MapEvent.md deleted file mode 100644 index dff53cd8..00000000 --- a/api_python/doc/markdown/references/msg_Base_MapEvent.md +++ /dev/null @@ -1,21 +0,0 @@ -# Message MapEvent - -This page describes the Python Kinova.Api.Base.MapEvent message. - -## Overview / Purpose - -Defines a map event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|oneof events : safety\_event| [SafetyEvent](msg_Base_SafetyEvent.md#)|Mapped safety event \(future\)| -|oneof events : gpio\_event| [GpioEvent](msg_Base_GpioEvent.md#)|Mapped GPIO event \(future\)| -|oneof events : controller\_event| [ControllerEvent](msg_Base_ControllerEvent.md#)|Mapped controller event| -|name|str|Map event friendly name| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_MapGroup.md b/api_python/doc/markdown/references/msg_Base_MapGroup.md deleted file mode 100644 index 1193279b..00000000 --- a/api_python/doc/markdown/references/msg_Base_MapGroup.md +++ /dev/null @@ -1,24 +0,0 @@ -# Message MapGroup - -This page describes the Python Kinova.Api.Base.MapGroup message. - -## Overview / Purpose - -Message that contains all information about a map group including the list of maps that it contains and its relationship versus other map groups \(future\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|group\_handle| [MapGroupHandle](msg_Base_MapGroupHandle.md#)|Map group handle \(do not set on createMapGroup\(\) call\)| -|name|str|Map group friendly name| -|related\_mapping\_handle| [MappingHandle](msg_Base_MappingHandle.md#)|Mapping that this map group belongs to| -|parent\_group\_handle| [MapGroupHandle](msg_Base_MapGroupHandle.md#)|Parent map group \(if any\)| -|children\_map\_group\_handles|Collection of [MapGroupHandle](msg_Base_MapGroupHandle.md#)|Children map groups \(if any\)| -|map\_handles|Collection of [MapHandle](msg_Base_MapHandle.md#)|Array of maps that are included in this map group| -|application\_data|str|Application data \(reserved for use by Web App\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_MapGroupHandle.md b/api_python/doc/markdown/references/msg_Base_MapGroupHandle.md deleted file mode 100644 index a86fb0f0..00000000 --- a/api_python/doc/markdown/references/msg_Base_MapGroupHandle.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message MapGroupHandle - -This page describes the Python Kinova.Api.Base.MapGroupHandle message. - -## Overview / Purpose - -Identifies a map group \(future\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|identifier|int|Identifier| -|permission|int|Permission of specified map group entity. Must use 'Kinova.Api.Common.Permission' enum.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_MapGroupList.md b/api_python/doc/markdown/references/msg_Base_MapGroupList.md deleted file mode 100644 index 5c4d0cfd..00000000 --- a/api_python/doc/markdown/references/msg_Base_MapGroupList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message MapGroupList - -This page describes the Python Kinova.Api.Base.MapGroupList message. - -## Overview / Purpose - -Array of map groups \(future\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|map\_groups|Collection of [MapGroup](msg_Base_MapGroup.md#)|Map group| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_MapHandle.md b/api_python/doc/markdown/references/msg_Base_MapHandle.md deleted file mode 100644 index 09c736be..00000000 --- a/api_python/doc/markdown/references/msg_Base_MapHandle.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message MapHandle - -This page describes the Python Kinova.Api.Base.MapHandle message. - -## Overview / Purpose - -Identifies a map - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|identifier|int|Identifier| -|permission|int|Permission of specified map entity. Must use 'Kinova.Api.Common.Permission' enum.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_MapList.md b/api_python/doc/markdown/references/msg_Base_MapList.md deleted file mode 100644 index 4c7f6676..00000000 --- a/api_python/doc/markdown/references/msg_Base_MapList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message MapList - -This page describes the Python Kinova.Api.Base.MapList message. - -## Overview / Purpose - -Array of maps - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|map\_list|Collection of [Map](msg_Base_Map.md#)|map| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Mapping.md b/api_python/doc/markdown/references/msg_Base_Mapping.md deleted file mode 100644 index efa12e50..00000000 --- a/api_python/doc/markdown/references/msg_Base_Mapping.md +++ /dev/null @@ -1,25 +0,0 @@ -# Message Mapping - -This page describes the Python Kinova.Api.Base.Mapping message. - -## Overview / Purpose - -Message that contains all information about a mapping including the controller to which it is associated, the array of map groups it contains, the currently active map group, the array of maps it contains and the currently active map - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [MappingHandle](msg_Base_MappingHandle.md#)|Mapping handle \(do not set on createMapping\(\) call\)| -|name|str|Mapping friendly name| -|controller\_identifier|int|Associated controller identifier| -|active\_map\_group\_handle| [MapGroupHandle](msg_Base_MapGroupHandle.md#)|Currently active map group \(future\)| -|map\_group\_handles|Collection of [MapGroupHandle](msg_Base_MapGroupHandle.md#)|Array of associated map groups \(future\)| -|active\_map\_handle| [MapHandle](msg_Base_MapHandle.md#)|Currently active map| -|map\_handles|Collection of [MapHandle](msg_Base_MapHandle.md#)|Array of associated maps| -|application\_data|str|Application data \(reserved for use by Web App\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_MappingHandle.md b/api_python/doc/markdown/references/msg_Base_MappingHandle.md deleted file mode 100644 index 8db08253..00000000 --- a/api_python/doc/markdown/references/msg_Base_MappingHandle.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message MappingHandle - -This page describes the Python Kinova.Api.Base.MappingHandle message. - -## Overview / Purpose - -Identifies a Mapping - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|identifier|int|Mapping identifier| -|permission|int|Permission of specified mapping entity. Must use 'Kinova.Api.Common.Permission' enum.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_MappingInfoNotification.md b/api_python/doc/markdown/references/msg_Base_MappingInfoNotification.md deleted file mode 100644 index 4c80299f..00000000 --- a/api_python/doc/markdown/references/msg_Base_MappingInfoNotification.md +++ /dev/null @@ -1,22 +0,0 @@ -# Message MappingInfoNotification - -This page describes the Python Kinova.Api.Base.MappingInfoNotification message. - -## Overview / Purpose - -Message that contains a mapping information event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|controller\_identifier|int|Identifier of the controller| -|active\_map\_handle| [MapHandle](msg_Base_MapHandle.md#)|New active map| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the mapping information event| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the mapping information event| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_MappingInfoNotificationList.md b/api_python/doc/markdown/references/msg_Base_MappingInfoNotificationList.md deleted file mode 100644 index f67f7d57..00000000 --- a/api_python/doc/markdown/references/msg_Base_MappingInfoNotificationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message MappingInfoNotificationList - -This page describes the Python Kinova.Api.Base.MappingInfoNotificationList message. - -## Overview / Purpose - -Array of mapping information notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [MappingInfoNotification](msg_Base_MappingInfoNotification.md#)|Notification| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_MappingList.md b/api_python/doc/markdown/references/msg_Base_MappingList.md deleted file mode 100644 index 1ec5da9b..00000000 --- a/api_python/doc/markdown/references/msg_Base_MappingList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message MappingList - -This page describes the Python Kinova.Api.Base.MappingList message. - -## Overview / Purpose - -Array of mappings - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|mappings|Collection of [Mapping](msg_Base_Mapping.md#)|Mapping| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_NetworkHandle.md b/api_python/doc/markdown/references/msg_Base_NetworkHandle.md deleted file mode 100644 index 02958490..00000000 --- a/api_python/doc/markdown/references/msg_Base_NetworkHandle.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message NetworkHandle - -This page describes the Python Kinova.Api.Base.NetworkHandle message. - -## Overview / Purpose - -Identifies a network - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|type| [NetworkType](enm_Base_NetworkType.md#)|Network type| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_NetworkNotification.md b/api_python/doc/markdown/references/msg_Base_NetworkNotification.md deleted file mode 100644 index 57a6c976..00000000 --- a/api_python/doc/markdown/references/msg_Base_NetworkNotification.md +++ /dev/null @@ -1,21 +0,0 @@ -# Message NetworkNotification - -This page describes the Python Kinova.Api.Base.NetworkNotification message. - -## Overview / Purpose - -Message that contains a network event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event| [NetworkEvent](enm_Base_NetworkEvent.md#)|Event type| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the network event to occur| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the network event to occur| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_NetworkNotificationList.md b/api_python/doc/markdown/references/msg_Base_NetworkNotificationList.md deleted file mode 100644 index aff8379c..00000000 --- a/api_python/doc/markdown/references/msg_Base_NetworkNotificationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message NetworkNotificationList - -This page describes the Python Kinova.Api.Base.NetworkNotificationList message. - -## Overview / Purpose - -Array of network event notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [NetworkNotification](msg_Base_NetworkNotification.md#)|Notification| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_OperatingModeInformation.md b/api_python/doc/markdown/references/msg_Base_OperatingModeInformation.md deleted file mode 100644 index 6e1f0f2f..00000000 --- a/api_python/doc/markdown/references/msg_Base_OperatingModeInformation.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message OperatingModeInformation - -This page describes the Python Kinova.Api.Base.OperatingModeInformation message. - -## Overview / Purpose - -Provides information about the operating mode - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|operating\_mode| [OperatingMode](enm_Base_OperatingMode.md#)|Operating mode| -|device\_handle| [DeviceHandle](msg_Common_DeviceHandle.md#)|Device matching operating mode \(if applicable\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_OperatingModeNotification.md b/api_python/doc/markdown/references/msg_Base_OperatingModeNotification.md deleted file mode 100644 index c36c273b..00000000 --- a/api_python/doc/markdown/references/msg_Base_OperatingModeNotification.md +++ /dev/null @@ -1,22 +0,0 @@ -# Message OperatingModeNotification - -This page describes the Python Kinova.Api.Base.OperatingModeNotification message. - -## Overview / Purpose - -Message that contains an operating mode event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|operating\_mode| [OperatingMode](enm_Base_OperatingMode.md#)|New operating mode| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the operating mode event| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the operating mode event| -|device\_handle| [DeviceHandle](msg_Common_DeviceHandle.md#)|Device matching operating mode \(if applicable\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_OperatingModeNotificationList.md b/api_python/doc/markdown/references/msg_Base_OperatingModeNotificationList.md deleted file mode 100644 index 339bd909..00000000 --- a/api_python/doc/markdown/references/msg_Base_OperatingModeNotificationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message OperatingModeNotificationList - -This page describes the Python Kinova.Api.Base.OperatingModeNotificationList message. - -## Overview / Purpose - -Array of Operating mode notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [OperatingModeNotification](msg_Base_OperatingModeNotification.md#)|Notification| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Orientation.md b/api_python/doc/markdown/references/msg_Base_Orientation.md deleted file mode 100644 index f38fb562..00000000 --- a/api_python/doc/markdown/references/msg_Base_Orientation.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message Orientation - -This page describes the Python Kinova.Api.Base.Orientation message. - -## Overview / Purpose - -Defines a Cartesian orientation - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|theta\_x|float|Theta X orientation \(in degrees\)| -|theta\_y|float|Theta Y orientation \(in degrees\)| -|theta\_z|float|Theta Z orientation \(in degrees\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_PasswordChange.md b/api_python/doc/markdown/references/msg_Base_PasswordChange.md deleted file mode 100644 index 2e51bbbd..00000000 --- a/api_python/doc/markdown/references/msg_Base_PasswordChange.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message PasswordChange - -This page describes the Python Kinova.Api.Base.PasswordChange message. - -## Overview / Purpose - -Provides information to change a user's password - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User handle| -|old\_password|str|Current password| -|new\_password|str|New password| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Point.md b/api_python/doc/markdown/references/msg_Base_Point.md deleted file mode 100644 index 359e516d..00000000 --- a/api_python/doc/markdown/references/msg_Base_Point.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message Point - -This page describes the Python Kinova.Api.Base.Point message. - -## Overview / Purpose - -Identifies a Cartesian point - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|x|float|x \(in meters\)| -|y|float|y \(in meters\)| -|z|float|z \(in meters\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Pose.md b/api_python/doc/markdown/references/msg_Base_Pose.md deleted file mode 100644 index de4edb88..00000000 --- a/api_python/doc/markdown/references/msg_Base_Pose.md +++ /dev/null @@ -1,23 +0,0 @@ -# Message Pose - -This page describes the Python Kinova.Api.Base.Pose message. - -## Overview / Purpose - -Defines a Cartesian pose - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|x|float|X position \(in meters\)| -|y|float|Y position \(in meters\)| -|z|float|Z position \(in meters\)| -|theta\_x|float|Theta X orientation \(in degrees\)| -|theta\_y|float|Theta Y orienation \(in degrees\)| -|theta\_z|float|Theta Z orientation \(in degrees\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Position.md b/api_python/doc/markdown/references/msg_Base_Position.md deleted file mode 100644 index cf7f1038..00000000 --- a/api_python/doc/markdown/references/msg_Base_Position.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message Position - -This page describes the Python Kinova.Api.Base.Position message. - -## Overview / Purpose - -Defines a Cartesian position - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|x|float|X position \(in meters\)| -|y|float|Y position \(in meters\)| -|z|float|Z position \(in meters\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ProtectionZone.md b/api_python/doc/markdown/references/msg_Base_ProtectionZone.md deleted file mode 100644 index 7447ac41..00000000 --- a/api_python/doc/markdown/references/msg_Base_ProtectionZone.md +++ /dev/null @@ -1,24 +0,0 @@ -# Message ProtectionZone - -This page describes the Python Kinova.Api.Base.ProtectionZone message. - -## Overview / Purpose - -Provides a protection zone configuration - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)|Protection zone handle| -|name|str|Protection zone friendly name| -|application\_data|str|Application data \(reserved for use by Web App\)| -|is\_enabled|bool|True if protection zone is enabled, false otherwise| -|shape| [ZoneShape](msg_Base_ZoneShape.md#)|Protection zone shape| -|limitations|Collection of [CartesianLimitation](msg_Base_CartesianLimitation.md#)|List of Cartesian limitation| -|envelope\_limitations|Collection of [CartesianLimitation](msg_Base_CartesianLimitation.md#)|List of Cartesian limitation of the envelop| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ProtectionZoneHandle.md b/api_python/doc/markdown/references/msg_Base_ProtectionZoneHandle.md deleted file mode 100644 index 0bfca52f..00000000 --- a/api_python/doc/markdown/references/msg_Base_ProtectionZoneHandle.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message ProtectionZoneHandle - -This page describes the Python Kinova.Api.Base.ProtectionZoneHandle message. - -## Overview / Purpose - -Identifies a protection zone - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|identifier|int|Protection zone identifier| -|permission|int|Permission of specified Proctection zone entity. Must use 'Kinova.Api.Common.Permission' enum.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ProtectionZoneInformation.md b/api_python/doc/markdown/references/msg_Base_ProtectionZoneInformation.md deleted file mode 100644 index 8dcc629c..00000000 --- a/api_python/doc/markdown/references/msg_Base_ProtectionZoneInformation.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ProtectionZoneInformation - -This page describes the Python Kinova.Api.Base.ProtectionZoneInformation message. - -## Overview / Purpose - -Provides information about a protection zone - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event| [ProtectionZoneEvent](enm_Base_ProtectionZoneEvent.md#)|Event type| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ProtectionZoneList.md b/api_python/doc/markdown/references/msg_Base_ProtectionZoneList.md deleted file mode 100644 index 95b3728d..00000000 --- a/api_python/doc/markdown/references/msg_Base_ProtectionZoneList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ProtectionZoneList - -This page describes the Python Kinova.Api.Base.ProtectionZoneList message. - -## Overview / Purpose - -Array of protection zones - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|protection\_zones|Collection of [ProtectionZone](msg_Base_ProtectionZone.md#)|Protection zone| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ProtectionZoneNotification.md b/api_python/doc/markdown/references/msg_Base_ProtectionZoneNotification.md deleted file mode 100644 index fb702e8f..00000000 --- a/api_python/doc/markdown/references/msg_Base_ProtectionZoneNotification.md +++ /dev/null @@ -1,22 +0,0 @@ -# Message ProtectionZoneNotification - -This page describes the Python Kinova.Api.Base.ProtectionZoneNotification message. - -## Overview / Purpose - -Message that contains a protection zone event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event| [ProtectionZoneEvent](enm_Base_ProtectionZoneEvent.md#)|Event type| -|handle| [ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)|Handle of the protection zone that this event refers to| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the protection zone event to occur| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the protection zone event to occur| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ProtectionZoneNotificationList.md b/api_python/doc/markdown/references/msg_Base_ProtectionZoneNotificationList.md deleted file mode 100644 index 0fe37ac2..00000000 --- a/api_python/doc/markdown/references/msg_Base_ProtectionZoneNotificationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ProtectionZoneNotificationList - -This page describes the Python Kinova.Api.Base.ProtectionZoneNotificationList message. - -## Overview / Purpose - -Array of protection zone notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [ProtectionZoneNotification](msg_Base_ProtectionZoneNotification.md#)|Notification| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Query.md b/api_python/doc/markdown/references/msg_Base_Query.md deleted file mode 100644 index f1d4ece9..00000000 --- a/api_python/doc/markdown/references/msg_Base_Query.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message Query - -This page describes the Python Kinova.Api.Base.Query message. - -## Overview / Purpose - -Specifies the parameters of an event log query \(future\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|start\_timestamp| [Timestamp](msg_Common_Timestamp.md#)|Start timestamp \(set to zero to specify it\)| -|end\_timestamp| [Timestamp](msg_Common_Timestamp.md#)|End timestamp \(set to zero to not specify it\)| -|username|str|Queried username \(set to "" to not specify it\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_RequestedActionType.md b/api_python/doc/markdown/references/msg_Base_RequestedActionType.md deleted file mode 100644 index 5c91b7a0..00000000 --- a/api_python/doc/markdown/references/msg_Base_RequestedActionType.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message RequestedActionType - -This page describes the Python Kinova.Api.Base.RequestedActionType message. - -## Overview / Purpose - -Message used to request all action instances of a specific action type - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|action\_type| [ActionType](enm_Base_ActionType.md#)|Action type| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_RobotEventNotification.md b/api_python/doc/markdown/references/msg_Base_RobotEventNotification.md deleted file mode 100644 index 2d968088..00000000 --- a/api_python/doc/markdown/references/msg_Base_RobotEventNotification.md +++ /dev/null @@ -1,22 +0,0 @@ -# Message RobotEventNotification - -This page describes the Python Kinova.Api.Base.RobotEventNotification message. - -## Overview / Purpose - -Message that contains a robot event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event| [RobotEvent](enm_Base_RobotEvent.md#)|Robot event type| -|handle| [DeviceHandle](msg_Common_DeviceHandle.md#)|Identifier of the hardware device connected or disconnected| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the robot event to occur| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the robot event to occur| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_RobotEventNotificationList.md b/api_python/doc/markdown/references/msg_Base_RobotEventNotificationList.md deleted file mode 100644 index 8346052e..00000000 --- a/api_python/doc/markdown/references/msg_Base_RobotEventNotificationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message RobotEventNotificationList - -This page describes the Python Kinova.Api.Base.RobotEventNotificationList message. - -## Overview / Purpose - -Array of robot event notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [RobotEventNotification](msg_Base_RobotEventNotification.md#)|Notification| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_RotationMatrix.md b/api_python/doc/markdown/references/msg_Base_RotationMatrix.md deleted file mode 100644 index e802787b..00000000 --- a/api_python/doc/markdown/references/msg_Base_RotationMatrix.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message RotationMatrix - -This page describes the Python Kinova.Api.Base.RotationMatrix message. - -## Overview / Purpose - -Provides a 3x3 rotation matrix configuration - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|row1| [RotationMatrixRow](msg_Base_RotationMatrixRow.md#)|First rotation matrix row| -|row2| [RotationMatrixRow](msg_Base_RotationMatrixRow.md#)|Second rotation matrix row| -|row3| [RotationMatrixRow](msg_Base_RotationMatrixRow.md#)|Third rotation matrix row| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_RotationMatrixRow.md b/api_python/doc/markdown/references/msg_Base_RotationMatrixRow.md deleted file mode 100644 index 0912db3c..00000000 --- a/api_python/doc/markdown/references/msg_Base_RotationMatrixRow.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message RotationMatrixRow - -This page describes the Python Kinova.Api.Base.RotationMatrixRow message. - -## Overview / Purpose - -Provides the rotation matrix configuration of a single row - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|column1|float|Value between -1.0 and 1.0| -|column2|float|Value between -1.0 and 1.0| -|column3|float|Value between -1.0 and 1.0| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_SafetyEvent.md b/api_python/doc/markdown/references/msg_Base_SafetyEvent.md deleted file mode 100644 index 287ac7a7..00000000 --- a/api_python/doc/markdown/references/msg_Base_SafetyEvent.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message SafetyEvent - -This page describes the Python Kinova.Api.Base.SafetyEvent message. - -## Overview / Purpose - -Identifies a Safety event \(future\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|safety\_handle| [SafetyHandle](msg_Common_SafetyHandle.md#)|Safety that caused the event to occur| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_SafetyNotificationList.md b/api_python/doc/markdown/references/msg_Base_SafetyNotificationList.md deleted file mode 100644 index e03bb5c2..00000000 --- a/api_python/doc/markdown/references/msg_Base_SafetyNotificationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message SafetyNotificationList - -This page describes the Python Kinova.Api.Base.SafetyNotificationList message. - -## Overview / Purpose - -Array of safety notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [SafetyNotification](msg_Common_SafetyNotification.md#)|Notification| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Sequence.md b/api_python/doc/markdown/references/msg_Base_Sequence.md deleted file mode 100644 index e92d2157..00000000 --- a/api_python/doc/markdown/references/msg_Base_Sequence.md +++ /dev/null @@ -1,21 +0,0 @@ -# Message Sequence - -This page describes the Python Kinova.Api.Base.Sequence message. - -## Overview / Purpose - -Provides information about a sequence - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [SequenceHandle](msg_Base_SequenceHandle.md#)|Sequence handle| -|name|str|Sequence name| -|application\_data|str|Application data \(reserved for use by Web App\)| -|tasks|Collection of [SequenceTask](msg_Base_SequenceTask.md#)|Array of tasks that this sequence contains| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_SequenceHandle.md b/api_python/doc/markdown/references/msg_Base_SequenceHandle.md deleted file mode 100644 index 896e5ce4..00000000 --- a/api_python/doc/markdown/references/msg_Base_SequenceHandle.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message SequenceHandle - -This page describes the Python Kinova.Api.Base.SequenceHandle message. - -## Overview / Purpose - -Identifies a sequence - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|identifier|int|Sequence identifier| -|permission|int|Sequence permission. See 'Kinova.Api.Common.Permission' enum.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_SequenceInfoNotification.md b/api_python/doc/markdown/references/msg_Base_SequenceInfoNotification.md deleted file mode 100644 index cb041b63..00000000 --- a/api_python/doc/markdown/references/msg_Base_SequenceInfoNotification.md +++ /dev/null @@ -1,25 +0,0 @@ -# Message SequenceInfoNotification - -This page describes the Python Kinova.Api.Base.SequenceInfoNotification message. - -## Overview / Purpose - -Message that contains a sequence information event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event\_identifier| [EventIdSequenceInfoNotification](enm_Base_EventIdSequenceInfoNotification.md#)|Sequence event type| -|sequence\_handle| [SequenceHandle](msg_Base_SequenceHandle.md#)|Handle of the sequence that this event refers to| -|task\_index|int|Task index| -|group\_identifier|int|Specifies the order in which this task must be executed| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the sequence event| -|abort\_details| [SubErrorCodes](enm_Api_SubErrorCodes.md#)|Details if event\_identifier is equal to ABORT| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the sequence event| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_SequenceInfoNotificationList.md b/api_python/doc/markdown/references/msg_Base_SequenceInfoNotificationList.md deleted file mode 100644 index 2a214918..00000000 --- a/api_python/doc/markdown/references/msg_Base_SequenceInfoNotificationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message SequenceInfoNotificationList - -This page describes the Python Kinova.Api.Base.SequenceInfoNotificationList message. - -## Overview / Purpose - -Array of sequence information notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [SequenceInfoNotification](msg_Base_SequenceInfoNotification.md#)|Notification| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_SequenceInformation.md b/api_python/doc/markdown/references/msg_Base_SequenceInformation.md deleted file mode 100644 index 1995314b..00000000 --- a/api_python/doc/markdown/references/msg_Base_SequenceInformation.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message SequenceInformation - -This page describes the Python Kinova.Api.Base.SequenceInformation message. - -## Overview / Purpose - -Provides information about a sequence - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event\_identifier| [EventIdSequenceInfoNotification](enm_Base_EventIdSequenceInfoNotification.md#)|Sequence event type| -|task\_index|int|Task index| -|task\_identifier|int|Task identifier| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_SequenceList.md b/api_python/doc/markdown/references/msg_Base_SequenceList.md deleted file mode 100644 index 53afe844..00000000 --- a/api_python/doc/markdown/references/msg_Base_SequenceList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message SequenceList - -This page describes the Python Kinova.Api.Base.SequenceList message. - -## Overview / Purpose - -Array of sequences - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sequence\_list|Collection of [Sequence](msg_Base_Sequence.md#)|Sequence| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_SequenceTask.md b/api_python/doc/markdown/references/msg_Base_SequenceTask.md deleted file mode 100644 index c113e0a1..00000000 --- a/api_python/doc/markdown/references/msg_Base_SequenceTask.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message SequenceTask - -This page describes the Python Kinova.Api.Base.SequenceTask message. - -## Overview / Purpose - -Provides information about a task inside a sequence - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|group\_identifier|int|Specifies the order in which this task must be executed| -|action| [Action](msg_Base_Action.md#)|Specifies the action to execute| -|application\_data|str|Application data \(reserved for use by Web App\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_SequenceTaskHandle.md b/api_python/doc/markdown/references/msg_Base_SequenceTaskHandle.md deleted file mode 100644 index 76a0a5bf..00000000 --- a/api_python/doc/markdown/references/msg_Base_SequenceTaskHandle.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message SequenceTaskHandle - -This page describes the Python Kinova.Api.Base.SequenceTaskHandle message. - -## Overview / Purpose - -Identifies a task inside a sequence - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sequence\_handle| [SequenceHandle](msg_Base_SequenceHandle.md#)|Sequence handle| -|task\_index|int|Task index inside the sequence| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ServoingModeInformation.md b/api_python/doc/markdown/references/msg_Base_ServoingModeInformation.md deleted file mode 100644 index ae56a2fe..00000000 --- a/api_python/doc/markdown/references/msg_Base_ServoingModeInformation.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ServoingModeInformation - -This page describes the Python Kinova.Api.Base.ServoingModeInformation message. - -## Overview / Purpose - -Provides information about the servoing mode - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|servoing\_mode| [ServoingMode](enm_Base_ServoingMode.md#)|Servoing mode| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ServoingModeNotification.md b/api_python/doc/markdown/references/msg_Base_ServoingModeNotification.md deleted file mode 100644 index b482cc6e..00000000 --- a/api_python/doc/markdown/references/msg_Base_ServoingModeNotification.md +++ /dev/null @@ -1,21 +0,0 @@ -# Message ServoingModeNotification - -This page describes the Python Kinova.Api.Base.ServoingModeNotification message. - -## Overview / Purpose - -Message that contains a servoing mode event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|servoing\_mode| [ServoingMode](enm_Base_ServoingMode.md#)|New servoing mode| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the servoing mode event| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the servoing mode event| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ServoingModeNotificationList.md b/api_python/doc/markdown/references/msg_Base_ServoingModeNotificationList.md deleted file mode 100644 index 2ea14f53..00000000 --- a/api_python/doc/markdown/references/msg_Base_ServoingModeNotificationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ServoingModeNotificationList - -This page describes the Python Kinova.Api.Base.ServoingModeNotificationList message. - -## Overview / Purpose - -Array of servoing mode notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [ServoingModeNotification](msg_Base_ServoingModeNotification.md#)|Notification| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Ssid.md b/api_python/doc/markdown/references/msg_Base_Ssid.md deleted file mode 100644 index 5338dfab..00000000 --- a/api_python/doc/markdown/references/msg_Base_Ssid.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message Ssid - -This page describes the Python Kinova.Api.Base.Ssid message. - -## Overview / Purpose - -Identifies a Wi-Fi SSID - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|identifier|str|Wi-Fi Service Set Identifier| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Stop.md b/api_python/doc/markdown/references/msg_Base_Stop.md deleted file mode 100644 index adf67709..00000000 --- a/api_python/doc/markdown/references/msg_Base_Stop.md +++ /dev/null @@ -1,10 +0,0 @@ -# Message Stop - -This page describes the Python Kinova.Api.Base.Stop message. - -## Overview / Purpose - -Defines an action to stop robot movement - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_SwitchControlMapping.md b/api_python/doc/markdown/references/msg_Base_SwitchControlMapping.md deleted file mode 100644 index 9bb9c0a9..00000000 --- a/api_python/doc/markdown/references/msg_Base_SwitchControlMapping.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message SwitchControlMapping - -This page describes the Python Kinova.Api.Base.SwitchControlMapping message. - -## Overview / Purpose - -Defines an action to switch the active controller map - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|controller\_identifier|int|Identifier of the controller for which changing the active map is requested| -|map\_group\_handle| [MapGroupHandle](msg_Base_MapGroupHandle.md#)|Identifier of the map group for which the active map needs to change| -|map\_handle| [MapHandle](msg_Base_MapHandle.md#)|New active map| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_SystemTime.md b/api_python/doc/markdown/references/msg_Base_SystemTime.md deleted file mode 100644 index 105eb297..00000000 --- a/api_python/doc/markdown/references/msg_Base_SystemTime.md +++ /dev/null @@ -1,23 +0,0 @@ -# Message SystemTime - -This page describes the Python Kinova.Api.Base.SystemTime message. - -## Overview / Purpose - -Identifies the system time \(future\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sec|int|Seconds after the minute\(0-59\)| -|min|int|Minutes after the hour \(0-59\)| -|hour|int|Hours since midnight \(0-23\)| -|mday|int|Day of the month \(1-31\)| -|mon|int|Months since January \(0-11\)| -|year|int|Years since 1900| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Timeout.md b/api_python/doc/markdown/references/msg_Base_Timeout.md deleted file mode 100644 index 04f2ea26..00000000 --- a/api_python/doc/markdown/references/msg_Base_Timeout.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message Timeout - -This page describes the Python Kinova.Api.Base.Timeout message. - -## Overview / Purpose - -Defines a specific timeout - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|value|int|Timeout value \(future\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_TransformationMatrix.md b/api_python/doc/markdown/references/msg_Base_TransformationMatrix.md deleted file mode 100644 index a4771ff3..00000000 --- a/api_python/doc/markdown/references/msg_Base_TransformationMatrix.md +++ /dev/null @@ -1,21 +0,0 @@ -# Message TransformationMatrix - -This page describes the Python Kinova.Api.Base.TransformationMatrix message. - -## Overview / Purpose - -Defines a transformation matrix - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|r0| [TransformationRow](msg_Base_TransformationRow.md#)|First transformation row| -|r1| [TransformationRow](msg_Base_TransformationRow.md#)|Second transformation row| -|r2| [TransformationRow](msg_Base_TransformationRow.md#)|Third transformation row| -|r3| [TransformationRow](msg_Base_TransformationRow.md#)|Fourth transformation row| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_TransformationRow.md b/api_python/doc/markdown/references/msg_Base_TransformationRow.md deleted file mode 100644 index f2be681d..00000000 --- a/api_python/doc/markdown/references/msg_Base_TransformationRow.md +++ /dev/null @@ -1,21 +0,0 @@ -# Message TransformationRow - -This page describes the Python Kinova.Api.Base.TransformationRow message. - -## Overview / Purpose - -Defines a transformation matrix row - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|c0|float|First column value| -|c1|float|Second column value| -|c2|float|Third column value| -|c3|float|Fourth column value| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_Twist.md b/api_python/doc/markdown/references/msg_Base_Twist.md deleted file mode 100644 index 294d6ac0..00000000 --- a/api_python/doc/markdown/references/msg_Base_Twist.md +++ /dev/null @@ -1,23 +0,0 @@ -# Message Twist - -This page describes the Python Kinova.Api.Base.Twist message. - -## Overview / Purpose - -Defines a twist \(velocity\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|linear\_x|float|Linear X velocity| -|linear\_y|float|Linear Y velocity| -|linear\_z|float|Linear Z velocity| -|angular\_x|float|Angular X velocity| -|angular\_y|float|Angular Y velocity| -|angular\_z|float|Angular Z velocity| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_TwistCommand.md b/api_python/doc/markdown/references/msg_Base_TwistCommand.md deleted file mode 100644 index 8f2d9b41..00000000 --- a/api_python/doc/markdown/references/msg_Base_TwistCommand.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message TwistCommand - -This page describes the Python Kinova.Api.Base.TwistCommand message. - -## Overview / Purpose - -Defines a twist \(velocity\) command - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|mode| [TwistMode](enm_Base_TwistMode.md#)|Mode in which the command is executed| -|twist| [Twist](msg_Base_Twist.md#)|Twist value| -|duration|int|Duration constrant. If not 0, allows to set a limit \(in seconds\) to the TwistCommand \(future\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_UserList.md b/api_python/doc/markdown/references/msg_Base_UserList.md deleted file mode 100644 index cc88319c..00000000 --- a/api_python/doc/markdown/references/msg_Base_UserList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message UserList - -This page describes the Python Kinova.Api.Base.UserList message. - -## Overview / Purpose - -Array of user handles - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|user\_handles|Collection of [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User handle| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_UserNotification.md b/api_python/doc/markdown/references/msg_Base_UserNotification.md deleted file mode 100644 index 55396096..00000000 --- a/api_python/doc/markdown/references/msg_Base_UserNotification.md +++ /dev/null @@ -1,22 +0,0 @@ -# Message UserNotification - -This page describes the Python Kinova.Api.Base.UserNotification message. - -## Overview / Purpose - -Message that contains a user event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|user\_event| [UserEvent](enm_Base_UserEvent.md#)|User event type| -|modified\_user| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User profile that was modified| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the user profile event \(i.e. user who changed the user profile\)| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the user profile event \(i.e. user who changed the user profile\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_UserNotificationList.md b/api_python/doc/markdown/references/msg_Base_UserNotificationList.md deleted file mode 100644 index ba7cc83b..00000000 --- a/api_python/doc/markdown/references/msg_Base_UserNotificationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message UserNotificationList - -This page describes the Python Kinova.Api.Base.UserNotificationList message. - -## Overview / Purpose - -Array of user notifications - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|notifications|Collection of [UserNotification](msg_Base_UserNotification.md#)|Notification| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_UserProfile.md b/api_python/doc/markdown/references/msg_Base_UserProfile.md deleted file mode 100644 index 5889d112..00000000 --- a/api_python/doc/markdown/references/msg_Base_UserProfile.md +++ /dev/null @@ -1,22 +0,0 @@ -# Message UserProfile - -This page describes the Python Kinova.Api.Base.UserProfile message. - -## Overview / Purpose - -Provides information about a user - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User handle \(no need to set it with CreateUserProfile\(\)| -|username|str|Username, which is used to connect to robot \(or login via Web App\)| -|firstname|str|User's first name| -|lastname|str|User's last name| -|application\_data|str|Application data \(reserved for use by Web App\)| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_UserProfileList.md b/api_python/doc/markdown/references/msg_Base_UserProfileList.md deleted file mode 100644 index a2ebb2a6..00000000 --- a/api_python/doc/markdown/references/msg_Base_UserProfileList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message UserProfileList - -This page describes the Python Kinova.Api.Base.UserProfileList message. - -## Overview / Purpose - -Array of user profiles - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|user\_profiles|Collection of [UserProfile](msg_Base_UserProfile.md#)|User profile| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_WifiConfiguration.md b/api_python/doc/markdown/references/msg_Base_WifiConfiguration.md deleted file mode 100644 index d13e17eb..00000000 --- a/api_python/doc/markdown/references/msg_Base_WifiConfiguration.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message WifiConfiguration - -This page describes the Python Kinova.Api.Base.WifiConfiguration message. - -## Overview / Purpose - -Provides a Wi-Fi Configuration - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|ssid| [Ssid](msg_Base_Ssid.md#)|SSID| -|security\_key|str|Security key to used when connecting to Wi-Fi network| -|connect\_automatically|bool|Connection mode. Set to true so robot automatically connects to this Wi-Fi network at bootup, false otherwise| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_WifiConfigurationList.md b/api_python/doc/markdown/references/msg_Base_WifiConfigurationList.md deleted file mode 100644 index 1143a87e..00000000 --- a/api_python/doc/markdown/references/msg_Base_WifiConfigurationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message WifiConfigurationList - -This page describes the Python Kinova.Api.Base.WifiConfigurationList message. - -## Overview / Purpose - -Array of Wi-Fi configuration - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|wifi\_configuration\_list|Collection of [WifiConfiguration](msg_Base_WifiConfiguration.md#)|Wi-Fi configurations| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_WifiInformation.md b/api_python/doc/markdown/references/msg_Base_WifiInformation.md deleted file mode 100644 index b2801078..00000000 --- a/api_python/doc/markdown/references/msg_Base_WifiInformation.md +++ /dev/null @@ -1,24 +0,0 @@ -# Message WifiInformation - -This page describes the Python Kinova.Api.Base.WifiInformation message. - -## Overview / Purpose - -Provides information about a specific Wi-Fi network - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|ssid| [Ssid](msg_Base_Ssid.md#)|SSID| -|security\_type|int|Wi-Fi security type| -|encryption\_type|int|Wi-Fi encryption type| -|signal\_quality| [SignalQuality](enm_Base_SignalQuality.md#)|Wi-Fi signal quality| -|signal\_strength|int|Wi-Fi signal power in dBm| -|frequency|int|Wi-Fi operating frequency \(channel\) in MHz| -|channel|int|Wi-Fi operating channel| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_WifiInformationList.md b/api_python/doc/markdown/references/msg_Base_WifiInformationList.md deleted file mode 100644 index f4448386..00000000 --- a/api_python/doc/markdown/references/msg_Base_WifiInformationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message WifiInformationList - -This page describes the Python Kinova.Api.Base.WifiInformationList message. - -## Overview / Purpose - -Array of Wi-Fi information - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|wifi\_information\_list|Collection of [WifiInformation](msg_Base_WifiInformation.md#)|Wi-Fi information| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Base_ZoneShape.md b/api_python/doc/markdown/references/msg_Base_ZoneShape.md deleted file mode 100644 index 9f7d7584..00000000 --- a/api_python/doc/markdown/references/msg_Base_ZoneShape.md +++ /dev/null @@ -1,22 +0,0 @@ -# Message ZoneShape - -This page describes the Python Kinova.Api.Base.ZoneShape message. - -## Overview / Purpose - -Provides a protection zone shape description - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|shape\_type| [ShapeType](enm_Base_ShapeType.md#)|Shape type| -|origin| [Point](msg_Base_Point.md#)|Origin of the protection zone shape from reference \(in meters\)| -|orientation| [RotationMatrix](msg_Base_RotationMatrix.md#)|Rotation matrix to provide shape orientation| -|dimensions|Collection of float|Shape size measurement \(in meters\). If rectangular prism: x, y and z dimensions. If cylinder: radius and height. If sphere: radius| -|envelope\_thickness|float|Thickness of envelop around shape \(in meters\). The envelop is of same shape type as the shape at its center.| - -**Parent topic:** [Base](../references/summary_Base.md) - diff --git a/api_python/doc/markdown/references/msg_Common_Connection.md b/api_python/doc/markdown/references/msg_Common_Connection.md deleted file mode 100644 index 048e9eb2..00000000 --- a/api_python/doc/markdown/references/msg_Common_Connection.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message Connection - -This page describes the Python Kinova.Api.Common.Connection message. - -## Overview / Purpose - -Idenfities a connection - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User profile handle, or set to zero if no user logged in| -|connection\_information|str|Connection info \(e.g. IP address with port number\)| -|connection\_identifier|int|Connection identifier| - -**Parent topic:** [Common](../references/summary_Common.md) - diff --git a/api_python/doc/markdown/references/msg_Common_DeviceHandle.md b/api_python/doc/markdown/references/msg_Common_DeviceHandle.md deleted file mode 100644 index 5e30eb9f..00000000 --- a/api_python/doc/markdown/references/msg_Common_DeviceHandle.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message DeviceHandle - -This page describes the Python Kinova.Api.Common.DeviceHandle message. - -## Overview / Purpose - -Identifies a device - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|device\_type| [DeviceTypes](enm_Common_DeviceTypes.md#)|Device type| -|device\_identifier|int|Unique device identifier \(used with other services\)| -|order|int|Unique value indicating the order of that device versus the others to facilitate representation| - -**Parent topic:** [Common](../references/summary_Common.md) - diff --git a/api_python/doc/markdown/references/msg_Common_Empty.md b/api_python/doc/markdown/references/msg_Common_Empty.md deleted file mode 100644 index 96824c97..00000000 --- a/api_python/doc/markdown/references/msg_Common_Empty.md +++ /dev/null @@ -1,10 +0,0 @@ -# Message Empty - -This page describes the Python Kinova.Api.Common.Empty message. - -## Overview / Purpose - -Message used when no information needs to be exchanged between client application and robot, and vice versa - -**Parent topic:** [Common](../references/summary_Common.md) - diff --git a/api_python/doc/markdown/references/msg_Common_NotificationHandle.md b/api_python/doc/markdown/references/msg_Common_NotificationHandle.md deleted file mode 100644 index c746b551..00000000 --- a/api_python/doc/markdown/references/msg_Common_NotificationHandle.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message NotificationHandle - -This page describes the Python Kinova.Api.Common.NotificationHandle message. - -## Overview / Purpose - -Identifies a notification - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|identifier|int|Notification identifier| - -**Parent topic:** [Common](../references/summary_Common.md) - diff --git a/api_python/doc/markdown/references/msg_Common_NotificationOptions.md b/api_python/doc/markdown/references/msg_Common_NotificationOptions.md deleted file mode 100644 index 1a679527..00000000 --- a/api_python/doc/markdown/references/msg_Common_NotificationOptions.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message NotificationOptions - -This page describes the Python Kinova.Api.Common.NotificationOptions message. - -## Overview / Purpose - -Specifies options associated to a notification - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|type| [NotificationType](enm_Common_NotificationType.md#)|Type of notification| -|rate\_m\_sec|int|Rate value \(in meters per second\) \(if applicable\)| -|threshold\_value|float|Threshold value \(if applicable\)| - -**Parent topic:** [Common](../references/summary_Common.md) - diff --git a/api_python/doc/markdown/references/msg_Common_SafetyHandle.md b/api_python/doc/markdown/references/msg_Common_SafetyHandle.md deleted file mode 100644 index f421107f..00000000 --- a/api_python/doc/markdown/references/msg_Common_SafetyHandle.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message SafetyHandle - -This page describes the Python Kinova.Api.Common.SafetyHandle message. - -## Overview / Purpose - -Identifies a safety - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|identifier|int|Safety identifier| - -**Parent topic:** [Common](../references/summary_Common.md) - diff --git a/api_python/doc/markdown/references/msg_Common_SafetyNotification.md b/api_python/doc/markdown/references/msg_Common_SafetyNotification.md deleted file mode 100644 index ce1b496e..00000000 --- a/api_python/doc/markdown/references/msg_Common_SafetyNotification.md +++ /dev/null @@ -1,22 +0,0 @@ -# Message SafetyNotification - -This page describes the Python Kinova.Api.Common.SafetyNotification message. - -## Overview / Purpose - -Message that contains a safety event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|safety\_handle| [SafetyHandle](msg_Common_SafetyHandle.md#)|Safety handle| -|value| [SafetyStatusValue](enm_Common_SafetyStatusValue.md#)|New safety status| -|timestamp| [Timestamp](msg_Common_Timestamp.md#)|Event timestamp| -|user\_handle| [UserProfileHandle](msg_Common_UserProfileHandle.md#)|User that caused the safety event| -|connection| [Connection](msg_Common_Connection.md#)|Connection that caused the safety event| - -**Parent topic:** [Common](../references/summary_Common.md) - diff --git a/api_python/doc/markdown/references/msg_Common_Timestamp.md b/api_python/doc/markdown/references/msg_Common_Timestamp.md deleted file mode 100644 index b5c10d31..00000000 --- a/api_python/doc/markdown/references/msg_Common_Timestamp.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message Timestamp - -This page describes the Python Kinova.Api.Common.Timestamp message. - -## Overview / Purpose - -Timestamp based on Epoch \(00:00:00 Thursday, January 1, 1970\) - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sec|int|Number of seconds that have elapsed since Epoch| -|usec|int|Number of microseconds that have elapsed since the last second \(0-999999\)| - -**Parent topic:** [Common](../references/summary_Common.md) - diff --git a/api_python/doc/markdown/references/msg_Common_UserProfileHandle.md b/api_python/doc/markdown/references/msg_Common_UserProfileHandle.md deleted file mode 100644 index 6e13bf89..00000000 --- a/api_python/doc/markdown/references/msg_Common_UserProfileHandle.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message UserProfileHandle - -This page describes the Python Kinova.Api.Common.UserProfileHandle message. - -## Overview / Purpose - -Identifies a user profile - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|identifier|int|User profile identifier| -|permission|int|Must use 'Permission' as bitwise| - -**Parent topic:** [Common](../references/summary_Common.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_BootloaderVersion.md b/api_python/doc/markdown/references/msg_DeviceConfig_BootloaderVersion.md deleted file mode 100644 index 3ff78be6..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_BootloaderVersion.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message BootloaderVersion - -This page describes the Python Kinova.Api.DeviceConfig.BootloaderVersion message. - -## Overview / Purpose - -Message specifying the bootloader version for the device - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|bootloader\_version|int|Bootloader version| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_DeviceType.md b/api_python/doc/markdown/references/msg_DeviceConfig_DeviceType.md deleted file mode 100644 index 57b696fd..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_DeviceType.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message DeviceType - -This page describes the Python Kinova.Api.DeviceConfig.DeviceType message. - -## Overview / Purpose - -Message specifying the device type - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|device\_type| [DeviceTypes](enm_Common_DeviceTypes.md#)|Device type| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_FirmwareVersion.md b/api_python/doc/markdown/references/msg_DeviceConfig_FirmwareVersion.md deleted file mode 100644 index af5b23ee..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_FirmwareVersion.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message FirmwareVersion - -This page describes the Python Kinova.Api.DeviceConfig.FirmwareVersion message. - -## Overview / Purpose - -Message specifying the firmware version for the device - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|firmware\_version|int|Firmware version| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_IPv4Settings.md b/api_python/doc/markdown/references/msg_DeviceConfig_IPv4Settings.md deleted file mode 100644 index 97f2185f..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_IPv4Settings.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message IPv4Settings - -This page describes the Python Kinova.Api.DeviceConfig.IPv4Settings message. - -## Overview / Purpose - -Message containing the IPv4 settings for the device, including address, subnet mask, and default gateway - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|ipv4\_address|int|IPv4Address| -|ipv4\_subnet\_mask|int|IPv4SubnetMask| -|ipv4\_default\_gateway|int|IPv4DefaultGateway| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_MACAddress.md b/api_python/doc/markdown/references/msg_DeviceConfig_MACAddress.md deleted file mode 100644 index 4626500e..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_MACAddress.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message MACAddress - -This page describes the Python Kinova.Api.DeviceConfig.MACAddress message. - -## Overview / Purpose - -MAC address for the device - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|mac\_address|str|MAC address| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_ModelNumber.md b/api_python/doc/markdown/references/msg_DeviceConfig_ModelNumber.md deleted file mode 100644 index 2c51926c..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_ModelNumber.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ModelNumber - -This page describes the Python Kinova.Api.DeviceConfig.ModelNumber message. - -## Overview / Purpose - -Message specifying the model number for the device - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|model\_number|str|Model number of size 25 including null character| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_PartNumber.md b/api_python/doc/markdown/references/msg_DeviceConfig_PartNumber.md deleted file mode 100644 index 5ebc61d1..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_PartNumber.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message PartNumber - -This page describes the Python Kinova.Api.DeviceConfig.PartNumber message. - -## Overview / Purpose - -String specifiying the part number for the device - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|part\_number|str|Part number of size 25 including null character| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_PartNumberRevision.md b/api_python/doc/markdown/references/msg_DeviceConfig_PartNumberRevision.md deleted file mode 100644 index 250faf9d..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_PartNumberRevision.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message PartNumberRevision - -This page describes the Python Kinova.Api.DeviceConfig.PartNumberRevision message. - -## Overview / Purpose - -String specifying part number revision for the device - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|part\_number\_revision|str|Part number revision| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_PowerOnSelfTestResult.md b/api_python/doc/markdown/references/msg_DeviceConfig_PowerOnSelfTestResult.md deleted file mode 100644 index 83f617e3..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_PowerOnSelfTestResult.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message PowerOnSelfTestResult - -This page describes the Python Kinova.Api.DeviceConfig.PowerOnSelfTestResult message. - -## Overview / Purpose - -Result of power on self test - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|power\_on\_self\_test\_result|int|Power on self test result| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_RebootRqst.md b/api_python/doc/markdown/references/msg_DeviceConfig_RebootRqst.md deleted file mode 100644 index 8993e4da..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_RebootRqst.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message RebootRqst - -This page describes the Python Kinova.Api.DeviceConfig.RebootRqst message. - -## Overview / Purpose - -Reboot request with bootloader delay - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|delay|int|Bootloader delay| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_RunMode.md b/api_python/doc/markdown/references/msg_DeviceConfig_RunMode.md deleted file mode 100644 index 2892fa70..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_RunMode.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message RunMode - -This page describes the Python Kinova.Api.DeviceConfig.RunMode message. - -## Overview / Purpose - -Message specifying the run mode - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|run\_mode| [RunModes](enm_DeviceConfig_RunModes.md#)|Run mode| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_SafetyConfiguration.md b/api_python/doc/markdown/references/msg_DeviceConfig_SafetyConfiguration.md deleted file mode 100644 index cc3eea96..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_SafetyConfiguration.md +++ /dev/null @@ -1,21 +0,0 @@ -# Message SafetyConfiguration - -This page describes the Python Kinova.Api.DeviceConfig.SafetyConfiguration message. - -## Overview / Purpose - -Configure a safety - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [SafetyHandle](msg_Common_SafetyHandle.md#)|Identifies safety to configure| -|error\_threshold|float|Safety error threshold value| -|warning\_threshold|float|Safety warning threshold value| -|enable| [SafetyEnable](msg_DeviceConfig_SafetyEnable.md#)|Safety enable state| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_SafetyConfigurationList.md b/api_python/doc/markdown/references/msg_DeviceConfig_SafetyConfigurationList.md deleted file mode 100644 index 6f5f51fc..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_SafetyConfigurationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message SafetyConfigurationList - -This page describes the Python Kinova.Api.DeviceConfig.SafetyConfigurationList message. - -## Overview / Purpose - -Array of safety configuration - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|configuration|Collection of [SafetyConfiguration](msg_DeviceConfig_SafetyConfiguration.md#)|Safety configuration| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_SafetyEnable.md b/api_python/doc/markdown/references/msg_DeviceConfig_SafetyEnable.md deleted file mode 100644 index b54cd34a..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_SafetyEnable.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message SafetyEnable - -This page describes the Python Kinova.Api.DeviceConfig.SafetyEnable message. - -## Overview / Purpose - -Enable or disable a specific safety - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [SafetyHandle](msg_Common_SafetyHandle.md#)|Identifies safety to enable or disable| -|enable|bool|Safety enable state| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_SafetyInformation.md b/api_python/doc/markdown/references/msg_DeviceConfig_SafetyInformation.md deleted file mode 100644 index 8e67ed07..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_SafetyInformation.md +++ /dev/null @@ -1,28 +0,0 @@ -# Message SafetyInformation - -This page describes the Python Kinova.Api.DeviceConfig.SafetyInformation message. - -## Overview / Purpose - -Information about a particular safety - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [SafetyHandle](msg_Common_SafetyHandle.md#)|Safety handle that this information is about| -|can\_change\_safety\_state|bool|True if related safety configuration can be modified| -|has\_warning\_threshold|bool|True if safety status can go in Warning| -|has\_error\_threshold|bool|True if safety status can go in Error| -|limit\_type| [SafetyLimitType](enm_DeviceConfig_SafetyLimitType.md#)|Safety limit type| -|default\_warning\_threshold|float|Default warning threshold \(if 'limit\_type' is either MINIMAL\_LIMIT or MAXIMAL\_LIMIT and 'has\_warning\_threshold' is true\)| -|default\_error\_threshold|float|Default error threshold \(if 'limit\_type' is either MINIMAL\_LIMIT or MAXIMAL\_LIMIT and 'has\_error\_threshold' is true\)| -|upper\_hard\_limit|float|Maximal threshold value \(if 'limit\_type' is either MINIMAL\_LIMIT or MAXIMAL\_LIMIT\)| -|lower\_hard\_limit|float|Minimal threshold value \(if 'limit\_type' is either MINIMAL\_LIMIT or MAXIMAL\_LIMIT\)| -|status| [SafetyStatusValue](enm_Common_SafetyStatusValue.md#)|Current Safety status| -|unit| [Unit](enm_Common_Unit.md#)|Unit that the safety status is in| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_SafetyInformationList.md b/api_python/doc/markdown/references/msg_DeviceConfig_SafetyInformationList.md deleted file mode 100644 index d8d5b732..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_SafetyInformationList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message SafetyInformationList - -This page describes the Python Kinova.Api.DeviceConfig.SafetyInformationList message. - -## Overview / Purpose - -Array of safety information - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|information|Collection of [SafetyInformation](msg_DeviceConfig_SafetyInformation.md#)| | - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_SafetyStatus.md b/api_python/doc/markdown/references/msg_DeviceConfig_SafetyStatus.md deleted file mode 100644 index 9e10e497..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_SafetyStatus.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message SafetyStatus - -This page describes the Python Kinova.Api.DeviceConfig.SafetyStatus message. - -## Overview / Purpose - -Provides safety status - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|value| [SafetyStatusValue](enm_Common_SafetyStatusValue.md#)|Safety status \(e.g. in error, warning or normal state\)| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_SafetyThreshold.md b/api_python/doc/markdown/references/msg_DeviceConfig_SafetyThreshold.md deleted file mode 100644 index 5ab217ea..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_SafetyThreshold.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message SafetyThreshold - -This page describes the Python Kinova.Api.DeviceConfig.SafetyThreshold message. - -## Overview / Purpose - -Configure threshold of a specific safety - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|handle| [SafetyHandle](msg_Common_SafetyHandle.md#)|Identifies safety to configure| -|value|float|Safety threshold value| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceConfig_SerialNumber.md b/api_python/doc/markdown/references/msg_DeviceConfig_SerialNumber.md deleted file mode 100644 index 47c40ae9..00000000 --- a/api_python/doc/markdown/references/msg_DeviceConfig_SerialNumber.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message SerialNumber - -This page describes the Python Kinova.Api.DeviceConfig.SerialNumber message. - -## Overview / Purpose - -String specifying the serial number for the device - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|serial\_number|str|Serial number of size 25 including null character| - -**Parent topic:** [DeviceConfig](../references/summary_DeviceConfig.md) - diff --git a/api_python/doc/markdown/references/msg_DeviceManager_DeviceHandles.md b/api_python/doc/markdown/references/msg_DeviceManager_DeviceHandles.md deleted file mode 100644 index db26f6cf..00000000 --- a/api_python/doc/markdown/references/msg_DeviceManager_DeviceHandles.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message DeviceHandles - -This page describes the Python Kinova.Api.DeviceManager.DeviceHandles message. - -## Overview / Purpose - -List of Device handles - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|device\_handle|Collection of [DeviceHandle](msg_Common_DeviceHandle.md#)|Device handle| - -**Parent topic:** [DeviceManager](../references/summary_DeviceManager.md) - diff --git a/api_python/doc/markdown/references/msg_InterconnectCyclic_Command.md b/api_python/doc/markdown/references/msg_InterconnectCyclic_Command.md deleted file mode 100644 index 68314adb..00000000 --- a/api_python/doc/markdown/references/msg_InterconnectCyclic_Command.md +++ /dev/null @@ -1,22 +0,0 @@ -# Message Command - -This page describes the Python Kinova.Api.InterconnectCyclic.Command message. - -## Overview / Purpose - -Defines an interconnect module command - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|command\_id| [MessageId](msg_InterconnectCyclic_MessageId.md#)|MessageId| -|flags|int|Flags| -|position|float|Desired position of the gripper fingers \(0-100%\)| -|velocity|float|Desired velocity of the gripper fingers \(0-100%\)| -|force|float|Desired force of the gripper fingers \(0-100%\)| - -**Parent topic:** [InterconnectCyclic](../references/summary_InterconnectCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_InterconnectCyclic_CustomData.md b/api_python/doc/markdown/references/msg_InterconnectCyclic_CustomData.md deleted file mode 100644 index 0319e375..00000000 --- a/api_python/doc/markdown/references/msg_InterconnectCyclic_CustomData.md +++ /dev/null @@ -1,34 +0,0 @@ -# Message CustomData - -This page describes the Python Kinova.Api.InterconnectCyclic.CustomData message. - -## Overview / Purpose - -Custom development data, content varies according to debug needs - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|custom\_data\_id| [MessageId](msg_InterconnectCyclic_MessageId.md#)|MessageId| -|custom\_data\_0|int|Custom data word 0| -|custom\_data\_1|int|Custom data word 1| -|custom\_data\_2|int|Custom data word 2| -|custom\_data\_3|int|Custom data word 3| -|custom\_data\_4|int|Custom data word 4| -|custom\_data\_5|int|Custom data word 5| -|custom\_data\_6|int|Custom data word 6| -|custom\_data\_7|int|Custom data word 7| -|custom\_data\_8|int|Custom data word 8| -|custom\_data\_9|int|Custom data word 9| -|custom\_data\_10|int|Custom data word 10| -|custom\_data\_11|int|Custom data word 11| -|custom\_data\_12|int|Custom data word 12| -|custom\_data\_13|int|Custom data word 13| -|custom\_data\_14|int|Custom data word 14| -|custom\_data\_15|int|Custom data word 15| - -**Parent topic:** [InterconnectCyclic](../references/summary_InterconnectCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_InterconnectCyclic_Feedback.md b/api_python/doc/markdown/references/msg_InterconnectCyclic_Feedback.md deleted file mode 100644 index 1094eff5..00000000 --- a/api_python/doc/markdown/references/msg_InterconnectCyclic_Feedback.md +++ /dev/null @@ -1,35 +0,0 @@ -# Message Feedback - -This page describes the Python Kinova.Api.InterconnectCyclic.Feedback message. - -## Overview / Purpose - -Defines the feedback provided by an interconnect module - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|feedback\_id| [MessageId](msg_InterconnectCyclic_MessageId.md#)|MessageId| -|status\_flags|int|Status flags| -|jitter\_comm|int|Jitter from the communication \(in microsecond\)| -|position|float|Position of the gripper fingers \(0-100%\)| -|velocity|float|Velocity of the gripper fingers \(0-100%\)| -|force|float|Force of the gripper fingers \(0-100%\)| -|imu\_acceleration\_x|float|IMU Measured acceleration \(X-Axis\) of the interconnect \(in meters per second ^ squared\)| -|imu\_acceleration\_y|float|IMU Measured acceleration \(Y-Axis\) of the interconnect \(in meters per second ^ squared\)| -|imu\_acceleration\_z|float|IMU Measured acceleration \(Z-Axis\) of the interconnect \(in meters per second ^ squared\)| -|imu\_angular\_velocity\_x|float|IMU Measured angular velocity \(X-Axis\) of the interconnect \(in degrees per second\)| -|imu\_angular\_velocity\_y|float|IMU Measured angular velocity \(Y-Axis\) of the interconnect \(in degrees per second\)| -|imu\_angular\_velocity\_z|float|IMU Measured angular velocity \(Z-Axis\) of the interconnect \(in degrees per second\)| -|voltage|float|Voltage of the main board \(in Volt\)| -|temperature\_core|float|Microcontroller temperature \(in degrees Celsius\)| -|fault\_bank\_a|int|Fault bank A \(see InterconnectConfig.SafetyIdentifier\)| -|fault\_bank\_b|int|Fault bank B \(see InterconnectConfig.SafetyIdentifier\)| -|warning\_bank\_a|int|Warning bank A \(see InterconnectConfig.SafetyIdentifier\)| -|warning\_bank\_b|int|Warning bank B \(see InterconnectConfig.SafetyIdentifier\)| - -**Parent topic:** [InterconnectCyclic](../references/summary_InterconnectCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_InterconnectCyclic_MessageId.md b/api_python/doc/markdown/references/msg_InterconnectCyclic_MessageId.md deleted file mode 100644 index 3c6acc8f..00000000 --- a/api_python/doc/markdown/references/msg_InterconnectCyclic_MessageId.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message MessageId - -This page describes the Python Kinova.Api.InterconnectCyclic.MessageId message. - -## Overview / Purpose - -Identifies a message - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|identifier|int|Message ID \(first 2 bytes : device ID, last 2 bytes : sequence number\)| - -**Parent topic:** [InterconnectCyclic](../references/summary_InterconnectCyclic.md) - diff --git a/api_python/doc/markdown/references/msg_Session_ConnectionList.md b/api_python/doc/markdown/references/msg_Session_ConnectionList.md deleted file mode 100644 index 764c8ba0..00000000 --- a/api_python/doc/markdown/references/msg_Session_ConnectionList.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message ConnectionList - -This page describes the Python Kinova.Api.Session.ConnectionList message. - -## Overview / Purpose - -Message used to retrieve a list of connections - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|connection|Collection of [Connection](msg_Common_Connection.md#)|Connection| - -**Parent topic:** [Session](../references/summary_Session.md) - diff --git a/api_python/doc/markdown/references/msg_Session_CreateSessionInfo.md b/api_python/doc/markdown/references/msg_Session_CreateSessionInfo.md deleted file mode 100644 index d940de9e..00000000 --- a/api_python/doc/markdown/references/msg_Session_CreateSessionInfo.md +++ /dev/null @@ -1,21 +0,0 @@ -# Message CreateSessionInfo - -This page describes the Python Kinova.Api.Session.CreateSessionInfo message. - -## Overview / Purpose - -Contains parameters to create a new session - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|username|str|User name| -|session\_inactivity\_timeout|int|Inactivity period \(in millisecond\) allowed before the session times out and closes on its own| -|password|str|Password for the user| -|connection\_inactivity\_timeout|int|Inactivity period \(in millisecond\) allowed before the robot stops any movement initiated from this session| - -**Parent topic:** [Session](../references/summary_Session.md) - diff --git a/api_python/doc/markdown/references/msg_VisionConfig_IntrinsicParameters.md b/api_python/doc/markdown/references/msg_VisionConfig_IntrinsicParameters.md deleted file mode 100644 index b5118706..00000000 --- a/api_python/doc/markdown/references/msg_VisionConfig_IntrinsicParameters.md +++ /dev/null @@ -1,23 +0,0 @@ -# Message IntrinsicParameters - -This page describes the Python Kinova.Api.VisionConfig.IntrinsicParameters message. - -## Overview / Purpose - -Sensor intrinsic parameters - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|width|int|Width of the image in pixels| -|height|int|Height of the image in pixels| -|principal\_point\_x|float|Horizontal coordinate of the principal point of the image, as a pixel offset from the left edge| -|principal\_point\_y|float|Vertical coordinate of the principal point of the image, as a pixel offset from the top edge| -|focal\_length\_x|float|Focal length of the image plane, as a multiple of pixel width| -|focal\_length\_y|float|Focal length of the image plane, as a multiple of pixel height| - -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) - diff --git a/api_python/doc/markdown/references/msg_VisionConfig_OptionIdentifier.md b/api_python/doc/markdown/references/msg_VisionConfig_OptionIdentifier.md deleted file mode 100644 index a26b5864..00000000 --- a/api_python/doc/markdown/references/msg_VisionConfig_OptionIdentifier.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message OptionIdentifier - -This page describes the Python Kinova.Api.VisionConfig.OptionIdentifier message. - -## Overview / Purpose - -Identifies the sensor and the option to configure. - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sensor| [Sensor](enm_VisionConfig_Sensor.md#)|The sensor to configure| -|option| [Option](enm_VisionConfig_Option.md#)|The option to configure on the sensor| - -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) - diff --git a/api_python/doc/markdown/references/msg_VisionConfig_OptionInformation.md b/api_python/doc/markdown/references/msg_VisionConfig_OptionInformation.md deleted file mode 100644 index 27c74822..00000000 --- a/api_python/doc/markdown/references/msg_VisionConfig_OptionInformation.md +++ /dev/null @@ -1,25 +0,0 @@ -# Message OptionInformation - -This page describes the Python Kinova.Api.VisionConfig.OptionInformation message. - -## Overview / Purpose - -Packages information about the optional settings for the chosen sensor - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sensor| [Sensor](enm_VisionConfig_Sensor.md#)|The sensor \(color or depth\)| -|option| [Option](enm_VisionConfig_Option.md#)|The option| -|supported|bool|Is the option supported by the chosen sensor?| -|read\_only|bool|Is the option read-only, or can it be changed?| -|minimum|float|Minimum value for the option| -|maximum|float|Maximum value for the option| -|step|float|Step size for the option value \(if it takes on discrete values\)| -|default\_value|float|Default value for the option| - -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) - diff --git a/api_python/doc/markdown/references/msg_VisionConfig_OptionValue.md b/api_python/doc/markdown/references/msg_VisionConfig_OptionValue.md deleted file mode 100644 index 1a097b1c..00000000 --- a/api_python/doc/markdown/references/msg_VisionConfig_OptionValue.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message OptionValue - -This page describes the Python Kinova.Api.VisionConfig.OptionValue message. - -## Overview / Purpose - -Identifies the value of the particular option for the sensor. - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sensor| [Sensor](enm_VisionConfig_Sensor.md#)|The sensor to configure \(color or depth\)| -|option| [Option](enm_VisionConfig_Option.md#)|The option to configure| -|value|float|The desired value for the option| - -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) - diff --git a/api_python/doc/markdown/references/msg_VisionConfig_SensorFocusAction.md b/api_python/doc/markdown/references/msg_VisionConfig_SensorFocusAction.md deleted file mode 100644 index 119f863d..00000000 --- a/api_python/doc/markdown/references/msg_VisionConfig_SensorFocusAction.md +++ /dev/null @@ -1,19 +0,0 @@ -# Message SensorFocusAction - -This page describes the Python Kinova.Api.VisionConfig.SensorFocusAction message. - -## Overview / Purpose - -Identifies the sensor and the focus action to perform. - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sensor| [Sensor](enm_VisionConfig_Sensor.md#)|The sensor on which to perform the focus action| -|focus\_action| [FocusAction](enm_VisionConfig_FocusAction.md#)|The focus action to perform on the sensor| - -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) - diff --git a/api_python/doc/markdown/references/msg_VisionConfig_SensorIdentifier.md b/api_python/doc/markdown/references/msg_VisionConfig_SensorIdentifier.md deleted file mode 100644 index e2383035..00000000 --- a/api_python/doc/markdown/references/msg_VisionConfig_SensorIdentifier.md +++ /dev/null @@ -1,18 +0,0 @@ -# Message SensorIdentifier - -This page describes the Python Kinova.Api.VisionConfig.SensorIdentifier message. - -## Overview / Purpose - -Identifies the sensor to configure. - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sensor| [Sensor](enm_VisionConfig_Sensor.md#)|Sensor| - -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) - diff --git a/api_python/doc/markdown/references/msg_VisionConfig_SensorSettings.md b/api_python/doc/markdown/references/msg_VisionConfig_SensorSettings.md deleted file mode 100644 index c2467762..00000000 --- a/api_python/doc/markdown/references/msg_VisionConfig_SensorSettings.md +++ /dev/null @@ -1,21 +0,0 @@ -# Message SensorSettings - -This page describes the Python Kinova.Api.VisionConfig.SensorSettings message. - -## Overview / Purpose - -Main settings - resolution, frame rate, bit rate - for the chosen sensor \(color or depth\). - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|sensor| [Sensor](enm_VisionConfig_Sensor.md#)|The sensor \(color or depth\)| -|resolution| [Resolution](enm_VisionConfig_Resolution.md#)|The resolution setting| -|frame\_rate| [FrameRate](enm_VisionConfig_FrameRate.md#)|Frame rate setting| -|bit\_rate| [BitRate](enm_VisionConfig_BitRate.md#)|Maximum encoded bit rate| - -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) - diff --git a/api_python/doc/markdown/references/msg_VisionConfig_VisionNotification.md b/api_python/doc/markdown/references/msg_VisionConfig_VisionNotification.md deleted file mode 100644 index 64ef5cf1..00000000 --- a/api_python/doc/markdown/references/msg_VisionConfig_VisionNotification.md +++ /dev/null @@ -1,20 +0,0 @@ -# Message VisionNotification - -This page describes the Python Kinova.Api.VisionConfig.VisionNotification message. - -## Overview / Purpose - -Message that contains Vision module event - -## Class members - - **Member variables** - -|Member name|Data type|Description| -|-----------|---------|-----------| -|event| [VisionEvent](enm_VisionConfig_VisionEvent.md#)|Vision event| -|sensor| [Sensor](enm_VisionConfig_Sensor.md#)|The sensor that caused the notification \(if applicable\)| -|option| [Option](enm_VisionConfig_Option.md#)|The option that caused the notification \(if applicable\)| - -**Parent topic:** [VisionConfig](../references/summary_VisionConfig.md) - diff --git a/api_python/doc/markdown/references/summary_ActuatorConfig.md b/api_python/doc/markdown/references/summary_ActuatorConfig.md deleted file mode 100644 index 26fa5dde..00000000 --- a/api_python/doc/markdown/references/summary_ActuatorConfig.md +++ /dev/null @@ -1,87 +0,0 @@ -# ActuatorConfig - -This page describes the Python Kinova.Api.ActuatorConfig package. - -## Overview / Purpose - -Service to configure the actuator module. - -## API reference - -This section describes procedure calls / methods exposed by the ActuatorConfig package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|ClearFaults|None|None|Clears all error\(s\) and warning\(s\) \(bank A and B\)| -|GetActivatedControlLoop|[ControlLoop](msg_ActuatorConfig_ControlLoop.md#)|None|Gets activated control loop\(s\)| -|GetAxisOffsets|[AxisOffsets](msg_ActuatorConfig_AxisOffsets.md#)|None|Gets axis offsets for absolute and relative encoder| -|GetCommandMode|[CommandModeInformation](msg_ActuatorConfig_CommandModeInformation.md#)|None|Gets command mode \(config versus cyclic\)| -|GetControlLoopParameters|[ControlLoopParameters](msg_ActuatorConfig_ControlLoopParameters.md#)|[LoopSelection](msg_ActuatorConfig_LoopSelection.md#)|Gets control loop parameters| -|GetControlMode|[ControlModeInformation](msg_ActuatorConfig_ControlModeInformation.md#)|None|Gets actuator control mode| -|GetEncoderDerivativeParameters|[EncoderDerivativeParameters](msg_ActuatorConfig_EncoderDerivativeParameters.md#)|None|Gets encoder derivative parameters \(internal use only\)| -|GetSelectedCustomData|[CustomDataSelection](msg_ActuatorConfig_CustomDataSelection.md#)|None|Gets selected custom data| -|GetServoing|[Servoing](msg_ActuatorConfig_Servoing.md#)|None|Gets servoing state| -|GetTorqueOffset|[TorqueOffset](msg_ActuatorConfig_TorqueOffset.md#)|None|Gets torque offset calibration| -|GetVectorDriveParameters|[VectorDriveParameters](msg_ActuatorConfig_VectorDriveParameters.md#)|None|Gets motor drive FOC parameters \(internal use only\)| -|MoveToPosition|None|[PositionCommand](msg_ActuatorConfig_PositionCommand.md#)|Moves the actuator to the desired position| -|ReadTorqueCalibration|[TorqueCalibration](msg_ActuatorConfig_TorqueCalibration.md#)|None|Reads torque calibration parameters \(internal use only\)| -|SelectCustomData|None|[CustomDataSelection](msg_ActuatorConfig_CustomDataSelection.md#)|Selects custom data| -|SetActivatedControlLoop|None|[ControlLoop](msg_ActuatorConfig_ControlLoop.md#)|Sets activated control loop\(s\)| -|SetAxisOffsets|None|[AxisPosition](msg_ActuatorConfig_AxisPosition.md#)|Computes offsets for absolute and relative encoder| -|SetCommandMode|None|[CommandModeInformation](msg_ActuatorConfig_CommandModeInformation.md#)|Sets command mode \(config versus cyclic\)| -|SetControlLoopParameters|None|[ControlLoopParameters](msg_ActuatorConfig_ControlLoopParameters.md#)|Sets control loop parameters.| -|SetControlMode|None|[ControlModeInformation](msg_ActuatorConfig_ControlModeInformation.md#)|Sets actuator control mode| -|SetEncoderDerivativeParameters|None|[EncoderDerivativeParameters](msg_ActuatorConfig_EncoderDerivativeParameters.md#)|Sets encoder derivative parameters \(internal use only\)| -|SetServoing|None|[Servoing](msg_ActuatorConfig_Servoing.md#)|Enables or disables servoing| -|SetTorqueOffset|None|[TorqueOffset](msg_ActuatorConfig_TorqueOffset.md#)|Sets zero torque calibration| -|SetVectorDriveParameters|None|[VectorDriveParameters](msg_ActuatorConfig_VectorDriveParameters.md#)|Sets motor drive FOC parameters \(internal use only\)| -|StartFrequencyResponse|None|[FrequencyResponse](msg_ActuatorConfig_FrequencyResponse.md#)|Starts frequency response test \(internal use only\)| -|StartRampResponse|None|[RampResponse](msg_ActuatorConfig_RampResponse.md#)|Starts ramp response test \(internal use only\)| -|StartStepResponse|None|[StepResponse](msg_ActuatorConfig_StepResponse.md#)|Starts step response test \(internal use only\)| -|StopFrequencyResponse|None|None|Stops frequency response test \(internal use only\)| -|StopRampResponse|None|None|Stops ramp response test \(internal use only\)| -|StopStepResponse|None|None|Stops step response test \(internal use only\)| -|WriteTorqueCalibration|None|[TorqueCalibration](msg_ActuatorConfig_TorqueCalibration.md#)|Writes torque calibration parameters \(internal use only\)| - -## Data types reference - -This section describes the data types used in the ActuatorConfig package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[AxisOffsets](msg_ActuatorConfig_AxisOffsets.md#)|Defines axis offsets| -|[AxisPosition](msg_ActuatorConfig_AxisPosition.md#)|Defines an axis position| -|[CommandModeInformation](msg_ActuatorConfig_CommandModeInformation.md#)|Selects command mode| -|[ControlLoop](msg_ActuatorConfig_ControlLoop.md#)|Defines the control loop| -|[ControlLoopParameters](msg_ActuatorConfig_ControlLoopParameters.md#)|Defines control loop parameters \(discrete transfer function\)| -|[ControlModeInformation](msg_ActuatorConfig_ControlModeInformation.md#)|Defines the control mode| -|[CustomDataSelection](msg_ActuatorConfig_CustomDataSelection.md#)|Selects custom data channels content| -|[EncoderDerivativeParameters](msg_ActuatorConfig_EncoderDerivativeParameters.md#)|Defines variable window derivative parameters| -|[FrequencyResponse](msg_ActuatorConfig_FrequencyResponse.md#)|Defines frequency response| -|[LoopSelection](msg_ActuatorConfig_LoopSelection.md#)|Defines the loop selection| -|[PositionCommand](msg_ActuatorConfig_PositionCommand.md#)|Defines a position command| -|[RampResponse](msg_ActuatorConfig_RampResponse.md#)|Defines ramp response| -|[Servoing](msg_ActuatorConfig_Servoing.md#)|Enables/disables servoing| -|[StepResponse](msg_ActuatorConfig_StepResponse.md#)|Defines step response| -|[TorqueCalibration](msg_ActuatorConfig_TorqueCalibration.md#)|Defines torque calibration| -|[TorqueOffset](msg_ActuatorConfig_TorqueOffset.md#)|Defines torque offset| -|[VectorDriveParameters](msg_ActuatorConfig_VectorDriveParameters.md#)|Field-oriented control PI controller gain values| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[CommandMode](enm_ActuatorConfig_CommandMode.md#)|List of admissible command modes| -|[ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|List of admissible control loop selections| -|[ControlMode](enm_ActuatorConfig_ControlMode.md#)|List of admissible control modes| -|[CustomDataIndex](enm_ActuatorConfig_CustomDataIndex.md#)| | -|[SafetyIdentifier](enm_ActuatorConfig_SafetyIdentifier.md#)|List of admissible actuator safeties| -|[SafetyLimitType](enm_ActuatorConfig_SafetyLimitType.md#)|List of of admissible limit types| -|[ServiceVersion](enm_ActuatorConfig_ServiceVersion.md#)|Enumeration used to identify ActuatorConfig service current version| - -**Parent topic:** [KINOVA® KORTEX™ Python API Reference](../index.md#) - diff --git a/api_python/doc/markdown/references/summary_ActuatorCyclic.md b/api_python/doc/markdown/references/summary_ActuatorCyclic.md deleted file mode 100644 index b4f99e00..00000000 --- a/api_python/doc/markdown/references/summary_ActuatorCyclic.md +++ /dev/null @@ -1,44 +0,0 @@ -# ActuatorCyclic - -This page describes the Python Kinova.Api.ActuatorCyclic package. - -## Overview / Purpose - -Service to exchange cyclic data with actuator module - -## API reference - -This section describes procedure calls / methods exposed by the ActuatorCyclic package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|Refresh|[Feedback](msg_ActuatorCyclic_Feedback.md#)|[Command](msg_ActuatorCyclic_Command.md#)|Commands refresh \(with feedback\)| -|RefreshCommand|None|[Command](msg_ActuatorCyclic_Command.md#)|Commands refresh \(no feedback\)| -|RefreshCustomData|[CustomData](msg_ActuatorCyclic_CustomData.md#)|[MessageId](msg_ActuatorCyclic_MessageId.md#)|Gets custom data| -|RefreshFeedback|[Feedback](msg_ActuatorCyclic_Feedback.md#)|[MessageId](msg_ActuatorCyclic_MessageId.md#)|Gets feedback| - -## Data types reference - -This section describes the data types used in the ActuatorCyclic package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[Command](msg_ActuatorCyclic_Command.md#)|Defines an actuator module command| -|[CustomData](msg_ActuatorCyclic_CustomData.md#)|Custom development data, content varies according to debug needs| -|[Feedback](msg_ActuatorCyclic_Feedback.md#)|Defines the feedback provided by an actuator module| -|[MessageId](msg_ActuatorCyclic_MessageId.md#)|Provides a message identifier| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[CommandFlags](enm_ActuatorCyclic_CommandFlags.md#)|Enumeration used to identify actuator commands| -|[ServiceVersion](enm_ActuatorCyclic_ServiceVersion.md#)|Enumeration used to identify ActuatorCyclic current version| -|[StatusFlags](enm_ActuatorCyclic_StatusFlags.md#)|Enumeration used to identify actuator status| - -**Parent topic:** [KINOVA® KORTEX™ Python API Reference](../index.md#) - diff --git a/api_python/doc/markdown/references/summary_Api.md b/api_python/doc/markdown/references/summary_Api.md deleted file mode 100644 index 67f0cb29..00000000 --- a/api_python/doc/markdown/references/summary_Api.md +++ /dev/null @@ -1,21 +0,0 @@ -# Api - -This page describes the Python Kinova.Api package. - -## API reference - -This section describes procedure calls / methods exposed by the Api package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - -## Data types reference - -This section describes the data types used in the Api package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[ErrorCodes](enm_Api_ErrorCodes.md#)|List of possible error codes| -|[SubErrorCodes](enm_Api_SubErrorCodes.md#)|List of possible sub errror codes| - -**Parent topic:** [KINOVA® KORTEX™ Python API Reference](../index.md#) - diff --git a/api_python/doc/markdown/references/summary_Base.md b/api_python/doc/markdown/references/summary_Base.md deleted file mode 100644 index b80cf92b..00000000 --- a/api_python/doc/markdown/references/summary_Base.md +++ /dev/null @@ -1,318 +0,0 @@ -# Base - -This page describes the Python Kinova.Api.Base package. - -## Overview / Purpose - -Base module service - -## API reference - -This section describes procedure calls / methods exposed by the Base package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|ActivateMap|None|[ActivateMapHandle](msg_Base_ActivateMapHandle.md#)|Makes the specified map active within the specified map group and mapping| -|AddWifiConfiguration|None|[WifiConfiguration](msg_Base_WifiConfiguration.md#)|Configures a specific Wi-Fi network| -|ApplyEmergencyStop|None|None|Stops robot movement| -|ChangePassword|None|[PasswordChange](msg_Base_PasswordChange.md#)|Changes the password of an existing user| -|ClearFaults|None|None|Clears robot stop. Robot is permitted to move again.| -|ConnectWifi|None|[Ssid](msg_Base_Ssid.md#)|Connects robot to specified Wi-Fi network| -|CreateAction|[ActionHandle](msg_Base_ActionHandle.md#)|[Action](msg_Base_Action.md#)|Creates an action| -|CreateMap|[MapHandle](msg_Base_MapHandle.md#)|[Map](msg_Base_Map.md#)|Creates a new map \(future\)| -|CreateMapping|[MappingHandle](msg_Base_MappingHandle.md#)|[Mapping](msg_Base_Mapping.md#)|Creates a mapping \(future\)| -|CreateProtectionZone|[ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)|[ProtectionZone](msg_Base_ProtectionZone.md#)|Creates a protection zone| -|CreateSequence|[SequenceHandle](msg_Base_SequenceHandle.md#)|[Sequence](msg_Base_Sequence.md#)|Creates a new sequence| -|CreateUserProfile|[UserProfileHandle](msg_Common_UserProfileHandle.md#)|[FullUserProfile](msg_Base_FullUserProfile.md#)|Creates a user profile| -|DeleteAction|None|[ActionHandle](msg_Base_ActionHandle.md#)|Deletes an existing action| -|DeleteAllSequenceTasks|None|[SequenceHandle](msg_Base_SequenceHandle.md#)|Deletes all tasks from the specified sequence| -|DeleteProtectionZone|None|[ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)|Deletes an existing protection zone| -|DeleteSequence|None|[SequenceHandle](msg_Base_SequenceHandle.md#)|Deletes an existing sequence| -|DeleteSequenceTask|None|[SequenceTaskHandle](msg_Base_SequenceTaskHandle.md#)|Deletes a specific task from the specified sequence| -|DeleteUserProfile|None|[UserProfileHandle](msg_Common_UserProfileHandle.md#)|Deletes an existing user profile| -|DeleteWifiConfiguration|None|[Ssid](msg_Base_Ssid.md#)|Deletes a specific Wi-Fi network| -|DisconnectWifi|None|None|Disconnects the robot from currently connected Wi-Fi network| -|ExecuteAction|None|[Action](msg_Base_Action.md#)|Asks the robot to execute the specified action| -|ExecuteActionFromReference|None|[ActionHandle](msg_Base_ActionHandle.md#)|Asks the robot to execute the specified existing action| -|GetActionExecutionState|[ActionExecutionState](msg_Base_ActionExecutionState.md#)|None|Retrieves the action execution state \(future\)| -|GetActiveMap|None|[MappingHandle](msg_Base_MappingHandle.md#)|Retrieves currently active map associated with specified mapping \(future\)| -|GetActuatorCount|[ActuatorInformation](msg_Base_ActuatorInformation.md#)|None|Retrieves the number of actuators| -|GetAllConfiguredWifis|[WifiConfigurationList](msg_Base_WifiConfigurationList.md#)|None|Retrieves the list of configured Wi-Fi networks| -|GetAllConnectedControllers|[ControllerList](msg_Base_ControllerList.md#)|None|Retrieves the list of all connected controllers| -|GetArmState|[ArmStateInformation](msg_Base_ArmStateInformation.md#)|None|Retrieves current arm state| -|GetAvailableWifi|[WifiInformationList](msg_Base_WifiInformationList.md#)|None|Retrieves the list of available Wi-Fi networks| -|GetCommandedCartesianPose|[Pose](msg_Base_Pose.md#)|None|Retrieves the commanded Cartesian pose \(future\)| -|GetCommandedGripperMovement|[Gripper](msg_Base_Gripper.md#)|[GripperRequest](msg_Base_GripperRequest.md#)|Retrieves the desired gripper movement \(future\)| -|GetCommandedJointAngles|[JointAngles](msg_Base_JointAngles.md#)|None|Retrieves the desired joint angles, that is the desired joint angle for each joint \(future\)| -|GetCommandedJointSpeeds|[JointSpeeds](msg_Base_JointSpeeds.md#)|None|Retrieves the desired joint speeds, that is the desired speed for each joint \(future\)| -|GetCommandedTwist|[Twist](msg_Base_Twist.md#)|None|Retrieves the desired twist command \(future\)| -|GetConfiguredWifi|[WifiConfiguration](msg_Base_WifiConfiguration.md#)|[Ssid](msg_Base_Ssid.md#)|Retrieves a configured Wi-Fi network| -|GetConnectedWifiInformation|[WifiInformation](msg_Base_WifiInformation.md#)|None|Gets information about the connected Wi-Fi network| -|GetControllerState|[ControllerState](msg_Base_ControllerState.md#)|[ControllerHandle](msg_Base_ControllerHandle.md#)|Retrieves the state of a specific controller| -|GetControlMode|[ControlModeInformation](msg_Base_ControlModeInformation.md#)|None|Retrieves current control mode| -|GetCountryCode|[CountryCode](msg_Base_CountryCode.md#)|None|Retrieves country code| -|GetFwdKinematics|[TransformationMatrix](msg_Base_TransformationMatrix.md#)|None|Retrieves the forward kinematics that corresponds to specified transformation matrix \(future\)| -|GetIPv4Configuration|[IPv4Configuration](msg_Base_IPv4Configuration.md#)|[NetworkHandle](msg_Base_NetworkHandle.md#)|Retrieves the IPv4 network configuration for the specified network adapter| -|GetIPv4Information|[IPv4Information](msg_Base_IPv4Information.md#)|[NetworkHandle](msg_Base_NetworkHandle.md#)|Retrieves the IPv4 network information for the specified network adapter| -|GetMeasuredCartesianPose|[Pose](msg_Base_Pose.md#)|None|Retrieves the currently measured pose, that is the position and orientation that the robot is currently in| -|GetMeasuredGripperMovement|[Gripper](msg_Base_Gripper.md#)|[GripperRequest](msg_Base_GripperRequest.md#)|Retrieves the current gripper movement, that is the current gripper position, force or speed \(future\)| -|GetMeasuredJointAngles|[JointAngles](msg_Base_JointAngles.md#)|None|Retrieves the currently measured joint angles, that is the current position of each joint| -|GetMeasuredJointSpeeds|[JointSpeeds](msg_Base_JointSpeeds.md#)|None|Retrieves the currently measured joint speeds, that is the current speed of each joint \(future\)| -|GetMeasuredTwist|[Twist](msg_Base_Twist.md#)|None|Retrieves the currently measured twist command, that is the current linear and angular robot velocity \(future\)| -|GetOperatingMode|[OperatingModeInformation](msg_Base_OperatingModeInformation.md#)|None|Retrieves current operating mode| -|GetProtectionZoneState|[ProtectionZoneInformation](msg_Base_ProtectionZoneInformation.md#)|[ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)|Retrieves the last state of the robot versus the specified protection zone \(future\)| -|GetSequenceState|[SequenceInformation](msg_Base_SequenceInformation.md#)|[SequenceHandle](msg_Base_SequenceHandle.md#)|Retrieves the last sequence state \(future\)| -|GetServoingMode|[ServoingModeInformation](msg_Base_ServoingModeInformation.md#)|None|Retrieves current servoing mode| -|GetTargetedCartesianPose|[Pose](msg_Base_Pose.md#)|None|Retrieves the targeted Cartesian pose \(future\)| -|GetWifiInformation|[WifiInformation](msg_Base_WifiInformation.md#)|[Ssid](msg_Base_Ssid.md#)|Retrieves information about a specific Wi-Fi network| -|IsCommunicationInterfaceEnable|[CommunicationInterfaceConfiguration](msg_Base_CommunicationInterfaceConfiguration.md#)|[NetworkHandle](msg_Base_NetworkHandle.md#)|Determines if the specified communication interface is enabled \(or disabled\)| -|OnNotificationActionTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to action notifications| -|OnNotificationArmStateTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to arm state notifications| -|OnNotificationConfigurationChangeTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to configuration change notifications| -|OnNotificationControllerTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to controller notifications| -|OnNotificationControlModeTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to control mode notifications| -|OnNotificationFactoryTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to factory notifications| -|OnNotificationMappingInfoTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to mapping information notifications| -|OnNotificationNetworkTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to network event notifications| -|OnNotificationOperatingModeTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to operating mode notifications| -|OnNotificationProtectionZoneTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to protection zone notifications \(future\)| -|OnNotificationRobotEventTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to robot event notifications| -|OnNotificationSequenceInfoTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to sequence information notifications| -|OnNotificationServoingModeTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to servoing mode notifications| -|OnNotificationUserTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to user notifications| -|Pause|None|None|Pauses robot movement \(future\)| -|PauseAction|None|None|Pauses the currently executed action. ResumeAction can be invoked afterwards| -|PauseSequence|None|None|Pauses execution of currently playing sequence| -|PlayAdvancedSequence|None|[AdvancedSequenceHandle](msg_Base_AdvancedSequenceHandle.md#)|Plays an existing sequence with options| -|PlayCartesianTrajectory|None|[ConstrainedPose](msg_Base_ConstrainedPose.md#)|Moves to the specifed pose| -|PlayCartesianTrajectoryOrientation|None|[ConstrainedOrientation](msg_Base_ConstrainedOrientation.md#)|Moves to the specifed orientation| -|PlayCartesianTrajectoryPosition|None|[ConstrainedPosition](msg_Base_ConstrainedPosition.md#)|Moves to the specifed position| -|PlayJointTrajectory|None|[ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#)|Moves to the specifed joint angles| -|PlaySelectedJointTrajectory|None|[ConstrainedJointAngle](msg_Base_ConstrainedJointAngle.md#)|Moves specifed joint to the specifed joint angle| -|PlaySequence|None|[SequenceHandle](msg_Base_SequenceHandle.md#)|Plays an existing sequence| -|ReadAction|[Action](msg_Base_Action.md#)|[ActionHandle](msg_Base_ActionHandle.md#)|Retrieves an existing action| -|ReadAllActions|[ActionList](msg_Base_ActionList.md#)|[RequestedActionType](msg_Base_RequestedActionType.md#)|Retrieves all existing actions| -|ReadAllMappings|[MappingList](msg_Base_MappingList.md#)|None|Retrieves all mappings| -|ReadAllMaps|[MapList](msg_Base_MapList.md#)|[MappingHandle](msg_Base_MappingHandle.md#)|Retrieves all maps associated to the specified mapping| -|ReadAllProtectionZones|[ProtectionZoneList](msg_Base_ProtectionZoneList.md#)|None|Retrieves all protection zones| -|ReadAllSequences|[SequenceList](msg_Base_SequenceList.md#)|None|Retrieves all existing sequences| -|ReadAllUserProfiles|[UserProfileList](msg_Base_UserProfileList.md#)|None|Retrieves all user profiles| -|ReadAllUsers|[UserList](msg_Base_UserList.md#)|None|Retrieves the list of user handles| -|ReadMapping|[Mapping](msg_Base_Mapping.md#)|[MappingHandle](msg_Base_MappingHandle.md#)|Retrieves an existing mapping| -|ReadProtectionZone|[ProtectionZone](msg_Base_ProtectionZone.md#)|[ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)|Retrieves an existing protection zone| -|ReadSequence|[Sequence](msg_Base_Sequence.md#)|[SequenceHandle](msg_Base_SequenceHandle.md#)|Reads an existing sequence| -|ReadUserProfile|[UserProfile](msg_Base_UserProfile.md#)|[UserProfileHandle](msg_Common_UserProfileHandle.md#)|Retrieves an existing user profile| -|Reboot|None|None|Reboots robot| -|RestoreFactorySettings|None|None|Deletes all configurations and reverts settings to their factory defaults \(except network settings\)| -|RestoreNetworkFactorySettings|None|None|Reverts network settings to their factory defaults and predefined user profiles to their default passwords \(future\)| -|Resume|None|None|Resumes robot movement \(future\)| -|ResumeAction|None|None|Resumes execution of the currently paused action| -|ResumeSequence|None|None|Resumes execution of currently paused sequence| -|SendGripperCommand|None|[GripperCommand](msg_Base_GripperCommand.md#)|Sends a command to move the gripper| -|SendJointSpeedsCommmand|None|[JointSpeeds](msg_Base_JointSpeeds.md#)|Sends a joint speeds command, that is the desired speed of one or many joints| -|SendSelectedJointSpeedCommand|None|[JointSpeed](msg_Base_JointSpeed.md#)|Sends a speed command for a specific joint| -|SendTwistCommand|None|[TwistCommand](msg_Base_TwistCommand.md#)|Sends a twist command| -|SetAdmittance|None|[Admittance](msg_Base_Admittance.md#)|Sets the robot in admittance mode| -|SetCommunicationInterfaceEnable|None|[CommunicationInterfaceConfiguration](msg_Base_CommunicationInterfaceConfiguration.md#)|Enables \(or disables\) the specified communication interface| -|SetCountryCode|None|[CountryCode](msg_Base_CountryCode.md#)|Sets country code| -|SetIPv4Configuration|None|[FullIPv4Configuration](msg_Base_FullIPv4Configuration.md#)|Modifies the IPv4 network configuration for the specified network adapter| -|SetOperatingMode|None|[OperatingModeInformation](msg_Base_OperatingModeInformation.md#)|Sets a new operating mode. Only Maintenance, Update and Run modes are permitted.| -|SetServoingMode|None|[ServoingModeInformation](msg_Base_ServoingModeInformation.md#)|Sets the servoing mode| -|SetTwistWrenchReferenceFrame|None|[CartesianReferenceFrameRequest](msg_Base_CartesianReferenceFrameRequest.md#)|Defines the reference frame to use with twist and wrench commands| -|StartWifiScan|None|None|Initiates wifi scanning| -|StopAction|None|None|Stops the currently executed action. ResumeAction cannot be invoked afterwards| -|StopSequence|None|None|Stops execution of currently playing sequence| -|Unsubscribe|None|[NotificationHandle](msg_Common_NotificationHandle.md#)|Unsubscribes client from receiving specified types of notifications| -|UpdateAction|None|[Action](msg_Base_Action.md#)|Update an existing action| -|UpdateProtectionZone|None|[ProtectionZone](msg_Base_ProtectionZone.md#)|Updates an existing protection zone| -|UpdateSequence|None|[Sequence](msg_Base_Sequence.md#)|Updates an existing sequence| -|UpdateUserProfile|None|[UserProfile](msg_Base_UserProfile.md#)|Updates an existing user profile| - -## Data types reference - -This section describes the data types used in the Base package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[Action](msg_Base_Action.md#)|Defines an action| -|[ActionExecutionState](msg_Base_ActionExecutionState.md#)|Indicates the execution state of an action \(future\)| -|[ActionHandle](msg_Base_ActionHandle.md#)|Identifies an action| -|[ActionList](msg_Base_ActionList.md#)|Array of actions| -|[ActionNotification](msg_Base_ActionNotification.md#)|Message that contains an action event| -|[ActionNotificationList](msg_Base_ActionNotificationList.md#)|Array of action notifications| -|[ActivateMapHandle](msg_Base_ActivateMapHandle.md#)|Specifies a new active map for the specified mapping and map group| -|[ActuatorInformation](msg_Base_ActuatorInformation.md#)|Provides information about actuators| -|[Admittance](msg_Base_Admittance.md#)|Defines the admittance mode| -|[AdvancedSequenceHandle](msg_Base_AdvancedSequenceHandle.md#)|Associates execution options to a sequence| -|[AppendActionInformation](msg_Base_AppendActionInformation.md#)|Appends an action to an existing sequence \(future\)| -|[ArmStateInformation](msg_Base_ArmStateInformation.md#)|Provides information about the arm state| -|[ArmStateNotification](msg_Base_ArmStateNotification.md#)|Message that contains a arm state event| -|[CartesianLimitation](msg_Base_CartesianLimitation.md#)|Provides a Cartesian limitation configuration| -|[CartesianLimitationList](msg_Base_CartesianLimitationList.md#)|Array of Cartesian limitations| -|[CartesianReferenceFrameRequest](msg_Base_CartesianReferenceFrameRequest.md#)|Defines a Cartesian reference frame| -|[CartesianSpeed](msg_Base_CartesianSpeed.md#)|Defines a Cartesian speed| -|[CartesianTrajectoryConstraint](msg_Base_CartesianTrajectoryConstraint.md#)|Defines a Cartesian trajectory constraint that can be applied when controlling in Cartesian trajectory mode| -|[ChangeJointSpeeds](msg_Base_ChangeJointSpeeds.md#)|Defines an action to increase \(or reduce\) the maximum angular velocity per joint by a specific increment| -|[ChangeTwist](msg_Base_ChangeTwist.md#)|Defines an action to increase \(or reduce\) the maximum Cartesian velocity by a specific increment| -|[CommunicationInterfaceConfiguration](msg_Base_CommunicationInterfaceConfiguration.md#)|Enables or disables a specific communication interface \(e.g. Wi-Fi, Wired Ethernet\)| -|[ConfigurationChangeNotification](msg_Base_ConfigurationChangeNotification.md#)|Message that contains a configuration change event| -|[ConfigurationChangeNotificationList](msg_Base_ConfigurationChangeNotificationList.md#)|Array of configuration change notifications| -|[ConstrainedJointAngle](msg_Base_ConstrainedJointAngle.md#)|Defines a single joint angle value with constraint| -|[ConstrainedJointAngles](msg_Base_ConstrainedJointAngles.md#)|Defines a series of joint angles value with constraint| -|[ConstrainedOrientation](msg_Base_ConstrainedOrientation.md#)|Defines a Cartesian orientation with constraint| -|[ConstrainedPose](msg_Base_ConstrainedPose.md#)|Defines a Cartesian pose with constraint| -|[ConstrainedPosition](msg_Base_ConstrainedPosition.md#)|Defines a Cartesian position with constraint| -|[ControlModeInformation](msg_Base_ControlModeInformation.md#)|Provides control mode information| -|[ControlModeNotification](msg_Base_ControlModeNotification.md#)|Message that contains a control mode event| -|[ControlModeNotificationList](msg_Base_ControlModeNotificationList.md#)|Array of control mode notifications| -|[ControllerElementHandle](msg_Base_ControllerElementHandle.md#)|Identifies a specific button \(or axis\) of a controller| -|[ControllerElementState](msg_Base_ControllerElementState.md#)|Indicates if a specific button \(or axis\) was pressed \(or moved\)| -|[ControllerEvent](msg_Base_ControllerEvent.md#)|Identifies a controller event| -|[ControllerHandle](msg_Base_ControllerHandle.md#)|Identifies a specific controller| -|[ControllerList](msg_Base_ControllerList.md#)|Array of controllers| -|[ControllerNotification](msg_Base_ControllerNotification.md#)|Message that contains a controller event| -|[ControllerNotificationList](msg_Base_ControllerNotificationList.md#)|Array of controller notifications| -|[ControllerState](msg_Base_ControllerState.md#)|Indicates if a controller is connected \(or disconnected\)| -|[CountryCode](msg_Base_CountryCode.md#)|Country code| -|[Delay](msg_Base_Delay.md#)|Defines an action to apply a delay| -|[EmergencyStop](msg_Base_EmergencyStop.md#)|Defines an action to force an emergency of the robot| -|[FactoryNotification](msg_Base_FactoryNotification.md#)|Message that contains a factory event| -|[Faults](msg_Base_Faults.md#)|Defines an action to clear faults| -|[Finger](msg_Base_Finger.md#)|Defines a finger movement| -|[FullIPv4Configuration](msg_Base_FullIPv4Configuration.md#)|Provides an IPv4 configuration for a specific network| -|[FullUserProfile](msg_Base_FullUserProfile.md#)|Provides complete infomation about a user. Used when creating a user profile.| -|[GpioEvent](msg_Base_GpioEvent.md#)|Identifies a GPIO event \(future\)| -|[Gripper](msg_Base_Gripper.md#)|Defines a gripper movement, which is composed of a series of fingers movement| -|[GripperCommand](msg_Base_GripperCommand.md#)|Defines a command to control the gripper movement| -|[GripperRequest](msg_Base_GripperRequest.md#)|Message used to request the current gripper movement in either position, force or speed| -|[IPv4Configuration](msg_Base_IPv4Configuration.md#)|Provides an IPv4 configuration| -|[IPv4Information](msg_Base_IPv4Information.md#)|Provides information about an IPv4 endpoint| -|[JointAngle](msg_Base_JointAngle.md#)|Position of a specific joint| -|[JointAngles](msg_Base_JointAngles.md#)|Position of a series of joints| -|[JointLimitation](msg_Base_JointLimitation.md#)|Defines a joint limitation| -|[JointLimitationTypeIdentifier](msg_Base_JointLimitationTypeIdentifier.md#)|Identifies a joint limitation for a specific joint| -|[JointLimitationValue](msg_Base_JointLimitationValue.md#)|Defines joint limitation value| -|[JointLimitationValueList](msg_Base_JointLimitationValueList.md#)|List of joint limitations| -|[JointSpeed](msg_Base_JointSpeed.md#)|Defines the speed of a specific joint| -|[JointSpeeds](msg_Base_JointSpeeds.md#)|Defines a series of joint speeds| -|[JointTrajectoryConstraint](msg_Base_JointTrajectoryConstraint.md#)|Defines a joint trajectory constraint that can be applied when controlling a joint in trajectory mode| -|[LimitationTypeIdentifier](msg_Base_LimitationTypeIdentifier.md#)|Identifies a limitation| -|[Map](msg_Base_Map.md#)|Defines a map as an array of map elements| -|[MapElement](msg_Base_MapElement.md#)|Associates a map event to map action| -|[MapEvent](msg_Base_MapEvent.md#)|Defines a map event| -|[MapGroup](msg_Base_MapGroup.md#)|Message that contains all information about a map group including the list of maps that it contains and its relationship versus other map groups \(future\)| -|[MapGroupHandle](msg_Base_MapGroupHandle.md#)|Identifies a map group \(future\)| -|[MapGroupList](msg_Base_MapGroupList.md#)|Array of map groups \(future\)| -|[MapHandle](msg_Base_MapHandle.md#)|Identifies a map| -|[MapList](msg_Base_MapList.md#)|Array of maps| -|[Mapping](msg_Base_Mapping.md#)|Message that contains all information about a mapping including the controller to which it is associated, the array of map groups it contains, the currently active map group, the array of maps it contains and the currently active map| -|[MappingHandle](msg_Base_MappingHandle.md#)|Identifies a Mapping| -|[MappingInfoNotification](msg_Base_MappingInfoNotification.md#)|Message that contains a mapping information event| -|[MappingInfoNotificationList](msg_Base_MappingInfoNotificationList.md#)|Array of mapping information notifications| -|[MappingList](msg_Base_MappingList.md#)|Array of mappings| -|[NetworkHandle](msg_Base_NetworkHandle.md#)|Identifies a network| -|[NetworkNotification](msg_Base_NetworkNotification.md#)|Message that contains a network event| -|[NetworkNotificationList](msg_Base_NetworkNotificationList.md#)|Array of network event notifications| -|[OperatingModeInformation](msg_Base_OperatingModeInformation.md#)|Provides information about the operating mode| -|[OperatingModeNotification](msg_Base_OperatingModeNotification.md#)|Message that contains an operating mode event| -|[OperatingModeNotificationList](msg_Base_OperatingModeNotificationList.md#)|Array of Operating mode notifications| -|[Orientation](msg_Base_Orientation.md#)|Defines a Cartesian orientation| -|[PasswordChange](msg_Base_PasswordChange.md#)|Provides information to change a user's password| -|[Point](msg_Base_Point.md#)|Identifies a Cartesian point| -|[Pose](msg_Base_Pose.md#)|Defines a Cartesian pose| -|[Position](msg_Base_Position.md#)|Defines a Cartesian position| -|[ProtectionZone](msg_Base_ProtectionZone.md#)|Provides a protection zone configuration| -|[ProtectionZoneHandle](msg_Base_ProtectionZoneHandle.md#)|Identifies a protection zone| -|[ProtectionZoneInformation](msg_Base_ProtectionZoneInformation.md#)|Provides information about a protection zone| -|[ProtectionZoneList](msg_Base_ProtectionZoneList.md#)|Array of protection zones| -|[ProtectionZoneNotification](msg_Base_ProtectionZoneNotification.md#)|Message that contains a protection zone event| -|[ProtectionZoneNotificationList](msg_Base_ProtectionZoneNotificationList.md#)|Array of protection zone notifications| -|[Query](msg_Base_Query.md#)|Specifies the parameters of an event log query \(future\)| -|[RequestedActionType](msg_Base_RequestedActionType.md#)|Message used to request all action instances of a specific action type| -|[RobotEventNotification](msg_Base_RobotEventNotification.md#)|Message that contains a robot event| -|[RobotEventNotificationList](msg_Base_RobotEventNotificationList.md#)|Array of robot event notifications| -|[RotationMatrix](msg_Base_RotationMatrix.md#)|Provides a 3x3 rotation matrix configuration| -|[RotationMatrixRow](msg_Base_RotationMatrixRow.md#)|Provides the rotation matrix configuration of a single row| -|[SafetyEvent](msg_Base_SafetyEvent.md#)|Identifies a Safety event \(future\)| -|[SafetyNotificationList](msg_Base_SafetyNotificationList.md#)|Array of safety notifications| -|[Sequence](msg_Base_Sequence.md#)|Provides information about a sequence| -|[SequenceHandle](msg_Base_SequenceHandle.md#)|Identifies a sequence| -|[SequenceInfoNotification](msg_Base_SequenceInfoNotification.md#)|Message that contains a sequence information event| -|[SequenceInfoNotificationList](msg_Base_SequenceInfoNotificationList.md#)|Array of sequence information notifications| -|[SequenceInformation](msg_Base_SequenceInformation.md#)|Provides information about a sequence| -|[SequenceList](msg_Base_SequenceList.md#)|Array of sequences| -|[SequenceTask](msg_Base_SequenceTask.md#)|Provides information about a task inside a sequence| -|[SequenceTaskHandle](msg_Base_SequenceTaskHandle.md#)|Identifies a task inside a sequence| -|[ServoingModeInformation](msg_Base_ServoingModeInformation.md#)|Provides information about the servoing mode| -|[ServoingModeNotification](msg_Base_ServoingModeNotification.md#)|Message that contains a servoing mode event| -|[ServoingModeNotificationList](msg_Base_ServoingModeNotificationList.md#)|Array of servoing mode notifications| -|[Ssid](msg_Base_Ssid.md#)|Identifies a Wi-Fi SSID| -|[Stop](msg_Base_Stop.md#)|Defines an action to stop robot movement| -|[SwitchControlMapping](msg_Base_SwitchControlMapping.md#)|Defines an action to switch the active controller map| -|[SystemTime](msg_Base_SystemTime.md#)|Identifies the system time \(future\)| -|[Timeout](msg_Base_Timeout.md#)|Defines a specific timeout| -|[TransformationMatrix](msg_Base_TransformationMatrix.md#)|Defines a transformation matrix| -|[TransformationRow](msg_Base_TransformationRow.md#)|Defines a transformation matrix row| -|[Twist](msg_Base_Twist.md#)|Defines a twist \(velocity\)| -|[TwistCommand](msg_Base_TwistCommand.md#)|Defines a twist \(velocity\) command| -|[UserList](msg_Base_UserList.md#)|Array of user handles| -|[UserNotification](msg_Base_UserNotification.md#)|Message that contains a user event| -|[UserNotificationList](msg_Base_UserNotificationList.md#)|Array of user notifications| -|[UserProfile](msg_Base_UserProfile.md#)|Provides information about a user| -|[UserProfileList](msg_Base_UserProfileList.md#)|Array of user profiles| -|[WifiConfiguration](msg_Base_WifiConfiguration.md#)|Provides a Wi-Fi Configuration| -|[WifiConfigurationList](msg_Base_WifiConfigurationList.md#)|Array of Wi-Fi configuration| -|[WifiInformation](msg_Base_WifiInformation.md#)|Provides information about a specific Wi-Fi network| -|[WifiInformationList](msg_Base_WifiInformationList.md#)|Array of Wi-Fi information| -|[ZoneShape](msg_Base_ZoneShape.md#)|Provides a protection zone shape description| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[ActionEvent](enm_Base_ActionEvent.md#)|List of admissible action event types| -|[ActionType](enm_Base_ActionType.md#)|List of admissible action types| -|[AdmittanceMode](enm_Base_AdmittanceMode.md#)|List of admissible admittance modes| -|[BackupEvent](enm_Base_BackupEvent.md#)|List of admissible backup events \(future\)| -|[CartesianReferenceFrame](enm_Base_CartesianReferenceFrame.md#)|List of admissible Cartesian reference frame modes| -|[ConfigurationNotificationEvent](enm_Base_ConfigurationNotificationEvent.md#)|List of admissible configuration events| -|[ControlMode](enm_Base_ControlMode.md#)|List of admissible robot control modes| -|[ControllerBehavior](enm_Base_ControllerBehavior.md#)|List of admissible controller input behaviors| -|[ControllerElementEventType](enm_Base_ControllerElementEventType.md#)|List of admissible controller element event types| -|[ControllerEventType](enm_Base_ControllerEventType.md#)|List of admissible controller event types| -|[ControllerInputType](enm_Base_ControllerInputType.md#)|List of admissible controller input types| -|[ControllerType](enm_Base_ControllerType.md#)|List of admissible controller types| -|[CountryCodeIdentifier](enm_Base_CountryCodeIdentifier.md#)|List of supported ISO3166 country identifiers| -|[EventIdSequenceInfoNotification](enm_Base_EventIdSequenceInfoNotification.md#)|List of admissible sequence event types| -|[FactoryEvent](enm_Base_FactoryEvent.md#)|List of admissible factory events| -|[GpioState](enm_Base_GpioState.md#)|List of admissible GPIO states \(future\)| -|[GripperMode](enm_Base_GripperMode.md#)|List of admissible gripper control mode| -|[JointNavigationDirection](enm_Base_JointNavigationDirection.md#)|List of admissible joint navigation directions| -|[JointTrajectoryConstraintType](enm_Base_JointTrajectoryConstraintType.md#)|List of admissible constraint types that can be applied when controlling a joint in trajectory mode| -|[LedState](enm_Base_LedState.md#)|List of admissible LED states \(future\)| -|[LimitationType](enm_Base_LimitationType.md#)|List of admisible limitation types| -|[NavigationDirection](enm_Base_NavigationDirection.md#)|List of admissible map navigation directions| -|[NetworkEvent](enm_Base_NetworkEvent.md#)|List of admissible network events| -|[NetworkType](enm_Base_NetworkType.md#)|List of admissible network types| -|[OperatingMode](enm_Base_OperatingMode.md#)|List of admissible robot operating modes \(used to report robot firmware upgrade current state\)| -|[ProtectionZoneEvent](enm_Base_ProtectionZoneEvent.md#)|List of admissible protection zone events| -|[RobotEvent](enm_Base_RobotEvent.md#)|List of admissible robot events| -|[SafetyIdentifier](enm_Base_SafetyIdentifier.md#)|List of admissible Base safeties. Used with BaseCyclic.BaseFeedback.\[fault\_bank\_a - fault\_bank\_b - warning\_bank\_a - warning\_bank\_b\]| -|[ServiceVersion](enm_Base_ServiceVersion.md#)|Enumeration used to identify Base service current version| -|[ServoingMode](enm_Base_ServoingMode.md#)|List of admissible servoing modes| -|[ShapeType](enm_Base_ShapeType.md#)|List of admissible protection zone shape types| -|[SignalQuality](enm_Base_SignalQuality.md#)|List of admissible signal quality values| -|[SoundType](enm_Base_SoundType.md#)|List of admissible sound types \(future\)| -|[TwistMode](enm_Base_TwistMode.md#)|List of admissible twist \(velocity\) modes| -|[UserEvent](enm_Base_UserEvent.md#)|List of admissible user event types| -|[WifiEncryptionType](enm_Base_WifiEncryptionType.md#)|List of admissible Wi-Fi encryption types| -|[WifiSecurityType](enm_Base_WifiSecurityType.md#)|List of admissible Wi-Fi Security types| -|[Xbox360AnalogInputIdentifier](enm_Base_Xbox360AnalogInputIdentifier.md#)|List of admissible XBOX360 analog inputs| -|[Xbox360DigitalInputIdentifier](enm_Base_Xbox360DigitalInputIdentifier.md#)|List of admissible XBOX360 digital inputs| - -**Parent topic:** [KINOVA® KORTEX™ Python API Reference](../index.md#) - diff --git a/api_python/doc/markdown/references/summary_BaseCyclic.md b/api_python/doc/markdown/references/summary_BaseCyclic.md deleted file mode 100644 index 22734be6..00000000 --- a/api_python/doc/markdown/references/summary_BaseCyclic.md +++ /dev/null @@ -1,48 +0,0 @@ -# BaseCyclic - -This page describes the Python Kinova.Api.BaseCyclic package. - -## Overview / Purpose - -Service to exchange cyclic data with base module - -## API reference - -This section describes procedure calls / methods exposed by the BaseCyclic package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|Refresh|[Feedback](msg_BaseCyclic_Feedback.md#)|[Command](msg_BaseCyclic_Command.md#)|Commands refresh \(with feedback\)| -|RefreshCommand|None|[Command](msg_BaseCyclic_Command.md#)|Commands refresh \(no feedback\)| -|RefreshCustomData|[CustomData](msg_BaseCyclic_CustomData.md#)|[CustomData](msg_BaseCyclic_CustomData.md#)|Gets custom data| -|RefreshFeedback|[Feedback](msg_BaseCyclic_Feedback.md#)|None|Gets feedback| - -## Data types reference - -This section describes the data types used in the BaseCyclic package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[ActuatorCommand](msg_BaseCyclic_ActuatorCommand.md#)|Defines an actuator module command| -|[ActuatorCustomData](msg_BaseCyclic_ActuatorCustomData.md#)|Custom development data from an actuator module, content varies according to debug needs| -|[ActuatorFeedback](msg_BaseCyclic_ActuatorFeedback.md#)|Defines the feedback provided by an actuator module| -|[BaseFeedback](msg_BaseCyclic_BaseFeedback.md#)|Defines the feedback provided by the base module| -|[Command](msg_BaseCyclic_Command.md#)|Defines a command for many modules \(actuactors and interconnect\)| -|[CustomData](msg_BaseCyclic_CustomData.md#)|Custom development data, content varies according to debug needs| -|[Feedback](msg_BaseCyclic_Feedback.md#)|Defines the feedback provided by many modules \(base, actuactors and interconnect\)| -|[InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#)|Defines an interconnect module command| -|[InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#)|Custom development data from an interconnect module, content varies according to debug needs| -|[InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#)|Defines the feedback provided by an interconnect module| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[ServiceVersion](enm_BaseCyclic_ServiceVersion.md#)|Enumeration used to identify BaseCyclic current version| - -**Parent topic:** [KINOVA® KORTEX™ Python API Reference](../index.md#) - diff --git a/api_python/doc/markdown/references/summary_Common.md b/api_python/doc/markdown/references/summary_Common.md deleted file mode 100644 index a1d0151b..00000000 --- a/api_python/doc/markdown/references/summary_Common.md +++ /dev/null @@ -1,39 +0,0 @@ -# Common - -This page describes the Python Kinova.Api.Common package. - -## API reference - -This section describes procedure calls / methods exposed by the Common package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - -## Data types reference - -This section describes the data types used in the Common package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[Connection](msg_Common_Connection.md#)|Idenfities a connection| -|[DeviceHandle](msg_Common_DeviceHandle.md#)|Identifies a device| -|[Empty](msg_Common_Empty.md#)|Message used when no information needs to be exchanged between client application and robot, and vice versa| -|[NotificationHandle](msg_Common_NotificationHandle.md#)|Identifies a notification| -|[NotificationOptions](msg_Common_NotificationOptions.md#)|Specifies options associated to a notification| -|[SafetyHandle](msg_Common_SafetyHandle.md#)|Identifies a safety| -|[SafetyNotification](msg_Common_SafetyNotification.md#)|Message that contains a safety event| -|[Timestamp](msg_Common_Timestamp.md#)|Timestamp based on Epoch \(00:00:00 Thursday, January 1, 1970\)| -|[UserProfileHandle](msg_Common_UserProfileHandle.md#)|Identifies a user profile| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[ArmState](enm_Common_ArmState.md#)|List of admissible arm states| -|[DeviceTypes](enm_Common_DeviceTypes.md#)|List of admissible device types| -|[NotificationType](enm_Common_NotificationType.md#)|List of admissible notification types| -|[Permission](enm_Common_Permission.md#)|List of admissible permissions. Used as bitfields| -|[SafetyStatusValue](enm_Common_SafetyStatusValue.md#)|List of admissible safety statuses| -|[Unit](enm_Common_Unit.md#)|List of admissible units used throughout API methods| - -**Parent topic:** [KINOVA® KORTEX™ Python API Reference](../index.md#) - diff --git a/api_python/doc/markdown/references/summary_DeviceConfig.md b/api_python/doc/markdown/references/summary_DeviceConfig.md deleted file mode 100644 index 5070b301..00000000 --- a/api_python/doc/markdown/references/summary_DeviceConfig.md +++ /dev/null @@ -1,88 +0,0 @@ -# DeviceConfig - -This page describes the Python Kinova.Api.DeviceConfig package. - -## Overview / Purpose - -Service to get and set device configuration information - -## API reference - -This section describes procedure calls / methods exposed by the DeviceConfig package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|ClearAllSafetyStatus|None|None|Clear all safety status for this device if they are no longer raised| -|ClearSafetyStatus|None|[SafetyHandle](msg_Common_SafetyHandle.md#)|Clear a specific safety status if it is no longer raised| -|GetAllSafetyConfiguration|[SafetyConfigurationList](msg_DeviceConfig_SafetyConfigurationList.md#)|None|Gets configuration on every safeties| -|GetAllSafetyInformation|[SafetyInformationList](msg_DeviceConfig_SafetyInformationList.md#)|None|Gets information on every safeties| -|GetBootloaderVersion|[BootloaderVersion](msg_DeviceConfig_BootloaderVersion.md#)|None|Returns the device bootloader version| -|GetDeviceType|[DeviceType](msg_DeviceConfig_DeviceType.md#)|None|Returns the type for the device| -|GetFirmwareVersion|[FirmwareVersion](msg_DeviceConfig_FirmwareVersion.md#)|None|Returns the device firmware version| -|GetIPv4Settings|[IPv4Settings](msg_DeviceConfig_IPv4Settings.md#)|None|Returns the device IPv4 settings \(not implemented on Base\)| -|GetMACAddress|[MACAddress](msg_DeviceConfig_MACAddress.md#)|None|Returns the device MAC address| -|GetModelNumber|[ModelNumber](msg_DeviceConfig_ModelNumber.md#)|None|Returns the device model number| -|GetPartNumber|[PartNumber](msg_DeviceConfig_PartNumber.md#)|None|Returns the device part number| -|GetPartNumberRevision|[PartNumberRevision](msg_DeviceConfig_PartNumberRevision.md#)|None|Returns the device part number revision| -|GetPowerOnSelfTestResult|[PowerOnSelfTestResult](msg_DeviceConfig_PowerOnSelfTestResult.md#)|None|Returns the result on the device power on self test \(future\)| -|GetRunMode|[RunMode](msg_DeviceConfig_RunMode.md#)|None|Returns the run mode for the device \(future\)| -|GetSafetyConfiguration|[SafetyConfiguration](msg_DeviceConfig_SafetyConfiguration.md#)|[SafetyHandle](msg_Common_SafetyHandle.md#)|Retrieves configuration about the specified safety| -|GetSafetyEnable|[SafetyEnable](msg_DeviceConfig_SafetyEnable.md#)|[SafetyHandle](msg_Common_SafetyHandle.md#)|Indicates if specified safety is enabled \(or disabled\)| -|GetSafetyInformation|[SafetyInformation](msg_DeviceConfig_SafetyInformation.md#)|[SafetyHandle](msg_Common_SafetyHandle.md#)|Retrieves information about the specified safety| -|GetSafetyStatus|[SafetyStatus](msg_DeviceConfig_SafetyStatus.md#)|[SafetyHandle](msg_Common_SafetyHandle.md#)|Indicates if the specified safety is raised| -|GetSerialNumber|[SerialNumber](msg_DeviceConfig_SerialNumber.md#)|None|Returns the device serial number| -|OnNotificationSafetyTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to safety notifications \(future\)| -|RebootRequest|None|[RebootRqst](msg_DeviceConfig_RebootRqst.md#)|Sends a request to the device to reboot| -|ResetSafetyDefaults|None|None|Puts back all safety configuration to factory defaults \(future\)| -|SetIPv4Settings|None|[IPv4Settings](msg_DeviceConfig_IPv4Settings.md#)|Configures the device IPv4 settings \(not implemented on Base\)| -|SetMACAddress|None|[MACAddress](msg_DeviceConfig_MACAddress.md#)|Sets the device MAC address \(intented for Kinova Production\) \(future\)| -|SetModelNumber|None|[ModelNumber](msg_DeviceConfig_ModelNumber.md#)|Sets the device model number \(intented for Kinova Production\) \(future\)| -|SetPartNumber|None|[PartNumber](msg_DeviceConfig_PartNumber.md#)|Sets the device part number \(intented for Kinova Production\) \(future\)| -|SetPartNumberRevision|None|[PartNumberRevision](msg_DeviceConfig_PartNumberRevision.md#)|Sets the device part number revision \(intented for Kinova Production\) \(future\)| -|SetRunMode|None|[RunMode](msg_DeviceConfig_RunMode.md#)|Sets the run mode for the device \(future\)| -|SetSafetyConfiguration|None|[SafetyConfiguration](msg_DeviceConfig_SafetyConfiguration.md#)|Configures the specified safety \(i.e. sets error and warning thresholds\) \(future\)| -|SetSafetyEnable|None|[SafetyEnable](msg_DeviceConfig_SafetyEnable.md#)|Enables \(disable\) the specified safety \(future\)| -|SetSafetyErrorThreshold|None|[SafetyThreshold](msg_DeviceConfig_SafetyThreshold.md#)|Sets the Error threshold for the specified safety \(future\)| -|SetSafetyWarningThreshold|None|[SafetyThreshold](msg_DeviceConfig_SafetyThreshold.md#)|Sets the Warning threshold for the specified safety \(future\)| -|SetSerialNumber|None|[SerialNumber](msg_DeviceConfig_SerialNumber.md#)|Sets the device serial number \(intented for Kinova Production\) \(future\)| - -## Data types reference - -This section describes the data types used in the DeviceConfig package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[BootloaderVersion](msg_DeviceConfig_BootloaderVersion.md#)|Message specifying the bootloader version for the device| -|[DeviceType](msg_DeviceConfig_DeviceType.md#)|Message specifying the device type| -|[FirmwareVersion](msg_DeviceConfig_FirmwareVersion.md#)|Message specifying the firmware version for the device| -|[IPv4Settings](msg_DeviceConfig_IPv4Settings.md#)|Message containing the IPv4 settings for the device, including address, subnet mask, and default gateway| -|[MACAddress](msg_DeviceConfig_MACAddress.md#)|MAC address for the device| -|[ModelNumber](msg_DeviceConfig_ModelNumber.md#)|Message specifying the model number for the device| -|[PartNumber](msg_DeviceConfig_PartNumber.md#)|String specifiying the part number for the device| -|[PartNumberRevision](msg_DeviceConfig_PartNumberRevision.md#)|String specifying part number revision for the device| -|[PowerOnSelfTestResult](msg_DeviceConfig_PowerOnSelfTestResult.md#)|Result of power on self test| -|[RebootRqst](msg_DeviceConfig_RebootRqst.md#)|Reboot request with bootloader delay| -|[RunMode](msg_DeviceConfig_RunMode.md#)|Message specifying the run mode| -|[SafetyConfiguration](msg_DeviceConfig_SafetyConfiguration.md#)|Configure a safety| -|[SafetyConfigurationList](msg_DeviceConfig_SafetyConfigurationList.md#)|Array of safety configuration| -|[SafetyEnable](msg_DeviceConfig_SafetyEnable.md#)|Enable or disable a specific safety| -|[SafetyInformation](msg_DeviceConfig_SafetyInformation.md#)|Information about a particular safety| -|[SafetyInformationList](msg_DeviceConfig_SafetyInformationList.md#)|Array of safety information| -|[SafetyStatus](msg_DeviceConfig_SafetyStatus.md#)|Provides safety status| -|[SafetyThreshold](msg_DeviceConfig_SafetyThreshold.md#)|Configure threshold of a specific safety| -|[SerialNumber](msg_DeviceConfig_SerialNumber.md#)|String specifying the serial number for the device| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[RunModes](enm_DeviceConfig_RunModes.md#)|Options for the run mode for the device| -|[SafetyLimitType](enm_DeviceConfig_SafetyLimitType.md#)|Types of safeties limits| -|[ServiceVersion](enm_DeviceConfig_ServiceVersion.md#)|Enumeration used to identify DeviceConfig current version| - -**Parent topic:** [KINOVA® KORTEX™ Python API Reference](../index.md#) - diff --git a/api_python/doc/markdown/references/summary_DeviceManager.md b/api_python/doc/markdown/references/summary_DeviceManager.md deleted file mode 100644 index b72ca725..00000000 --- a/api_python/doc/markdown/references/summary_DeviceManager.md +++ /dev/null @@ -1,36 +0,0 @@ -# DeviceManager - -This page describes the Python Kinova.Api.DeviceManager package. - -## Overview / Purpose - -This service provides information about which devices are present - -## API reference - -This section describes procedure calls / methods exposed by the DeviceManager package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|ReadAllDevices|[DeviceHandles](msg_DeviceManager_DeviceHandles.md#)|None|Retrieves the list of every device that the system contains, along with its type and order within the system| - -## Data types reference - -This section describes the data types used in the DeviceManager package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[DeviceHandles](msg_DeviceManager_DeviceHandles.md#)|List of Device handles| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[ServiceVersion](enm_DeviceManager_ServiceVersion.md#)|Enumeration used to identify DeviceManager current version| - -**Parent topic:** [KINOVA® KORTEX™ Python API Reference](../index.md#) - diff --git a/api_python/doc/markdown/references/summary_InterconnectConfig.md b/api_python/doc/markdown/references/summary_InterconnectConfig.md deleted file mode 100644 index 1a3b4dc7..00000000 --- a/api_python/doc/markdown/references/summary_InterconnectConfig.md +++ /dev/null @@ -1,21 +0,0 @@ -# InterconnectConfig - -This page describes the Python Kinova.Api.InterconnectConfig package. - -## API reference - -This section describes procedure calls / methods exposed by the InterconnectConfig package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - -## Data types reference - -This section describes the data types used in the InterconnectConfig package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[SafetyIdentifier](enm_InterconnectConfig_SafetyIdentifier.md#)|List of admissible interconnect module safeties| -|[ServiceVersion](enm_InterconnectConfig_ServiceVersion.md#)|Enumeration used to identify InterconnectConfig current version| - -**Parent topic:** [KINOVA® KORTEX™ Python API Reference](../index.md#) - diff --git a/api_python/doc/markdown/references/summary_InterconnectCyclic.md b/api_python/doc/markdown/references/summary_InterconnectCyclic.md deleted file mode 100644 index 4da33ac3..00000000 --- a/api_python/doc/markdown/references/summary_InterconnectCyclic.md +++ /dev/null @@ -1,42 +0,0 @@ -# InterconnectCyclic - -This page describes the Python Kinova.Api.InterconnectCyclic package. - -## Overview / Purpose - -Service to exchange cyclic data with Interconnect module - -## API reference - -This section describes procedure calls / methods exposed by the InterconnectCyclic package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|Refresh|[Feedback](msg_InterconnectCyclic_Feedback.md#)|[Command](msg_InterconnectCyclic_Command.md#)|Send a command to the Interconnect module and receive feedback about the actual status the module| -|RefreshCommand|None|[Command](msg_InterconnectCyclic_Command.md#)|Send a command to the Interconnect module without receiving feedback| -|RefreshCustomData|[CustomData](msg_InterconnectCyclic_CustomData.md#)|[MessageId](msg_InterconnectCyclic_MessageId.md#)| | -|RefreshFeedback|[Feedback](msg_InterconnectCyclic_Feedback.md#)|[MessageId](msg_InterconnectCyclic_MessageId.md#)|Gets feedback from the Interconnect module on its status| - -## Data types reference - -This section describes the data types used in the InterconnectCyclic package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[Command](msg_InterconnectCyclic_Command.md#)|Defines an interconnect module command| -|[CustomData](msg_InterconnectCyclic_CustomData.md#)|Custom development data, content varies according to debug needs| -|[Feedback](msg_InterconnectCyclic_Feedback.md#)|Defines the feedback provided by an interconnect module| -|[MessageId](msg_InterconnectCyclic_MessageId.md#)|Identifies a message| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[ServiceVersion](enm_InterconnectCyclic_ServiceVersion.md#)|Enumeration used to identify InterconnectCyclic current version| - -**Parent topic:** [KINOVA® KORTEX™ Python API Reference](../index.md#) - diff --git a/api_python/doc/markdown/references/summary_Session.md b/api_python/doc/markdown/references/summary_Session.md deleted file mode 100644 index 91329a93..00000000 --- a/api_python/doc/markdown/references/summary_Session.md +++ /dev/null @@ -1,40 +0,0 @@ -# Session - -This page describes the Python Kinova.Api.Session package. - -## Overview / Purpose - -Service to manage Sessions - -## API reference - -This section describes procedure calls / methods exposed by the Session package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|CloseSession|None|None|Closes an existing open session| -|CreateSession|None|[CreateSessionInfo](msg_Session_CreateSessionInfo.md#)|Creates a new session with the robot using given values for user name, session timeout value, and password| -|GetConnections|[ConnectionList](msg_Session_ConnectionList.md#)|None|Retrieves the list of connections| -|KeepAlive|None|None|Sends Keep alive to robot| - -## Data types reference - -This section describes the data types used in the Session package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[ConnectionList](msg_Session_ConnectionList.md#)|Message used to retrieve a list of connections| -|[CreateSessionInfo](msg_Session_CreateSessionInfo.md#)|Contains parameters to create a new session| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[ServiceVersion](enm_Session_ServiceVersion.md#)|Enumeration used to identify Session current version| - -**Parent topic:** [KINOVA® KORTEX™ Python API Reference](../index.md#) - diff --git a/api_python/doc/markdown/references/summary_VisionConfig.md b/api_python/doc/markdown/references/summary_VisionConfig.md deleted file mode 100644 index 43cac08a..00000000 --- a/api_python/doc/markdown/references/summary_VisionConfig.md +++ /dev/null @@ -1,57 +0,0 @@ -# VisionConfig - -This page describes the Python Kinova.Api.VisionConfig package. - -## Overview / Purpose - -Service to configure the Vision Module - -## API reference - -This section describes procedure calls / methods exposed by the VisionConfig package, including the return data type, input data type, and description of what the method does. For Kinova-defined data types, you can click through to read more about the data type, its data fields, and its related methods. - - **Methods** - -|Method name|Return type|Input type|Description| -|-----------|-----------|----------|-----------| -|DoSensorFocusAction|None|[SensorFocusAction](msg_VisionConfig_SensorFocusAction.md#)|Do a focus action| -|GetIntrinsicParameters|[IntrinsicParameters](msg_VisionConfig_IntrinsicParameters.md#)|[SensorIdentifier](msg_VisionConfig_SensorIdentifier.md#)|Gets sensor intrinsic parameters| -|GetOptionInformation|[OptionInformation](msg_VisionConfig_OptionInformation.md#)|[OptionIdentifier](msg_VisionConfig_OptionIdentifier.md#)|Reads option information from the sensor| -|GetOptionValue|[OptionValue](msg_VisionConfig_OptionValue.md#)|[OptionIdentifier](msg_VisionConfig_OptionIdentifier.md#)|Reads option value from the sensor| -|GetSensorSettings|[SensorSettings](msg_VisionConfig_SensorSettings.md#)|[SensorIdentifier](msg_VisionConfig_SensorIdentifier.md#)|Gets sensor settings \(resolution, frame rate, etc\)| -|OnNotificationVisionTopic|[NotificationHandle](msg_Common_NotificationHandle.md#)|[NotificationOptions](msg_Common_NotificationOptions.md#)|Subscribes to Vision configuration notifications| -|SetOptionValue|None|[OptionValue](msg_VisionConfig_OptionValue.md#)|Writes new value to sensor option| -|SetSensorSettings|None|[SensorSettings](msg_VisionConfig_SensorSettings.md#)|Sets sensor settings \(resolution, frame rate, etc\)| - -## Data types reference - -This section describes the data types used in the VisionConfig package methods, including message classes and enumerations. Click through the links to read more about the data types. - - **Messages** - -|Message|Description| -|-------|-----------| -|[IntrinsicParameters](msg_VisionConfig_IntrinsicParameters.md#)|Sensor intrinsic parameters| -|[OptionIdentifier](msg_VisionConfig_OptionIdentifier.md#)|Identifies the sensor and the option to configure.| -|[OptionInformation](msg_VisionConfig_OptionInformation.md#)|Packages information about the optional settings for the chosen sensor| -|[OptionValue](msg_VisionConfig_OptionValue.md#)|Identifies the value of the particular option for the sensor.| -|[SensorFocusAction](msg_VisionConfig_SensorFocusAction.md#)|Identifies the sensor and the focus action to perform.| -|[SensorIdentifier](msg_VisionConfig_SensorIdentifier.md#)|Identifies the sensor to configure.| -|[SensorSettings](msg_VisionConfig_SensorSettings.md#)|Main settings - resolution, frame rate, bit rate - for the chosen sensor \(color or depth\).| -|[VisionNotification](msg_VisionConfig_VisionNotification.md#)|Message that contains Vision module event| - - **Enumerations** - -|Enumeration|Description| -|-----------|-----------| -|[BitRate](enm_VisionConfig_BitRate.md#)|Select the maximum encoded bit rate, in Mbps.| -|[FocusAction](enm_VisionConfig_FocusAction.md#)|Select the focus action to perform \(start/pause continuous, focus now, disable\). Supported only with Color sensor.| -|[FrameRate](enm_VisionConfig_FrameRate.md#)|Select the camera frame rate.| -|[Option](enm_VisionConfig_Option.md#)|List of admissible Vision module options. !!!!!| -|[Resolution](enm_VisionConfig_Resolution.md#)|Select the camera resolution.| -|[Sensor](enm_VisionConfig_Sensor.md#)|Select the Vision module camera sensor to configure.| -|[ServiceVersion](enm_VisionConfig_ServiceVersion.md#)|Enumeration used to identify VisionConfig current version| -|[VisionEvent](enm_VisionConfig_VisionEvent.md#)|List of admissible Vision module events.| - -**Parent topic:** [KINOVA® KORTEX™ Python API Reference](../index.md#) - diff --git a/api_python/doc/markdown/summary_pages/ActuatorConfig.md b/api_python/doc/markdown/summary_pages/ActuatorConfig.md new file mode 100644 index 00000000..409ebed7 --- /dev/null +++ b/api_python/doc/markdown/summary_pages/ActuatorConfig.md @@ -0,0 +1,79 @@ +# ActuatorConfig \(Python\) + +This page describes the Python ActuatorConfig API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[AxisOffsets](../messages/ActuatorConfig/AxisOffsets.md#)|Axis offsets| +|[AxisPosition](../messages/ActuatorConfig/AxisPosition.md#)|Axis position| +|[CommandModeInformation](../messages/ActuatorConfig/CommandModeInformation.md#)|Command mode| +|[ControlLoop](../messages/ActuatorConfig/ControlLoop.md#)|Control loop| +|[ControlLoopParameters](../messages/ActuatorConfig/ControlLoopParameters.md#)|Control loop parameters \(discrete transfer function\)| +|[ControlModeInformation](../messages/ActuatorConfig/ControlModeInformation.md#)|Control mode information| +|[CustomDataSelection](../messages/ActuatorConfig/CustomDataSelection.md#)|Selected custom data channels content| +|[EncoderDerivativeParameters](../messages/ActuatorConfig/EncoderDerivativeParameters.md#)|Variable window derivative parameters| +|[FrequencyResponse](../messages/ActuatorConfig/FrequencyResponse.md#)|Frequency response| +|[LoopSelection](../messages/ActuatorConfig/LoopSelection.md#)|Defines the loop selection| +|[PositionCommand](../messages/ActuatorConfig/PositionCommand.md#)|Angular position command for an actuator| +|[RampResponse](../messages/ActuatorConfig/RampResponse.md#)|Ramp response| +|[Servoing](../messages/ActuatorConfig/Servoing.md#)|Enables/disables servoing| +|[StepResponse](../messages/ActuatorConfig/StepResponse.md#)|Step response| +|[TorqueCalibration](../messages/ActuatorConfig/TorqueCalibration.md#)|Torque calibration settings| +|[TorqueOffset](../messages/ActuatorConfig/TorqueOffset.md#)|Defines torque offset| +|[VectorDriveParameters](../messages/ActuatorConfig/VectorDriveParameters.md#)|Field-oriented control PI controller gain values| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[CommandMode](../enums/ActuatorConfig/CommandMode.md#)|Admissible command modes| +|[ControlLoopSelection](../enums/ActuatorConfig/ControlLoopSelection.md#)|Admissible control loop selections| +|[ControlMode](../enums/ActuatorConfig/ControlMode.md#)|Admissible control modes| +|[CustomDataIndex](../enums/ActuatorConfig/CustomDataIndex.md#)|Custom data options| +|[SafetyIdentifierBankA](../enums/ActuatorConfig/SafetyIdentifierBankA.md#)|Admissible bank A actuator safeties| +|[SafetyLimitType](../enums/ActuatorConfig/SafetyLimitType.md#)|Admissible limit types| +|[ServiceVersion](../enums/ActuatorConfig/ServiceVersion.md#)|Identifies ActuatorConfig service current version| + +Service to configure actuators + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|GetAxisOffsets|[AxisOffsets](../messages/ActuatorConfig/AxisOffsets.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves axis offsets for absolute and relative encoder| +|SetAxisOffsets|[Empty](../messages/Common/Empty.md#)|[AxisPosition](../messages/ActuatorConfig/AxisPosition.md#)|Sets offsets for absolute and relative encoder| +|ReadTorqueCalibration|[TorqueCalibration](../messages/ActuatorConfig/TorqueCalibration.md#)|[Empty](../messages/Common/Empty.md#)|Reads torque calibration parameters \(internal use only\)| +|WriteTorqueCalibration|[Empty](../messages/Common/Empty.md#)|[TorqueCalibration](../messages/ActuatorConfig/TorqueCalibration.md#)|Writes torque calibration parameters \(internal use only\)| +|SetTorqueOffset|[Empty](../messages/Common/Empty.md#)|[TorqueOffset](../messages/ActuatorConfig/TorqueOffset.md#)|Sets zero torque calibration| +|GetControlMode|[ControlModeInformation](../messages/ActuatorConfig/ControlModeInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves actuator control mode| +|SetControlMode|[Empty](../messages/Common/Empty.md#)|[ControlModeInformation](../messages/ActuatorConfig/ControlModeInformation.md#)|Sets actuator control mode| +|GetActivatedControlLoop|[ControlLoop](../messages/ActuatorConfig/ControlLoop.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves activated control loop\(s\)| +|SetActivatedControlLoop|[Empty](../messages/Common/Empty.md#)|[ControlLoop](../messages/ActuatorConfig/ControlLoop.md#)|Sets activated control loop\(s\)| +|GetVectorDriveParameters|[VectorDriveParameters](../messages/ActuatorConfig/VectorDriveParameters.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves motor drive FOC parameters \(internal use only\)| +|SetVectorDriveParameters|[Empty](../messages/Common/Empty.md#)|[VectorDriveParameters](../messages/ActuatorConfig/VectorDriveParameters.md#)|Sets motor drive FOC parameters \(internal use only\)| +|GetEncoderDerivativeParameters|[EncoderDerivativeParameters](../messages/ActuatorConfig/EncoderDerivativeParameters.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves encoder derivative parameters \(internal use only\)| +|SetEncoderDerivativeParameters|[Empty](../messages/Common/Empty.md#)|[EncoderDerivativeParameters](../messages/ActuatorConfig/EncoderDerivativeParameters.md#)|Sets encoder derivative parameters \(internal use only\)| +|GetControlLoopParameters|[ControlLoopParameters](../messages/ActuatorConfig/ControlLoopParameters.md#)|[LoopSelection](../messages/ActuatorConfig/LoopSelection.md#)|Retrieves control loop parameters| +|SetControlLoopParameters|[Empty](../messages/Common/Empty.md#)|[ControlLoopParameters](../messages/ActuatorConfig/ControlLoopParameters.md#)|Sets control loop parameters| +|StartFrequencyResponse|[Empty](../messages/Common/Empty.md#)|[FrequencyResponse](../messages/ActuatorConfig/FrequencyResponse.md#)|Starts frequency response test \(internal use only\)| +|StopFrequencyResponse|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Stops frequency response test \(internal use only\)| +|StartStepResponse|[Empty](../messages/Common/Empty.md#)|[StepResponse](../messages/ActuatorConfig/StepResponse.md#)|Starts step response test \(internal use only\)| +|StopStepResponse|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Stops step response test \(internal use only\)| +|StartRampResponse|[Empty](../messages/Common/Empty.md#)|[RampResponse](../messages/ActuatorConfig/RampResponse.md#)|Starts ramp response test \(internal use only\)| +|StopRampResponse|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Stops ramp response test \(internal use only\)| +|SelectCustomData|[Empty](../messages/Common/Empty.md#)|[CustomDataSelection](../messages/ActuatorConfig/CustomDataSelection.md#)|Selects custom data| +|GetSelectedCustomData|[CustomDataSelection](../messages/ActuatorConfig/CustomDataSelection.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves selected custom data| +|SetCommandMode|[Empty](../messages/Common/Empty.md#)|[CommandModeInformation](../messages/ActuatorConfig/CommandModeInformation.md#)|Sets command mode \(config versus cyclic\)| +|ClearFaults|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Clears all error\(s\) and warning\(s\) \(bank A and B\)| +|SetServoing|[Empty](../messages/Common/Empty.md#)|[Servoing](../messages/ActuatorConfig/Servoing.md#)|Enables or disables servoing| +|MoveToPosition|[Empty](../messages/Common/Empty.md#)|[PositionCommand](../messages/ActuatorConfig/PositionCommand.md#)|Moves the actuator to the desired position| +|GetCommandMode|[CommandModeInformation](../messages/ActuatorConfig/CommandModeInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves command mode \(config versus cyclic\)| +|GetServoing|[Servoing](../messages/ActuatorConfig/Servoing.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves servoing state| +|GetTorqueOffset|[TorqueOffset](../messages/ActuatorConfig/TorqueOffset.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves torque offset calibration| + diff --git a/api_python/doc/markdown/summary_pages/ActuatorCyclic.md b/api_python/doc/markdown/summary_pages/ActuatorCyclic.md new file mode 100644 index 00000000..7ac34a91 --- /dev/null +++ b/api_python/doc/markdown/summary_pages/ActuatorCyclic.md @@ -0,0 +1,36 @@ +# ActuatorCyclic \(Python\) + +This page describes the Python ActuatorCyclic API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[Command](../messages/ActuatorCyclic/Command.md#)|Defines an actuator command| +|[CustomData](../messages/ActuatorCyclic/CustomData.md#)|Custom development data, content varies according to debug needs| +|[Feedback](../messages/ActuatorCyclic/Feedback.md#)|Status feedback provided by an actuator| +|[MessageId](../messages/ActuatorCyclic/MessageId.md#)|Provides a message identifier| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[CommandFlags](../enums/ActuatorCyclic/CommandFlags.md#)|Identifies actuator commands| +|[ServiceVersion](../enums/ActuatorCyclic/ServiceVersion.md#)|Identifies ActuatorCyclic service current version| +|[StatusFlags](../enums/ActuatorCyclic/StatusFlags.md#)|Identifies actuator status| + +Service to exchange cyclic data with an actuator + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|Refresh|[Feedback](../messages/ActuatorCyclic/Feedback.md#)|[Command](../messages/ActuatorCyclic/Command.md#)|Sends a command to a single actuator and receives feedback on status of that actuator| +|RefreshCommand|[Empty](../messages/Common/Empty.md#)|[Command](../messages/ActuatorCyclic/Command.md#)|Sends a command to a single actuator without feedback| +|RefreshFeedback|[Feedback](../messages/ActuatorCyclic/Feedback.md#)|[MessageId](../messages/ActuatorCyclic/MessageId.md#)|Obtains feedback from a single actuator| +|RefreshCustomData|[CustomData](../messages/ActuatorCyclic/CustomData.md#)|[MessageId](../messages/ActuatorCyclic/MessageId.md#)|Obtains custom data from a single actuator| + diff --git a/api_python/doc/markdown/summary_pages/Api.md b/api_python/doc/markdown/summary_pages/Api.md new file mode 100644 index 00000000..cc8e2559 --- /dev/null +++ b/api_python/doc/markdown/summary_pages/Api.md @@ -0,0 +1,15 @@ +# Api \(Python\) + +This page describes the Python API error codes. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ErrorCodes](../enums/Api/ErrorCodes.md#)|Possible error codes| +|[SubErrorCodes](../enums/Api/SubErrorCodes.md#)|Possible sub-error codes| + diff --git a/api_python/doc/markdown/summary_pages/Base.md b/api_python/doc/markdown/summary_pages/Base.md new file mode 100644 index 00000000..d86f2021 --- /dev/null +++ b/api_python/doc/markdown/summary_pages/Base.md @@ -0,0 +1,340 @@ +# Base \(Python\) + +This page describes the Python Base API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[Action](../messages/Base/Action.md#)|Defines an action. An action is some task performed on the robot.| +|[ActionExecutionState](../messages/Base/ActionExecutionState.md#)|Indicates the execution state of an action \(not implemented yet\)| +|[ActionHandle](../messages/Base/ActionHandle.md#)|Reference to a specific action| +|[ActionList](../messages/Base/ActionList.md#)|Array of actions| +|[ActionNotification](../messages/Base/ActionNotification.md#)|Notification about a single action event| +|[ActionNotificationList](../messages/Base/ActionNotificationList.md#)|Array of action notifications| +|[ActivateMapHandle](../messages/Base/ActivateMapHandle.md#)|Reference to a specific new active map for the specified mapping and map group| +|[ActuatorInformation](../messages/Base/ActuatorInformation.md#)|A count of the number of actuators in the robot| +|[Admittance](../messages/Base/Admittance.md#)|An admittance mode| +|[AdvancedSequenceHandle](../messages/Base/AdvancedSequenceHandle.md#)|Reference to a sequence along with execution options| +|[AppendActionInformation](../messages/Base/AppendActionInformation.md#)|Representation of the result of appending \(adding at the end\) an action to an existing sequence \(not implemented yet\)| +|[ArmStateInformation](../messages/Base/ArmStateInformation.md#)|Information about the arm state| +|[ArmStateNotification](../messages/Base/ArmStateNotification.md#)|Notification about a single arm state event| +|[BridgeConfig](../messages/Base/BridgeConfig.md#)|Bridge configuration information. It is used to either create a bridge or to retrieve information about an existing bridge| +|[BridgeIdentifier](../messages/Base/BridgeIdentifier.md#)|Bridge identifier| +|[BridgeList](../messages/Base/BridgeList.md#)|An array of configuration information for different bridges.| +|[BridgePortConfig](../messages/Base/BridgePortConfig.md#)|Port configuration information for a TCP port bridge| +|[BridgeResult](../messages/Base/BridgeResult.md#)|The result of an operation on a specific bridge| +|[CapSenseConfig](../messages/Base/CapSenseConfig.md#)|Capacitive sensor configuration information| +|[CartesianLimitation](../messages/Base/CartesianLimitation.md#)|Translation and orientation limits for a specified limit type for Cartesian configuration| +|[CartesianLimitationList](../messages/Base/CartesianLimitationList.md#)|Array of Cartesian limitations| +|[CartesianSpeed](../messages/Base/CartesianSpeed.md#)|A Cartesian tool speed \(translation speed and angular speed\)| +|[CartesianTrajectoryConstraint](../messages/Base/CartesianTrajectoryConstraint.md#)|Cartesian trajectory constraint that can be applied when controlling in Cartesian trajectory mode| +|[ChangeJointSpeeds](../messages/Base/ChangeJointSpeeds.md#)|Action to change the maximum angular velocity per joint by a specific increment| +|[ChangeTwist](../messages/Base/ChangeTwist.md#)|Action to change the maximum Cartesian velocity by a specific increment| +|[ChangeWrench](../messages/Base/ChangeWrench.md#)|Action to change the maximum Cartesian force by a specific increment| +|[CommunicationInterfaceConfiguration](../messages/Base/CommunicationInterfaceConfiguration.md#)|Configuration information for enabling or disabling a specific communication interface \(e.g. Wi-Fi, Wired Ethernet\)| +|[ConfigurationChangeNotification](../messages/Base/ConfigurationChangeNotification.md#)|Representation of a configuration change event| +|[ConfigurationChangeNotificationList](../messages/Base/ConfigurationChangeNotificationList.md#)|Array of configuration change notifications| +|[ConstrainedJointAngle](../messages/Base/ConstrainedJointAngle.md#)|A single joint angle value with specifed constraint| +|[ConstrainedJointAngles](../messages/Base/ConstrainedJointAngles.md#)|An array of joint angles values with specified constraint| +|[ConstrainedOrientation](../messages/Base/ConstrainedOrientation.md#)|Cartesian tool orientation with specified constraint| +|[ConstrainedPose](../messages/Base/ConstrainedPose.md#)|Cartesian tool pose with specified constraint| +|[ConstrainedPosition](../messages/Base/ConstrainedPosition.md#)|Cartesian tool position with specified constraint| +|[ControlModeInformation](../messages/Base/ControlModeInformation.md#)|Control mode information| +|[ControlModeNotification](../messages/Base/ControlModeNotification.md#)|Notification about a single control mode event| +|[ControlModeNotificationList](../messages/Base/ControlModeNotificationList.md#)|Array of control mode notifications| +|[ControllerElementHandle](../messages/Base/ControllerElementHandle.md#)|Reference ro a specific button \(or axis\) of a controller device| +|[ControllerElementState](../messages/Base/ControllerElementState.md#)|Indicates if a specific button \(or axis\) was pressed \(or moved\)| +|[ControllerEvent](../messages/Base/ControllerEvent.md#)|A controller event| +|[ControllerHandle](../messages/Base/ControllerHandle.md#)|Reference to a specific controller device| +|[ControllerList](../messages/Base/ControllerList.md#)|Array of references to different controllers| +|[ControllerNotification](../messages/Base/ControllerNotification.md#)|Notification about a single controller event| +|[ControllerNotificationList](../messages/Base/ControllerNotificationList.md#)|Array of controller notifications| +|[ControllerState](../messages/Base/ControllerState.md#)|Indicates if a specific controller is connected \(or disconnected\)| +|[Delay](../messages/Base/Delay.md#)|Action to apply a delay| +|[EmergencyStop](../messages/Base/EmergencyStop.md#)|Action to force an emergency of the robot| +|[FactoryNotification](../messages/Base/FactoryNotification.md#)|Notification about a single factory event| +|[Faults](../messages/Base/Faults.md#)|Action to clear faults| +|[Finger](../messages/Base/Finger.md#)|Movement of a specified gripper finger| +|[FullIPv4Configuration](../messages/Base/FullIPv4Configuration.md#)|IPv4 configuration for a specific network| +|[FullUserProfile](../messages/Base/FullUserProfile.md#)|Information about a user, together with a password. Full set of information needed to create a user profile.| +|[GpioEvent](../messages/Base/GpioEvent.md#)|A GPIO event \(not implemented yet\)| +|[Gripper](../messages/Base/Gripper.md#)|Gripper movement composed of a series of fingers movement| +|[GripperCommand](../messages/Base/GripperCommand.md#)|A command to control the gripper movement| +|[GripperRequest](../messages/Base/GripperRequest.md#)|Request to apply a specific gripper mode| +|[IPv4Configuration](../messages/Base/IPv4Configuration.md#)|IPv4 configuration information| +|[IPv4Information](../messages/Base/IPv4Information.md#)|Information about an IPv4 endpoint| +|[JointAngle](../messages/Base/JointAngle.md#)|Angle value of a specific joint| +|[JointAngles](../messages/Base/JointAngles.md#)|An array of joint angles| +|[JointLimitation](../messages/Base/JointLimitation.md#)|Limitation for a specified robot joint| +|[JointSpeed](../messages/Base/JointSpeed.md#)|Speed of a specific joint| +|[JointSpeeds](../messages/Base/JointSpeeds.md#)|An array of joints speeds| +|[JointTorque](../messages/Base/JointTorque.md#)|joint torque for a specified joint| +|[JointTorques](../messages/Base/JointTorques.md#)|An array of joint torques| +|[JointTrajectoryConstraint](../messages/Base/JointTrajectoryConstraint.md#)|Joint trajectory constraint that can be applied when controlling a joint in trajectory mode| +|[JointsLimitationsList](../messages/Base/JointsLimitationsList.md#)|Array of joint limitations| +|[Map](../messages/Base/Map.md#)|A map as an array of map elements| +|[MapElement](../messages/Base/MapElement.md#)|Associates an event to an action| +|[MapEvent](../messages/Base/MapEvent.md#)|A map event| +|[MapGroup](../messages/Base/MapGroup.md#)|All information about a map group including the list of maps that it contains and its relationship versus other map groups \(not implemented yet\)| +|[MapGroupHandle](../messages/Base/MapGroupHandle.md#)|Reference to a specific map group \(not implemented yet\)| +|[MapGroupList](../messages/Base/MapGroupList.md#)|Array of map groups \(not implemented yet\)| +|[MapHandle](../messages/Base/MapHandle.md#)|Reference to a specific map| +|[MapList](../messages/Base/MapList.md#)|Array of maps| +|[Mapping](../messages/Base/Mapping.md#)|All information about a mapping including the controller to which it is associated, the array of map groups it contains, the currently active map group, the array of maps it contains and the currently active map| +|[MappingHandle](../messages/Base/MappingHandle.md#)|Reference to a specific Mapping| +|[MappingInfoNotification](../messages/Base/MappingInfoNotification.md#)|Notification about a single mapping information event| +|[MappingInfoNotificationList](../messages/Base/MappingInfoNotificationList.md#)|Array of mapping information notifications| +|[MappingList](../messages/Base/MappingList.md#)|Array of mappings| +|[NetworkHandle](../messages/Base/NetworkHandle.md#)|Reference to a network| +|[NetworkNotification](../messages/Base/NetworkNotification.md#)|Notification about a single network event| +|[NetworkNotificationList](../messages/Base/NetworkNotificationList.md#)|Array of network event notifications| +|[OperatingModeInformation](../messages/Base/OperatingModeInformation.md#)|Information about the operating mode| +|[OperatingModeNotification](../messages/Base/OperatingModeNotification.md#)|Notification about a single operating mode event| +|[OperatingModeNotificationList](../messages/Base/OperatingModeNotificationList.md#)|Array of operating mode notifications| +|[Orientation](../messages/Base/Orientation.md#)|A Cartesian tool orientation. Defines orientation as sequence of three Euler angles using z-y-x Tait-Bryan extrinsic convention. That is, rotation around fixed X-axis, then rotation around fixed Y-axis, then rotation around fixed Z-axis.| +|[PasswordChange](../messages/Base/PasswordChange.md#)|Information required to change user password| +|[Point](../messages/Base/Point.md#)|Coordinates of a Cartesian point| +|[Pose](../messages/Base/Pose.md#)|A Cartesian tool pose \(position and orientation\). Orientation is defined as a sequence of three Euler angles using z-y-x Tait-Bryan extrinsic convention. That is, rotation around fixed X-axis, then rotation around fixed Y-axis, then rotation around fixed Z-axis.| +|[Position](../messages/Base/Position.md#)|A Cartesian tool position| +|[PreComputedJointTrajectory](../messages/Base/PreComputedJointTrajectory.md#)|Pre-computed joint trajectory subject to specified continuity constraints. The starting point of the trajectory must have an elapsed time of 0 ms and the angular values must reflect the current state of the robot. The robot control libraries will validate the trajectory fulfills the specified continuity constraints before playing the trajectory.| +|[PreComputedJointTrajectoryElement](../messages/Base/PreComputedJointTrajectoryElement.md#)|Set of angle, speed, acceleration, and elapsed time values for each joint for a given 1 ms interval. A PreComputedJointTrajectory is made up of a series of these elements.| +|[ProtectionZone](../messages/Base/ProtectionZone.md#)|Protection zone configuration| +|[ProtectionZoneHandle](../messages/Base/ProtectionZoneHandle.md#)|Reference to a specific protection zone| +|[ProtectionZoneInformation](../messages/Base/ProtectionZoneInformation.md#)|Information about a protection zone event| +|[ProtectionZoneList](../messages/Base/ProtectionZoneList.md#)|Array of protection zones| +|[ProtectionZoneNotification](../messages/Base/ProtectionZoneNotification.md#)|Notification about a single protection zone event| +|[ProtectionZoneNotificationList](../messages/Base/ProtectionZoneNotificationList.md#)|Array of protection zone notifications| +|[Query](../messages/Base/Query.md#)|Parameters of an event log query \(not implemented yet\)| +|[RequestedActionType](../messages/Base/RequestedActionType.md#)|Message used for requesting all action instances of a specific action type| +|[RobotEventNotification](../messages/Base/RobotEventNotification.md#)|Notification about a single robot event| +|[RobotEventNotificationList](../messages/Base/RobotEventNotificationList.md#)|Array of robot event notifications| +|[RotationMatrix](../messages/Base/RotationMatrix.md#)|Representation of a 3x3 rotation matrix. To be a valid rotation matrix, the rows must be orthonormal \(the rows must each have norm of 1 and the row vectors must be orthogonal to each other\). The determinant of the matrix must also be +1.| +|[RotationMatrixRow](../messages/Base/RotationMatrixRow.md#)|Single row of a 3x3 rotation matrix. To be a valid possible row of a rotation matrix, the norm of the row must be 1 \(the sum of the squares of the row elements has to equal 1\).| +|[SafetyEvent](../messages/Base/SafetyEvent.md#)|A safety event \(not implemented yet\)| +|[SafetyNotificationList](../messages/Base/SafetyNotificationList.md#)|Array of safety notifications| +|[Sequence](../messages/Base/Sequence.md#)|Information about a sequence| +|[SequenceHandle](../messages/Base/SequenceHandle.md#)|Reference to a specific sequence| +|[SequenceInfoNotification](../messages/Base/SequenceInfoNotification.md#)|Notification about a single sequence information event| +|[SequenceInfoNotificationList](../messages/Base/SequenceInfoNotificationList.md#)|Array of sequence information notifications| +|[SequenceInformation](../messages/Base/SequenceInformation.md#)|Information about a sequence| +|[SequenceList](../messages/Base/SequenceList.md#)|An array of sequences| +|[SequenceTask](../messages/Base/SequenceTask.md#)|Information on a single task within a sequence| +|[SequenceTaskHandle](../messages/Base/SequenceTaskHandle.md#)|Reference to a specific task inside a sequence| +|[ServoingModeInformation](../messages/Base/ServoingModeInformation.md#)|Information about the servoing mode| +|[ServoingModeNotification](../messages/Base/ServoingModeNotification.md#)|Notification about a single servoing mode event| +|[ServoingModeNotificationList](../messages/Base/ServoingModeNotificationList.md#)|Array of servoing mode notifications| +|[Ssid](../messages/Base/Ssid.md#)|Wi-Fi SSID| +|[Stop](../messages/Base/Stop.md#)|Action to stop robot movement| +|[SwitchControlMapping](../messages/Base/SwitchControlMapping.md#)|Action parameter to switch the active controller map| +|[SystemTime](../messages/Base/SystemTime.md#)|Identifies the system time \(not implemented yet\)| +|[Timeout](../messages/Base/Timeout.md#)|Timeout for a specified duration| +|[TrajectoryErrorElement](../messages/Base/TrajectoryErrorElement.md#)|Details for a single trajectory validation error| +|[TrajectoryErrorReport](../messages/Base/TrajectoryErrorReport.md#)|Report collecting information on different validation errors for a particular trajectory| +|[TransformationMatrix](../messages/Base/TransformationMatrix.md#)|A 4x4 homogeneous transformation matrix representing the transformation between two reference frames.| +|[TransformationRow](../messages/Base/TransformationRow.md#)|A single row of a 4x4 homogeneous transformation matrix| +|[Twist](../messages/Base/Twist.md#)|A twist \(linear and angular velocity\).| +|[TwistCommand](../messages/Base/TwistCommand.md#)|A twist command to be applied to the tool| +|[TwistLimitation](../messages/Base/TwistLimitation.md#)|Linear and angular speed limitations for twist configuration| +|[UserList](../messages/Base/UserList.md#)|Array of user profile handles| +|[UserNotification](../messages/Base/UserNotification.md#)|Notification about a single user event| +|[UserNotificationList](../messages/Base/UserNotificationList.md#)|Array of user notifications| +|[UserProfile](../messages/Base/UserProfile.md#)|Information about a user| +|[UserProfileList](../messages/Base/UserProfileList.md#)|Array of user profiles| +|[WifiConfiguration](../messages/Base/WifiConfiguration.md#)|Wi-Fi connection configuration| +|[WifiConfigurationList](../messages/Base/WifiConfigurationList.md#)|Array of Wi-Fi connection configuration for different networks| +|[WifiInformation](../messages/Base/WifiInformation.md#)|Information about a specific Wi-Fi network| +|[WifiInformationList](../messages/Base/WifiInformationList.md#)|Array of information about different Wi-Fi networks| +|[Wrench](../messages/Base/Wrench.md#)|A wrench \(force and torque\)| +|[WrenchCommand](../messages/Base/WrenchCommand.md#)|A wrench command to be applied to the tool| +|[WrenchLimitation](../messages/Base/WrenchLimitation.md#)|Force and torque limitations for wrench configuration| +|[ZoneShape](../messages/Base/ZoneShape.md#)|Protection zone shape description| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ActionEvent](../enums/Base/ActionEvent.md#)|Admissible action event types| +|[ActionType](../enums/Base/ActionType.md#)|Admissible types of actions| +|[AdmittanceMode](../enums/Base/AdmittanceMode.md#)|Admissible admittance modes| +|[BackupEvent](../enums/Base/BackupEvent.md#)|Admissible backup events \(not implemented yet\)| +|[BridgeStatus](../enums/Base/BridgeStatus.md#)|Bridge operation status| +|[BridgeType](../enums/Base/BridgeType.md#)|Type of port forward bridge to create| +|[CapSenseMode](../enums/Base/CapSenseMode.md#)|Admissible capacitive sensor modes| +|[ConfigurationNotificationEvent](../enums/Base/ConfigurationNotificationEvent.md#)|Admissible configuration events| +|[ControlMode](../enums/Base/ControlMode.md#)|Admissible robot control modes| +|[ControllerBehavior](../enums/Base/ControllerBehavior.md#)|Admissible controller input behaviors| +|[ControllerElementEventType](../enums/Base/ControllerElementEventType.md#)|Admissible controller element event types| +|[ControllerEventType](../enums/Base/ControllerEventType.md#)|Admissible controller event types| +|[ControllerInputType](../enums/Base/ControllerInputType.md#)|Admissible controller input types| +|[ControllerType](../enums/Base/ControllerType.md#)|Admissible controller types| +|[EventIdSequenceInfoNotification](../enums/Base/EventIdSequenceInfoNotification.md#)|Admissible sequence event types| +|[FactoryEvent](../enums/Base/FactoryEvent.md#)|Admissible factory events| +|[GpioState](../enums/Base/GpioState.md#)|Admissible GPIO states \(not implemented yet\)| +|[GripperMode](../enums/Base/GripperMode.md#)|Admissible gripper control mode| +|[JointNavigationDirection](../enums/Base/JointNavigationDirection.md#)|Admissible joint navigation directions| +|[JointTrajectoryConstraintType](../enums/Base/JointTrajectoryConstraintType.md#)|Admissible constraint types that can be applied when controlling a joint in trajectory mode| +|[LedState](../enums/Base/LedState.md#)|Admissible LED states \(not implemented yet\)| +|[LimitationType](../enums/Base/LimitationType.md#)|Admissible limitation types| +|[NavigationDirection](../enums/Base/NavigationDirection.md#)|Admissible map navigation directions| +|[NetworkEvent](../enums/Base/NetworkEvent.md#)|Admissible network events| +|[NetworkType](../enums/Base/NetworkType.md#)|Admissible network types| +|[OperatingMode](../enums/Base/OperatingMode.md#)|Admissible robot operating modes \(used to report robot firmware upgrade current state\)| +|[ProtectionZoneEvent](../enums/Base/ProtectionZoneEvent.md#)|Admissible protection zone events| +|[RobotEvent](../enums/Base/RobotEvent.md#)|Admissible robot events| +|[SafetyIdentifier](../enums/Base/SafetyIdentifier.md#)|Admissible Base safeties. Used with BaseCyclic.BaseFeedback.\[fault\_bank\_a | fault\_bank\_b | warning\_bank\_a | warning\_bank\_b\]| +|[ServiceVersion](../enums/Base/ServiceVersion.md#)|Identifies Base service current version| +|[ServoingMode](../enums/Base/ServoingMode.md#)|Admissible servoing modes| +|[ShapeType](../enums/Base/ShapeType.md#)|Admissible protection zone shape types| +|[SignalQuality](../enums/Base/SignalQuality.md#)|Admissible signal quality values| +|[SoundType](../enums/Base/SoundType.md#)|Admissible sound types \(not implemented yet\)| +|[TrajectoryContinuityMode](../enums/Base/TrajectoryContinuityMode.md#)|Admissible trajectory continuity mode| +|[TrajectoryErrorIdentifier](../enums/Base/TrajectoryErrorIdentifier.md#)|Trajectory validation error identifiers| +|[TrajectoryErrorType](../enums/Base/TrajectoryErrorType.md#)|Trajectory validation error types| +|[UserEvent](../enums/Base/UserEvent.md#)|Admissible user event types| +|[WifiEncryptionType](../enums/Base/WifiEncryptionType.md#)|Admissible Wi-Fi encryption types| +|[WifiSecurityType](../enums/Base/WifiSecurityType.md#)|Admissible Wi-Fi Security types| +|[WrenchMode](../enums/Base/WrenchMode.md#)|Admissible wrench \(force\) modes| +|[Xbox360AnalogInputIdentifier](../enums/Base/Xbox360AnalogInputIdentifier.md#)|Admissible XBOX360 analog inputs| +|[Xbox360DigitalInputIdentifier](../enums/Base/Xbox360DigitalInputIdentifier.md#)|Admissible XBOX360 digital inputs| + +Base service. Broadly useful service. Provides functions for configuring a range of base-related functionalities and for enabling high-level control for the robot. + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|CreateUserProfile|[UserProfileHandle](../messages/Common/UserProfileHandle.md#)|[FullUserProfile](../messages/Base/FullUserProfile.md#)|Creates a user profile and returns a handle to the profile| +|UpdateUserProfile|[Empty](../messages/Common/Empty.md#)|[UserProfile](../messages/Base/UserProfile.md#)|Updates an existing user profile| +|ReadUserProfile|[UserProfile](../messages/Base/UserProfile.md#)|[UserProfileHandle](../messages/Common/UserProfileHandle.md#)|Retrieves an existing user profile| +|DeleteUserProfile|[Empty](../messages/Common/Empty.md#)|[UserProfileHandle](../messages/Common/UserProfileHandle.md#)|Deletes an existing user profile| +|ReadAllUserProfiles|[UserProfileList](../messages/Base/UserProfileList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves all user profiles| +|ReadAllUsers|[UserList](../messages/Base/UserList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the list of all user profile handles| +|ChangePassword|[Empty](../messages/Common/Empty.md#)|[PasswordChange](../messages/Base/PasswordChange.md#)|Changes the password of an existing user| +|CreateSequence|[SequenceHandle](../messages/Base/SequenceHandle.md#)|[Sequence](../messages/Base/Sequence.md#)|Creates a new sequence and returns a handle to the sequence| +|UpdateSequence|[Empty](../messages/Common/Empty.md#)|[Sequence](../messages/Base/Sequence.md#)|Updates an existing sequence| +|ReadSequence|[Sequence](../messages/Base/Sequence.md#)|[SequenceHandle](../messages/Base/SequenceHandle.md#)|Retrieves an existing sequence| +|DeleteSequence|[Empty](../messages/Common/Empty.md#)|[SequenceHandle](../messages/Base/SequenceHandle.md#)|Deletes an existing sequence| +|ReadAllSequences|[SequenceList](../messages/Base/SequenceList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the list of all existing sequences| +|DeleteSequenceTask|[Empty](../messages/Common/Empty.md#)|[SequenceTaskHandle](../messages/Base/SequenceTaskHandle.md#)|Deletes a specific task from the specified sequence| +|DeleteAllSequenceTasks|[Empty](../messages/Common/Empty.md#)|[SequenceHandle](../messages/Base/SequenceHandle.md#)|Deletes all tasks from the specified sequence| +|PlaySequence|[Empty](../messages/Common/Empty.md#)|[SequenceHandle](../messages/Base/SequenceHandle.md#)|Plays an existing sequence| +|PlayAdvancedSequence|[Empty](../messages/Common/Empty.md#)|[AdvancedSequenceHandle](../messages/Base/AdvancedSequenceHandle.md#)|Plays an existing sequence with options| +|StopSequence|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Stops execution of currently playing sequence| +|PauseSequence|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Pauses execution of currently playing sequence| +|ResumeSequence|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Resumes execution of currently paused sequence| +|CreateProtectionZone|[ProtectionZoneHandle](../messages/Base/ProtectionZoneHandle.md#)|[ProtectionZone](../messages/Base/ProtectionZone.md#)|Creates a new protection zone and returns a handle to the protection zone| +|UpdateProtectionZone|[Empty](../messages/Common/Empty.md#)|[ProtectionZone](../messages/Base/ProtectionZone.md#)|Updates an existing protection zone| +|ReadProtectionZone|[ProtectionZone](../messages/Base/ProtectionZone.md#)|[ProtectionZoneHandle](../messages/Base/ProtectionZoneHandle.md#)|Retrieves an existing protection zone| +|DeleteProtectionZone|[Empty](../messages/Common/Empty.md#)|[ProtectionZoneHandle](../messages/Base/ProtectionZoneHandle.md#)|Deletes an existing protection zone| +|ReadAllProtectionZones|[ProtectionZoneList](../messages/Base/ProtectionZoneList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves a list of all protection zones| +|CreateMapping|[MappingHandle](../messages/Base/MappingHandle.md#)|[Mapping](../messages/Base/Mapping.md#)|Creates a new mapping| +|ReadMapping|[Mapping](../messages/Base/Mapping.md#)|[MappingHandle](../messages/Base/MappingHandle.md#)|Retrieves an existing mapping| +|ReadAllMappings|[MappingList](../messages/Base/MappingList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves a list of all mappings| +|CreateMap|[MapHandle](../messages/Base/MapHandle.md#)|[Map](../messages/Base/Map.md#)|Creates a new map| +|ReadAllMaps|[MapList](../messages/Base/MapList.md#)|[MappingHandle](../messages/Base/MappingHandle.md#)|Retrieves a list of all maps associated to the specified mapping| +|ActivateMap|[Empty](../messages/Common/Empty.md#)|[ActivateMapHandle](../messages/Base/ActivateMapHandle.md#)|Activates the specified map within the specified map group and mapping| +|CreateAction|[ActionHandle](../messages/Base/ActionHandle.md#)|[Action](../messages/Base/Action.md#)|Creates a new action| +|ReadAction|[Action](../messages/Base/Action.md#)|[ActionHandle](../messages/Base/ActionHandle.md#)|Retrieves an existing action| +|ReadAllActions|[ActionList](../messages/Base/ActionList.md#)|[RequestedActionType](../messages/Base/RequestedActionType.md#)|Retrieves a list of all existing actions| +|DeleteAction|[Empty](../messages/Common/Empty.md#)|[ActionHandle](../messages/Base/ActionHandle.md#)|Deletes an existing action| +|UpdateAction|[Empty](../messages/Common/Empty.md#)|[Action](../messages/Base/Action.md#)|Updates an existing action| +|ExecuteActionFromReference|[Empty](../messages/Common/Empty.md#)|[ActionHandle](../messages/Base/ActionHandle.md#)|Commands the robot to execute the specified existing action| +|ExecuteAction|[Empty](../messages/Common/Empty.md#)|[Action](../messages/Base/Action.md#)|Commands the robot to execute the specified action| +|PauseAction|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Pauses the currently executed action. ResumeAction can be invoked afterwards| +|StopAction|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Stops the currently executed action. ResumeAction cannot be invoked afterwards| +|ResumeAction|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Resumes execution of the currently paused action| +|GetIPv4Configuration|[IPv4Configuration](../messages/Base/IPv4Configuration.md#)|[NetworkHandle](../messages/Base/NetworkHandle.md#)|Retrieves the IPv4 network configuration for the specified network adapter| +|SetIPv4Configuration|[Empty](../messages/Common/Empty.md#)|[FullIPv4Configuration](../messages/Base/FullIPv4Configuration.md#)|Modifies the IPv4 network configuration for the specified network adapter| +|SetCommunicationInterfaceEnable|[Empty](../messages/Common/Empty.md#)|[CommunicationInterfaceConfiguration](../messages/Base/CommunicationInterfaceConfiguration.md#)|Enables \(or disables\) the specified communication interface| +|IsCommunicationInterfaceEnable|[CommunicationInterfaceConfiguration](../messages/Base/CommunicationInterfaceConfiguration.md#)|[NetworkHandle](../messages/Base/NetworkHandle.md#)|Determines if the specified communication interface is enabled \(or disabled\)| +|GetAvailableWifi|[WifiInformationList](../messages/Base/WifiInformationList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the list of available Wi-Fi networks| +|GetWifiInformation|[WifiInformation](../messages/Base/WifiInformation.md#)|[Ssid](../messages/Base/Ssid.md#)|Retrieves information about a specific Wi-Fi network| +|AddWifiConfiguration|[Empty](../messages/Common/Empty.md#)|[WifiConfiguration](../messages/Base/WifiConfiguration.md#)|Configures a specific Wi-Fi network| +|DeleteWifiConfiguration|[Empty](../messages/Common/Empty.md#)|[Ssid](../messages/Base/Ssid.md#)|Deletes a specific Wi-Fi network| +|GetAllConfiguredWifis|[WifiConfigurationList](../messages/Base/WifiConfigurationList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the list of configured Wi-Fi networks| +|ConnectWifi|[Empty](../messages/Common/Empty.md#)|[Ssid](../messages/Base/Ssid.md#)|Connects robot to specified Wi-Fi network| +|DisconnectWifi|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Disconnects the robot from the currently connected Wi-Fi network| +|GetConnectedWifiInformation|[WifiInformation](../messages/Base/WifiInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves information about the connected Wi-Fi network| +|Unsubscribe|[Empty](../messages/Common/Empty.md#)|[NotificationHandle](../messages/Common/NotificationHandle.md#)|Unsubscribes client from receiving notifications for the specified topic| +|ConfigurationChangeTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to configuration change topic for notifications| +|MappingInfoTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to mapping information topic for notifications| +|ControlModeTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to control mode topic for notifications| +|OperatingModeTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to operating mode topic for notifications| +|SequenceInfoTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to sequence information topic for notifications| +|ProtectionZoneTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to protection zone topic for notifications| +|UserTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to user topic for notifications| +|ControllerTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to controller topic for notifications| +|ActionTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to action topic for notifications| +|RobotEventTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to robot event topic for notifications| +|PlayCartesianTrajectory|[Empty](../messages/Common/Empty.md#)|[ConstrainedPose](../messages/Base/ConstrainedPose.md#)|Moves robot to the specifed tool pose \(position and orientation\) while imposing specified constraints| +|PlayCartesianTrajectoryPosition|[Empty](../messages/Common/Empty.md#)|[ConstrainedPosition](../messages/Base/ConstrainedPosition.md#)|Moves robot to the specifed position while imposing specified constraints| +|PlayCartesianTrajectoryOrientation|[Empty](../messages/Common/Empty.md#)|[ConstrainedOrientation](../messages/Base/ConstrainedOrientation.md#)|Moves to the specifed orientation while imposing specified constraints| +|Stop|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Stops robot movement| +|GetMeasuredCartesianPose|[Pose](../messages/Base/Pose.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the current computed tool pose \(position and orientation\) for the robot| +|SendWrenchCommand|[Empty](../messages/Common/Empty.md#)|[WrenchCommand](../messages/Base/WrenchCommand.md#)|Sends a wrench command \(screw consisting of force and torque\) to be applied to the tool. This method is EXPERIMENTAL.| +|SendWrenchJoystickCommand|[Empty](../messages/Common/Empty.md#)|[WrenchCommand](../messages/Base/WrenchCommand.md#)|Sends a wrench \(screw consisting of force and torque\) joystick command to be applied to the tool. The wrench values sent to this call are expected to be a ratio of maximum value \(between -1.0/+1.0\). This method is EXPERIMENTAL.| +|SendTwistJoystickCommand|[Empty](../messages/Common/Empty.md#)|[TwistCommand](../messages/Base/TwistCommand.md#)|Sends a twist \(screw consisting of linear and angular velocity\) joystick command to be applied to the tool. The twist values sent to this call are expected to be a ratio of the maximum value \(between -1.0/+1.0\).| +|SendTwistCommand|[Empty](../messages/Common/Empty.md#)|[TwistCommand](../messages/Base/TwistCommand.md#)|Sends a twist \(screw consisting of linear and angular velocity\) command to be applied to the tool| +|PlayJointTrajectory|[Empty](../messages/Common/Empty.md#)|[ConstrainedJointAngles](../messages/Base/ConstrainedJointAngles.md#)|Moves joints to the specified joint angles while imposing specified constraints| +|PlaySelectedJointTrajectory|[Empty](../messages/Common/Empty.md#)|[ConstrainedJointAngle](../messages/Base/ConstrainedJointAngle.md#)|Moves specifed joint to the specifed joint angle while imposing specified constraints| +|GetMeasuredJointAngles|[JointAngles](../messages/Base/JointAngles.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the currently measured joint angles for each joint| +|SendJointSpeedsCommand|[Empty](../messages/Common/Empty.md#)|[JointSpeeds](../messages/Base/JointSpeeds.md#)|Sends a set of joint speed commands to all joints with one command. Joint speed commmands must be sent to all joints. If you do not want to move some of the joints, simply send a speed value of 0 degrees / second for that joint.| +|SendSelectedJointSpeedCommand|[Empty](../messages/Common/Empty.md#)|[JointSpeed](../messages/Base/JointSpeed.md#)|Sends a speed command for a specific joint| +|SendGripperCommand|[Empty](../messages/Common/Empty.md#)|[GripperCommand](../messages/Base/GripperCommand.md#)|Sends a command to move the gripper| +|GetMeasuredGripperMovement|[Gripper](../messages/Base/Gripper.md#)|[GripperRequest](../messages/Base/GripperRequest.md#)|Retrieves the current gripper movement, that is the current gripper position, force or speed| +|SetAdmittance|[Empty](../messages/Common/Empty.md#)|[Admittance](../messages/Base/Admittance.md#)|Sets the robot in the chosen admittance mode| +|SetOperatingMode|[Empty](../messages/Common/Empty.md#)|[OperatingModeInformation](../messages/Base/OperatingModeInformation.md#)|Sets a new operating mode. Only Maintenance, Update and Run modes are permitted.| +|ApplyEmergencyStop|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Stops robot movement and activates emergency stop state. You will not be able to move the robot. Use ClearFaults\(\) to clear the stop.| +|ClearFaults|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Clears robot stop. Robot is permitted to move again.| +|GetControlMode|[ControlModeInformation](../messages/Base/ControlModeInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves current control mode| +|GetOperatingMode|[OperatingModeInformation](../messages/Base/OperatingModeInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves current operating mode| +|SetServoingMode|[Empty](../messages/Common/Empty.md#)|[ServoingModeInformation](../messages/Base/ServoingModeInformation.md#)|Sets the servoing mode| +|GetServoingMode|[ServoingModeInformation](../messages/Base/ServoingModeInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves current servoing mode| +|ServoingModeTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to servoing mode topic for notifications| +|RestoreFactorySettings|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Deletes all configurations and reverts settings to their factory defaults \(except network settings\)| +|Reboot|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Reboots the robot| +|FactoryTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to factory topic for notifications| +|GetAllConnectedControllers|[ControllerList](../messages/Base/ControllerList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the list of all connected controllers| +|GetControllerState|[ControllerState](../messages/Base/ControllerState.md#)|[ControllerHandle](../messages/Base/ControllerHandle.md#)|Retrieves the state of a specified controller| +|GetActuatorCount|[ActuatorInformation](../messages/Base/ActuatorInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the number of actuators in the robot| +|StartWifiScan|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Initiates Wi-Fi scanning| +|GetConfiguredWifi|[WifiConfiguration](../messages/Base/WifiConfiguration.md#)|[Ssid](../messages/Base/Ssid.md#)|Retrieves a configured Wi-Fi network| +|NetworkTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to network event notifications| +|GetArmState|[ArmStateInformation](../messages/Base/ArmStateInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves current robot arm state| +|ArmStateTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to robot arm state notifications| +|GetIPv4Information|[IPv4Information](../messages/Base/IPv4Information.md#)|[NetworkHandle](../messages/Base/NetworkHandle.md#)|Retrieves the IPv4 network information for the specified network adapter| +|SetWifiCountryCode|[Empty](../messages/Common/Empty.md#)|[CountryCode](../messages/Common/CountryCode.md#)|Sets the Wi-Fi country code| +|GetWifiCountryCode|[CountryCode](../messages/Common/CountryCode.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the Wi-Fi country code| +|SetCapSenseConfig|[Empty](../messages/Common/Empty.md#)|[CapSenseConfig](../messages/Base/CapSenseConfig.md#)|Configures capacitive sensor on the gripper or wrist| +|GetCapSenseConfig|[CapSenseConfig](../messages/Base/CapSenseConfig.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves configuration of capacitive sensor on the gripper or wrist| +|GetAllJointsSpeedHardLimitation|[JointsLimitationsList](../messages/Base/JointsLimitationsList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves speed hard limits for all joints| +|GetAllJointsTorqueHardLimitation|[JointsLimitationsList](../messages/Base/JointsLimitationsList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves torque hard limits for all joints| +|GetTwistHardLimitation|[TwistLimitation](../messages/Base/TwistLimitation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves twist hard limitations| +|GetWrenchHardLimitation|[WrenchLimitation](../messages/Base/WrenchLimitation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves wrench hard limitations| +|SendJointSpeedsJoystickCommand|[Empty](../messages/Common/Empty.md#)|[JointSpeeds](../messages/Base/JointSpeeds.md#)|Sends the desired joystick speeds to all joints with one command. The speed values sent to this call are expected to be a ratio of the maximum value \(between -1.0/+1.0\) Speeds must be sent to all joints. If you don't want to move some of the joints, send a value of 0.| +|SendSelectedJointSpeedJoystickCommand|[Empty](../messages/Common/Empty.md#)|[JointSpeed](../messages/Base/JointSpeed.md#)|Sends a joystick speed for a specific joint. The speed value sent to this call is expected to be a ratio of the maximum value \(between -1.0/+1.0\)| +|EnableBridge|[BridgeResult](../messages/Base/BridgeResult.md#)|[BridgeConfig](../messages/Base/BridgeConfig.md#)|Enables TCP bridge to hardware device| +|DisableBridge|[BridgeResult](../messages/Base/BridgeResult.md#)|[BridgeIdentifier](../messages/Base/BridgeIdentifier.md#)|Disables specified TCP bridge| +|GetBridgeList|[BridgeList](../messages/Base/BridgeList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves list of created bridges| +|GetBridgeConfig|[BridgeConfig](../messages/Base/BridgeConfig.md#)|[BridgeIdentifier](../messages/Base/BridgeIdentifier.md#)|Retrieves configuration for specified bridge| +|PlayPreComputedJointTrajectory|[Empty](../messages/Common/Empty.md#)|[PreComputedJointTrajectory](../messages/Base/PreComputedJointTrajectory.md#)|Plays a pre-computed angular trajectory| +|GetProductConfiguration|[CompleteProductConfiguration](../messages/ProductConfiguration/CompleteProductConfiguration.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves product configuration information| +|UpdateDegreeOfFreedomConfiguration|[Empty](../messages/Common/Empty.md#)|[ProductConfigurationDegreeOfFreedom](../messages/ProductConfiguration/ProductConfigurationDegreeOfFreedom.md#)|Set new value for Degree of Freedom in product configuration \(Identification Number\)| +|UpdateBaseTypeConfiguration|[Empty](../messages/Common/Empty.md#)|[ProductConfigurationBaseType](../messages/ProductConfiguration/ProductConfigurationBaseType.md#)|Set new Base type in product configuration \(Identification Number\)| +|UpdateEndEffectorTypeConfiguration|[Empty](../messages/Common/Empty.md#)|[ProductConfigurationEndEffectorType](../messages/ProductConfiguration/ProductConfigurationEndEffectorType.md#)|Set new end-effector type in product configuration \(Identification Number\)| +|UpdateVisionModuleTypeConfiguration|[Empty](../messages/Common/Empty.md#)|[ProductConfigurationVisionModuleType](../messages/ProductConfiguration/ProductConfigurationVisionModuleType.md#)|Set new vision module type in product configuration \(Identification Number\)| +|UpdateInterfaceModuleTypeConfiguration|[Empty](../messages/Common/Empty.md#)|[ProductConfigurationInterfaceModuleType](../messages/ProductConfiguration/ProductConfigurationInterfaceModuleType.md#)|Set new interface module type in product configuration \(Identification Number\)| +|UpdateArmLateralityConfiguration|[Empty](../messages/Common/Empty.md#)|[ProductConfigurationLaterality](../messages/ProductConfiguration/ProductConfigurationLaterality.md#)|Set new arm laterality in product configuration \(Identification Number\)| +|UpdateWristTypeConfiguration|[Empty](../messages/Common/Empty.md#)|[ProductConfigurationWristType](../messages/ProductConfiguration/ProductConfigurationWristType.md#)|Sets new wrist type in product configuration \(Identification Number\)| +|RestoreFactoryProductConfiguration|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Restores product configuration to factory product configuration| +|GetTrajectoryErrorReport|[TrajectoryErrorReport](../messages/Base/TrajectoryErrorReport.md#)|[Empty](../messages/Common/Empty.md#)|Obtains trajectory error report listing errors for rejected trajectory. Provides some feedback on why the trajectory could not be completed.| +|GetAllJointsSpeedSoftLimitation|[JointsLimitationsList](../messages/Base/JointsLimitationsList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves list of soft speed limits for all joints| +|GetAllJointsTorqueSoftLimitation|[JointsLimitationsList](../messages/Base/JointsLimitationsList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves list of soft torque limits for all joints| +|GetTwistSoftLimitation|[TwistLimitation](../messages/Base/TwistLimitation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves all twist soft limitations| +|GetWrenchSoftLimitation|[WrenchLimitation](../messages/Base/WrenchLimitation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves all wrench soft limitations| + diff --git a/api_python/doc/markdown/summary_pages/BaseCyclic.md b/api_python/doc/markdown/summary_pages/BaseCyclic.md new file mode 100644 index 00000000..5e9086af --- /dev/null +++ b/api_python/doc/markdown/summary_pages/BaseCyclic.md @@ -0,0 +1,37 @@ +# BaseCyclic \(Python\) + +This page describes the Python BaseCyclic API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[ActuatorCommand](../messages/BaseCyclic/ActuatorCommand.md#)|Defines an actuator command| +|[ActuatorCustomData](../messages/BaseCyclic/ActuatorCustomData.md#)|Custom development data from an actuator, content varies according to debug needs| +|[ActuatorFeedback](../messages/BaseCyclic/ActuatorFeedback.md#)|Defines the feedback provided by an actuator| +|[BaseFeedback](../messages/BaseCyclic/BaseFeedback.md#)|Defines the feedback provided by the base| +|[Command](../messages/BaseCyclic/Command.md#)|Defines a command provided to robot devices \(actuators and interface\)| +|[CustomData](../messages/BaseCyclic/CustomData.md#)|Custom development data, content varies according to debug needs| +|[Feedback](../messages/BaseCyclic/Feedback.md#)|Defines the feedback provided by robot devices \(base, actuators and interface\)| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ServiceVersion](../enums/BaseCyclic/ServiceVersion.md#)|Identifies BaseCyclic current version| + +Service to exchange cyclic data with base + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|Refresh|[Feedback](../messages/BaseCyclic/Feedback.md#)|[Command](../messages/BaseCyclic/Command.md#)|Sends a command to actuators and interface and returns feedback from base, actuators, and interface on actual status| +|RefreshCommand|[Empty](../messages/Common/Empty.md#)|[Command](../messages/BaseCyclic/Command.md#)|Sends a command to actuators and interface without receiving feedback| +|RefreshFeedback|[Feedback](../messages/BaseCyclic/Feedback.md#)|[Empty](../messages/Common/Empty.md#)|Obtains feedback from base, actuators, and interface on their status| +|RefreshCustomData|[CustomData](../messages/BaseCyclic/CustomData.md#)|[CustomData](../messages/BaseCyclic/CustomData.md#)|Retrieves custom data| + diff --git a/api_python/doc/markdown/summary_pages/Common.md b/api_python/doc/markdown/summary_pages/Common.md new file mode 100644 index 00000000..ba29866f --- /dev/null +++ b/api_python/doc/markdown/summary_pages/Common.md @@ -0,0 +1,42 @@ +# Common \(Python\) + +This page describes the Python Common API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[Connection](../messages/Common/Connection.md#)|Connection between a user and the robot| +|[CountryCode](../messages/Common/CountryCode.md#)|Country code| +|[DeviceHandle](../messages/Common/DeviceHandle.md#)|Reference to a specific device| +|[Empty](../messages/Common/Empty.md#)|Message used when no information needs to be exchanged between client application and robot, and vice versa| +|[NotificationHandle](../messages/Common/NotificationHandle.md#)|Reference to a specific notification topic| +|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Specifies options associated to a notification| +|[SafetyHandle](../messages/Common/SafetyHandle.md#)|Reference to a specific safety| +|[SafetyNotification](../messages/Common/SafetyNotification.md#)|Notification about a single safety event| +|[Timestamp](../messages/Common/Timestamp.md#)|Timestamp based on Epoch \(00:00:00 Thursday, January 1, 1970\)| +|[UARTConfiguration](../messages/Common/UARTConfiguration.md#)|UART configuration details| +|[UARTDeviceIdentification](../messages/Common/UARTDeviceIdentification.md#)|UART port id identification| +|[UserProfileHandle](../messages/Common/UserProfileHandle.md#)|Reference to a user profile| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ArmState](../enums/Common/ArmState.md#)|Admissible robot arm states| +|[CartesianReferenceFrame](../enums/Common/CartesianReferenceFrame.md#)|Admissible Cartesian reference frame modes| +|[CountryCodeIdentifier](../enums/Common/CountryCodeIdentifier.md#)|Supported ISO3166 country identifiers| +|[DeviceTypes](../enums/Common/DeviceTypes.md#)|Admissible device types| +|[NotificationType](../enums/Common/NotificationType.md#)|Admissible notification types| +|[Permission](../enums/Common/Permission.md#)|Admissible permissions. Used as bitfields| +|[SafetyStatusValue](../enums/Common/SafetyStatusValue.md#)|Admissible safety statuses| +|[UARTParity](../enums/Common/UARTParity.md#)|Admissible UART parity mode| +|[UARTSpeed](../enums/Common/UARTSpeed.md#)|Admissible UART baudrates| +|[UARTStopBits](../enums/Common/UARTStopBits.md#)|Admissible UART stop bits| +|[UARTWordLength](../enums/Common/UARTWordLength.md#)|Admissible UART word lengths| +|[Unit](../enums/Common/Unit.md#)|Admissible units used throughout API methods| + diff --git a/api_python/doc/markdown/summary_pages/ControlConfig.md b/api_python/doc/markdown/summary_pages/ControlConfig.md new file mode 100644 index 00000000..bb48c191 --- /dev/null +++ b/api_python/doc/markdown/summary_pages/ControlConfig.md @@ -0,0 +1,44 @@ +# ControlConfig \(Python\) + +This page describes the Python ControlConfig API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[CartesianReferenceFrameInfo](../messages/ControlConfig/CartesianReferenceFrameInfo.md#)|Cartesian reference frame| +|[CartesianTransform](../messages/ControlConfig/CartesianTransform.md#)|Defines a Cartesian transform| +|[ControlConfigurationNotification](../messages/ControlConfig/ControlConfigurationNotification.md#)|Notification about a single control configuration event| +|[GravityVector](../messages/ControlConfig/GravityVector.md#)|Defines the gravity vector in terms of the robot base frame. If not explicitly configured, it defaults to \(0, 0, -9.81\), assuming a mounting on a horizontal surface. If the robot is mounted on a wall or ceiling, the gravity vector relative to the base frame will change. The control library needs to be aware of this to accurately compensate for gravity.| +|[PayloadInformation](../messages/ControlConfig/PayloadInformation.md#)|Defines payload information| +|[Position](../messages/ControlConfig/Position.md#)|A Cartesian position| +|[ToolConfiguration](../messages/ControlConfig/ToolConfiguration.md#)|Defines a tool configuration| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ControlConfigurationEvent](../enums/ControlConfig/ControlConfigurationEvent.md#)|Admissible control configuration events| +|[ServiceVersion](../enums/ControlConfig/ServiceVersion.md#)|Identifies ControlConfig current version| + +Service to configure robot control library + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|SetGravityVector|[Empty](../messages/Common/Empty.md#)|[GravityVector](../messages/ControlConfig/GravityVector.md#)|Sets global gravity vector in terms of base reference frame. This needs to be configured to enable control of the robot in wall or ceiling mounting of the robot.| +|GetGravityVector|[GravityVector](../messages/ControlConfig/GravityVector.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves global gravity vector| +|SetPayloadInformation|[Empty](../messages/Common/Empty.md#)|[PayloadInformation](../messages/ControlConfig/PayloadInformation.md#)|Sets payload information. This needs to be configured so that the control library can take into account the presence of the payload mass in computing the dynamics of the robot.| +|GetPayloadInformation|[PayloadInformation](../messages/ControlConfig/PayloadInformation.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves payload information| +|SetToolConfiguration|[Empty](../messages/Common/Empty.md#)|[ToolConfiguration](../messages/ControlConfig/ToolConfiguration.md#)|Sets tool configuration. This needs to be configured for two reasons. 1\) so that the control library can take into account the presence of the tool mass in computing the dynamics of the robot. 2\) so that the robot is aware of the tool frame center relative position and orientation to correctly compute and report the tool position.| +|GetToolConfiguration|[ToolConfiguration](../messages/ControlConfig/ToolConfiguration.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves tool configuration| +|ControlConfigurationTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to control configuration notifications| +|Unsubscribe|[Empty](../messages/Common/Empty.md#)|[NotificationHandle](../messages/Common/NotificationHandle.md#)|Unsubscribes client from receiving specified type of notifications| +|SetCartesianReferenceFrame|[Empty](../messages/Common/Empty.md#)|[CartesianReferenceFrameInfo](../messages/ControlConfig/CartesianReferenceFrameInfo.md#)|Defines the reference frame to use with twist and wrench commands| +|GetCartesianReferenceFrame|[CartesianReferenceFrameInfo](../messages/ControlConfig/CartesianReferenceFrameInfo.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the current reference frame used by the twist and wrench commands| + diff --git a/api_python/doc/markdown/summary_pages/DeviceConfig.md b/api_python/doc/markdown/summary_pages/DeviceConfig.md new file mode 100644 index 00000000..2dfa263b --- /dev/null +++ b/api_python/doc/markdown/summary_pages/DeviceConfig.md @@ -0,0 +1,90 @@ +# DeviceConfig \(Python\) + +This page describes the Python DeviceConfig API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[BootloaderVersion](../messages/DeviceConfig/BootloaderVersion.md#)|Bootloader version for the device| +|[Calibration](../messages/DeviceConfig/Calibration.md#)|Calibration information to push to device| +|[CalibrationElement](../messages/DeviceConfig/CalibrationElement.md#)|Calibration element| +|[CalibrationParameter](../messages/DeviceConfig/CalibrationParameter.md#)|Single calibration parameter information| +|[CalibrationResult](../messages/DeviceConfig/CalibrationResult.md#)|Result of a calibration| +|[CapSenseConfig](../messages/DeviceConfig/CapSenseConfig.md#)|Capacitive sensor configuration message| +|[CapSenseRegister](../messages/DeviceConfig/CapSenseRegister.md#)|Message used to address a register| +|[DeviceType](../messages/DeviceConfig/DeviceType.md#)|Device type| +|[FirmwareVersion](../messages/DeviceConfig/FirmwareVersion.md#)|Firmware version for the device| +|[IPv4Settings](../messages/DeviceConfig/IPv4Settings.md#)|IPv4 settings for the device, including address, subnet mask, and default gateway| +|[MACAddress](../messages/DeviceConfig/MACAddress.md#)|MAC address for the device| +|[ModelNumber](../messages/DeviceConfig/ModelNumber.md#)|Model number for the device| +|[PartNumber](../messages/DeviceConfig/PartNumber.md#)|Part number for the device| +|[PartNumberRevision](../messages/DeviceConfig/PartNumberRevision.md#)|Part number revision for the device| +|[PowerOnSelfTestResult](../messages/DeviceConfig/PowerOnSelfTestResult.md#)|Result of power on self test| +|[RebootRqst](../messages/DeviceConfig/RebootRqst.md#)|Reboot request with bootloader delay| +|[RunMode](../messages/DeviceConfig/RunMode.md#)|Run mode| +|[SafetyConfiguration](../messages/DeviceConfig/SafetyConfiguration.md#)|Configuration for a safety| +|[SafetyConfigurationList](../messages/DeviceConfig/SafetyConfigurationList.md#)|Array of safety configurations| +|[SafetyEnable](../messages/DeviceConfig/SafetyEnable.md#)|Enable or disable a specific safety| +|[SafetyInformation](../messages/DeviceConfig/SafetyInformation.md#)|Information about a specific safety| +|[SafetyInformationList](../messages/DeviceConfig/SafetyInformationList.md#)|Array of safety information| +|[SafetyStatus](../messages/DeviceConfig/SafetyStatus.md#)|Safety status| +|[SafetyThreshold](../messages/DeviceConfig/SafetyThreshold.md#)|Configure threshold of a specific safety| +|[SerialNumber](../messages/DeviceConfig/SerialNumber.md#)|Serial number for the device| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[CalibrationItem](../enums/DeviceConfig/CalibrationItem.md#)|Admissible calibration items| +|[CalibrationStatus](../enums/DeviceConfig/CalibrationStatus.md#)|Admissible calibration status| +|[CapSenseMode](../enums/DeviceConfig/CapSenseMode.md#)|Admissible capacitive sensor mode| +|[RunModes](../enums/DeviceConfig/RunModes.md#)|Options for the run mode for the device| +|[SafetyLimitType](../enums/DeviceConfig/SafetyLimitType.md#)|Types of safeties limits| +|[ServiceVersion](../enums/DeviceConfig/ServiceVersion.md#)|Identifies DeviceConfig current version| + +Service to get and set device configuration information + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|GetRunMode|[RunMode](../messages/DeviceConfig/RunMode.md#)|[Empty](../messages/Common/Empty.md#)|Returns the run mode for the device| +|SetRunMode|[Empty](../messages/Common/Empty.md#)|[RunMode](../messages/DeviceConfig/RunMode.md#)|Sets the run mode for the device| +|GetDeviceType|[DeviceType](../messages/DeviceConfig/DeviceType.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the type for the device| +|GetFirmwareVersion|[FirmwareVersion](../messages/DeviceConfig/FirmwareVersion.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the device firmware version| +|GetBootloaderVersion|[BootloaderVersion](../messages/DeviceConfig/BootloaderVersion.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the device bootloader version| +|GetModelNumber|[ModelNumber](../messages/DeviceConfig/ModelNumber.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the device model number| +|GetPartNumber|[PartNumber](../messages/DeviceConfig/PartNumber.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the device part number| +|GetSerialNumber|[SerialNumber](../messages/DeviceConfig/SerialNumber.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the device serial number| +|GetMACAddress|[MACAddress](../messages/DeviceConfig/MACAddress.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the device MAC address| +|GetIPv4Settings|[IPv4Settings](../messages/DeviceConfig/IPv4Settings.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the device IPv4 settings \(not implemented on Base\)| +|SetIPv4Settings|[Empty](../messages/Common/Empty.md#)|[IPv4Settings](../messages/DeviceConfig/IPv4Settings.md#)|Sets the device IPv4 settings \(not implemented on Base\)| +|GetPartNumberRevision|[PartNumberRevision](../messages/DeviceConfig/PartNumberRevision.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the device part number revision| +|RebootRequest|[Empty](../messages/Common/Empty.md#)|[RebootRqst](../messages/DeviceConfig/RebootRqst.md#)|Sends a request to the device to reboot| +|SetSafetyEnable|[Empty](../messages/Common/Empty.md#)|[SafetyEnable](../messages/DeviceConfig/SafetyEnable.md#)|Enables \(disable\) the specified safety| +|SetSafetyErrorThreshold|[Empty](../messages/Common/Empty.md#)|[SafetyThreshold](../messages/DeviceConfig/SafetyThreshold.md#)|Sets the error threshold for the specified safety| +|SetSafetyWarningThreshold|[Empty](../messages/Common/Empty.md#)|[SafetyThreshold](../messages/DeviceConfig/SafetyThreshold.md#)|Sets the warning threshold for the specified safety| +|SetSafetyConfiguration|[Empty](../messages/Common/Empty.md#)|[SafetyConfiguration](../messages/DeviceConfig/SafetyConfiguration.md#)|Configures the specified safety \(i.e. sets error and warning thresholds\)| +|GetSafetyConfiguration|[SafetyConfiguration](../messages/DeviceConfig/SafetyConfiguration.md#)|[SafetyHandle](../messages/Common/SafetyHandle.md#)|Retrieves configuration about the specified safety| +|GetSafetyInformation|[SafetyInformation](../messages/DeviceConfig/SafetyInformation.md#)|[SafetyHandle](../messages/Common/SafetyHandle.md#)|Retrieves information about the specified safety| +|GetSafetyEnable|[SafetyEnable](../messages/DeviceConfig/SafetyEnable.md#)|[SafetyHandle](../messages/Common/SafetyHandle.md#)|Indicates if specified safety is enabled \(or disabled\)| +|GetSafetyStatus|[SafetyStatus](../messages/DeviceConfig/SafetyStatus.md#)|[SafetyHandle](../messages/Common/SafetyHandle.md#)|Indicates if the specified safety is raised| +|ClearAllSafetyStatus|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Clear all safety status for this device if they are no longer raised| +|ClearSafetyStatus|[Empty](../messages/Common/Empty.md#)|[SafetyHandle](../messages/Common/SafetyHandle.md#)|Clear a specific safety status if it is no longer raised| +|GetAllSafetyConfiguration|[SafetyConfigurationList](../messages/DeviceConfig/SafetyConfigurationList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves configuration on all safeties| +|GetAllSafetyInformation|[SafetyInformationList](../messages/DeviceConfig/SafetyInformationList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves information on all safeties| +|ResetSafetyDefaults|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Restores all safety configurations to factory defaults| +|SafetyTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to safety notifications| +|ExecuteCalibration|[Empty](../messages/Common/Empty.md#)|[Calibration](../messages/DeviceConfig/Calibration.md#)|Starts device calibration \(intended for Kinova Production of Pico\)| +|GetCalibrationResult|[CalibrationResult](../messages/DeviceConfig/CalibrationResult.md#)|[CalibrationElement](../messages/DeviceConfig/CalibrationElement.md#)|Retrieves the status/result of device calibration \(intended for Kinova Production of Pico\)| +|StopCalibration|[CalibrationResult](../messages/DeviceConfig/CalibrationResult.md#)|[Calibration](../messages/DeviceConfig/Calibration.md#)|Stop calibration in progress| +|SetCapSenseConfig|[Empty](../messages/Common/Empty.md#)|[CapSenseConfig](../messages/DeviceConfig/CapSenseConfig.md#)|Sets the capacitive sensor calibration| +|GetCapSenseConfig|[CapSenseConfig](../messages/DeviceConfig/CapSenseConfig.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the capacitive sensor calibration| +|ReadCapSenseRegister|[CapSenseRegister](../messages/DeviceConfig/CapSenseRegister.md#)|[CapSenseRegister](../messages/DeviceConfig/CapSenseRegister.md#)|Reads low-level register from the capacitive sensor \(for Kinova internal use ony, not to be used in the field\)| +|WriteCapSenseRegister|[Empty](../messages/Common/Empty.md#)|[CapSenseRegister](../messages/DeviceConfig/CapSenseRegister.md#)|Writes to low-level register of the capacitive sensor \(for Kinova internal use ony, not to be used in the field\)| + diff --git a/api_python/doc/markdown/summary_pages/DeviceManager.md b/api_python/doc/markdown/summary_pages/DeviceManager.md new file mode 100644 index 00000000..f11fb689 --- /dev/null +++ b/api_python/doc/markdown/summary_pages/DeviceManager.md @@ -0,0 +1,28 @@ +# DeviceManager \(Python\) + +This page describes the Python DeviceManager API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[DeviceHandles](../messages/DeviceManager/DeviceHandles.md#)|Array of Device handles| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ServiceVersion](../enums/DeviceManager/ServiceVersion.md#)|Identifies DeviceManager service current version| + +This service provides information about which devices are present in the robot + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|ReadAllDevices|[DeviceHandles](../messages/DeviceManager/DeviceHandles.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the list of every device that the system contains, along with its type and order within the system| + diff --git a/api_python/doc/markdown/summary_pages/GripperConfig.md b/api_python/doc/markdown/summary_pages/GripperConfig.md new file mode 100644 index 00000000..60765b0a --- /dev/null +++ b/api_python/doc/markdown/summary_pages/GripperConfig.md @@ -0,0 +1,15 @@ +# GripperConfig \(Python\) + +This page describes the Python GripperConfig API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[RobotiqGripperStatusFlags](../enums/GripperConfig/RobotiqGripperStatusFlags.md#)|Status flags for Robotiq Adaptive Gripper| +|[SafetyIdentifier](../enums/GripperConfig/SafetyIdentifier.md#)|Gripper safety identifier| + diff --git a/api_python/doc/markdown/summary_pages/GripperCyclic.md b/api_python/doc/markdown/summary_pages/GripperCyclic.md new file mode 100644 index 00000000..0feb1c1a --- /dev/null +++ b/api_python/doc/markdown/summary_pages/GripperCyclic.md @@ -0,0 +1,37 @@ +# GripperCyclic \(Python\) + +This page describes the Python GripperCyclic API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[Command](../messages/GripperCyclic/Command.md#)|Command sent to a gripper| +|[CustomData](../messages/GripperCyclic/CustomData.md#)|Custom data from gripper and gripper motors| +|[CustomDataUnit](../messages/GripperCyclic/CustomDataUnit.md#)|Custom data| +|[Feedback](../messages/GripperCyclic/Feedback.md#)|Status feedback from a gripper| +|[MessageId](../messages/GripperCyclic/MessageId.md#)|Message identifier for command or feedback| +|[MotorCommand](../messages/GripperCyclic/MotorCommand.md#)|Command to a single gripper motor| +|[MotorFeedback](../messages/GripperCyclic/MotorFeedback.md#)|Status feedback from a single gripper motor| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ServiceVersion](../enums/GripperCyclic/ServiceVersion.md#)| | + +Service to exchange cyclic data with gripper + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|Refresh|[Feedback](../messages/GripperCyclic/Feedback.md#)|[Command](../messages/GripperCyclic/Command.md#)|Sends a command to the gripper and receives feedback about the actual status of the gripper| +|RefreshCommand|[Empty](../messages/Common/Empty.md#)|[Command](../messages/GripperCyclic/Command.md#)|Sends a command to the gripper without receiving feedback| +|RefreshFeedback|[Feedback](../messages/GripperCyclic/Feedback.md#)|[MessageId](../messages/GripperCyclic/MessageId.md#)|Obtains feedback from the gripper on its status| +|RefreshCustomData|[CustomData](../messages/GripperCyclic/CustomData.md#)|[MessageId](../messages/GripperCyclic/MessageId.md#)|Obtains custom data from the gripper| + diff --git a/api_python/doc/markdown/summary_pages/InterconnectConfig.md b/api_python/doc/markdown/summary_pages/InterconnectConfig.md new file mode 100644 index 00000000..7edba0ae --- /dev/null +++ b/api_python/doc/markdown/summary_pages/InterconnectConfig.md @@ -0,0 +1,65 @@ +# InterconnectConfig \(Python\) + +This page describes the Python InterconnectConfig API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[EthernetConfiguration](../messages/InterconnectConfig/EthernetConfiguration.md#)|Ethernet configuration information| +|[EthernetDeviceIdentification](../messages/InterconnectConfig/EthernetDeviceIdentification.md#)|Ethernet device identification| +|[GPIOConfiguration](../messages/InterconnectConfig/GPIOConfiguration.md#)|GPIO configuration information| +|[GPIOIdentification](../messages/InterconnectConfig/GPIOIdentification.md#)|GPIO identification| +|[GPIOState](../messages/InterconnectConfig/GPIOState.md#)|GPIO state| +|[I2CConfiguration](../messages/InterconnectConfig/I2CConfiguration.md#)|I2C configuration information| +|[I2CData](../messages/InterconnectConfig/I2CData.md#)|I2C data| +|[I2CDeviceIdentification](../messages/InterconnectConfig/I2CDeviceIdentification.md#)|I2C device identification| +|[I2CReadParameter](../messages/InterconnectConfig/I2CReadParameter.md#)|I2C read request| +|[I2CReadRegisterParameter](../messages/InterconnectConfig/I2CReadRegisterParameter.md#)|I2C read register request| +|[I2CWriteParameter](../messages/InterconnectConfig/I2CWriteParameter.md#)|I2C write request| +|[I2CWriteRegisterParameter](../messages/InterconnectConfig/I2CWriteRegisterParameter.md#)|I2C write register request| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[EthernetDevice](../enums/InterconnectConfig/EthernetDevice.md#)|Admissible Ethernet device| +|[EthernetDuplex](../enums/InterconnectConfig/EthernetDuplex.md#)|Admissible Ethernet duplex mode| +|[EthernetSpeed](../enums/InterconnectConfig/EthernetSpeed.md#)|Admissible Ethernet speed| +|[GPIOIdentifier](../enums/InterconnectConfig/GPIOIdentifier.md#)|Admissible GPIO identifier| +|[GPIOMode](../enums/InterconnectConfig/GPIOMode.md#)|Admissible GPIO mode| +|[GPIOPull](../enums/InterconnectConfig/GPIOPull.md#)|Admissible GPIO pull mode| +|[GPIOValue](../enums/InterconnectConfig/GPIOValue.md#)|Admissible GPIO value| +|[I2CDevice](../enums/InterconnectConfig/I2CDevice.md#)|Admissible I2C device| +|[I2CDeviceAddressing](../enums/InterconnectConfig/I2CDeviceAddressing.md#)|I2C device addressing mode| +|[I2CMode](../enums/InterconnectConfig/I2CMode.md#)|I2C mode| +|[I2CRegisterAddressSize](../enums/InterconnectConfig/I2CRegisterAddressSize.md#)|I2C register address size| +|[SafetyIdentifier](../enums/InterconnectConfig/SafetyIdentifier.md#)|Admissible interface module safeties| +|[ServiceVersion](../enums/InterconnectConfig/ServiceVersion.md#)|Identifies InterconnectConfig current version| +|[UARTPortId](../enums/InterconnectConfig/UARTPortId.md#)|Admissible UART port| + +Service to get and set interface module \(interconnect\) configuration information, including user expansion + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|GetUARTConfiguration|[UARTConfiguration](../messages/Common/UARTConfiguration.md#)|[UARTDeviceIdentification](../messages/Common/UARTDeviceIdentification.md#)|Retrieves user UART configuration| +|SetUARTConfiguration|[Empty](../messages/Common/Empty.md#)|[UARTConfiguration](../messages/Common/UARTConfiguration.md#)|Configures user UART| +|GetEthernetConfiguration|[EthernetConfiguration](../messages/InterconnectConfig/EthernetConfiguration.md#)|[EthernetDeviceIdentification](../messages/InterconnectConfig/EthernetDeviceIdentification.md#)|Retrieves user Ethernet configuration| +|SetEthernetConfiguration|[Empty](../messages/Common/Empty.md#)|[EthernetConfiguration](../messages/InterconnectConfig/EthernetConfiguration.md#)|Configures user Ethernet port| +|GetGPIOConfiguration|[GPIOConfiguration](../messages/InterconnectConfig/GPIOConfiguration.md#)|[GPIOIdentification](../messages/InterconnectConfig/GPIOIdentification.md#)|Retrieves user GPIO configuration| +|SetGPIOConfiguration|[Empty](../messages/Common/Empty.md#)|[GPIOConfiguration](../messages/InterconnectConfig/GPIOConfiguration.md#)|Configures user GPIO| +|GetGPIOState|[GPIOState](../messages/InterconnectConfig/GPIOState.md#)|[GPIOIdentification](../messages/InterconnectConfig/GPIOIdentification.md#)|Retrieves user GPIO state| +|SetGPIOState|[Empty](../messages/Common/Empty.md#)|[GPIOState](../messages/InterconnectConfig/GPIOState.md#)|Configures user GPIO state| +|GetI2CConfiguration|[I2CConfiguration](../messages/InterconnectConfig/I2CConfiguration.md#)|[I2CDeviceIdentification](../messages/InterconnectConfig/I2CDeviceIdentification.md#)|Retrieves user I2C configuration| +|SetI2CConfiguration|[Empty](../messages/Common/Empty.md#)|[I2CConfiguration](../messages/InterconnectConfig/I2CConfiguration.md#)|Configures user I2C| +|I2CRead|[I2CData](../messages/InterconnectConfig/I2CData.md#)|[I2CReadParameter](../messages/InterconnectConfig/I2CReadParameter.md#)|Performs an I2C read request| +|I2CReadRegister|[I2CData](../messages/InterconnectConfig/I2CData.md#)|[I2CReadRegisterParameter](../messages/InterconnectConfig/I2CReadRegisterParameter.md#)|Performs an I2C read register request| +|I2CWrite|[Empty](../messages/Common/Empty.md#)|[I2CWriteParameter](../messages/InterconnectConfig/I2CWriteParameter.md#)|Performs an I2C write request| +|I2CWriteRegister|[Empty](../messages/Common/Empty.md#)|[I2CWriteRegisterParameter](../messages/InterconnectConfig/I2CWriteRegisterParameter.md#)|Performs an I2C write register request| + diff --git a/api_python/doc/markdown/summary_pages/InterconnectCyclic.md b/api_python/doc/markdown/summary_pages/InterconnectCyclic.md new file mode 100644 index 00000000..0673473d --- /dev/null +++ b/api_python/doc/markdown/summary_pages/InterconnectCyclic.md @@ -0,0 +1,34 @@ +# InterconnectCyclic \(Python\) + +This page describes the Python InterconnectCyclic API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[Command](../messages/InterconnectCyclic/Command.md#)|Interface module command| +|[CustomData](../messages/InterconnectCyclic/CustomData.md#)|Custom development data, content varies according to debugging needs| +|[Feedback](../messages/InterconnectCyclic/Feedback.md#)|Defines the feedback provided by interface module| +|[MessageId](../messages/InterconnectCyclic/MessageId.md#)|Identifies a message| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ServiceVersion](../enums/InterconnectCyclic/ServiceVersion.md#)|Identifies InterconnectCyclic service current version| + +Service to exchange cyclic data with interface module + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|Refresh|[Feedback](../messages/InterconnectCyclic/Feedback.md#)|[Command](../messages/InterconnectCyclic/Command.md#)|Sends a command to the interface module and receive feedback about the actual status| +|RefreshCommand|[Empty](../messages/Common/Empty.md#)|[Command](../messages/InterconnectCyclic/Command.md#)|Sends a command to the interface module without receiving feedback| +|RefreshFeedback|[Feedback](../messages/InterconnectCyclic/Feedback.md#)|[MessageId](../messages/InterconnectCyclic/MessageId.md#)|Obtains feedback from the interface module on its status| +|RefreshCustomData|[CustomData](../messages/InterconnectCyclic/CustomData.md#)|[MessageId](../messages/InterconnectCyclic/MessageId.md#)|Obtains custom data from the interface module| + diff --git a/api_python/doc/markdown/summary_pages/ProductConfiguration.md b/api_python/doc/markdown/summary_pages/ProductConfiguration.md new file mode 100644 index 00000000..fbd990c7 --- /dev/null +++ b/api_python/doc/markdown/summary_pages/ProductConfiguration.md @@ -0,0 +1,33 @@ +# ProductConfiguration \(Python\) + +This page describes the Python ProductConfiguration API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[CompleteProductConfiguration](../messages/ProductConfiguration/CompleteProductConfiguration.md#)|Complete configuration for a given device| +|[ProductConfigurationBaseType](../messages/ProductConfiguration/ProductConfigurationBaseType.md#)|New base type configuration| +|[ProductConfigurationDegreeOfFreedom](../messages/ProductConfiguration/ProductConfigurationDegreeOfFreedom.md#)|New degree of freedom configuration| +|[ProductConfigurationEndEffectorType](../messages/ProductConfiguration/ProductConfigurationEndEffectorType.md#)|New end-effector installed on arm| +|[ProductConfigurationInterfaceModuleType](../messages/ProductConfiguration/ProductConfigurationInterfaceModuleType.md#)|New interface module installed on arm| +|[ProductConfigurationLaterality](../messages/ProductConfiguration/ProductConfigurationLaterality.md#)|New arm laterality for the arm| +|[ProductConfigurationVisionModuleType](../messages/ProductConfiguration/ProductConfigurationVisionModuleType.md#)|New vision module installed on arm| +|[ProductConfigurationWristType](../messages/ProductConfiguration/ProductConfigurationWristType.md#)|New wrist type for the arm| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ArmLaterality](../enums/ProductConfiguration/ArmLaterality.md#)|Admissible arm laterality| +|[BaseType](../enums/ProductConfiguration/BaseType.md#)|Admissible base types| +|[EndEffectorType](../enums/ProductConfiguration/EndEffectorType.md#)|Admissible end-effector modules| +|[InterfaceModuleType](../enums/ProductConfiguration/InterfaceModuleType.md#)|Admissible interface modules| +|[ModelId](../enums/ProductConfiguration/ModelId.md#)|Admissible model identification| +|[VisionModuleType](../enums/ProductConfiguration/VisionModuleType.md#)|Admissible vision modules| +|[WristType](../enums/ProductConfiguration/WristType.md#)|Admissible wrist types| + diff --git a/api_python/doc/markdown/summary_pages/Session.md b/api_python/doc/markdown/summary_pages/Session.md new file mode 100644 index 00000000..153e31be --- /dev/null +++ b/api_python/doc/markdown/summary_pages/Session.md @@ -0,0 +1,32 @@ +# Session \(Python\) + +This page describes the Python Session API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[ConnectionList](../messages/Session/ConnectionList.md#)|Array of connections| +|[CreateSessionInfo](../messages/Session/CreateSessionInfo.md#)|Parameters needed to create a new session| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[ServiceVersion](../enums/Session/ServiceVersion.md#)|Identifies session service current version| + +Service to manage user sessions + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|CreateSession|[Empty](../messages/Common/Empty.md#)|[CreateSessionInfo](../messages/Session/CreateSessionInfo.md#)|Creates a new session on the robot using given values for user name, session timeout value, and password| +|CloseSession|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Closes an existing open session| +|KeepAlive|[Empty](../messages/Common/Empty.md#)|[Empty](../messages/Common/Empty.md#)|Sends message to robot to keep current session alive| +|GetConnections|[ConnectionList](../messages/Session/ConnectionList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves the list of connections| + diff --git a/api_python/doc/markdown/summary_pages/VisionConfig.md b/api_python/doc/markdown/summary_pages/VisionConfig.md new file mode 100644 index 00000000..3b8969aa --- /dev/null +++ b/api_python/doc/markdown/summary_pages/VisionConfig.md @@ -0,0 +1,61 @@ +# VisionConfig \(Python\) + +This page describes the Python VisionConfig API. + +## Class reference + +This section describes the data classes used in this API, as well as their member values and member functions. + + **Messages** + +|Class|Description| +|-----|-----------| +|[DistortionCoefficients](../messages/VisionConfig/DistortionCoefficients.md#)|Distortion coefficients for sensor intrinsic parameters| +|[ExtrinsicParameters](../messages/VisionConfig/ExtrinsicParameters.md#)|Sensor extrinsic parameters| +|[FocusPoint](../messages/VisionConfig/FocusPoint.md#)|Focus point in the X-Y coordinates of the image| +|[IntrinsicParameters](../messages/VisionConfig/IntrinsicParameters.md#)|Sensor intrinsic parameters| +|[IntrinsicProfileIdentifier](../messages/VisionConfig/IntrinsicProfileIdentifier.md#)|Intrisic parameters profile to retrieve| +|[ManualFocus](../messages/VisionConfig/ManualFocus.md#)|Abstract value that affects the focus distance| +|[OptionIdentifier](../messages/VisionConfig/OptionIdentifier.md#)|Sensor and the option to configure| +|[OptionInformation](../messages/VisionConfig/OptionInformation.md#)|Information about the optional settings for the chosen sensor| +|[OptionValue](../messages/VisionConfig/OptionValue.md#)|Value of the particular option for the sensor| +|[RotationMatrix](../messages/VisionConfig/RotationMatrix.md#)|Representation of a 3x3 rotation matrix. To be a valid rotation matrix, the rows must be orthonormal \(the rows must each have norm of 1 and the row vectors must be orthogonal to each other\). The determinant must also be +1.| +|[RotationMatrixRow](../messages/VisionConfig/RotationMatrixRow.md#)|Single row of a 3x3 rotation matrix. To be a valid possible row of a rotation matrix, the norm of the row must be 1 \(the sum of the squares of the row elements has to equal 1\).| +|[SensorFocusAction](../messages/VisionConfig/SensorFocusAction.md#)|Focus action to perform for the specified sensor| +|[SensorIdentifier](../messages/VisionConfig/SensorIdentifier.md#)|Sensor to configure| +|[SensorSettings](../messages/VisionConfig/SensorSettings.md#)|Main sensor settings - resolution, frame rate, bit rate - for the chosen sensor \(color or depth\).| +|[TranslationVector](../messages/VisionConfig/TranslationVector.md#)|Provides a 3x1 translation vector configuration| +|[VisionNotification](../messages/VisionConfig/VisionNotification.md#)|Notification about a single vision module event| + + **Enumerators** + +|Enumerator|Description| +|----------|-----------| +|[BitRate](../enums/VisionConfig/BitRate.md#)|Maximum encoded bit rate, in Mbps| +|[FocusAction](../enums/VisionConfig/FocusAction.md#)|Focus action to perform \(start/pause continuous, focus now, disable\). Supported only with Color sensor.| +|[FrameRate](../enums/VisionConfig/FrameRate.md#)|Sensor frame rate| +|[Option](../enums/VisionConfig/Option.md#)|Admissible vision module sensor options. Note that some options are only available for the color sensor and some are only available for the depth sensor.| +|[Resolution](../enums/VisionConfig/Resolution.md#)|Sensor resolution. Note that some settings are only for the color sensor and some are only for the depth sensor.| +|[Sensor](../enums/VisionConfig/Sensor.md#)|Vision module sensor to configure| +|[ServiceVersion](../enums/VisionConfig/ServiceVersion.md#)|Identifies VisionConfig service current version| +|[VisionEvent](../enums/VisionConfig/VisionEvent.md#)|Admissible Vision module events.| + +Service to configure the Vision Module + + **Services** + +|Function name|Return type|Input type|Description| +|-------------|-----------|----------|-----------| +|SetSensorSettings|[Empty](../messages/Common/Empty.md#)|[SensorSettings](../messages/VisionConfig/SensorSettings.md#)|Sets sensor settings \(resolution, frame rate, etc\)| +|GetSensorSettings|[SensorSettings](../messages/VisionConfig/SensorSettings.md#)|[SensorIdentifier](../messages/VisionConfig/SensorIdentifier.md#)|Retrieves sensor settings \(resolution, frame rate, etc\)| +|GetOptionValue|[OptionValue](../messages/VisionConfig/OptionValue.md#)|[OptionIdentifier](../messages/VisionConfig/OptionIdentifier.md#)|Retrieves option value from the sensor| +|SetOptionValue|[Empty](../messages/Common/Empty.md#)|[OptionValue](../messages/VisionConfig/OptionValue.md#)|Writes new value to sensor option| +|GetOptionInformation|[OptionInformation](../messages/VisionConfig/OptionInformation.md#)|[OptionIdentifier](../messages/VisionConfig/OptionIdentifier.md#)|Retrieves option information from the sensor| +|VisionTopic|[NotificationHandle](../messages/Common/NotificationHandle.md#)|[NotificationOptions](../messages/Common/NotificationOptions.md#)|Subscribes to Vision configuration notifications| +|DoSensorFocusAction|[Empty](../messages/Common/Empty.md#)|[SensorFocusAction](../messages/VisionConfig/SensorFocusAction.md#)|Do a focus action| +|GetIntrinsicParameters|[IntrinsicParameters](../messages/VisionConfig/IntrinsicParameters.md#)|[SensorIdentifier](../messages/VisionConfig/SensorIdentifier.md#)|Retrieves sensor intrinsic parameters| +|GetIntrinsicParametersProfile|[IntrinsicParameters](../messages/VisionConfig/IntrinsicParameters.md#)|[IntrinsicProfileIdentifier](../messages/VisionConfig/IntrinsicProfileIdentifier.md#)|Retrieves sensor intrinsic parameters for a specific profile| +|SetIntrinsicParameters|[Empty](../messages/Common/Empty.md#)|[IntrinsicParameters](../messages/VisionConfig/IntrinsicParameters.md#)|Sets sensor intrinsic parameters| +|GetExtrinsicParameters|[ExtrinsicParameters](../messages/VisionConfig/ExtrinsicParameters.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves sensor extrinsic parameters| +|SetExtrinsicParameters|[Empty](../messages/Common/Empty.md#)|[ExtrinsicParameters](../messages/VisionConfig/ExtrinsicParameters.md#)|Sets sensor extrinsic parameters| + diff --git a/api_python/examples/000-Getting_Started/01-api_creation.py b/api_python/examples/000-Getting_Started/01-api_creation.py index a47140ca..8878cef2 100644 --- a/api_python/examples/000-Getting_Started/01-api_creation.py +++ b/api_python/examples/000-Getting_Started/01-api_creation.py @@ -12,7 +12,10 @@ # ### -from kortex_api.UDPTransport import UDPTransport +import sys +import os + +from kortex_api.TCPTransport import TCPTransport from kortex_api.RouterClient import RouterClient from kortex_api.SessionManager import SessionManager @@ -21,21 +24,26 @@ from kortex_api.autogen.messages import DeviceConfig_pb2, Session_pb2, Base_pb2 -def example_api_creation(): +def example_api_creation(args): + ''' + This function creates all required objects and connections to use the arm's services. + It is easier to use the DeviceConnection utility class to create the router and then + create the services you need (as done in the other examples). + However, if you want to create all objects yourself, this function tells you how to do it. + ''' - DEVICE_IP = "192.168.1.10" - DEVICE_PORT = 10000 + PORT = 10000 # Setup API - errorCallback = lambda kException: print("_________ callback error _________ {}".format(kException)) - transport = UDPTransport() - router = RouterClient(transport, errorCallback) - transport.connect(DEVICE_IP, DEVICE_PORT) + error_callback = lambda kException: print("_________ callback error _________ {}".format(kException)) + transport = TCPTransport() + router = RouterClient(transport, error_callback) + transport.connect(args.ip, PORT) # Create session session_info = Session_pb2.CreateSessionInfo() - session_info.username = 'admin' - session_info.password = 'admin' + session_info.username = args.username + session_info.password = args.password session_info.session_inactivity_timeout = 60000 # (milliseconds) session_info.connection_inactivity_timeout = 2000 # (milliseconds) @@ -45,21 +53,28 @@ def example_api_creation(): print("Session created") # Create required services - device_config_service = DeviceConfigClient(router) - base_client_service = BaseClient(router) + device_config = DeviceConfigClient(router) + base = BaseClient(router) - print(device_config_service.GetDeviceType()) - print(base_client_service.GetAvailableWifi()) + print(device_config.GetDeviceType()) + print(base.GetArmState()) # Close API session session_manager.CloseSession() - # Deactivate the router and cleanly disconnect from the transport object - router.SetActivationStatus(False) + # Disconnect from the transport object transport.disconnect() +def main(): + # Import the utilities helper module + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities -if __name__ == "__main__": + # Parse arguments + args = utilities.parseConnectionArguments() # Example core - example_api_creation() + example_api_creation(args) + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/api_python/examples/000-Getting_Started/02-protobuf_object_manipulation.py b/api_python/examples/000-Getting_Started/02-protobuf_object_manipulation.py index 08279238..6a2cfacd 100644 --- a/api_python/examples/000-Getting_Started/02-protobuf_object_manipulation.py +++ b/api_python/examples/000-Getting_Started/02-protobuf_object_manipulation.py @@ -17,6 +17,7 @@ def example_manipulation_protobuf_basic(): + # In Google Protocol Buffer, there are many scalar value types you can declare. # All have a corresponding type in Python. # Here's the list: @@ -65,7 +66,6 @@ def example_manipulation_protobuf_basic(): def example_manipulation_protobuf_object(): - # Messages are the main element in Google Protocol Buffer in the same way classes are to Python. You need a message # to make a workable object. A message can contain many kind of elements. We have already # covered the scalar value and in this section we are going to cover the message. @@ -99,7 +99,7 @@ def example_manipulation_protobuf_object(): full_user_profile.user_profile.firstname = "Johnny" full_user_profile.user_profile.lastname = "Cash" - # Another basic element is the enum. Enum are directly available from + # Another basic element is the enum. Enum is directly available from # the message - no need to use the enum 'message'. # Here's an example: # enum LimitationType { @@ -109,14 +109,14 @@ def example_manipulation_protobuf_object(): # VELOCITY_LIMITATION = 3; // velocity limitation # } - # message LimitationTypeIdentifier { + # message CartesianLimitation { # LimitationType type = 1; // limitation type # } # https://developers.google.com/protocol-buffers/docs/proto3#enum - limitation_type_identifier = Base_pb2.LimitationTypeIdentifier() - limitation_type_identifier.type = Base_pb2.FORCE_LIMITATION + cartesianLimitation = Base_pb2.CartesianLimitation + cartesianLimitation.type = Base_pb2.FORCE_LIMITATION def example_manipulation_protobuf_list(): @@ -166,13 +166,13 @@ def example_manipulation_protobuf_list(): # Since sequence.task is a list we can use all the Python features to # loop, iterate, interogate and print elements in that list. for i in range(len(sequence.tasks)): - print("sequence ID with index : {0}".format(sequence.tasks[i].group_identifier)) + print("Sequence ID with index : {0}".format(sequence.tasks[i].group_identifier)) # Lists have the iterator property of a Python list, so you can directly iterate # throught element without creating a iterator as in the previous example for task in sequence.tasks: - print("sequence ID with object iterator : {0}".format(task.group_identifier)) + print("Sequence ID with object iterator : {0}".format(task.group_identifier)) def example_manipulation_protobuf_helpers(): @@ -263,7 +263,7 @@ def example_manipulation_protobuf_helpers(): json_object = json_format.MessageToJson(sequence) # now print it - print("Json object") + print("Json object:") print(json_object) # output: # Json object @@ -299,7 +299,7 @@ def example_manipulation_protobuf_helpers(): from google.protobuf import text_format # Now print - print("Text format") + print("Text format:") print(text_format.MessageToString(sequence)) # output: # Text format @@ -322,7 +322,15 @@ def example_manipulation_protobuf_helpers(): if __name__ == "__main__": + # Example core + # Basic manipulation example_manipulation_protobuf_basic() + + # Manipulating messages with nested messages example_manipulation_protobuf_object() + + # Manipulation messages containing lists example_manipulation_protobuf_list() + + # Using the google::protobuf helper functions example_manipulation_protobuf_helpers() \ No newline at end of file diff --git a/api_python/examples/000-Getting_Started/03-api_mechanism.py b/api_python/examples/000-Getting_Started/03-api_mechanism.py index 816b2ce5..95010c10 100644 --- a/api_python/examples/000-Getting_Started/03-api_mechanism.py +++ b/api_python/examples/000-Getting_Started/03-api_mechanism.py @@ -12,16 +12,17 @@ # ### -from kortex_api.UDPTransport import UDPTransport -from kortex_api.RouterClient import RouterClient, RouterClientSendOptions -from kortex_api.SessionManager import SessionManager +import sys +import os + +from kortex_api.RouterClient import RouterClientSendOptions from kortex_api.autogen.client_stubs.DeviceConfigClientRpc import DeviceConfigClient from kortex_api.autogen.client_stubs.BaseClientRpc import BaseClient from kortex_api.autogen.messages import DeviceConfig_pb2, Session_pb2, Base_pb2 -def example_call_rpc_using_options(base_service): +def example_call_rpc_using_options(base): # The RouterClientSendOptions exist to modify the default behavior # of the router. The router default value are @@ -34,48 +35,38 @@ def example_call_rpc_using_options(base_service): router_options = RouterClientSendOptions() router_options.timeout_ms = 5000 # 5 seconds + # The same function call without the options=router_options is valid and will do the same - # using the router default value - wifi_list = base_service.GetAvailableWifi(options=router_options) - for wifi in wifi_list.wifi_information_list: + # using router's default options + + try: + all_speed_hard_limits = base.GetAllJointsSpeedHardLimitation() + except Exception as e: + print(e) + + for speed_limit in all_speed_hard_limits.joints_limitations: print("============================================") - print("SSID: {0}".format(wifi.ssid.identifier)) - print("Wi-Fi security type: {0}".format(wifi.security_type)) - print("Wi-Fi encryption type: {0}".format(wifi.encryption_type)) - print("Signal strength: {0}".format(wifi.signal_strength)) + print("Joint: {0}".format(speed_limit.joint_identifier)) + print("Type of limitation: {0}".format(Base_pb2.LimitationType.Name(speed_limit.type))) + print("Value: {0}".format(speed_limit.value)) print("============================================") +def main(): + # Import the utilities helper module + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities -if __name__ == "__main__": - - DEVICE_IP = "192.168.1.10" - DEVICE_PORT = 10000 - - # Setup API - errorCallback = lambda kException: print("_________ callback error _________ {}".format(kException)) - transport = UDPTransport() - router = RouterClient(transport, errorCallback) - transport.connect(DEVICE_IP, DEVICE_PORT) + # Parse arguments + args = utilities.parseConnectionArguments() + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: - # Create session - session_info = Session_pb2.CreateSessionInfo() - session_info.username = 'admin' - session_info.password = 'admin' - session_info.session_inactivity_timeout = 60000 # (milliseconds) - session_info.connection_inactivity_timeout = 2000 # (milliseconds) + # Create required services + base = BaseClient(router) - session_manager = SessionManager(router) - session_manager.CreateSession(session_info) + # Example core + example_call_rpc_using_options(base) - # Create required services - base_service = BaseClient(router) - - # Example core - example_call_rpc_using_options(base_service) - - # Close API session - session_manager.CloseSession() - - # Deactivate the router and cleanly disconnect from the transport object - router.SetActivationStatus(False) - transport.disconnect() +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/api_python/examples/000-Getting_Started/04-error_management.py b/api_python/examples/000-Getting_Started/04-error_management.py index d05a6bb9..68c8e0bc 100644 --- a/api_python/examples/000-Getting_Started/04-error_management.py +++ b/api_python/examples/000-Getting_Started/04-error_management.py @@ -12,9 +12,8 @@ # ### -from kortex_api.UDPTransport import UDPTransport -from kortex_api.RouterClient import RouterClient -from kortex_api.SessionManager import SessionManager +import sys +import os from kortex_api.autogen.client_stubs.DeviceConfigClientRpc import DeviceConfigClient from kortex_api.autogen.client_stubs.BaseClientRpc import BaseClient @@ -23,58 +22,35 @@ from kortex_api.Exceptions.KServerException import KServerException -def example_error_management(base_service): + +def example_error_management(base): try: - base_service.CreateUserProfile(Base_pb2.FullUserProfile()) + base.CreateUserProfile(Base_pb2.FullUserProfile()) except KServerException as ex: # Get error and sub error codes error_code = ex.get_error_code() sub_error_code = ex.get_error_sub_code() - print("error_code:{0} sub_error_code:{1} ".format(error_code, sub_error_code)) - - # Error exception to string (here the try/except addresses an known issue that will be fixed in a future version) - try: - print("Error: {0}".format(ex)) - except Exception: - print("Unknown error details for error_code:{0} sub_error_code:{1} ".format(error_code, sub_error_code)) - - except Exception: - import sys - print("generic exception: {0}".format(sys.exc_info()[0])) - - -if __name__ == "__main__": + print("Error_code:{0} , Sub_error_code:{1} ".format(error_code, sub_error_code)) + print("Caught expected error: {0}".format(ex)) - DEVICE_IP = "192.168.1.10" - DEVICE_PORT = 10000 +def main(): + # Import the utilities helper module + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities - # Setup API - errorCallback = lambda kException: print("_________ callback error _________ {}".format(kException)) - transport = UDPTransport() - router = RouterClient(transport, errorCallback) - transport.connect(DEVICE_IP, DEVICE_PORT) - - # Create session - session_info = Session_pb2.CreateSessionInfo() - session_info.username = 'admin' - session_info.password = 'admin' - session_info.session_inactivity_timeout = 60000 # (milliseconds) - session_info.connection_inactivity_timeout = 2000 # (milliseconds) - - session_manager = SessionManager(router) - session_manager.CreateSession(session_info) - - # Create required services - base_service = BaseClient(router) + # Parse arguments + args = utilities.parseConnectionArguments() + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: - # Example core - example_error_management(base_service) + # Create required services + base = BaseClient(router) - # Close API session - session_manager.CloseSession() + # Example core + example_error_management(base) - # Deactivate the router and cleanly disconnect from the transport object - router.SetActivationStatus(False) - transport.disconnect() +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/api_python/examples/000-Getting_Started/05-notification.py b/api_python/examples/000-Getting_Started/05-notification.py index 4cd43567..499d5929 100644 --- a/api_python/examples/000-Getting_Started/05-notification.py +++ b/api_python/examples/000-Getting_Started/05-notification.py @@ -12,12 +12,10 @@ # ### +import sys +import os import time -from kortex_api.UDPTransport import UDPTransport -from kortex_api.RouterClient import RouterClient, RouterClientSendOptions -from kortex_api.SessionManager import SessionManager - from kortex_api.autogen.client_stubs.DeviceConfigClientRpc import DeviceConfigClient from kortex_api.autogen.client_stubs.BaseClientRpc import BaseClient @@ -26,7 +24,7 @@ from kortex_api.Exceptions.KException import KException from google.protobuf import json_format -def example_notification(base_service): +def example_notification(base): def notification_callback(data): print("****************************") @@ -37,7 +35,7 @@ def notification_callback(data): # Subscribe to ConfigurationChange notifications print("Subscribing to ConfigurationChange notifications") try: - notif_handle = base_service.OnNotificationConfigurationChangeTopic(notification_callback, Base_pb2.NotificationOptions()) + notif_handle = base.OnNotificationConfigurationChangeTopic(notification_callback, Base_pb2.NotificationOptions()) except KException as k_ex: print("Error occured: {}".format(k_ex)) except Exception: @@ -57,60 +55,46 @@ def notification_callback(data): user_profile_handle = Base_pb2.UserProfileHandle() try: print("Creating user profile to trigger notification") - user_profile_handle = base_service.CreateUserProfile(full_user_profile) + user_profile_handle = base.CreateUserProfile(full_user_profile) except KException: print("User profile creation failed") - # ... following the creation of the user profile we should receive the ConfigurationChange notification (notification_callback() should be called) + # Following the creation of the user profile, we should receive the ConfigurationChange notification (notification_callback() should be called) print("User {0} created".format(full_user_profile.user_profile.username)) - # ... miscellaneous tasks and to give time for the notification to work. + # Give time for the notification to arrive time.sleep(3) - print("Now unsubscribe from ConfigurationChange notifications") - base_service.Unsubscribe(notif_handle) + print("Now unsubscribing from ConfigurationChange notifications") + base.Unsubscribe(notif_handle) try: print("Deleting previously created user profile ({0})".format(full_user_profile.user_profile.username)) - base_service.DeleteUserProfile(user_profile_handle) # Should not have received notification about this modification + base.DeleteUserProfile(user_profile_handle) # Should not have received notification about this modification except KException: print("User profile deletion failed") - # ... here sleep to confirm that ConfigurationChange notification is not raised anymore after the unsubscribe + # Sleep to confirm that ConfigurationChange notification is not raised anymore after the unsubscribe time.sleep(3) -if __name__ == "__main__": - - DEVICE_IP = "192.168.1.10" - DEVICE_PORT = 10000 - - # Setup API - errorCallback = lambda kException: print("_________ callback error _________ {}".format(kException)) - transport = UDPTransport() - router = RouterClient(transport, errorCallback) - transport.connect(DEVICE_IP, DEVICE_PORT) +def main(): + # Import the utilities helper module + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities - # Create session - session_info = Session_pb2.CreateSessionInfo() - session_info.username = 'admin' - session_info.password = 'admin' - session_info.session_inactivity_timeout = 60000 # (milliseconds) - session_info.connection_inactivity_timeout = 2000 # (milliseconds) - - session_manager = SessionManager(router) - session_manager.CreateSession(session_info) - - # Create required services - base_service = BaseClient(router) + # Parse arguments + args = utilities.parseConnectionArguments() + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: - # Example core - example_notification(base_service) + # Create required services + base = BaseClient(router) - # Close API session - session_manager.CloseSession() + # Example core + example_notification(base) - # Deactivate the router and cleanly disconnect from the transport object - router.SetActivationStatus(False) - transport.disconnect() +if __name__ == "__main__": + main() diff --git a/api_python/examples/100-BaseGen3_overview/01-devices_routing.py b/api_python/examples/100-BaseGen3_overview/01-devices_routing.py index d4631f55..78f2d200 100644 --- a/api_python/examples/100-BaseGen3_overview/01-devices_routing.py +++ b/api_python/examples/100-BaseGen3_overview/01-devices_routing.py @@ -12,83 +12,71 @@ # ### -from kortex_api.UDPTransport import UDPTransport -from kortex_api.RouterClient import RouterClient, RouterClientSendOptions -from kortex_api.SessionManager import SessionManager +import sys +import os + +from kortex_api.RouterClient import RouterClientSendOptions from kortex_api.autogen.client_stubs.DeviceManagerClientRpc import DeviceManagerClient from kortex_api.autogen.client_stubs.DeviceConfigClientRpc import DeviceConfigClient from kortex_api.autogen.client_stubs.BaseClientRpc import BaseClient -from kortex_api.autogen.messages import Common_pb2, DeviceManager_pb2, DeviceConfig_pb2, Session_pb2, Base_pb2 +from kortex_api.autogen.messages import Common_pb2, DeviceManager_pb2, DeviceConfig_pb2, Session_pb2, Base_pb2, ProductConfiguration_pb2 from google.protobuf import json_format -def example_routed_device_config(device_manager_service, device_config_service): +def example_routed_device_config(device_manager, device_config): # Get all device routing information (from DeviceManagerClient service) - print("-- ReadAllDevices --\n") - allDevicesInfo = device_manager_service.ReadAllDevices() + all_devices_info = device_manager.ReadAllDevices() - # Uncomment next line to print 'allDevicesInfo' in JSON format - # print(json_format.MessageToJson(allDevicesInfo)) + # Uncomment next line to print 'all_devices_info' in JSON format + # print(json_format.MessageToJson(all_devices_info)) options = RouterClientSendOptions() options.timeout_ms = 4000 # Use device routing information to route to every devices (base, actuator, interconnect, etc.) in the arm/base system and request their general device information - for dev in allDevicesInfo.device_handle: - deviceInfo = {} - deviceInfo.update( json_format.MessageToDict( device_config_service.GetDeviceType (dev.device_identifier, options) ) ) - deviceInfo.update( json_format.MessageToDict( device_config_service.GetFirmwareVersion (dev.device_identifier, options) ) ) - deviceInfo.update( json_format.MessageToDict( device_config_service.GetBootloaderVersion (dev.device_identifier, options) ) ) - deviceInfo.update( json_format.MessageToDict( device_config_service.GetModelNumber (dev.device_identifier, options) ) ) - deviceInfo.update( json_format.MessageToDict( device_config_service.GetPartNumber (dev.device_identifier, options) ) ) - deviceInfo.update( json_format.MessageToDict( device_config_service.GetPartNumberRevision (dev.device_identifier, options) ) ) - deviceInfo.update( json_format.MessageToDict( device_config_service.GetSerialNumber (dev.device_identifier, options) ) ) + for dev in all_devices_info.device_handle: + device_info = {} + device_info.update( json_format.MessageToDict( device_config.GetDeviceType (dev.device_identifier, options) ) ) + device_info.update( json_format.MessageToDict( device_config.GetFirmwareVersion (dev.device_identifier, options) ) ) + device_info.update( json_format.MessageToDict( device_config.GetBootloaderVersion (dev.device_identifier, options) ) ) + device_info.update( json_format.MessageToDict( device_config.GetModelNumber (dev.device_identifier, options) ) ) + device_info.update( json_format.MessageToDict( device_config.GetPartNumber (dev.device_identifier, options) ) ) + device_info.update( json_format.MessageToDict( device_config.GetPartNumberRevision (dev.device_identifier, options) ) ) + device_info.update( json_format.MessageToDict( device_config.GetSerialNumber (dev.device_identifier, options) ) ) # Get hexadecimal representation of MAC address macAddress_hexstr = "" - for b in device_config_service.GetMACAddress(dev.device_identifier, options).mac_address : macAddress_hexstr += "%02X" % b - deviceInfo.update( { "macAddress": macAddress_hexstr } ) + for b in device_config.GetMACAddress(dev.device_identifier, options).mac_address: + macAddress_hexstr += "%02X:" % b + macAddress_hexstr = macAddress_hexstr[:-1] # remove last ':' + device_info.update( { "macAddress": macAddress_hexstr } ) print("-----------------------------") print("-- {}: id = {} --".format(Common_pb2._DEVICETYPES.values_by_number[dev.device_type].name, dev.device_identifier)) - for key, value in deviceInfo.items(): - print(str("%20s") % key + " => " + str(value)) - - -if __name__ == "__main__": + for key, value in device_info.items(): + print(str("%20s") % key + ": " + str(value)) - DEVICE_IP = "192.168.1.10" - DEVICE_PORT = 10000 +def main(): + # Import the utilities helper module + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities - # Setup API - errorCallback = lambda kException: print("_________ callback error _________ {}".format(kException)) - transport = UDPTransport() - router = RouterClient(transport, errorCallback) - transport.connect(DEVICE_IP, DEVICE_PORT) + # Parse arguments + args = utilities.parseConnectionArguments() + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: - # Create session - session_info = Session_pb2.CreateSessionInfo() - session_info.username = 'admin' - session_info.password = 'admin' - session_info.session_inactivity_timeout = 60000 # (milliseconds) - session_info.connection_inactivity_timeout = 2000 # (milliseconds) + # Create required services + device_manager = DeviceManagerClient(router) + device_config = DeviceConfigClient(router) - session_manager = SessionManager(router) - session_manager.CreateSession(session_info) + # Example core + example_routed_device_config(device_manager, device_config) - # Create required services - device_manager_service = DeviceManagerClient(router) - device_config_service = DeviceConfigClient(router) - - # Example core - example_routed_device_config(device_manager_service, device_config_service) - - # Close API session - session_manager.CloseSession() - - # Deactivate the router and cleanly disconnect from the transport object - router.SetActivationStatus(False) - transport.disconnect() +if __name__ == "__main__": + main() + \ No newline at end of file diff --git a/api_python/examples/102-BaseGen3_ctrl/01-move_angular_and_cartesian.py b/api_python/examples/102-BaseGen3_ctrl/01-move_angular_and_cartesian.py index db473ac1..365eb4e3 100644 --- a/api_python/examples/102-BaseGen3_ctrl/01-move_angular_and_cartesian.py +++ b/api_python/examples/102-BaseGen3_ctrl/01-move_angular_and_cartesian.py @@ -12,37 +12,54 @@ # ### - +import sys +import os import time -from kortex_api.UDPTransport import UDPTransport -from kortex_api.RouterClient import RouterClient - -from kortex_api.SessionManager import SessionManager - from kortex_api.autogen.client_stubs.BaseClientRpc import BaseClient -from kortex_api.autogen.client_stubs.DeviceManagerClientRpc import DeviceManagerClient -from kortex_api.autogen.messages import Session_pb2, Base_pb2, Common_pb2 +from kortex_api.autogen.messages import Base_pb2, Common_pb2 + +def example_move_to_home_position(base): + # Make sure the arm is in Single Level Servoing mode + base_servo_mode = Base_pb2.ServoingModeInformation() + base_servo_mode.servoing_mode = Base_pb2.SINGLE_LEVEL_SERVOING + base.SetServoingMode(base_servo_mode) + + # Move arm to ready position + print("Moving the arm to a safe position") + action_type = Base_pb2.RequestedActionType() + action_type.action_type = Base_pb2.REACH_JOINT_ANGLES + action_list = base.ReadAllActions(action_type) + action_handle = None + for action in action_list.action_list: + if action.name == "Home": + action_handle = action.handle + if action_handle == None: + print("Can't reach safe position. Exiting") + sys.exit(0) -def example_angular_action_movement(base_client_service): - print("\nStarting angular action movement ...") + base.ExecuteActionFromReference(action_handle) + time.sleep(20) # Leave time to action to complete +def example_angular_action_movement(base): + + print("Starting angular action movement ...") action = Base_pb2.Action() action.name = "Example angular action movement" action.application_data = "" - act_count = base_client_service.GetActuatorCount() + actuator_count = base.GetActuatorCount() # Place arm straight up - for joint_id in range(act_count.count): + for joint_id in range(actuator_count.count): joint_angle = action.reach_joint_angles.joint_angles.joint_angles.add() joint_angle.joint_identifier = joint_id joint_angle.value = 0 print("Executing action") - base_client_service.ExecuteAction(action) + base.ExecuteAction(action) print("Waiting 20 seconds for movement to finish ...") time.sleep(20) @@ -50,9 +67,9 @@ def example_angular_action_movement(base_client_service): print("Angular movement completed") -def example_cartesian_action_movement(base_client_service): - print("\nStarting Cartesian action movement ...") - +def example_cartesian_action_movement(base): + + print("Starting Cartesian action movement ...") action = Base_pb2.Action() action.name = "Example Cartesian action movement" action.application_data = "" @@ -66,7 +83,7 @@ def example_cartesian_action_movement(base_client_service): cartesian_pose.theta_z = 10 # (degrees) print("Executing action") - base_client_service.ExecuteAction(action) + base.ExecuteAction(action) print("Waiting 20 seconds for movement to finish ...") time.sleep(20) @@ -74,31 +91,28 @@ def example_cartesian_action_movement(base_client_service): print("Cartesian movement completed") -def example_angular_trajectory_movement(base_client_service): - print("\nStarting angular trajectory ...") - +def example_angular_trajectory_movement(base): + constrained_joint_angles = Base_pb2.ConstrainedJointAngles() - act_count = base_client_service.GetActuatorCount() + actuator_count = base.GetActuatorCount() # Place arm straight up - for joint_id in range(act_count.count): + for joint_id in range(actuator_count.count): joint_angle = constrained_joint_angles.joint_angles.joint_angles.add() joint_angle.joint_identifier = joint_id joint_angle.value = 0 - print("Executing trajectory") - base_client_service.PlayJointTrajectory(constrained_joint_angles) + print("Reaching joint angles...") + base.PlayJointTrajectory(constrained_joint_angles) print("Waiting 20 seconds for movement to finish ...") time.sleep(20) - print("Angular trajectory completed") - - -def example_cartesian_trajectory_movement(base_client_service): - print("\nStarting Cartesian trajectory ...") + print("Joint angles reached") +def example_cartesian_trajectory_movement(base): + constrained_pose = Base_pb2.ConstrainedPose() cartesian_pose = constrained_pose.target_pose @@ -109,76 +123,35 @@ def example_cartesian_trajectory_movement(base_client_service): cartesian_pose.theta_y = 90 # (degrees) cartesian_pose.theta_z = 10 # (degrees) - print("Executing trajectory") - base_client_service.PlayCartesianTrajectory(constrained_pose) + print("Reaching cartesian pose...") + base.PlayCartesianTrajectory(constrained_pose) print("Waiting 20 seconds for movement to finish ...") time.sleep(20) - print("Cartesian trajectory completed") + print("Cartesian pose reached") +def main(): + + # Import the utilities helper module + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities -if __name__ == "__main__": - - DEVICE_IP = "192.168.1.10" - DEVICE_PORT = 10000 - - # Setup API - errorCallback = lambda kException: print("_________ callback error _________ {}".format(kException)) - transport = UDPTransport() - router = RouterClient(transport, errorCallback) - transport.connect(DEVICE_IP, DEVICE_PORT) - - # Create session - print("\nCreating session for communication") - session_info = Session_pb2.CreateSessionInfo() - session_info.username = 'admin' - session_info.password = 'admin' - session_info.session_inactivity_timeout = 60000 # (milliseconds) - session_info.connection_inactivity_timeout = 2000 # (milliseconds) - print("Session created") - - session_manager = SessionManager(router) - session_manager.CreateSession(session_info) - - # Create required services - base_client_service = BaseClient(router) - device_manager_service = DeviceManagerClient(router) - - # Find the number of actuator in angular action and trajectory - sub_device_info = device_manager_service.ReadAllDevices() - act_count = 0 - for dev in sub_device_info.device_handle: - if dev.device_type is Common_pb2.BIG_ACTUATOR or dev.device_type is Common_pb2.SMALL_ACTUATOR: - act_count += 1 - - # Move arm to ready position - print("\nMoving the arm to a safe position before executing example") - action_type = Base_pb2.RequestedActionType() - action_type.action_type = Base_pb2.REACH_JOINT_ANGLES - action_list = base_client_service.ReadAllActions(action_type) - action_handle = None - for action in action_list.action_list: - if action.name == "Home": - action_handle = action.handle - - if action_handle == None: - import sys - print("\nCan't reach safe position. Exiting") - sys.exit(0) - - base_client_service.ExecuteActionFromReference(action_handle) - time.sleep(20) # Leave time to action to complete + # Parse arguments + args = utilities.parseConnectionArguments() + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: - # Example core - example_angular_action_movement(base_client_service) - example_cartesian_action_movement(base_client_service) - example_angular_trajectory_movement(base_client_service) - example_cartesian_trajectory_movement(base_client_service) + # Create required services + base = BaseClient(router) - # Close API session - session_manager.CloseSession() + # Example core + example_move_to_home_position(base) + example_angular_action_movement(base) + example_cartesian_action_movement(base) + example_angular_trajectory_movement(base) + example_cartesian_trajectory_movement(base) - # Deactivate the router and cleanly disconnect from the transport object - router.SetActivationStatus(False) - transport.disconnect() +if __name__ == "__main__": + main() diff --git a/api_python/examples/102-BaseGen3_ctrl/02-sequence.py b/api_python/examples/102-BaseGen3_ctrl/02-sequence.py index 7be15102..4e64edad 100644 --- a/api_python/examples/102-BaseGen3_ctrl/02-sequence.py +++ b/api_python/examples/102-BaseGen3_ctrl/02-sequence.py @@ -13,18 +13,20 @@ ### import time - -from kortex_api.UDPTransport import UDPTransport -from kortex_api.RouterClient import RouterClient, RouterClientSendOptions -from kortex_api.SessionManager import SessionManager +import sys +import os from kortex_api.autogen.client_stubs.BaseClientRpc import BaseClient from kortex_api.autogen.messages import Session_pb2, Base_pb2 -def create_angular_action(): - print("\nCreating angular action") +# +# Example related functions +# +def create_angular_action(): + + print("Creating angular action") action = Base_pb2.Action() action.name = "Example angular action" action.application_data = "" @@ -36,10 +38,9 @@ def create_angular_action(): return action - def create_cartesian_action(): - print("\nCreating Cartesian action") - + + print("Creating Cartesian action") action = Base_pb2.Action() action.name = "Example Cartesian action" action.application_data = "" @@ -54,9 +55,36 @@ def create_cartesian_action(): return action +# +# +# Example core functions +# + +def example_move_to_home_position(base): + # Make sure the arm is in Single Level Servoing mode + base_servo_mode = Base_pb2.ServoingModeInformation() + base_servo_mode.servoing_mode = Base_pb2.SINGLE_LEVEL_SERVOING + base.SetServoingMode(base_servo_mode) + + # Move arm to ready position + print("Moving the arm to a safe position") + action_type = Base_pb2.RequestedActionType() + action_type.action_type = Base_pb2.REACH_JOINT_ANGLES + action_list = base.ReadAllActions(action_type) + action_handle = None + for action in action_list.action_list: + if action.name == "Home": + action_handle = action.handle -def example_create_sequence(base_client_service): - print("\nCreating Action for Sequence") + if action_handle == None: + print("Can't reach safe position. Exiting") + sys.exit(0) + + base.ExecuteActionFromReference(action_handle) + time.sleep(20) # Leave time to action to complete + +def example_create_sequence(base): + print("Creating Action for Sequence") angular_action = create_angular_action() cartesian_action = create_cartesian_action() @@ -75,63 +103,31 @@ def example_create_sequence(base_client_service): task_2.action.CopyFrom(cartesian_action) print("Creating sequence on device and executing it") - handle_sequence = base_client_service.CreateSequence(sequence) - base_client_service.PlaySequence(handle_sequence) + handle_sequence = base.CreateSequence(sequence) + base.PlaySequence(handle_sequence) print("Waiting 30 seconds for movement to finish ...") time.sleep(30) print("Sequence completed") +def main(): + # Import the utilities helper module + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities -if __name__ == "__main__": - - DEVICE_IP = "192.168.1.10" - DEVICE_PORT = 10000 - - # Setup API - errorCallback = lambda kException: print("_________ callback error _________ {}".format(kException)) - transport = UDPTransport() - router = RouterClient(transport, errorCallback) - transport.connect(DEVICE_IP, DEVICE_PORT) - - # Create session - session_info = Session_pb2.CreateSessionInfo() - session_info.username = 'admin' - session_info.password = 'admin' - session_info.session_inactivity_timeout = 600000 # (milliseconds) - session_info.connection_inactivity_timeout = 2000 # (milliseconds) - - session_manager = SessionManager(router) - session_manager.CreateSession(session_info) - - # Create required services - base_client_service = BaseClient(router) - - # Move arm to ready position - print("\nMoving the arm to a safe position before executing example") - action_type = Base_pb2.RequestedActionType() - action_type.action_type = Base_pb2.REACH_JOINT_ANGLES - action_list = base_client_service.ReadAllActions(action_type) - action_handle = None - for action in action_list.action_list: - if action.name == "Home": - action_handle = action.handle - - if action_handle == None: - import sys - print("\nCan't reach safe position. Exiting") - sys.exit(0) - - base_client_service.ExecuteActionFromReference(action_handle) - time.sleep(20) # Leave time to action to complete + # Parse arguments + args = utilities.parseConnectionArguments() + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: - # Example core - example_create_sequence(base_client_service) + # Create required services + base = BaseClient(router) - # Close API session - session_manager.CloseSession() + # Example core + example_move_to_home_position(base) + example_create_sequence(base) - # Deactivate the router and cleanly disconnect from the transport object - router.SetActivationStatus(False) - transport.disconnect() +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/api_python/examples/102-BaseGen3_ctrl/03-twist_command.py b/api_python/examples/102-BaseGen3_ctrl/03-twist_command.py index 8927b368..a7f726e2 100644 --- a/api_python/examples/102-BaseGen3_ctrl/03-twist_command.py +++ b/api_python/examples/102-BaseGen3_ctrl/03-twist_command.py @@ -13,8 +13,10 @@ ### import time +import sys +import os -from kortex_api.UDPTransport import UDPTransport +from kortex_api.TCPTransport import TCPTransport from kortex_api.RouterClient import RouterClient from kortex_api.SessionManager import SessionManager @@ -22,22 +24,46 @@ from kortex_api.autogen.messages import Session_pb2, Base_pb2 +def example_move_to_home_position(base): + # Make sure the arm is in Single Level Servoing mode + base_servo_mode = Base_pb2.ServoingModeInformation() + base_servo_mode.servoing_mode = Base_pb2.SINGLE_LEVEL_SERVOING + base.SetServoingMode(base_servo_mode) + + # Move arm to ready position + print("Moving the arm to a safe position") + action_type = Base_pb2.RequestedActionType() + action_type.action_type = Base_pb2.REACH_JOINT_ANGLES + action_list = base.ReadAllActions(action_type) + action_handle = None + for action in action_list.action_list: + if action.name == "Home": + action_handle = action.handle -def example_twist_command(base_client_service): + if action_handle == None: + print("Can't reach safe position. Exiting") + sys.exit(0) + + base.ExecuteActionFromReference(action_handle) + time.sleep(20) # Leave time to action to complete + +def example_twist_command(base): command = Base_pb2.TwistCommand() - command.mode = Base_pb2.UNSPECIFIED_TWIST_MODE - command.duration = 2 # Unlimited time to execute + command.reference_frame = Base_pb2.CARTESIAN_REFERENCE_FRAME_TOOL + command.duration = 0 twist = command.twist twist.linear_x = 0 - twist.linear_y = 0 + twist.linear_y = 0.03 twist.linear_z = 0 twist.angular_x = 0 twist.angular_y = 0 - twist.angular_z = 2 - base_client_service.SendTwistCommand(command) + twist.angular_z = 5 + + print ("Sending the twist command for 5 seconds...") + base.SendTwistCommand(command) # Let time for twist to be executed time.sleep(5) @@ -49,57 +75,27 @@ def example_twist_command(base_client_service): twist.angular_x = 0 twist.angular_y = 0 twist.angular_z = 0 - base_client_service.SendTwistCommand(command) - - -if __name__ == "__main__": - DEVICE_IP = "192.168.1.10" - DEVICE_PORT = 10000 + print ("Stopping the robot...") + base.SendTwistCommand(command) - # Setup API - errorCallback = lambda kException: print("_________ callback error _________ {}".format(kException)) - transport = UDPTransport() - router = RouterClient(transport, errorCallback) - transport.connect(DEVICE_IP, DEVICE_PORT) +def main(): + # Import the utilities helper module + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities - # Create session - session_info = Session_pb2.CreateSessionInfo() - session_info.username = 'admin' - session_info.password = 'admin' - session_info.session_inactivity_timeout = 600000 # (milliseconds) - session_info.connection_inactivity_timeout = 2000 # (milliseconds) + # Parse arguments + args = utilities.parseConnectionArguments() + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: - session_manager = SessionManager(router) - session_manager.CreateSession(session_info) + # Create required services + base = BaseClient(router) - # Create required services - base_client_service = BaseClient(router) + # Example core + example_move_to_home_position(base) + example_twist_command(base) - # Move arm to ready position - print("\nMoving the arm to a safe position before executing example") - action_type = Base_pb2.RequestedActionType() - action_type.action_type = Base_pb2.REACH_JOINT_ANGLES - action_list = base_client_service.ReadAllActions(action_type) - action_handle = None - for action in action_list.action_list: - if action.name == "Home": - action_handle = action.handle - - if action_handle == None: - import sys - print("\nCan't reach safe position. Exiting") - sys.exit(0) - - base_client_service.ExecuteActionFromReference(action_handle) - time.sleep(20) # Leave time to action to complete - - # Example core - example_twist_command(base_client_service) - - # Close API session - session_manager.CloseSession() - - # Deactivate the router and cleanly disconnect from the transport object - router.SetActivationStatus(False) - transport.disconnect() +if __name__ == "__main__": + main() diff --git a/api_python/examples/102-BaseGen3_ctrl/04-send_joint_speed.py b/api_python/examples/102-BaseGen3_ctrl/04-send_joint_speed.py deleted file mode 100644 index 76e5d9a7..00000000 --- a/api_python/examples/102-BaseGen3_ctrl/04-send_joint_speed.py +++ /dev/null @@ -1,109 +0,0 @@ -#! /usr/bin/env python3 - -### -# KINOVA (R) KORTEX (TM) -# -# Copyright (c) 2018 Kinova inc. All rights reserved. -# -# This software may be modified and distributed -# under the terms of the BSD 3-Clause license. -# -# Refer to the LICENSE file for details. -# -### - -import time -from typing import Union - -from google.protobuf.internal.python_message import GeneratedProtocolMessageType -from google.protobuf.pyext.cpp_message import GeneratedProtocolMessageType - -from kortex_api.UDPTransport import UDPTransport -from kortex_api.RouterClient import RouterClient -from kortex_api.SessionManager import SessionManager - -from kortex_api.autogen.client_stubs.BaseClientRpc import BaseClient -from kortex_api.autogen.client_stubs.DeviceManagerClientRpc import DeviceManagerClient -from kortex_api.autogen.client_stubs.DeviceConfigClientRpc import DeviceConfigClient - -from kortex_api.autogen.messages import Session_pb2, Base_pb2, Common_pb2 - - -def example_single_joint(base_client_service, last_act_id): - - joint_speed = Base_pb2.JointSpeed() - joint_speed.joint_identifier = last_act_id - 1 # Need to exclude base id - joint_speed.value = 2.0 # Speed in degrees/second - joint_speed.duration = 0 # Unlimited time to execute - base_client_service.SendSelectedJointSpeedCommand(joint_speed) - - time.sleep(5) - - joint_speed.value = 0.0 - base_client_service.SendSelectedJointSpeedCommand(joint_speed) - - -if __name__ == "__main__": - - DEVICE_IP = "192.168.1.10" - DEVICE_PORT = 10000 - - # Setup API - errorCallback = lambda kException: print("_________ callback error _________ {}".format(kException)) - transport = UDPTransport() - router = RouterClient(transport, errorCallback) - transport.connect(DEVICE_IP, DEVICE_PORT) - - # Create session - session_info = Session_pb2.CreateSessionInfo() - session_info.username = 'admin' - session_info.password = 'admin' - session_info.session_inactivity_timeout = 600000 # (milliseconds) - session_info.connection_inactivity_timeout = 2000 # (milliseconds) - - session_manager = SessionManager(router) - session_manager.CreateSession(session_info) - - base_client_service = BaseClient(router) - - # Create required services - device_manager_service = DeviceManagerClient(router) - device_config_service = DeviceConfigClient(router) - - # Find the last actuator - sub_device_info = device_manager_service.ReadAllDevices() - last_act = 0 - last_act_id = 0 - for dev in sub_device_info.device_handle: - if dev.device_type is Common_pb2.BIG_ACTUATOR or dev.device_type is Common_pb2.SMALL_ACTUATOR: - if dev.order > last_act: - last_act = dev.order - last_act_id = dev.device_identifier - - # Move arm to ready position - print("\nMoving the arm to a safe position before executing example") - action_type = Base_pb2.RequestedActionType() - action_type.action_type = Base_pb2.REACH_JOINT_ANGLES - action_list = base_client_service.ReadAllActions(action_type) - action_handle = None - for action in action_list.action_list: - if action.name == "Home": - action_handle = action.handle - - if action_handle == None: - import sys - print("\nCan't reach safe position. Exiting") - sys.exit(0) - - base_client_service.ExecuteActionFromReference(action_handle) - time.sleep(20) # Leave time to action to complete - - # Example core - example_single_joint(base_client_service, last_act_id) - - # Close API session - session_manager.CloseSession() - - # Deactivate the router and cleanly disconnect from the transport object - router.SetActivationStatus(False) - transport.disconnect() diff --git a/api_python/examples/102-BaseGen3_ctrl/04-send_joint_speeds.py b/api_python/examples/102-BaseGen3_ctrl/04-send_joint_speeds.py new file mode 100644 index 00000000..ef4dba35 --- /dev/null +++ b/api_python/examples/102-BaseGen3_ctrl/04-send_joint_speeds.py @@ -0,0 +1,102 @@ +#! /usr/bin/env python3 + +### +# KINOVA (R) KORTEX (TM) +# +# Copyright (c) 2018 Kinova inc. All rights reserved. +# +# This software may be modified and distributed +# under the terms of the BSD 3-Clause license. +# +# Refer to the LICENSE file for details. +# +### + +import sys +import os +import time + +from kortex_api.autogen.client_stubs.BaseClientRpc import BaseClient +from kortex_api.autogen.client_stubs.DeviceManagerClientRpc import DeviceManagerClient +from kortex_api.autogen.client_stubs.DeviceConfigClientRpc import DeviceConfigClient + +from kortex_api.autogen.messages import Session_pb2, Base_pb2, Common_pb2 + +def example_move_to_start_position(base): + # Make sure the arm is in Single Level Servoing mode + base_servo_mode = Base_pb2.ServoingModeInformation() + base_servo_mode.servoing_mode = Base_pb2.SINGLE_LEVEL_SERVOING + base.SetServoingMode(base_servo_mode) + + # Move arm to ready position + constrained_joint_angles = Base_pb2.ConstrainedJointAngles() + + # We suppose the arm is a 7DOF + angles = [0.0, 0.0, 0.0, 90.0, 0.0, 0.0, 0.0] + + # Actuator 4 at 90 degrees + for joint_id in range(len(angles)): + joint_angle = constrained_joint_angles.joint_angles.joint_angles.add() + joint_angle.joint_identifier = joint_id + joint_angle.value = angles[joint_id] + + print("Reaching joint angles...") + base.PlayJointTrajectory(constrained_joint_angles) + + print("Waiting 20 seconds for movement to finish ...") + time.sleep(20) + + print("Joint angles reached") + +def example_send_joint_speeds(base): + + joint_speeds = Base_pb2.JointSpeeds() + + speeds = [10.0, 0, -10.0, 0, 10.0, 0, -10.0] + i = 0 + for speed in speeds: + joint_speed = joint_speeds.joint_speeds.add() + joint_speed.joint_identifier = i + joint_speed.value = speed + joint_speed.duration = 0 + i = i + 1 + print ("Sending the joint speeds for 10 seconds...") + base.SendJointSpeedsCommand(joint_speeds) + time.sleep(10) + + + joint_speeds_stop = Base_pb2.JointSpeeds() + + stop = [0, 0, 0, 0, 0, 0, 0] + i = 0 + for speed in stop: + joint_speed = joint_speeds_stop.joint_speeds.add() + joint_speed.joint_identifier = i + joint_speed.value = speed + joint_speed.duration = 0 + i = i + 1 + + print ("Stopping the robot") + base.SendJointSpeedsCommand(joint_speeds_stop) + + +def main(): + # Import the utilities helper module + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities + + # Parse arguments + args = utilities.parseConnectionArguments() + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: + + # Create required services + base = BaseClient(router) + + # Example core + example_move_to_start_position(base) + example_send_joint_speeds(base) + +if __name__ == "__main__": + main() diff --git a/api_python/examples/103-BaseGen3_uart_bridge/01-uart_bridge.py b/api_python/examples/103-BaseGen3_uart_bridge/01-uart_bridge.py new file mode 100644 index 00000000..d8af1401 --- /dev/null +++ b/api_python/examples/103-BaseGen3_uart_bridge/01-uart_bridge.py @@ -0,0 +1,204 @@ +#! /usr/bin/env python3 + +### +# KINOVA (R) KORTEX (TM) +# +# Copyright (c) 2019 Kinova inc. All rights reserved. +# +# This software may be modified and distributed under the +# terms of the BSD 3-Clause license. +# +# Refer to the LICENSE file for details. +# +### + +### +# 103-BaseGen3_uart_bridge/uart_bridge.py +# +# Usage example for the UART Expansion IO on the Gen3 Interconnect module. +# +# PHYSICAL SETUP: +# ========= +# For this example to work, you will have to connect the RX and TX pins on the interconnect +# IO Expansion pinout, so that the TX is transmitted right into the RX. +# +# DESCRIPTION OF CURRENT EXAMPLE: +# =============================== +# In this example, the UART bridge class encapsulates all necessary Kortex API +# objects and implements the functions to setup the UART, write to the bus and read back from it. +# +# The Init function creates the Kortex API objects, connects to the arm and also calls InitSocket, +# which correctly configures the socket (depending if you are on Windows or Linux). +# +# The Run function : +# - Tells the Interconnect (m_interconnect_config object) to enable the UART bridge (this is where you supply the UART parameters) +# - Tells the Base (m_base) to enable the UART bridge +# - Opens the TCP socket to the base and writes the test string to the UART bridge +# - Waits 10 seconds and prints every character it receives +# - Tells the Base (m_base) to disable the UART bridge +# - Tells the Interconenct (m_interconnect_config_object) to disable the UART bridge +### + +import sys +import time +import os +import socket +import select + +from kortex_api.autogen.client_stubs.BaseClientRpc import BaseClient +from kortex_api.autogen.client_stubs.DeviceManagerClientRpc import DeviceManagerClient +from kortex_api.autogen.client_stubs.InterconnectConfigClientRpc import InterconnectConfigClient + +from kortex_api.autogen.messages import Base_pb2 +from kortex_api.autogen.messages import Common_pb2 +from kortex_api.autogen.messages import InterconnectConfig_pb2 + +class UARTBridge: + + def __init__(self, router, ip_address): + + self.router = router + self.base_ip_address = ip_address + + # Create services + self.base = BaseClient(self.router) + self.device_manager = DeviceManagerClient(self.router) + self.interconnect_config = InterconnectConfigClient(self.router) + + self.interconnect_device_id = self.GetDeviceIdFromDevType(Common_pb2.INTERCONNECT, 0) + if (self.interconnect_device_id is None): + print ("Could not find the Interconnect in the device list, exiting...") + sys.exit(0) + + def GetDeviceIdFromDevType(self, device_type, device_index = 0): + devices = self.device_manager.ReadAllDevices() + + current_index = 0 + for device in devices.device_handle: + if device.device_type == device_type: + if current_index == device_index: + print ("Found the Interconnect on device identifier {}".format(device.device_identifier)) + return device.device_identifier + current_index += 1 + return None + + def Configure(self, port_id, enabled, speed, word_length, stop_bits, parity): + ''' + Enable and configure UART on interconnect. This will open a TCP port on the interconnect. This + port allows bridging TCP socket to UART. + ''' + uart_config = Common_pb2.UARTConfiguration() + uart_config.port_id = port_id + uart_config.enabled = enabled # Setting enabled to true opens the TCP port dedicated to UART bridging. Setting this + # field to false disables designated uart and closes the TCP port. + uart_config.speed = speed + uart_config.word_length = word_length + uart_config.stop_bits = stop_bits + uart_config.parity = parity + + self.interconnect_config.SetUARTConfiguration(uart_config, deviceId=self.interconnect_device_id) + + def EnableBridge(self, bridge_type, target = 0, output = 0): + + # Create bridge configuration + bridge_config = Base_pb2.BridgeConfig() + bridge_config.device_identifier = self.interconnect_device_id + bridge_config.bridgetype = bridge_type + + # If either target or ouput port has valid port value, add port config to bridge configuration + if target or output: + bridge_config.port_config.target_port = 0 + bridge_config.port_config.out_port = 0 + if target: + bridge_config.port_config.target_port = target + if output: + bridge_config.port_config.out_port = output + + # Send the configuration and return the result + bridge_result = self.base.EnableBridge(bridge_config) + return bridge_result + + def DisableBridge(self, bridge_id): + return self.base.DisableBridge(bridge_id) + + def ExampleSendDataAndReadItBack(self): + + # Enable port bridging on base. + bridge_result = self.EnableBridge(Base_pb2.BRIDGE_TYPE_UART) + bridge_id = bridge_result.bridge_id + if bridge_result.status != Base_pb2.BRIDGE_STATUS_OK: + print("Error creating bridge on base, exiting...") + return + + # Get created bridge's configuration. + bridge_config = self.base.GetBridgeConfig(bridge_id) + base_port = bridge_config.port_config.out_port + interconnect_port = bridge_config.port_config.target_port + print("UARTBridge ID # %i created between Interconnect (dev# %i)'s port #%i and external port #%i"%(bridge_id.bridge_id, self.interconnect_device_id, interconnect_port, base_port)) + + # Open a socket to base's forwarded port. + client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + client_socket.connect((self.base_ip_address, base_port)) + client_socket.setblocking(0) + + print ("UART bridge object initialized") + + # Send data to be written on UART using TCP connection. + client_socket.send(b"This data is being written on Interconnect's expansion port UART\n") + + # Wait for data to be received from UART + print("Waiting 10 seconds for data from uart...") + sys.stdout.write("Received data : ") + sys.stdout.flush() + startTime = time.time() + while time.time() - startTime < 10: + readready, _, _ = select.select([client_socket], [], [], 1) + if readready: + data = client_socket.recv(1) + if len(data): + sys.stdout.write(data.decode("utf-8")) + sys.stdout.flush() + + # Disconnect client socket. + client_socket.close() + + # Disable bridge on base. + self.DisableBridge(bridge_id) + +def main(): + + # Import the utilities helper module + import argparse + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities + + # Parse arguments + parser = argparse.ArgumentParser() + args = utilities.parseConnectionArguments(parser) + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: + + # Create the bridge object. UARTBridge object implements kortex methods used + # to create a TCP port bridge (port forwarding) between a port opened + # on external adapter and the port opened on the interconnect. + bridge = UARTBridge(router, args.ip) + + # Configure the expansion IO + bridge.Configure(InterconnectConfig_pb2.UART_PORT_EXPANSION, True, Common_pb2.UART_SPEED_115200, Common_pb2.UART_WORD_LENGTH_8, Common_pb2.UART_STOP_BITS_1, Common_pb2.UART_PARITY_NONE) + time.sleep(1) + + # Example core + bridge.ExampleSendDataAndReadItBack() + + # Disable bridge on interconnect + bridge.Configure(InterconnectConfig_pb2.UART_PORT_EXPANSION, False, Common_pb2.UART_SPEED_115200, Common_pb2.UART_WORD_LENGTH_8, Common_pb2.UART_STOP_BITS_1, Common_pb2.UART_PARITY_NONE) + +""" +This example will configure uart and activate uart to TCP socket bridge on the arm's interconnect. It will also activate +TCP port bridge (port forwarding) to allow accessing the opened TCP port on the interconnect from outside the arm. +Once uart bridge is configured, it will send a string to write on UART port and then will wait for 10 seconds for data to +be entered on the same serial port. Whenever a character is received from UART it is written on stdout. +""" +if __name__ == "__main__": + main() diff --git a/api_python/examples/104-BaseGen3_gpio_bridge/01-gpio_bridge.py b/api_python/examples/104-BaseGen3_gpio_bridge/01-gpio_bridge.py new file mode 100644 index 00000000..d6a91221 --- /dev/null +++ b/api_python/examples/104-BaseGen3_gpio_bridge/01-gpio_bridge.py @@ -0,0 +1,216 @@ +#! /usr/bin/env python3 + +### +# KINOVA (R) KORTEX (TM) +# +# Copyright (c) 2019 Kinova inc. All rights reserved. +# +# This software may be modified and distributed under the +# terms of the BSD 3-Clause license. +# +# Refer to the LICENSE file for details. +# +### + +### +# 104-BaseGen3_gpio_bridge/gpio_bridge.py +# +# Usage example for the GPIO Expansion IO on the Gen3 Interconnect module. +# +# PHYSICAL SETUP: +# ========= +# For this example to work, you will have to : +# - Connect the GPIO_IO1 and GPIO_IO2 Interconnect pins to two input digital pins on your micro-controller +# - Connect the GPIO_IO3 and GPIO_IO4 Interconnect pins to two output digital pins on your micro-controller +# - Modify the Arduino code so the ROBOT_PIN_X variables correspond to your pin numbers +# - Power on the micro-controller and upload the arduino_gpio_example_firmware.ino +# +# We used a MSP432 Launchpad (http://www.ti.com/tool/MSP-EXP432P401R) and made the connections: +# - GPIO_IO1 -------------- Pin 23 +# - GPIO_IO2 -------------- Pin 24 +# - GPIO_IO3 -------------- Pin 29 +# - GPIO_IO4 -------------- Pin 30 +# +# You can also use any Arduino board and this example will work as long as you specify the right pin numbers in the Arduino code. +# +# DESCRIPTION OF CURRENT EXAMPLE: +# =============================== +# In this example, the GPIO bridge class encapsulates all necessary Kortex API +# objects and implements the functions to setup the GPIO, write to two pins and read back from two other pins. +# The Arduino reads from GPIO_IO1 and writes to pin GPIO_IO3 and reads from GPIO_IO2 and writes to pin GPIO_IO4. +# Essentially, what is written on pin GPIO_IO1 is read back on pin GPIO_IO3 and the same applies for pins GPIO_IO2 +# and GPIO_IO4. +# +# The Init function creates the Kortex API objects and connects to the arm. +# +# The InitGpioInputsAndOutputs function uses the appropriate RPCs to activate the bridge as well as setup the pins +# either as output (GPIO_IDENTIFIER_1 and GPIO_IDENTIFIER_2) or as input pullup (GPIO_IDENTIFIER_3 and GPIO_IDENTIFIER_4). +# +# The SetOutputPinValue function writes a logical value to a designated output pin. +# +# The ReadInputPinValue function reads a logical value from a designated input pin. +# +# The ExampleSetAndReadValues function : +# - Writes to pins GPIO_IO1 and GPIO_IO2 +# - Reads and prints the values read from GPIO_IO3 and GPIO_IO4 +### + +import sys +import os +import time + +from kortex_api.autogen.client_stubs.DeviceManagerClientRpc import DeviceManagerClient +from kortex_api.autogen.client_stubs.InterconnectConfigClientRpc import InterconnectConfigClient + +from kortex_api.autogen.messages import Common_pb2 +from kortex_api.autogen.messages import InterconnectConfig_pb2 + +class GpioBridge: + ''' + Implements methods for establishing and operating GPIO bridge through + the base + ''' + GpioEnum = ( + InterconnectConfig_pb2.GPIO_IDENTIFIER_1, + InterconnectConfig_pb2.GPIO_IDENTIFIER_2, + InterconnectConfig_pb2.GPIO_IDENTIFIER_3, + InterconnectConfig_pb2.GPIO_IDENTIFIER_4 + ) + + def __init__(self, router): + + self.router = router + + self.device_manager = DeviceManagerClient(self.router) + self.interconnect_config = InterconnectConfigClient(self.router) + + self.interconnect_device_id = self.GetDeviceIdFromDevType(Common_pb2.INTERCONNECT, 0) + if (self.interconnect_device_id is None): + print ("Could not find the Interconnect in the device list, exiting...") + sys.exit(0) + + def GetDeviceIdFromDevType(self, device_type, device_index = 0): + devices = self.device_manager.ReadAllDevices() + + current_index = 0 + for device in devices.device_handle: + if device.device_type == device_type: + if current_index == device_index: + print ("Found the Interconnect on device identifier {}".format(device.device_identifier)) + return device.device_identifier + current_index += 1 + return None + + def InitGpioInputsAndOutputs(self): + gpio_config = InterconnectConfig_pb2.GPIOConfiguration() + + # Pins 1 and 2 as output + gpio_config.mode = InterconnectConfig_pb2.GPIO_MODE_OUTPUT_PUSH_PULL + gpio_config.pull = InterconnectConfig_pb2.GPIO_PULL_NONE + gpio_config.default_value = InterconnectConfig_pb2.GPIO_VALUE_LOW + gpio_config.identifier = InterconnectConfig_pb2.GPIO_IDENTIFIER_1 + print ("Setting pin #1 as output...") + self.interconnect_config.SetGPIOConfiguration(gpio_config, deviceId=self.interconnect_device_id) + time.sleep(1) + gpio_config.identifier = InterconnectConfig_pb2.GPIO_IDENTIFIER_2 + print ("Setting pin #2 as output...") + self.interconnect_config.SetGPIOConfiguration(gpio_config, deviceId=self.interconnect_device_id) + time.sleep(1) + + # Pins 3 and 4 as input pullup + gpio_config.mode = InterconnectConfig_pb2.GPIO_MODE_INPUT_FLOATING + gpio_config.pull = InterconnectConfig_pb2.GPIO_PULL_UP + gpio_config.identifier = InterconnectConfig_pb2.GPIO_IDENTIFIER_3 + print ("Setting pin #3 as input pullup...") + self.interconnect_config.SetGPIOConfiguration(gpio_config, deviceId=self.interconnect_device_id) + time.sleep(1) + gpio_config.identifier = InterconnectConfig_pb2.GPIO_IDENTIFIER_4 + print ("Setting pin #4 as input pullup...") + self.interconnect_config.SetGPIOConfiguration(gpio_config, deviceId=self.interconnect_device_id) + time.sleep(1) + + def SetOutputPinValue(self, identifier, value): + gpio_state = InterconnectConfig_pb2.GPIOState() + gpio_state.identifier = identifier + gpio_state.value = value + print ("GPIO pin {} will be put at value {}".format(InterconnectConfig_pb2.GPIOIdentifier.Name(identifier), InterconnectConfig_pb2.GPIOValue.Name(value))) + self.interconnect_config.SetGPIOState(gpio_state,deviceId=self.interconnect_device_id) + + def ReadInputPinValue(self, identifier): + gpio_identification = InterconnectConfig_pb2.GPIOIdentification() + gpio_identification.identifier = identifier + state = self.interconnect_config.GetGPIOState(gpio_identification,deviceId=self.interconnect_device_id) + if (state.value == InterconnectConfig_pb2.GPIO_VALUE_HIGH): + return 1 + elif (state.value == InterconnectConfig_pb2.GPIO_VALUE_LOW): + return 0 + else: + print ("Error : the value read is unspecified") + return -1 + + def ExampleSetAndReadValues(self): + # We sleep a bit between the reads and the writes + # Technically the InterconnectConfig service runs at 25ms but we sleep 100ms to make sure we let enough time + sleep_time_sec = 0.1 + + # The Arduino reads pin 1 and sets pin 3 the same + # The Arduino reads pin 2 and sets pin 4 the same + self.SetOutputPinValue(InterconnectConfig_pb2.GPIO_IDENTIFIER_1, InterconnectConfig_pb2.GPIO_VALUE_HIGH) + self.SetOutputPinValue(InterconnectConfig_pb2.GPIO_IDENTIFIER_2, InterconnectConfig_pb2.GPIO_VALUE_LOW) + time.sleep(sleep_time_sec) + pin3_in = self.ReadInputPinValue(InterconnectConfig_pb2.GPIO_IDENTIFIER_3) # should be HIGH + pin4_in = self.ReadInputPinValue(InterconnectConfig_pb2.GPIO_IDENTIFIER_4) # should be LOW + print ("Value read for pin #3 is : {}".format(pin3_in)) + print ("Value read for pin #4 is : {}".format(pin4_in)) + + self.SetOutputPinValue(InterconnectConfig_pb2.GPIO_IDENTIFIER_1, InterconnectConfig_pb2.GPIO_VALUE_LOW) + self.SetOutputPinValue(InterconnectConfig_pb2.GPIO_IDENTIFIER_2, InterconnectConfig_pb2.GPIO_VALUE_HIGH) + time.sleep(sleep_time_sec) + pin3_in = self.ReadInputPinValue(InterconnectConfig_pb2.GPIO_IDENTIFIER_3) # should be LOW + pin4_in = self.ReadInputPinValue(InterconnectConfig_pb2.GPIO_IDENTIFIER_4) # should be HIGH + print ("Value read for pin #3 is : {}".format(pin3_in)) + print ("Value read for pin #4 is : {}".format(pin4_in)) + + self.SetOutputPinValue(InterconnectConfig_pb2.GPIO_IDENTIFIER_1, InterconnectConfig_pb2.GPIO_VALUE_HIGH) + self.SetOutputPinValue(InterconnectConfig_pb2.GPIO_IDENTIFIER_2, InterconnectConfig_pb2.GPIO_VALUE_HIGH) + time.sleep(sleep_time_sec) + pin3_in = self.ReadInputPinValue(InterconnectConfig_pb2.GPIO_IDENTIFIER_3) # should be HIGH + pin4_in = self.ReadInputPinValue(InterconnectConfig_pb2.GPIO_IDENTIFIER_4) # should be HIGH + print ("Value read for pin #3 is : {}".format(pin3_in)) + print ("Value read for pin #4 is : {}".format(pin4_in)) + + self.SetOutputPinValue(InterconnectConfig_pb2.GPIO_IDENTIFIER_1, InterconnectConfig_pb2.GPIO_VALUE_LOW) + self.SetOutputPinValue(InterconnectConfig_pb2.GPIO_IDENTIFIER_2, InterconnectConfig_pb2.GPIO_VALUE_LOW) + time.sleep(sleep_time_sec) + pin3_in = self.ReadInputPinValue(InterconnectConfig_pb2.GPIO_IDENTIFIER_3) # should be LOW + pin4_in = self.ReadInputPinValue(InterconnectConfig_pb2.GPIO_IDENTIFIER_4) # should be LOW + print ("Value read for pin #3 is : {}".format(pin3_in)) + print ("Value read for pin #4 is : {}".format(pin4_in)) + +def main(): + + # Import the utilities helper module + import argparse + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities + + # Parse arguments + parser = argparse.ArgumentParser() + args = utilities.parseConnectionArguments(parser) + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: + + # Create the gpio bridge object. It implements kortex methods used + # configure and use interconnect's expansion GPIO + bridge = GpioBridge(router) + + # Configure all interconnect's GPIO as push pull outputs + bridge.InitGpioInputsAndOutputs() + print ("GPIO bridge object initialized") + + # Example core + bridge.ExampleSetAndReadValues() + +if __name__ == "__main__": + main() diff --git a/api_python/examples/104-BaseGen3_gpio_bridge/arduino_gpio_example_firmware/arduino_gpio_example_firmware.ino b/api_python/examples/104-BaseGen3_gpio_bridge/arduino_gpio_example_firmware/arduino_gpio_example_firmware.ino new file mode 100644 index 00000000..5c1db97d --- /dev/null +++ b/api_python/examples/104-BaseGen3_gpio_bridge/arduino_gpio_example_firmware/arduino_gpio_example_firmware.ino @@ -0,0 +1,92 @@ +#include + +// Change those pins to your own pin numbers +const int ROBOT_PIN_1 = 23; +const int ROBOT_PIN_2 = 24; +const int ROBOT_PIN_3 = 29; +const int ROBOT_PIN_4 = 30; + +unsigned long previous_time; + +// Runs once +void setup() +{ + // Prints + Serial.begin(9600); + + // I2C setup + int slave_address = 0x20; // this address has to match the one in the Kortex example + Wire.begin(slave_address); + Wire.onReceive(i2c_on_receive_callback); // Function called when a I2CWrite comes in + Wire.onRequest(i2c_on_request_callback); // Function called when a I2CRead comes in + + // GPIO setup + pinMode(ROBOT_PIN_1, INPUT_PULLUP); + pinMode(ROBOT_PIN_2, INPUT_PULLUP); + pinMode(ROBOT_PIN_3, OUTPUT); + pinMode(ROBOT_PIN_4, OUTPUT); + previous_time = millis(); + + // LED setup + pinMode(LED1, OUTPUT); + digitalWrite(LED1, HIGH); + delay(100); + digitalWrite(LED1, LOW); +} + +void blink_led() +{ + digitalWrite(LED1, HIGH); + delay(10); + digitalWrite(LED1, LOW); + delay(10); +} + +void i2c_on_receive_callback(int bytes_to_read) +{ + while (Wire.available() > 0) + { + char c = Wire.read(); + Serial.print(c); + blink_led(); + } + Serial.println(); +} + +void i2c_on_request_callback() +{ + Wire.write("This is the child's answer!"); +} + +// Runs after the setup as an infinite loop +void loop() +{ + unsigned long current_time = millis(); + + if (current_time - previous_time > 200) + { + previous_time = current_time; + + // Pin 1 to Pin 3 + int p1_value = digitalRead(ROBOT_PIN_1); + if (p1_value) + { + digitalWrite(ROBOT_PIN_3, HIGH); + } + else + { + digitalWrite(ROBOT_PIN_3, LOW); + } + + // Pin 2 to pin 4 + int p2_value = digitalRead(ROBOT_PIN_2); + if (p2_value) + { + digitalWrite(ROBOT_PIN_4, HIGH); + } + else + { + digitalWrite(ROBOT_PIN_4, LOW); + } + } +} diff --git a/api_python/examples/105-BaseGen3_i2c_bridge/01-i2c_bridge.py b/api_python/examples/105-BaseGen3_i2c_bridge/01-i2c_bridge.py new file mode 100644 index 00000000..9f14a2ff --- /dev/null +++ b/api_python/examples/105-BaseGen3_i2c_bridge/01-i2c_bridge.py @@ -0,0 +1,234 @@ +#! /usr/bin/env python3 + +### +# KINOVA (R) KORTEX (TM) +# +# Copyright (c) 2019 Kinova inc. All rights reserved. +# +# This software may be modified and distributed under the +# terms of the BSD 3-Clause license. +# +# Refer to the LICENSE file for details. +# +### + +### +# 105-BaseGen3_i2c_bridge/i2c_bridge.py +# +# Usage example for the I2C Expansion IO on the Gen3 Interconnect module. +# +# PHYSICAL SETUP: +# ========= +# +# We used a I2C IO Extender PCA9505 for this example (https://www.nxp.com/docs/en/data-sheet/PCA9505_9506.pdf) and made the connections: +# - SDA -------------- Pin 1 +# - SCL -------------- Pin 2 +# - DC --------------- Pins 18, 46, 86 +# - GND -------------- Pins 6, 11, 23, 27, 28, 29, 34, 39, 51 +# +# DESCRIPTION OF CURRENT EXAMPLE: +# =============================== +# In this example, the I2C bridge class encapsulates all necessary Kortex API +# objects and implements the functions to setup the I2C, write to the bus and read from the bus. +# Upon a read request, the IO Extender supplies the input values read from the bank 0 pins (IO0_X pins from page 5 of the datasheet) +# The IO Extender can take configuration commands from write requests and the register values are supplied in the data sheet. +# +# For this example, we first read the values of IO0_X pins, then invert the polarity on half of the pins and read them again. +# +# The Init function creates the Kortex API objects and connects to the arm. +# +# The Configure function uses the appropriate RPC to activate the bridge with the desired settings. +# +# The WriteValue function writes a request to the bus. +# +# The ReadValue function initiates a read request to the bus. +# +# The main function : +# - Initializes the I2CBridge object +# - Creates and sends a read request to read from the bank 0 pins on the IO Extender +# - Creates and sends a write request to invert the polarity of half the bank 0 pins on the IO Extender +# - Creates and sends a read request to read from the bank 0 pins on the IO Extender (which will not give the same output as the first request) +### + +import sys +import os +import time + +from kortex_api.autogen.client_stubs.DeviceManagerClientRpc import DeviceManagerClient +from kortex_api.autogen.client_stubs.InterconnectConfigClientRpc import InterconnectConfigClient + +from kortex_api.autogen.messages import Common_pb2 +from kortex_api.autogen.messages import InterconnectConfig_pb2 + +from kortex_api.Exceptions import KServerException + +class I2CBridge: + def __init__(self, router): + ''' + Implements methods for establishing and operating I2C bridge through + the base + ''' + self.router = router + + # Create device manager client. Device manager is used get a list of devices present in the arm. In this example + # we use device manager to determine the device ID associated with the interconnect. + self.device_manager = DeviceManagerClient(self.router) + + # Create interconnect configuration client. This client is used to perform I2C bus configuration and I2C bus actions. + self.interconnect_config = InterconnectConfigClient(self.router) + + self.interconnect_device_id = self.GetDeviceIdFromDevType(Common_pb2.INTERCONNECT, 0) + if (self.interconnect_device_id is None): + print ("Could not find the Interconnect in the device list, exiting...") + sys.exit(0) + + """ + GetDeviceIdFromDevType(devType, devIndex) + + Get device ID according to a given device type (Actuator or interconnect). + + Inputs: + devType : Device type + + Index argument correspond to the position of the device (i.e.: 0 being the first,1 the second, etc.) + """ + def GetDeviceIdFromDevType(self, device_type, device_index = 0): + devices = self.device_manager.ReadAllDevices() + + current_index = 0 + for device in devices.device_handle: + if device.device_type == device_type: + if current_index == device_index: + print ("Found the Interconnect on device identifier {}".format(device.device_identifier)) + return device.device_identifier + current_index += 1 + return None + + """ + WriteValue(device_address, data, timeout_ms) + + Writes a data array to I2C bus to a given device. + + inputs: + device_address: device's I2C address. + data: list containing data to write to device + timeout_ms: write operation timeout in milliseconds + """ + def WriteValue(self, device_address, data, timeout_ms): + i2c_write_parameter = InterconnectConfig_pb2.I2CWriteParameter() + i2c_write_parameter.device = InterconnectConfig_pb2.I2C_DEVICE_EXPANSION + i2c_write_parameter.device_address = device_address + bytesData = bytes(data) + i2c_write_parameter.data.data = bytesData + i2c_write_parameter.data.size = len(bytesData) + i2c_write_parameter.timeout = timeout_ms + return self.interconnect_config.I2CWrite(i2c_write_parameter, deviceId=self.interconnect_device_id) + + """ + ReadValue(device_address, bytes_to_read, timeout_ms) + + Reads a data array from I2C bus from a given device. + + inputs: + device_address: device's I2C address. + bytes_to_read: number of bytes to read from device + timeout_ms: read operation timeout in milliseconds + """ + + def ReadValue(self, device_address, bytes_to_read, timeout_ms): + + # Create the I2C read request + i2c_read_request = InterconnectConfig_pb2.I2CReadParameter() + i2c_read_request.device = InterconnectConfig_pb2.I2C_DEVICE_EXPANSION + i2c_read_request.device_address = device_address + i2c_read_request.size = bytes_to_read + i2c_read_request.timeout = timeout_ms + + # Read the data and print it + read_result = self.interconnect_config.I2CRead(i2c_read_request, deviceId=self.interconnect_device_id) + data = read_result.data + print ("We were supposed to read {} bytes and we read {} bytes.".format(bytes_to_read, read_result.size)) + print ("The data is : {0:b}".format(ord(data))) + + """ + Configure(is_enabled, mode, addressing) + + Configure expansion bus I2C bus on interconnect. + + Inputs: + is_enabled: Enables i2cbus on interconnect's expansion bus if true, disable it otherwise. + mode: I2C mode in which the bus is set ( InterconnectConfig_pb2.I2C_MODE_STANDARD, + InterconnectConfig_pb2.I2C_MODE_FAST or InterconnectConfig_pb2.I2C_MODE_FAST_PLUS) + addressing: Addressing size used on I2C bus (I2C_DEVICE_ADDRESSING_7_BITS or + I2C_DEVICE_ADDRESSING_10_BITS). + """ + def Configure(self, is_enabled, mode, addressing): + + # Create the configuration + I2CConfiguration = InterconnectConfig_pb2.I2CConfiguration() + I2CConfiguration.device = InterconnectConfig_pb2.I2C_DEVICE_EXPANSION + I2CConfiguration.enabled = is_enabled + I2CConfiguration.mode = mode + I2CConfiguration.addressing = addressing + + # Set the configuration + self.interconnect_config.SetI2CConfiguration(I2CConfiguration, deviceId=self.interconnect_device_id) + +def main(): + + # Import the utilities helper module + import argparse + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities + + # Parse arguments + parser = argparse.ArgumentParser() + args = utilities.parseConnectionArguments(parser) + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: + + # Create the gpio bridge object. It implements kortex methods used + # configure and use interconnect's expansion I2C + bridge = I2CBridge(router) + + # This has to match the device's slave address (see data sheet) + slave_address = 0x20 + + # Configure I2C bridge + bridge.Configure(True, InterconnectConfig_pb2.I2C_MODE_FAST, InterconnectConfig_pb2.I2C_DEVICE_ADDRESSING_7_BITS) + time.sleep(1) + print ("I2C bridge object initialized") + + # Read the state of the pins in bank 0 + print ("Reading byte array from interconnect I2C bus...") + try: + bytes_to_read = 1 + bridge.ReadValue(slave_address, bytes_to_read, 100) + time.sleep(0.5) + except Exception as ex: + print ("Error : {}".format(ex)) + + # Send byte array to inverse polarity on half the pins + print ("Sending byte array to interconnect I2C bus...") + try: + # By looking at the data sheet, we see that to write to the polarity register, + # we have to send command register 0x10 as the first byte, then our data byte + buf = bytes([0x10, 0xAA]) + bridge.WriteValue(slave_address, buf, 100) + time.sleep(0.5) + except Exception as ex: + print ("Error : {}".format(ex)) + + # Read the state of the pins in bank 0 + # Half of them should be inverted now + print ("Reading byte array from interconnect I2C bus...") + try: + bytes_to_read = 1 + bridge.ReadValue(slave_address, bytes_to_read, 100) + time.sleep(0.5) + except Exception as ex: + print ("Error : {}".format(ex)) + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/api_python/examples/106-BaseGen3_gripper_command/01-gripper_command.py b/api_python/examples/106-BaseGen3_gripper_command/01-gripper_command.py new file mode 100644 index 00000000..d306f949 --- /dev/null +++ b/api_python/examples/106-BaseGen3_gripper_command/01-gripper_command.py @@ -0,0 +1,100 @@ +#! /usr/bin/env python3 + +### +# KINOVA (R) KORTEX (TM) +# +# Copyright (c) 2019 Kinova inc. All rights reserved. +# +# This software may be modified and distributed under the +# terms of the BSD 3-Clause license. +# +# Refer to the LICENSE file for details. +# +### + +import sys +import os +import time + +from kortex_api.autogen.client_stubs.BaseClientRpc import BaseClient +from kortex_api.autogen.messages import Base_pb2 + +class GripperCommandExample: + def __init__(self, router, proportional_gain = 2.0): + + self.proportional_gain = proportional_gain + self.router = router + + # Create base client using TCP router + self.base = BaseClient(self.router) + + def ExampleSendGripperCommands(self): + + # Create the GripperCommand we will send + gripper_command = Base_pb2.GripperCommand() + finger = gripper_command.gripper.finger.add() + + # Close the gripper with position increments + print("Performing gripper test in position...") + gripper_command.mode = Base_pb2.GRIPPER_POSITION + position = 0.00 + finger.finger_identifier = 1 + while position < 1.0: + finger.value = position + self.base.SendGripperCommand(gripper_command) + position += 0.1 + time.sleep(1) + + # Set speed to open gripper + print ("Opening gripper using speed command...") + gripper_command.mode = Base_pb2.GRIPPER_SPEED + finger.value = 0.1 + self.base.SendGripperCommand(gripper_command) + gripper_request = Base_pb2.GripperRequest() + + # Wait for reported position to be opened + gripper_request.mode = Base_pb2.GRIPPER_POSITION + while True: + gripper_measure = self.base.GetMeasuredGripperMovement(gripper_request) + if len (gripper_measure.finger): + print("Current position is : {0}".format(gripper_measure.finger[0].value)) + if gripper_measure.finger[0].value < 0.01: + break + else: # Else, no finger present in answer, end loop + break + + # Set speed to close gripper + print ("Closing gripper using speed command...") + gripper_command.mode = Base_pb2.GRIPPER_SPEED + finger.value = -0.1 + self.base.SendGripperCommand(gripper_command) + + # Wait for reported speed to be 0 + gripper_request.mode = Base_pb2.GRIPPER_SPEED + while True: + gripper_measure = self.base.GetMeasuredGripperMovement(gripper_request) + if len (gripper_measure.finger): + print("Current speed is : {0}".format(gripper_measure.finger[0].value)) + if gripper_measure.finger[0].value == 0.0: + break + else: # Else, no finger present in answer, end loop + break + +def main(): + # Import the utilities helper module + import argparse + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities + + # Parse arguments + parser = argparse.ArgumentParser() + args = utilities.parseConnectionArguments(parser) + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: + + example = GripperCommandExample(router) + example.ExampleSendGripperCommands() + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/api_python/examples/107-BaseGen3_gripper_low_level/01-gripper_low_level_command.py b/api_python/examples/107-BaseGen3_gripper_low_level/01-gripper_low_level_command.py new file mode 100644 index 00000000..4b89806c --- /dev/null +++ b/api_python/examples/107-BaseGen3_gripper_low_level/01-gripper_low_level_command.py @@ -0,0 +1,263 @@ +#! /usr/bin/env python3 + +### +# KINOVA (R) KORTEX (TM) +# +# Copyright (c) 2019 Kinova inc. All rights reserved. +# +# This software may be modified and distributed under the +# terms of the BSD 3-Clause license. +# +# Refer to the LICENSE file for details. +# +### + +### +# 01-BaseGen3_gripper_lowlevel.py +# +# Low level servoing example for the GEN3's end effector (using Robotiq's +# 2-Finger 85 or 2-Finger 140) +# +# ABSTRACT: +# ========= +# On GEN3, gripper cyclic commands have 3 parameters used to control gripper +# motion : position, velocity and force. +# +# These 3 parameters are always sent together and cannot be used independently. +# Each parameter has absolute percentage values and their range are from 0% to +# 100%. +# +# For gripper position, 0% is fully opened and 100% is fully closed. +# For gripper speed, 0% is fully stopped and 100% is opening/closing (depending on +# position used) at maximum speed. +# Force parameter is used as a force limit to apply when closing or opening +# the gripper. If this force limit is exceeded the gripper motion will stop. +# 0% is the lowest force limit and 100% the maximum. +# +# DESCRIPTION OF CURRENT EXAMPLE: +# =============================== +# In this example user is asked to enter a number from 0 to 9 and the value +# entered is used to send the gripper to corresponding value (i.e.: 0=10%, 3 = 40%, +# 9 = 100%, etc.). +# +# To control the gripper, cyclic commands are sent directly to the end effector +# to achieve position control. +# +# A simple proportional feedback loop is used to illustrate how feedback can be +# obtained and used with Kortex API. +# +# This loop modulates the speed sent to the gripper. +### + +import sys +import os +import time + +from kbhit import KBHit +from kortex_api.autogen.client_stubs.BaseClientRpc import BaseClient +from kortex_api.autogen.client_stubs.BaseCyclicClientRpc import BaseCyclicClient +from kortex_api.autogen.messages import Base_pb2 +from kortex_api.autogen.messages import BaseCyclic_pb2 + +""" +01-BaseGen3_gripper_lowlevel.py + +Low level servoing example for the GEN3's end effector (using Robotiq's +2-Finger 85 or 2-Finger 140) + +ABSTRACT: +========= +On GEN3, gripper cyclic commands have 3 parameters used to control gripper +motion : position, velocity and force. + +These 3 parameters are always sent together and cannot be used independently. +Each parameter has absolute percentage values and their range are from 0% to +100%. + +For gripper position, 0% is fully opened and 100% is fully closed. +For gripper speed, 0% is fully stopped and 100% is opening/closing (depending on +position used) at maximum speed. +Force parameter is used as a force limit to apply when closing or opening +the gripper. If this force limit is exceeded the gripper motion will stop. +0% is the lowest force limit and 100% the maximum. + +DESCRIPTION OF CURRENT EXAMPLE: +=============================== +In this example user is asked to enter a number from 0 to 9 and the value +entered is used to send the gripper to corresponding value (i.e.: 0=10%, 3 = 40%, +9 = 100%, etc.). + +To control the gripper, cyclic commands are sent directly to the end effector +to achieve position control. + +A simple proportional feedback loop is used to illustrate how feedback can be +obtained and used with Kortex API. + +This loop modulates the speed sent to the gripper. +""" + +class GripperLowLevelExample: + def __init__(self, router, router_real_time, proportional_gain = 2.0): + """ + GripperLowLevelExample class constructor. + + Inputs: + kortex_api.RouterClient router: TCP router + kortex_api.RouterClient router_real_time: Real-time UDP router + float proportional_gain: Proportional gain used in control loop (default value is 2.0) + + Outputs: + None + Notes: + - Actuators and gripper initial position are retrieved to set initial positions + - Actuator and gripper cyclic command objects are created in constructor. Their + references are used to update position and speed. + """ + + self.proportional_gain = proportional_gain + + ########################################################################################### + # UDP and TCP sessions are used in this example. + # TCP is used to perform the change of servoing mode + # UDP is used for cyclic commands. + # + # 2 sessions have to be created: 1 for TCP and 1 for UDP + ########################################################################################### + + self.router = router + self.router_real_time = router_real_time + + # Create base client using TCP router + self.base = BaseClient(self.router) + + # Create base cyclic client using UDP router. + self.base_cyclic = BaseCyclicClient(self.router_real_time) + + # Create base cyclic command object. + self.base_command = BaseCyclic_pb2.Command() + self.base_command.frame_id = 0 + self.base_command.interconnect.command_id.identifier = 0 + self.base_command.interconnect.gripper_command.command_id.identifier = 0 + + # Add motor command to interconnect's cyclic + self.motorcmd = self.base_command.interconnect.gripper_command.motor_cmd.add() + + # Set gripper's initial position velocity and force + base_feedback = self.base_cyclic.RefreshFeedback() + self.motorcmd.position = base_feedback.interconnect.gripper_feedback.motor[0].position + self.motorcmd.velocity = 0 + self.motorcmd.force = 100 + + for actuator in base_feedback.actuators: + self.actuator_command = self.base_command.actuators.add() + self.actuator_command.position = actuator.position + self.actuator_command.velocity = 0.0 + self.actuator_command.torque_joint = 0.0 + self.actuator_command.command_id = 0 + print("Position = ", actuator.position) + + # Save servoing mode before changing it + self.previous_servoing_mode = self.base.GetServoingMode() + + # Set base in low level servoing mode + servoing_mode_info = Base_pb2.ServoingModeInformation() + servoing_mode_info.servoing_mode = Base_pb2.LOW_LEVEL_SERVOING + self.base.SetServoingMode(servoing_mode_info) + + def Cleanup(self): + """ + Restore arm's servoing mode to the one that + was effective before running the example. + + Inputs: + None + Outputs: + None + Notes: + None + + """ + # Restore servoing mode to the one that was in use before running the example + self.base.SetServoingMode(self.previous_servoing_mode) + + + def Goto(self, target_position): + """ + Position gripper to a requested target position using a simple + proportional feedback loop which changes speed according to error + between target position and current gripper position + + Inputs: + float target_position: position (0% - 100%) to send gripper to. + Outputs: + Returns True if gripper was positionned successfully, returns False + otherwise. + Notes: + - This function blocks until position is reached. + - If target position exceeds 100.0, its value is changed to 100.0. + - If target position is below 0.0, its value is set to 0.0. + """ + if target_position > 100.0: + target_position = 100.0 + if target_position < 0.0: + target_position = 0.0 + while True: + try: + base_feedback = self.base_cyclic.Refresh(self.base_command) + + # Calculate speed according to position error (target position VS current position) + position_error = target_position - base_feedback.interconnect.gripper_feedback.motor[0].position + + # If positional error is small, stop gripper + if abs(position_error) < 1.5: + position_error = 0 + self.motorcmd.velocity = 0 + self.base_cyclic.Refresh(self.base_command) + return True + else: + self.motorcmd.velocity = self.proportional_gain * abs(position_error) + if self.motorcmd.velocity > 100.0: + self.motorcmd.velocity = 100.0 + self.motorcmd.position = 100.0 + if position_error < 0.0: + self.motorcmd.position = 0.0 + except Exception as e: + print("Error in refresh: " + str(e)) + return False + time.sleep(0.001) + return True + +def main(): + # Import the utilities helper module + import argparse + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities + + # Parse arguments + parser = argparse.ArgumentParser() + parser.add_argument("--proportional_gain", type=float, help="proportional gain used in control loop", default=2.0) + args = utilities.parseConnectionArguments(parser) + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: + + with utilities.DeviceConnection.createUdpConnection(args) as router_real_time: + + kbhit = KBHit() + example = GripperLowLevelExample(router, router_real_time, args.proportional_gain) + print("Press keys '0' to '9' to change gripper position. Press ESC to quit.") + while True: + if kbhit.kbhit(): + ch = kbhit.getch() + if ord(ch) == 27: + break + elif ch >= '0' and ch <= '9': + target_position = (float(ch) + 1) * 10.0 + print("Going to position %i"%(target_position)) + example.Goto(target_position) + print("Target reached") + time.sleep(0.2) + example.Cleanup() + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/api_python/examples/107-BaseGen3_gripper_low_level/kbhit.py b/api_python/examples/107-BaseGen3_gripper_low_level/kbhit.py new file mode 100644 index 00000000..014c5ff4 --- /dev/null +++ b/api_python/examples/107-BaseGen3_gripper_low_level/kbhit.py @@ -0,0 +1,130 @@ +#!/usr/bin/env python +''' +A Python class implementing KBHIT, the standard keyboard-interrupt poller. +Works transparently on Windows and Posix (Linux, Mac OS X). Doesn't work +with IDLE. + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU Lesser General Public License as +published by the Free Software Foundation, either version 3 of the +License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +''' + +import os + +# Windows +if os.name == 'nt': + import msvcrt + +# Posix (Linux, OS X) +else: + import sys + import termios + import atexit + from select import select + + +class KBHit: + + def __init__(self): + '''Creates a KBHit object that you can call to do various keyboard things. + ''' + + if os.name == 'nt': + pass + + else: + + # Save the terminal settings + self.fd = sys.stdin.fileno() + self.new_term = termios.tcgetattr(self.fd) + self.old_term = termios.tcgetattr(self.fd) + + # New terminal setting unbuffered + self.new_term[3] = (self.new_term[3] & ~termios.ICANON & ~termios.ECHO) + termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.new_term) + + # Support normal-terminal reset at exit + atexit.register(self.set_normal_term) + + + def set_normal_term(self): + ''' Resets to normal terminal. On Windows this is a no-op. + ''' + + if os.name == 'nt': + pass + + else: + termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.old_term) + + + def getch(self): + ''' Returns a keyboard character after kbhit() has been called. + Should not be called in the same program as getarrow(). + ''' + + s = '' + + if os.name == 'nt': + return msvcrt.getch().decode('utf-8') + + else: + return sys.stdin.read(1) + + + def getarrow(self): + ''' Returns an arrow-key code after kbhit() has been called. Codes are + 0 : up + 1 : right + 2 : down + 3 : left + Should not be called in the same program as getch(). + ''' + + if os.name == 'nt': + msvcrt.getch() # skip 0xE0 + c = msvcrt.getch() + vals = [72, 77, 80, 75] + + else: + c = sys.stdin.read(3)[2] + vals = [65, 67, 66, 68] + + return vals.index(ord(c.decode('utf-8'))) + + + def kbhit(self): + ''' Returns True if keyboard character was hit, False otherwise. + ''' + if os.name == 'nt': + return msvcrt.kbhit() + + else: + dr,dw,de = select([sys.stdin], [], [], 0) + return dr != [] + + +# Test +if __name__ == "__main__": + + kb = KBHit() + + print('Hit any key, or ESC to exit') + + while True: + + if kb.kbhit(): + c = kb.getch() + if ord(c) == 27: # ESC + break + print(c) + + kb.set_normal_term() + diff --git a/api_python/examples/108-BaseGen3_torque_control/01-torque_control_cyclic.py b/api_python/examples/108-BaseGen3_torque_control/01-torque_control_cyclic.py new file mode 100644 index 00000000..9df77e4a --- /dev/null +++ b/api_python/examples/108-BaseGen3_torque_control/01-torque_control_cyclic.py @@ -0,0 +1,327 @@ +#! /usr/bin/env python3 + +### +# KINOVA (R) KORTEX (TM) +# +# Copyright (c) 2019 Kinova inc. All rights reserved. +# +# This software may be modified and distributed +# under the terms of the BSD 3-Clause license. +# +# Refer to the LICENSE file for details. +# +### + +### +# * DESCRIPTION OF CURRENT EXAMPLE: +# =============================== +# This example works as a simili-haptic demo. +# +# The last actuator, the small one holding the interconnect, acts as a torque sensing device commanding the first actuator. +# The first actuator, the big one on the base, is controlled in torque and its position is sent as a command to the last one. +# +# The script can be launched through command line with python3: python torqueControl_example.py +# The PC should be connected through ethernet with the arm. Default IP address 192.168.1.10 is used as arm address. +# +# 1- Connection with the base: +# 1- A TCP session is started on port 10000 for most API calls. Refresh is at 25ms on this port. +# 2- A UDP session is started on port 10001 for BaseCyclic calls. Refresh is at 1ms on this port only. +# 2- Initialization +# 1- First frame is built based on arm feedback to ensure continuity +# 2- First actuator torque command is set as well +# 3- Base is set in low-level servoing +# 4- First frame is sent +# 3- First actuator is switched to torque mode +# 3- Cyclic thread is running at 1ms +# 1- Torque command to first actuator is set to a multiple of last actuator torque measure minus its initial value to +# avoid an initial offset error +# 2- Position command to last actuator equals first actuator position minus initial delta +# +# 4- On keyboard interrupt, example stops +# 1- Cyclic thread is stopped +# 2- First actuator is set back to position control +# 3- Base is set in single level servoing (default) +### + +import sys +import os + +from kortex_api.autogen.client_stubs.ActuatorConfigClientRpc import ActuatorConfigClient +from kortex_api.autogen.client_stubs.ActuatorCyclicClientRpc import ActuatorCyclicClient +from kortex_api.autogen.client_stubs.BaseClientRpc import BaseClient +from kortex_api.autogen.client_stubs.BaseCyclicClientRpc import BaseCyclicClient +from kortex_api.autogen.client_stubs.DeviceConfigClientRpc import DeviceConfigClient +from kortex_api.autogen.client_stubs.DeviceManagerClientRpc import DeviceManagerClient +from kortex_api.autogen.messages import Session_pb2, ActuatorConfig_pb2, Base_pb2, BaseCyclic_pb2, Common_pb2 +from kortex_api.RouterClient import RouterClientSendOptions + +import time +import sys +import threading + +class TorqueExample: + def __init__(self, router, router_real_time): + + self.expected_number_of_actuators = 7 # example works for 7dof Gen3 + self.torque_amplification = 2.0 # Torque measure on 7th actuator is sent as a command to first actuator + + # Create required services + device_manager = DeviceManagerClient(router) + + self.actuator_config = ActuatorConfigClient(router) + self.base = BaseClient(router) + self.base_cyclic = BaseCyclicClient(router_real_time) + + self.base_command = BaseCyclic_pb2.Command() + self.base_feedback = BaseCyclic_pb2.Feedback() + self.base_custom_data = BaseCyclic_pb2.CustomData() + + # Detect all devices + device_handles = device_manager.ReadAllDevices() + self.actuator_count = 0 + + # Only actuators are relevant for this example + for handle in device_handles.device_handle: + if handle.device_type == Common_pb2.BIG_ACTUATOR or handle.device_type == Common_pb2.SMALL_ACTUATOR: + self.base_command.actuators.add() + self.base_feedback.actuators.add() + self.actuator_count += 1 + + # Change send option to reduce max timeout at 3ms + self.sendOption = RouterClientSendOptions() + self.sendOption.andForget = False + self.sendOption.delay_ms = 0 + self.sendOption.timeout_ms = 3 + + self.cyclic_t_end = 30 #Total duration of the thread in seconds. 0 means infinite. + self.cyclic_thread = {} + + self.kill_the_thread = False + self.already_stopped = False + self.cyclic_running = False + + def MoveToHomePosition(self): + # Make sure the arm is in Single Level Servoing mode + base_servo_mode = Base_pb2.ServoingModeInformation() + base_servo_mode.servoing_mode = Base_pb2.SINGLE_LEVEL_SERVOING + self.base.SetServoingMode(base_servo_mode) + + # Move arm to ready position + print("Moving the arm to a safe position") + action_type = Base_pb2.RequestedActionType() + action_type.action_type = Base_pb2.REACH_JOINT_ANGLES + action_list = self.base.ReadAllActions(action_type) + action_handle = None + for action in action_list.action_list: + if action.name == "Home": + action_handle = action.handle + + if action_handle == None: + print("Can't reach safe position. Exiting") + return False + + self.base.ExecuteActionFromReference(action_handle) + time.sleep(20) # Leave time to action to complete + return True + + def InitCyclic(self, sampling_time_cyclic, t_end, print_stats): + + if self.cyclic_running: + return True + + # Move to Home position first + if not self.MoveToHomePosition(): + return False + + print("Init Cyclic") + sys.stdout.flush() + + base_feedback = self.SendCallWithRetry(self.base_cyclic.RefreshFeedback, 3) + if base_feedback: + self.base_feedback = base_feedback + if len(self.base_feedback.actuators) == self.expected_number_of_actuators: + + # Init command frame + for x in range(self.actuator_count): + self.base_command.actuators[x].flags = 1 # servoing + self.base_command.actuators[x].position = self.base_feedback.actuators[x].position + + # First actuator is going to be controlled in torque + # To ensure continuity, torque command is set to measure + self.base_command.actuators[0].torque_joint = self.base_feedback.actuators[0].torque + + # Set arm in LOW_LEVEL_SERVOING + base_servo_mode = Base_pb2.ServoingModeInformation() + base_servo_mode.servoing_mode = Base_pb2.LOW_LEVEL_SERVOING + self.base.SetServoingMode(base_servo_mode) + + # Send first frame + self.base_feedback = self.base_cyclic.Refresh(self.base_command, 0, self.sendOption) + + # Set first actuator in torque mode now that the command is equal to measure + control_mode_message = ActuatorConfig_pb2.ControlModeInformation() + control_mode_message.control_mode = ActuatorConfig_pb2.ControlMode.Value('TORQUE') + device_id = 1 # first actuator as id = 1 + + self.SendCallWithRetry(self.actuator_config.SetControlMode, 3, control_mode_message, device_id) + + # Init cyclic thread + self.cyclic_t_end = t_end + self.cyclic_thread = threading.Thread(target=self.RunCyclic, args=(sampling_time_cyclic, print_stats)) + self.cyclic_thread.daemon = True + self.cyclic_thread.start() + return True + else: + print("InitCyclic: number of actuators in base_feedback does not match expected number") + return False + else: + print("InitCyclic: failed to communicate") + return False + + def RunCyclic(self, t_sample, print_stats): + self.cyclic_running = True + print("Run Cyclic") + sys.stdout.flush() + cyclic_count = 0 # Counts refresh + stats_count = 0 # Counts stats prints + failed_cyclic_count = 0 # Count communication timeouts + + # Initial delta between first and last actuator + init_delta_position = self.base_feedback.actuators[0].position - self.base_feedback.actuators[6].position + + # Initial first and last actuator torques; avoids unexpected movement due to torque offsets + init_last_torque = self.base_feedback.actuators[6].torque + init_first_torque = -self.base_feedback.actuators[0].torque # Torque measure is reversed compared to actuator direction + + t_now = time.time() + t_cyclic = t_now # cyclic time + t_stats = t_now # print time + t_init = t_now # init time + + print("Running torque control example for {} seconds".format(self.cyclic_t_end)) + + while not self.kill_the_thread: + t_now = time.time() + + # Cyclic Refresh + if (t_now - t_cyclic) >= t_sample: + t_cyclic = t_now + # Position command to first actuator is set to measured one to avoid following error to trigger + # Bonus: When doing this instead of disabling the following error, if communication is lost and first + # actuator continue to move under torque command, resulting position error with command will + # trigger a following error and switch back the actuator in position command to hold its position + self.base_command.actuators[0].position = self.base_feedback.actuators[0].position + + # First actuator torque command is set to last actuator torque measure times an amplification + self.base_command.actuators[0].torque_joint = init_first_torque + \ + self.torque_amplification * (self.base_feedback.actuators[6].torque - init_last_torque) + + # First actuator position is sent as a command to last actuator + self.base_command.actuators[6].position = self.base_feedback.actuators[0].position - init_delta_position + + # Incrementing identifier ensure actuators can reject out of time frames + self.base_command.frame_id += 1 + if self.base_command.frame_id > 65535: + self.base_command.frame_id = 0 + for i in range(self.expected_number_of_actuators): + self.base_command.actuators[i].command_id = self.base_command.frame_id + + # Frame is sent + try: + self.base_feedback = self.base_cyclic.Refresh(self.base_command, 0, self.sendOption) + except: + failed_cyclic_count = failed_cyclic_count + 1 + cyclic_count = cyclic_count + 1 + + # Stats Print + if print_stats and ((t_now - t_stats) > 1): + t_stats = t_now + stats_count = stats_count + 1 + + cyclic_count = 0 + failed_cyclic_count = 0 + sys.stdout.flush() + + if self.cyclic_t_end != 0 and (t_now - t_init > self.cyclic_t_end): + print("Cyclic Finished") + sys.stdout.flush() + break + self.cyclic_running = False + return True + + def StopCyclic(self): + print ("Stopping the cyclic and putting the arm back in position mode...") + if self.already_stopped: + return + + # Kill the thread first + if self.cyclic_running: + self.kill_the_thread = True + self.cyclic_thread.join() + + # Set first actuator back in position mode + control_mode_message = ActuatorConfig_pb2.ControlModeInformation() + control_mode_message.control_mode = ActuatorConfig_pb2.ControlMode.Value('POSITION') + device_id = 1 # first actuator has id = 1 + self.SendCallWithRetry(self.actuator_config.SetControlMode, 3, control_mode_message, device_id) + + base_servo_mode = Base_pb2.ServoingModeInformation() + base_servo_mode.servoing_mode = Base_pb2.SINGLE_LEVEL_SERVOING + self.base.SetServoingMode(base_servo_mode) + self.cyclic_t_end = 0.1 + + self.already_stopped = True + + print('Clean Exit') + + @staticmethod + def SendCallWithRetry(call, retry, *args): + i = 0 + arg_out = [] + while i < retry: + try: + arg_out = call(*args) + break + except: + i = i + 1 + continue + if i == retry: + print("Failed to communicate") + return arg_out + +def main(): + # Import the utilities helper module + import argparse + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities + + # Parse arguments + parser = argparse.ArgumentParser() + parser.add_argument("--cyclic_time", type=float, help="delay, in seconds, between cylic control call", default=0.001) + parser.add_argument("--duration", type=int, help="example duration, in seconds (0 means infinite)", default=30) + parser.add_argument("--print_stats", default=True, help="print stats in command line or not (0 to disable)", type=lambda x: (str(x).lower() not in ['false', '0', 'no'])) + args = utilities.parseConnectionArguments(parser) + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: + + with utilities.DeviceConnection.createUdpConnection(args) as router_real_time: + + example = TorqueExample(router, router_real_time) + + success = example.InitCyclic(args.cyclic_time, args.duration, args.print_stats) + + if success: + + while example.cyclic_running: + try: + time.sleep(0.5) + except KeyboardInterrupt: + break + + example.StopCyclic() + + + +if __name__ == "__main__": + main() diff --git a/api_python/examples/109-BaseGen3_ethernet_bridge/01-ethernet_bridge_configuration.py b/api_python/examples/109-BaseGen3_ethernet_bridge/01-ethernet_bridge_configuration.py new file mode 100644 index 00000000..48c0ce9e --- /dev/null +++ b/api_python/examples/109-BaseGen3_ethernet_bridge/01-ethernet_bridge_configuration.py @@ -0,0 +1,79 @@ +#! /usr/bin/env python3 + +### +# KINOVA (R) KORTEX (TM) +# +# Copyright (c) 2019 Kinova inc. All rights reserved. +# +# This software may be modified and distributed +# under the terms of the BSD 3-Clause license. +# +# Refer to the LICENSE file for details. +# +### + +import sys +import os +import time + +from kortex_api.autogen.client_stubs.DeviceManagerClientRpc import DeviceManagerClient +from kortex_api.autogen.client_stubs.InterconnectConfigClientRpc import InterconnectConfigClient +from kortex_api.autogen.messages import Session_pb2, Base_pb2, Common_pb2, InterconnectConfig_pb2, DeviceManager_pb2 + + +class EthernetBridgeConfigurationExample: + def __init__(self, router): + # Create required services + self.interconnect_config = InterconnectConfigClient(router) + self.device_manager = DeviceManagerClient(router) + + self.interconnect_device_id = self.GetDeviceIdFromDevType(Common_pb2.INTERCONNECT, 0) + if (self.interconnect_device_id is None): + print ("Could not find the Interconnect in the device list, exiting...") + sys.exit(0) + + def GetDeviceIdFromDevType(self, device_type, device_index = 0): + devices = self.device_manager.ReadAllDevices() + + current_index = 0 + for device in devices.device_handle: + if device.device_type == device_type: + if current_index == device_index: + print ("Found the Interconnect on device identifier {}".format(device.device_identifier)) + return device.device_identifier + current_index += 1 + return None + + def EnableEthernetBridge(self): + + # Configure the Interconnect to enable the bridge + ethernet_configuration = InterconnectConfig_pb2.EthernetConfiguration() + ethernet_configuration.device = InterconnectConfig_pb2.ETHERNET_DEVICE_EXPANSION + ethernet_configuration.enabled = True + ethernet_configuration.speed = InterconnectConfig_pb2.ETHERNET_SPEED_100M + ethernet_configuration.duplex = InterconnectConfig_pb2.ETHERNET_DUPLEX_FULL + try: + self.interconnect_config.SetEthernetConfiguration(ethernet_configuration, self.interconnect_device_id) + except Exception as e: + print ("An unexpected error occured : {}".format(e)) + +def main(): + # Import the utilities helper module + import argparse + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities + + # Parse arguments + parser = argparse.ArgumentParser() + parser.add_argument("--interface_name", type=str, help="Name of the network interface connected to the arm") + parser.add_argument("--device_ip_address", type=str, help="IP address of the device connected to the arm (must be in sub-network 10.20.0.0/24") + args = utilities.parseConnectionArguments(parser) + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: + + example = EthernetBridgeConfigurationExample(router) + example.EnableEthernetBridge() + +if __name__ == "__main__": + main() diff --git a/api_python/examples/109-BaseGen3_ethernet_bridge/configure_route_to_device.bash b/api_python/examples/109-BaseGen3_ethernet_bridge/configure_route_to_device.bash new file mode 100755 index 00000000..28b5f384 --- /dev/null +++ b/api_python/examples/109-BaseGen3_ethernet_bridge/configure_route_to_device.bash @@ -0,0 +1,24 @@ +#! /bin/bash + +# Usage +if [ "$1" == "-h" ] || [ "$1" == "--help" ]; then + echo "Usage guide : ./configure_route_to_device.bash ARM_IP_ADDRESS INTERFACE DEVICE_ADDRESS" + echo "ARM_IP_ADDRESS is the arm's IP address" + echo "INTERFACE is the host interface name connected to the arm" + echo "DEVICE_ADDRESS is the address of the device connected to the Interconnect module" + echo "Example : ./configure_route_to_device.bash 192.168.1.10 eth0 10.20.0.50" + exit 0 +fi + +# Parameters +ARM_IP_ADDRESS=$1 +INTERFACE=$2 +DEVICE_ADDRESS=$3 + +# Configure the route +echo "Setting the route of the device's subnetwork through the base IP address..." +sudo ip route add 10.20.0.0/24 via $ARM_IP_ADDRESS dev $INTERFACE + +# Ping the device +echo "Pinging the device..." +ping -c 4 $DEVICE_ADDRESS diff --git a/api_python/examples/109-BaseGen3_ethernet_bridge/configure_route_to_device.bat b/api_python/examples/109-BaseGen3_ethernet_bridge/configure_route_to_device.bat new file mode 100644 index 00000000..e8fda53d --- /dev/null +++ b/api_python/examples/109-BaseGen3_ethernet_bridge/configure_route_to_device.bat @@ -0,0 +1,30 @@ +ECHO OFF + +:: Usage +IF "%1%" == "-h" ( + GOTO usage +) +IF "%1%" == "--help" ( + GOTO usage +) + +:: Parameters +SET ARM_IP_ADDRESS=%1 +SET DEVICE_ADDRESS=%2 + +:: Configure the route +ECHO Setting the route of the device's subnetwork through the base IP address... +route ADD 10.20.0.0 MASK 255.255.255.0 %ARM_IP_ADDRESS% + +:: Ping the device +ECHO Pinging the device... +ping -n 4 %DEVICE_ADDRESS% + +EXIT 0 + +:usage +echo Usage guide : .\configure_route_to_device.bat ARM_IP_ADDRESS INTERFACE DEVICE_ADDRESS +echo ARM_IP_ADDRESS is the arm's IP address +echo DEVICE_ADDRESS is the address of the device connected to the Interconnect module +echo Example : .\configure_route_to_device.bat 192.168.1.10 eth0 10.20.0.50 +EXIT 0 \ No newline at end of file diff --git a/api_python/examples/109-BaseGen3_ethernet_bridge/readme.md b/api_python/examples/109-BaseGen3_ethernet_bridge/readme.md new file mode 100644 index 00000000..7d75d0ae --- /dev/null +++ b/api_python/examples/109-BaseGen3_ethernet_bridge/readme.md @@ -0,0 +1,65 @@ +# Ethernet Bridge Configuration example + +## Overview + +This example shows you how to configure your computer, the robot and your device to route your Ethernet packets from your computer through the robot and the Interconnect module to your device, connected to the Ethernet Expansion IO of the Interconnect Module. + +## Configuration steps + +### 1 - Configuring your device + +The example was developed using a Raspberry Pi connected by Ethernet to the Interconnect's Ethernet Expansion IO. + +The configuration steps for the Raspberry Pi are : + +1. Configure a static IP address in the 10.20.0.0/24 subnetwork on the interface connected to the Interconnect module : + + ```sudo ifconfig your_interface your_chosen_address netmask 255.255.255.0``` + + For example, when using address 10.20.0.50 and interface eth0 : + + ```sudo ifconfig eth0 10.20.0.50 netmask 255.255.255.0``` + +2. Configure the default gateway for the interface : + + ```sudo route add default gw 10.20.0.1 your_interface``` + + For example, when using interface eth0 : + + ```sudo route add default gw 10.20.0.1 eth0``` + +3. Unplug and replug the link to restart it. + +> Note : Don't use address 10.20.0.100 because it is the Vision module's address! + +### 2 - Configuring the arm + +The [Python code](./01-ethernet_bridge_configuration.py) configures and enables the arm's Ethernet link. You can change the ```speed``` and ```duplex``` options to match your required configuration. + +You can run the code with this command on Linux : +```python3 01-ethernet_bridge_configuration.py``` + +You can run the code with this command on Windows : +```python 01-ethernet_bridge_configuration.py``` + +### 3 - Configuring your computer + +- On Linux, you can run the [bash script](./configure_route_to_device.bash) to create the route to your device. This way, your computer will know that when it needs to send a packet to your device, it must route through the arm's base. The script also pings the device to show the route is working. + + Usage guide : ```sudo ./configure_route_to_device.bash ARM_IP_ADDRESS INTERFACE DEVICE_ADDRESS``` + - ARM_IP_ADDRESS is the arm's IP address + - INTERFACE is the host interface name connected to the arm + - DEVICE_ADDRESS is the address of the device connected to the Interconnect module + + Example : ```sudo ./configure_route_to_device.bash 192.168.1.10 eth0 10.20.0.50``` + + +- On Windows, you can run the [batch file](./configure_route_to_device.bat) to create the route to your device. This way, your computer will know that when it needs to send a packet to your device, it must route through the arm's base. The script also pings the device to show the route is working. + + Usage guide : ```.\configure_route_to_device.bat ARM_IP_ADDRESS DEVICE_ADDRESS``` + - ARM_IP_ADDRESS is the arm's IP address + - DEVICE_ADDRESS is the address of the device connected to the Interconnect module + + Example : .\configure_route_to_device.bat 192.168.1.10 10.20.0.50 + + > Note: You will need to run this command from an Admin Command Prompt or an Admin Powershell! \ No newline at end of file diff --git a/api_python/examples/500-Vision/01-vision.py b/api_python/examples/500-Vision/01-vision.py deleted file mode 100644 index f33981a7..00000000 --- a/api_python/examples/500-Vision/01-vision.py +++ /dev/null @@ -1,85 +0,0 @@ -#! /usr/bin/env python3 - -### -# KINOVA (R) KORTEX (TM) -# -# Copyright (c) 2018 Kinova inc. All rights reserved. -# -# This software may be modified and distributed -# under the terms of the BSD 3-Clause license. -# -# Refer to the LICENSE file for details. -# -### - -from kortex_api.UDPTransport import UDPTransport -from kortex_api.RouterClient import RouterClient, RouterClientSendOptions -from kortex_api.SessionManager import SessionManager - -from kortex_api.autogen.client_stubs.VisionConfigClientRpc import VisionConfigClient -from kortex_api.autogen.client_stubs.DeviceConfigClientRpc import DeviceConfigClient -from kortex_api.autogen.client_stubs.DeviceManagerClientRpc import DeviceManagerClient - -from kortex_api.autogen.messages import DeviceConfig_pb2, Session_pb2, DeviceManager_pb2, VisionConfig_pb2 - - -def example_vision_config(device_manager_service, vision_config_service): - - # Get all device routing information (from DeviceManagerClient service) - allDevicesInfo = device_manager_service.ReadAllDevices() - - vision_handles = [ hd for hd in allDevicesInfo.device_handle if hd.device_type == DeviceConfig_pb2.VISION ] - if len(vision_handles) == 0: - print("error: there is no vision device register in the devices infos") - elif len(vision_handles) > 1: - print("error: there are more than one vision device register in the devices infos") - else: - handle = vision_handles[0] - - sensor_id = VisionConfig_pb2.SensorIdentifier() - sensor_id.sensor = VisionConfig_pb2.SENSOR_COLOR - - intrinsic_value = vision_config_service.GetIntrinsicParameters(sensor_id, handle.device_identifier) - - print("Width: {0}".format(intrinsic_value.width)) - print("Height: {0}".format(intrinsic_value.height)) - print("Principal point x: {0}".format(intrinsic_value.principal_point_x)) - print("Principal point y: {0}".format(intrinsic_value.principal_point_y)) - print("Focal length x: {0}".format(intrinsic_value.focal_length_x)) - print("Focal length y: {0}".format(intrinsic_value.focal_length_y)) - - -if __name__ == "__main__": - - DEVICE_IP = "192.168.1.10" - DEVICE_PORT = 10000 - - # Setup API - errorCallback = lambda kException: print("_________ callback error _________ {}".format(kException)) - transport = UDPTransport() - router = RouterClient(transport, errorCallback) - transport.connect(DEVICE_IP, DEVICE_PORT) - - # Create session - session_info = Session_pb2.CreateSessionInfo() - session_info.username = 'admin' - session_info.password = 'admin' - session_info.session_inactivity_timeout = 60000 # (milliseconds) - session_info.connection_inactivity_timeout = 2000 # (milliseconds) - - session_manager = SessionManager(router) - session_manager.CreateSession(session_info) - - # Create required services - device_manager_service = DeviceManagerClient(router) - vision_config_service = VisionConfigClient(router) - - # Example core - example_vision_config(device_manager_service, vision_config_service) - - # Close API session - session_manager.CloseSession() - - # Deactivate the router and cleanly disconnect from the transport object - router.SetActivationStatus(False) - transport.disconnect() diff --git a/api_python/examples/500-Vision/01-vision_intrinsics.py b/api_python/examples/500-Vision/01-vision_intrinsics.py new file mode 100644 index 00000000..f52c9bb2 --- /dev/null +++ b/api_python/examples/500-Vision/01-vision_intrinsics.py @@ -0,0 +1,221 @@ +#! /usr/bin/env python3 + +### +# KINOVA (R) KORTEX (TM) +# +# Copyright (c) 2019 Kinova inc. All rights reserved. +# +# This software may be modified and distributed +# under the terms of the BSD 3-Clause license. +# +# Refer to the LICENSE file for details. +# +### + +import sys +import os + +from kortex_api.autogen.client_stubs.VisionConfigClientRpc import VisionConfigClient +from kortex_api.autogen.client_stubs.DeviceManagerClientRpc import DeviceManagerClient + +from kortex_api.autogen.messages import DeviceConfig_pb2, Session_pb2, DeviceManager_pb2, VisionConfig_pb2 + +# +# Dictionary of all Sensor strings +# +all_sensor_strings = { + VisionConfig_pb2.SENSOR_UNSPECIFIED : "Unspecified sensor", + VisionConfig_pb2.SENSOR_COLOR : "Color", + VisionConfig_pb2.SENSOR_DEPTH : "Depth" +} + +# +# Dictionary of all Resolution strings +# +all_resolution_strings = { + VisionConfig_pb2.RESOLUTION_UNSPECIFIED : "Unspecified resolution", + VisionConfig_pb2.RESOLUTION_320x240 : "320x240", + VisionConfig_pb2.RESOLUTION_424x240 : "424x240", + VisionConfig_pb2.RESOLUTION_480x270 : "480x270", + VisionConfig_pb2.RESOLUTION_640x480 : "640x480", + VisionConfig_pb2.RESOLUTION_1280x720 : "1280x720", + VisionConfig_pb2.RESOLUTION_1920x1080 : "1920x1080" +} + + +# +# Example related functions +# + +# +# Returns a string matching the requested sensor +# +def sensor_to_string(sensor): + return all_sensor_strings.get(sensor, "Unknown sensor") + +# +# Returns a string matching the requested resolution +# +def resolution_to_string(resolution): + return all_resolution_strings.get(resolution, "Unknown resolution") + +# +# Prints the intrinsic parameters on stdout +# +def print_intrinsic_parameters(intrinsics): + print("Sensor: {0} ({1})".format(intrinsics.sensor, sensor_to_string(intrinsics.sensor))) + print("Resolution: {0} ({1})".format(intrinsics.resolution, resolution_to_string(intrinsics.resolution))) + print("Principal point x: {0:.6f}".format(intrinsics.principal_point_x)) + print("Principal point y: {0:.6f}".format(intrinsics.principal_point_y)) + print("Focal length x: {0:.6f}".format(intrinsics.focal_length_x)) + print("Focal length y: {0:.6f}".format(intrinsics.focal_length_y)) + print("Distortion coefficients: [{0:.6f} {1:.6f} {2:.6f} {3:.6f} {4:.6f}]".format( \ + intrinsics.distortion_coeffs.k1, \ + intrinsics.distortion_coeffs.k2, \ + intrinsics.distortion_coeffs.p1, \ + intrinsics.distortion_coeffs.p2, \ + intrinsics.distortion_coeffs.k3)) + +# +# Example core functions +# + +# +# Returns the device identifier of the Vision module, 0 if not found +# +def example_vision_get_device_id(device_manager): + vision_device_id = 0 + + # Getting all device routing information (from DeviceManagerClient service) + all_devices_info = device_manager.ReadAllDevices() + + vision_handles = [ hd for hd in all_devices_info.device_handle if hd.device_type == DeviceConfig_pb2.VISION ] + if len(vision_handles) == 0: + print("Error: there is no vision device registered in the devices info") + elif len(vision_handles) > 1: + print("Error: there are more than one vision device registered in the devices info") + else: + handle = vision_handles[0] + vision_device_id = handle.device_identifier + print("Vision module found, device Id: {0}".format(vision_device_id)) + + return vision_device_id + +# +# Example showing how to retrieve the intrinsic parameters of the Color and Depth sensors +# +def example_routed_vision_get_intrinsics(vision_config, vision_device_id): + sensor_id = VisionConfig_pb2.SensorIdentifier() + profile_id = VisionConfig_pb2.IntrinsicProfileIdentifier() + + print("\n\n** Example showing how to retrieve the intrinsic parameters of the Color and Depth sensors **") + + print("\n-- Using Vision Config Service to get intrinsic parameters of active color resolution --") + sensor_id.sensor = VisionConfig_pb2.SENSOR_COLOR + intrinsics = vision_config.GetIntrinsicParameters(sensor_id, vision_device_id) + print_intrinsic_parameters(intrinsics) + + print("\n-- Using Vision Config Service to get intrinsic parameters of active depth resolution --") + sensor_id.sensor = VisionConfig_pb2.SENSOR_DEPTH + intrinsics = vision_config.GetIntrinsicParameters(sensor_id, vision_device_id) + print_intrinsic_parameters(intrinsics) + + print("\n-- Using Vision Config Service to get intrinsic parameters for color resolution 1920x1080 --") + profile_id.sensor = VisionConfig_pb2.SENSOR_COLOR + profile_id.resolution = VisionConfig_pb2.RESOLUTION_1920x1080 + intrinsics = vision_config.GetIntrinsicParametersProfile(profile_id, vision_device_id) + print_intrinsic_parameters(intrinsics) + + print("\n-- Using Vision Config Service to get intrinsic parameters for depth resolution 424x240 --") + profile_id.sensor = VisionConfig_pb2.SENSOR_DEPTH + profile_id.resolution = VisionConfig_pb2.RESOLUTION_424x240 + intrinsics = vision_config.GetIntrinsicParametersProfile(profile_id, vision_device_id) + print_intrinsic_parameters(intrinsics) + +# +# Example showing how to set the intrinsic parameters of the Color and Depth sensors +# +def example_routed_vision_set_intrinsics(vision_config, vision_device_id): + profile_id = VisionConfig_pb2.IntrinsicProfileIdentifier() + intrinsics_new = VisionConfig_pb2.IntrinsicParameters() + + print("\n\n** Example showing how to set the intrinsic parameters of the Color and Depth sensors **") + + print("\n-- Using Vision Config Service to get current intrinsic parameters for color resolution 640x480 --") + profile_id.sensor = VisionConfig_pb2.SENSOR_COLOR + profile_id.resolution = VisionConfig_pb2.RESOLUTION_640x480 + intrinsics_old = vision_config.GetIntrinsicParametersProfile(profile_id, vision_device_id) + print_intrinsic_parameters(intrinsics_old) + + print("\n-- Using Vision Config Service to set new intrinsic parameters for color resolution 640x480 --") + intrinsics_new.sensor = profile_id.sensor + intrinsics_new.resolution = profile_id.resolution + intrinsics_new.principal_point_x = 640 / 2 + 0.123456 + intrinsics_new.principal_point_y = 480 / 2 + 1.789012 + intrinsics_new.focal_length_x = 650.567890 + intrinsics_new.focal_length_y = 651.112233 + intrinsics_new.distortion_coeffs.k1 = 0.2 + intrinsics_new.distortion_coeffs.k2 = 0.05 + intrinsics_new.distortion_coeffs.p1 = 1.2 + intrinsics_new.distortion_coeffs.p2 = 0.999999 + intrinsics_new.distortion_coeffs.k3 = 0.001 + vision_config.SetIntrinsicParameters(intrinsics_new, vision_device_id) + + print("\n-- Using Vision Config Service to get new intrinsic parameters for color resolution 640x480 --") + intrinsics_reply = vision_config.GetIntrinsicParametersProfile(profile_id, vision_device_id) + print_intrinsic_parameters(intrinsics_reply) + + print("\n-- Using Vision Config Service to set back old intrinsic parameters for color resolution 640x480 --") + vision_config.SetIntrinsicParameters(intrinsics_old, vision_device_id) + + + print("\n-- Using Vision Config Service to get current intrinsic parameters for depth resolution 424x240 --") + profile_id.sensor = VisionConfig_pb2.SENSOR_DEPTH + profile_id.resolution = VisionConfig_pb2.RESOLUTION_424x240 + intrinsics_old = vision_config.GetIntrinsicParametersProfile(profile_id, vision_device_id) + print_intrinsic_parameters(intrinsics_old) + + print("\n-- Using Vision Config Service to set new intrinsic parameters for depth resolution 424x240 --") + intrinsics_new.sensor = profile_id.sensor + intrinsics_new.resolution = profile_id.resolution + intrinsics_new.principal_point_x = 424 / 2 + 0.123456 + intrinsics_new.principal_point_y = 240 / 2 + 1.789012 + intrinsics_new.focal_length_x = 315.567890 + intrinsics_new.focal_length_y = 317.112233 + intrinsics_new.distortion_coeffs.k1 = 0.425 + intrinsics_new.distortion_coeffs.k2 = 1.735102 + intrinsics_new.distortion_coeffs.p1 = 0.1452 + intrinsics_new.distortion_coeffs.p2 = 0.767574 + intrinsics_new.distortion_coeffs.k3 = 2.345678 + vision_config.SetIntrinsicParameters(intrinsics_new, vision_device_id) + + print("\n-- Using Vision Config Service to get new intrinsic parameters for depth resolution 424x240 --") + intrinsics_reply = vision_config.GetIntrinsicParametersProfile(profile_id, vision_device_id) + print_intrinsic_parameters(intrinsics_reply) + + print("\n-- Using Vision Config Service to set back old intrinsic parameters for depth resolution 424x240 --") + vision_config.SetIntrinsicParameters(intrinsics_old, vision_device_id) + +def main(): + # Import the utilities helper module + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities + + # Parse arguments + args = utilities.parseConnectionArguments() + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: + + device_manager = DeviceManagerClient(router) + vision_config = VisionConfigClient(router) + + # example core + vision_device_id = example_vision_get_device_id(device_manager) + + if vision_device_id != 0: + example_routed_vision_get_intrinsics(vision_config, vision_device_id) + example_routed_vision_set_intrinsics(vision_config, vision_device_id) + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/api_python/examples/500-Vision/02-vision_extrinsics.py b/api_python/examples/500-Vision/02-vision_extrinsics.py new file mode 100644 index 00000000..64631e52 --- /dev/null +++ b/api_python/examples/500-Vision/02-vision_extrinsics.py @@ -0,0 +1,132 @@ +#! /usr/bin/env python3 + +### +# KINOVA (R) KORTEX (TM) +# +# Copyright (c) 2019 Kinova inc. All rights reserved. +# +# This software may be modified and distributed +# under the terms of the BSD 3-Clause license. +# +# Refer to the LICENSE file for details. +# +### + +import sys +import os + +from kortex_api.autogen.client_stubs.VisionConfigClientRpc import VisionConfigClient +from kortex_api.autogen.client_stubs.DeviceManagerClientRpc import DeviceManagerClient + +from kortex_api.autogen.messages import DeviceConfig_pb2, Session_pb2, DeviceManager_pb2, VisionConfig_pb2 + +# +# Example related function +# + +# +# Prints the extrinsic parameters on stdout +# +def print_extrinsic_parameters(extrinsics): + print("Rotation matrix:") + print("[{0: .6f} {1: .6f} {2: .6f}".format ( \ + extrinsics.rotation.row1.column1, extrinsics.rotation.row1.column2, extrinsics.rotation.row1.column3)) + print(" {0: .6f} {1: .6f} {2: .6f}".format ( \ + extrinsics.rotation.row2.column1, extrinsics.rotation.row2.column2, extrinsics.rotation.row2.column3)) + print(" {0: .6f} {1: .6f} {2: .6f}]".format ( \ + extrinsics.rotation.row3.column1, extrinsics.rotation.row3.column2, extrinsics.rotation.row3.column3)) + print("Translation vector: [{0:.6f} {1:.6f} {2:.6f}]".format( \ + extrinsics.translation.t_x, extrinsics.translation.t_y, extrinsics.translation.t_z)) + +# +# Example core functions +# + +# +# Returns the device identifier of the Vision module, 0 if not found +# +def example_vision_get_device_id(device_manager): + vision_device_id = 0 + + # getting all device routing information (from DeviceManagerClient service) + all_devices_info = device_manager.ReadAllDevices() + + vision_handles = [ hd for hd in all_devices_info.device_handle if hd.device_type == DeviceConfig_pb2.VISION ] + if len(vision_handles) == 0: + print("Error: there is no vision device registered in the devices info") + elif len(vision_handles) > 1: + print("Error: there are more than one vision device registered in the devices info") + else: + handle = vision_handles[0] + vision_device_id = handle.device_identifier + print("Vision module found, device Id: {0}".format(vision_device_id)) + + return vision_device_id + +# +# Example showing how to retrieve the extrinsic parameters +# +def example_routed_vision_get_extrinsics(vision_config, vision_device_id): + print("\n\n** Example showing how to retrieve the extrinsic parameters **") + + print("\n-- Using Vision Config Service to get extrinsic parameters --") + extrinsics = vision_config.GetExtrinsicParameters(vision_device_id) + print_extrinsic_parameters(extrinsics) + +# +# Example showing how to set the extrinsic parameters +# +def example_routed_vision_set_extrinsics(vision_config, vision_device_id): + extrinsics_new = VisionConfig_pb2.ExtrinsicParameters() + + print("\n\n** Example showing how to set the extrinsic parameters **") + + print("\n-- Using Vision Config Service to get current extrinsic parameters --") + extrinsics_old = vision_config.GetExtrinsicParameters(vision_device_id) + print_extrinsic_parameters(extrinsics_old) + + print("\n-- Using Vision Config Service to set new extrinsic parameters --") + extrinsics_new.rotation.row1.column1 = 1.0001 + extrinsics_new.rotation.row1.column2 = 0.1 + extrinsics_new.rotation.row1.column3 = -0.01 + extrinsics_new.rotation.row2.column1 = -0.001 + extrinsics_new.rotation.row2.column2 = 1.0002 + extrinsics_new.rotation.row2.column3 = 0.0001 + extrinsics_new.rotation.row3.column1 = 0.00001 + extrinsics_new.rotation.row3.column2 = -0.000001 + extrinsics_new.rotation.row3.column3 = 1.0003 + extrinsics_new.translation.t_x = -0.026123456 + extrinsics_new.translation.t_y = -0.009876543 + extrinsics_new.translation.t_z = 0.00002 + vision_config.SetExtrinsicParameters(extrinsics_new, vision_device_id) + + print("\n-- Using Vision Config Service to get new extrinsic parameters --") + extrinsics_reply = vision_config.GetExtrinsicParameters(vision_device_id) + print_extrinsic_parameters(extrinsics_reply) + + print("\n-- Using Vision Config Service to set back old extrinsic parameters --") + vision_config.SetExtrinsicParameters(extrinsics_old, vision_device_id) + +def main(): + # Import the utilities helper module + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities + + # Parse arguments + args = utilities.parseConnectionArguments() + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: + + device_manager = DeviceManagerClient(router) + vision_config = VisionConfigClient(router) + + # example core + vision_device_id = example_vision_get_device_id(device_manager) + + if vision_device_id != 0: + example_routed_vision_get_extrinsics(vision_config, vision_device_id) + example_routed_vision_set_extrinsics(vision_config, vision_device_id) + +if __name__ == "__main__": + main() diff --git a/api_python/examples/500-Vision/03-vision_sensor_focus_action.py b/api_python/examples/500-Vision/03-vision_sensor_focus_action.py new file mode 100644 index 00000000..d2e05316 --- /dev/null +++ b/api_python/examples/500-Vision/03-vision_sensor_focus_action.py @@ -0,0 +1,198 @@ +#! /usr/bin/env python3 + +### +# KINOVA (R) KORTEX (TM) +# +# Copyright (c) 2019 Kinova inc. All rights reserved. +# +# This software may be modified and distributed +# under the terms of the BSD 3-Clause license. +# +# Refer to the LICENSE file for details. +# +### + +###################################################################################### +# To use these examples: # +# - Connect to the robot's web page # +# - Configure the Vision Color Sensor to 1280x720 resolution # +# - Position the robot so you can easily place objects in front of the Color camera # +# - Select the Camera view page # +###################################################################################### + +import sys +import os +import time + +from kortex_api.autogen.client_stubs.VisionConfigClientRpc import VisionConfigClient +from kortex_api.autogen.client_stubs.DeviceManagerClientRpc import DeviceManagerClient + +from kortex_api.autogen.messages import DeviceConfig_pb2, Session_pb2, DeviceManager_pb2, VisionConfig_pb2 + +# +# Returns the device identifier of the Vision module, 0 if not found +# +def example_vision_get_device_id(device_manager): + vision_device_id = 0 + + # Getting all device routing information (from DeviceManagerClient service) + all_devices_info = device_manager.ReadAllDevices() + + vision_handles = [ hd for hd in all_devices_info.device_handle if hd.device_type == DeviceConfig_pb2.VISION ] + if len(vision_handles) == 0: + print("Error: there is no vision device registered in the devices info") + elif len(vision_handles) > 1: + print("Error: there are more than one vision device registered in the devices info") + else: + handle = vision_handles[0] + vision_device_id = handle.device_identifier + print("Vision module found, device Id: {0}".format(vision_device_id)) + + return vision_device_id + +# +# Display how to use these examples +# +def example_display_usage(): + print("\n") + print("\t######################################################################################") + print("\t# To use these examples: #") + print("\t# - Connect to the robot's web page #") + print("\t# - Configure the Vision Color Sensor to 1280x720 resolution #") + print("\t# - Position the robot so you can easily place objects in front of the Color camera #") + print("\t# - Select the Camera view page #") + print("\t######################################################################################") + print("\n") + +# +# Wait for 10 seconds, allowing to see the effects of the focus action +# +def example_wait_for_focus_action(): + print("-- Waiting for 10 seconds to observe the effects of the focus action... --") + time.sleep(10) + +# +# Example showing how to play with the auto-focus of the Color camera +# +def example_routed_vision_do_autofocus_action(vision_config, vision_device_id): + print("\n** Example showing how to play with the auto-focus of the Color camera **") + sensor_focus_action = VisionConfig_pb2.SensorFocusAction() + sensor_focus_action.sensor = VisionConfig_pb2.SENSOR_COLOR + + print("\n-- Using Vision Config Service to disable the auto-focus --") + sensor_focus_action.focus_action = VisionConfig_pb2.FOCUSACTION_DISABLE_FOCUS + vision_config.DoSensorFocusAction(sensor_focus_action, vision_device_id) + print("-- Place or remove an object from the center of the camera, observe the focus doesn't change --") + example_wait_for_focus_action() + + print("\n-- Using Vision Config Service to enable the auto-focus --") + sensor_focus_action.focus_action = VisionConfig_pb2.FOCUSACTION_START_CONTINUOUS_FOCUS + vision_config.DoSensorFocusAction(sensor_focus_action, vision_device_id) + print("-- Place an object in the center of the camera, observe the focus adjusts automatically --") + example_wait_for_focus_action() + + print("\n-- Using Vision Config Service to pause the auto-focus --") + sensor_focus_action.focus_action = VisionConfig_pb2.FOCUSACTION_PAUSE_CONTINUOUS_FOCUS + vision_config.DoSensorFocusAction(sensor_focus_action, vision_device_id) + print("-- Move the object away from the center of the camera and then back, but at a different distance, observe the focus doesn't change --") + example_wait_for_focus_action() + + print("\n-- Using Vision Config Service to focus now --") + sensor_focus_action.focus_action = VisionConfig_pb2.FOCUSACTION_FOCUS_NOW + vision_config.DoSensorFocusAction(sensor_focus_action, vision_device_id) + print("-- Observe the focus tried to adjust to the object in front to the camera --") + example_wait_for_focus_action() + + print("\n-- Using Vision Config Service to re-enable the auto-focus --") + sensor_focus_action.focus_action = VisionConfig_pb2.FOCUSACTION_START_CONTINUOUS_FOCUS + vision_config.DoSensorFocusAction(sensor_focus_action, vision_device_id) + print("-- Move the object away from the center of the camera and then back, but at a different distance, observe the focus adjusts automatically --") + example_wait_for_focus_action() + +# +# Example showing how to set the focus of the Color camera to a X-Y point in the camera image +# +def example_routed_vision_set_focus_point(vision_config, vision_device_id): + print("\n** Example showing how to set the focus of the Color camera to a X-Y point in the camera image **") + sensor_focus_action = VisionConfig_pb2.SensorFocusAction() + sensor_focus_action.sensor = VisionConfig_pb2.SENSOR_COLOR + + print("\n-- Using Vision Config Service to set the focus point in the center of the lower right quadrant of the camera image --") + sensor_focus_action.focus_action = VisionConfig_pb2.FOCUSACTION_SET_FOCUS_POINT + sensor_focus_action.focus_point.x = int(1280*3/4) + sensor_focus_action.focus_point.y = int(720*3/4) + vision_config.DoSensorFocusAction(sensor_focus_action, vision_device_id) + sensor_focus_action.focus_action = VisionConfig_pb2.FOCUSACTION_FOCUS_NOW + vision_config.DoSensorFocusAction(sensor_focus_action, vision_device_id) + print("-- Place an object in the center of the lower right quadrant of the camera image, observe the object gets into focus --") + example_wait_for_focus_action() + + print("\n-- Using Vision Config Service to set the focus point back in the middle the camera image--") + sensor_focus_action.focus_action = VisionConfig_pb2.FOCUSACTION_SET_FOCUS_POINT + sensor_focus_action.focus_point.x = int(1280/2) + sensor_focus_action.focus_point.y = int(720/2) + vision_config.DoSensorFocusAction(sensor_focus_action, vision_device_id) + sensor_focus_action.focus_action = VisionConfig_pb2.FOCUSACTION_FOCUS_NOW + vision_config.DoSensorFocusAction(sensor_focus_action, vision_device_id) + print("-- Place an object in the center of the camera image, observe the object gets into focus --") + example_wait_for_focus_action() + +# +# Example showing how to set the manual focus of the Color camera (changes the focus distance) +# +def example_routed_vision_set_manual_focus(vision_config, vision_device_id): + print("\n** Example showing how to set the manual focus of the Color camera (changes the focus distance) **") + sensor_focus_action = VisionConfig_pb2.SensorFocusAction() + sensor_focus_action.sensor = VisionConfig_pb2.SENSOR_COLOR + + print("\n-- Using Vision Config Service to set the manual focus on a very close object (close-up view) --") + sensor_focus_action.focus_action = VisionConfig_pb2.FOCUSACTION_SET_MANUAL_FOCUS + sensor_focus_action.manual_focus.value = 1023 # Maximum accepted value + vision_config.DoSensorFocusAction(sensor_focus_action, vision_device_id) + print("-- Place an object at around 2 inches away from the center of the camera, observe the object is in focus --") + example_wait_for_focus_action() + + print("\n-- Using Vision Config Service to set the manual focus on an object at a greater distance --") + sensor_focus_action.focus_action = VisionConfig_pb2.FOCUSACTION_SET_MANUAL_FOCUS + sensor_focus_action.manual_focus.value = 0 # Mininum accepted value + vision_config.DoSensorFocusAction(sensor_focus_action, vision_device_id) + print("-- Move the object away from the camera until it gets into focus --") + example_wait_for_focus_action() + + print("\n-- Using Vision Config Service to set the manual focus on a relatively close object (normal view) --") + sensor_focus_action.focus_action = VisionConfig_pb2.FOCUSACTION_SET_MANUAL_FOCUS + sensor_focus_action.manual_focus.value = 350 + vision_config.DoSensorFocusAction(sensor_focus_action, vision_device_id) + print("-- Move the object at around 8 inches away from the center of the camera, observe the object is in focus --") + example_wait_for_focus_action() + + print("\n-- Using Vision Config Service to re-enable the auto-focus --") + sensor_focus_action.focus_action = VisionConfig_pb2.FOCUSACTION_START_CONTINUOUS_FOCUS + vision_config.DoSensorFocusAction(sensor_focus_action, vision_device_id) + print("-- Move the object away from the camera and then back, but at a different distance, observe the focus adjusts automatically --") + example_wait_for_focus_action() + +def main(): + # Import the utilities helper module + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities + + # Parse arguments + args = utilities.parseConnectionArguments() + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: + + device_manager = DeviceManagerClient(router) + vision_config = VisionConfigClient(router) + + # example core + vision_device_id = example_vision_get_device_id(device_manager) + + if vision_device_id != 0: + example_routed_vision_do_autofocus_action(vision_config, vision_device_id) + example_routed_vision_set_focus_point(vision_config, vision_device_id) + example_routed_vision_set_manual_focus(vision_config, vision_device_id) + +if __name__ == "__main__": + main() diff --git a/api_python/examples/500-Vision/04-vision_sensor_options.py b/api_python/examples/500-Vision/04-vision_sensor_options.py new file mode 100644 index 00000000..1f71349a --- /dev/null +++ b/api_python/examples/500-Vision/04-vision_sensor_options.py @@ -0,0 +1,315 @@ +#! /usr/bin/env python3 + +### +# KINOVA (R) KORTEX (TM) +# +# Copyright (c) 2019 Kinova inc. All rights reserved. +# +# This software may be modified and distributed +# under the terms of the BSD 3-Clause license. +# +# Refer to the LICENSE file for details. +# +### + +###################################################################################### +# To use these examples: # +# - Connect to the robot's web page # +# - Select the Camera view page # +# - Observe the effects of changing the Color sensor options # +###################################################################################### + +import sys +import os +import time + +from kortex_api.autogen.client_stubs.VisionConfigClientRpc import VisionConfigClient +from kortex_api.autogen.client_stubs.DeviceConfigClientRpc import DeviceConfigClient +from kortex_api.autogen.client_stubs.DeviceManagerClientRpc import DeviceManagerClient + +from kortex_api.autogen.messages import DeviceConfig_pb2, Session_pb2, DeviceManager_pb2, VisionConfig_pb2 + +# Lists of supported options for a sensor +supported_color_options = [] +supported_depth_options = [] + +# +# Returns the device identifier of the Vision module, 0 if not found +# +def example_vision_get_device_id(device_manager): + vision_device_id = 0 + + # Getting all device routing information (from DeviceManagerClient service) + all_devices_info = device_manager.ReadAllDevices() + + vision_handles = [ hd for hd in all_devices_info.device_handle if hd.device_type == DeviceConfig_pb2.VISION ] + if len(vision_handles) == 0: + print("Error: there is no vision device registered in the devices info") + elif len(vision_handles) > 1: + print("Error: there are more than one vision device registered in the devices info") + else: + handle = vision_handles[0] + vision_device_id = handle.device_identifier + print("Vision module found, device Id: {0}".format(vision_device_id)) + + return vision_device_id + +# +# Display how to use these examples +# +def example_display_usage(): + print("\n") + print("\t######################################################################################") + print("\t# To use these examples: #") + print("\t# - Connect to the robot's web page #") + print("\t# - Select the Camera view page #") + print("\t# - Observe the effects of changing the Color sensor options #") + print("\t######################################################################################") + print("\n") + +# +# Get the name of a sensor +# +def example_get_sensor_name(sensor): + if sensor == VisionConfig_pb2.SENSOR_COLOR: + name = "COLOR" + elif sensor == VisionConfig_pb2.SENSOR_DEPTH: + name = "DEPTH" + else: + name = "***UNSUPPORTED***" + return name + +# +# Get the list of supported options for a sensor +# Each list item is a dictionary describing an option information +# +def example_get_sensor_supported_options(sensor): + if sensor == VisionConfig_pb2.SENSOR_COLOR: + supported_option = supported_color_options + elif sensor == VisionConfig_pb2.SENSOR_DEPTH: + supported_option = supported_depth_options + else: + supported_option = [] + return supported_option + +# +# Display the information of a specific sensor option +# +def example_display_sensor_option_information(option_info): + print("Option id: {0:02d} name: {1} is_writable: {2}\n" \ + "minimum: {3:0.06f} maximum: {4:0.06f}\n" \ + " step: {5:0.06f} default: {6:0.06f}\n" \ + .format(option_info['id'], option_info['name'], option_info['writable'], \ + option_info['min'], option_info['max'], option_info['step'], option_info['default'])) + +# +# Add option information to a list of supported options for a sensor +# The added item is a dictionary describing the option information, with the following fields: +# 'id', 'name', 'writable', 'min', 'max', 'step', 'default' +# Then, display the option information +# +def example_add_and_display_sensor_supported_option(option_info): + display_option_info = True + option_info_dict = {} + + option_info_dict['id'] = option_info.option + option_info_dict['name'] = VisionConfig_pb2.Option.Name(option_info.option) + option_info_dict['writable'] = True if int(option_info.read_only) == 0 else False + option_info_dict['min'] = option_info.minimum + option_info_dict['max'] = option_info.maximum + option_info_dict['step'] = option_info.step + option_info_dict['default'] = option_info.default_value + + if option_info.sensor == VisionConfig_pb2.SENSOR_COLOR: + supported_color_options.append(option_info_dict) + elif option_info.sensor == VisionConfig_pb2.SENSOR_DEPTH: + supported_depth_options.append(option_info_dict) + else: + print("Unsupported sensor {0} for option id {1}, not adding to any list!".format(option_info.sensor, option_info.option)) + display_option_info = False + + # Display option information + if display_option_info: + example_display_sensor_option_information(option_info_dict) + +# +# For all sensor options, set their value based on the specified range +# +def example_set_sensor_options_values_by_range(sensor, value_range, vision_config, vision_device_id): + option_value = VisionConfig_pb2.OptionValue() + sensor_options = example_get_sensor_supported_options(sensor) + option_value.sensor = sensor + + for option in sensor_options: + if option['writable']: + try: + option_value.option = option['id'] + option_value.value = option[value_range] + vision_config.SetOptionValue(option_value, vision_device_id) + print("Set value ({0:0.06f}) for option '{1}'".format(option_value.value, option['name'])) + except Exception as ex: + print("Failed to set {0} value for option '{1}': {2}".format(value_range, option['name'], str(ex))) + +# +# For all sensor options, validate their value based on the specified range +# +def example_validate_sensor_options_values_by_range(sensor, value_range, vision_config, vision_device_id): + option_identifier = VisionConfig_pb2.OptionIdentifier() + option_value_reply = VisionConfig_pb2.OptionValue() + sensor_options = example_get_sensor_supported_options(sensor) + option_identifier.sensor = sensor + + for option in sensor_options: + if option['writable']: + try: + option_identifier.option = option['id'] + option_value_reply = vision_config.GetOptionValue(option_identifier, vision_device_id) + print("Confirm received value ({0:0.06f}) for option '{1}' --> {2}" \ + .format(option_value_reply.value, option['name'], \ + "OK" if option_value_reply.value == option[value_range] else "*** FAILED ***")) + except Exception as ex: + print("Failed to get value for option '{0}': {1}".format(option['name'], str(ex))) + + +# +# Example showing how to get the sensors options information +# Note: This function must be called in order to fill up the lists of sensors supported options +# +def example_routed_vision_get_option_information(vision_config, vision_device_id): + print("\n** Example showing how to get the sensors options information **") + sensors = VisionConfig_pb2.Sensor.values()[1:] + options = VisionConfig_pb2.Option.values()[1:] + option_identifier = VisionConfig_pb2.OptionIdentifier() + + # For all sensors, determine which options are supported and populate specific list + for sensor in sensors: + option_identifier.sensor = sensor + sensor_name = example_get_sensor_name(sensor) + print("\n-- Using Vision Config Service to get information for all {0} sensor options --".format(sensor_name)) + for option in options: + try: + option_identifier.option = option + option_info = vision_config.GetOptionInformation(option_identifier, vision_device_id) + if option_info.sensor == sensor and option_info.option == option: + if int(option_info.supported) == 1: + example_add_and_display_sensor_supported_option(option_info) + else: + print("Unexpected mismatch of sensor or option in returned information for option id {0}!".format(option)) + except Exception: + # The option is simply not supported + pass + +# +# Example showing how to get the sensors options values +# +def example_routed_vision_get_sensor_options_values(vision_config, vision_device_id): + print("\n** Example showing how to get the sensors options values **") + sensors = VisionConfig_pb2.Sensor.values()[1:] + option_identifier = VisionConfig_pb2.OptionIdentifier() + + # For all sensors, get their supported options value + for sensor in sensors: + option_identifier.sensor = sensor + sensor_name = example_get_sensor_name(sensor) + sensor_options = example_get_sensor_supported_options(sensor) + print("\n-- Using Vision Config Service to get value for all {0} sensor options --".format(sensor_name)) + for option in sensor_options: + try: + option_identifier.option = option['id'] + option_value = vision_config.GetOptionValue(option_identifier, vision_device_id) + print("Option '{0}' has value {1:0.06f}".format(option['name'], option_value.value)) + except Exception as ex: + print("Failed to get value of option '{0}': {1}".format(option['name'], str(ex))) + print("") + +# +# Example showing how to set the sensors options values +# +def example_routed_vision_set_sensor_options_values(vision_config, vision_device_id): + print("\n** Example showing how to set the sensors options values **") + sensors = VisionConfig_pb2.Sensor.values()[1:] + + # For all sensors, set and confirm options values + for value_range in ['max', 'default']: + for sensor in sensors: + sensor_name = example_get_sensor_name(sensor) + + print("\n-- Using Vision Config Service to set {0} value for all {1} sensor options --".format(value_range, sensor_name)) + example_set_sensor_options_values_by_range(sensor, value_range, vision_config, vision_device_id) + + print("\n-- Using Vision Config Service to confirm {0} value was set for all {1} sensor options --".format(value_range, sensor_name)) + example_validate_sensor_options_values_by_range(sensor, value_range, vision_config, vision_device_id) + + if sensor == VisionConfig_pb2.SENSOR_COLOR: + print("\n-- Waiting for 5 seconds to observe the effects of the new COLOR sensor options values... --") + time.sleep(5) + else: + print("") + +# +# Example confirming that sensors options values are restored upon a reboot of the Vision module +# +def example_routed_vision_confirm_saved_sensor_options_values(vision_config, device_config, vision_device_id): + print("\n** Example confirming that sensors options values are restored upon a reboot of the Vision module **") + sensors = VisionConfig_pb2.Sensor.values()[1:] + + # For all sensors, set and confirm options values + for value_range in ['min', 'default']: + for sensor in sensors: + sensor_name = example_get_sensor_name(sensor) + + print("\n-- Using Vision Config Service to set {0} value for all {1} sensor options --".format(value_range, sensor_name)) + example_set_sensor_options_values_by_range(sensor, value_range, vision_config, vision_device_id) + + print("\n-- Using Vision Config Service to confirm {0} value was set for all {1} sensor options --".format(value_range, sensor_name)) + example_validate_sensor_options_values_by_range(sensor, value_range, vision_config, vision_device_id) + + # If we just set the options' minimum value, reboot the Vision module device + if value_range == "min": + # Reboot with a delay + delay_to_reboot_ms = 5000 + reboot_request = DeviceConfig_pb2.RebootRqst() + reboot_request.delay = delay_to_reboot_ms + print("\n-- Using Device Config Service to reboot the Vision module in {0} milliseconds. Please wait... --".format(delay_to_reboot_ms)) + device_config.RebootRequest(reboot_request, vision_device_id) + + # Wait until the Vision module is rebooted completely + wait_after_reboot_sec = 35 + (delay_to_reboot_ms / 1000) + time.sleep(wait_after_reboot_sec) + + # For all sensors, confirm their option values were restored + for sensor in sensors: + sensor_name = example_get_sensor_name(sensor) + + print("\n-- Using Vision Config Service to confirm {0} value was restored after reboot for all {1} sensor options --".format(value_range, sensor_name)) + example_validate_sensor_options_values_by_range(sensor, value_range, vision_config, vision_device_id) + else: + print("") + +def main(): + # Import the utilities helper module + sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) + import utilities + + # Parse arguments + args = utilities.parseConnectionArguments() + + # Create connection to the device and get the router + with utilities.DeviceConnection.createTcpConnection(args) as router: + + device_manager = DeviceManagerClient(router) + device_config = DeviceConfigClient(router) + vision_config = VisionConfigClient(router) + + # example core + vision_device_id = example_vision_get_device_id(device_manager) + + if vision_device_id != 0: + example_routed_vision_get_option_information(vision_config, vision_device_id) + example_routed_vision_get_sensor_options_values(vision_config, vision_device_id) + example_routed_vision_set_sensor_options_values(vision_config, vision_device_id) + example_routed_vision_confirm_saved_sensor_options_values(vision_config, device_config, vision_device_id) + +if __name__ == "__main__": + main() + \ No newline at end of file diff --git a/api_python/examples/readme.md b/api_python/examples/readme.md index 1fa694e3..012a4efd 100644 --- a/api_python/examples/readme.md +++ b/api_python/examples/readme.md @@ -18,7 +18,7 @@ - [Setup (Python environment)](#setup-example-python-environment) - [Python setup](#requested-basic-python--python-modules) - - [Install Kortex Python API and required dependencies](#install-python-module-kortex-api--the-needed-dependencies) + - [Install Kortex Python API and required dependencies](#install-python-kortex-api-and-required-dependencies) - [How to use the examples](#how-to-use-examples-with-gen3-robot) - [Python API documentation](#api-documentation) - [Reference](#reference) @@ -36,41 +36,48 @@ - Python >= 3.5 - pip -**Refer to the main README for Python installation details: [parent readme](../../readme.md)** +Refer to the main README for Python installation details: [parent readme](../../readme.md) ## Install Kortex Python API and required dependencies -*Install what is needed to run the examples via a downloaded whl file (Python wheel package).* +Install what is needed to run the examples via a downloaded whl file (Python wheel package). + +The Kortex API can be downloaded here: [kortex_api](https://artifactory.kinovaapps.com/artifactory/generic-local-public/kortex/API/2.0.0/kortex_api_2.0.0.zip) + +You will have to extract the ZIP file, and you will find the .whl file in the ```python``` folder. + +On Linux: -+ The whl file can be downloaded via the Kinova Google Drive: [kortex_api](https://drive.google.com/file/d/1ASbEsulf5cByru8Hy1oBZJyNDBa9H22C/view) ```sh -python -m pip install .whl +python3 -m pip install .whl ``` +**Note:** root privilege is usually required to install a new module under Linux. + +On Windows: -*note: root privilege is usually required to install a new module under Linux* +```sh +python -m pip install .whl +``` # How to use the examples -*We assume the robot is using its default IP address:* ``192.168.1.10`` +We assume the robot is using its default IP address: ``192.168.1.10`` Before starting, ensure that you run the test in a safe area with some examples that contain movement. Also, verify that your Gen3 device is correctly afixed to the working surface. Prerequisites: + The examples require a wired network connection to your computer + Configure a static IP address on your network interface (e.g. ``192.168.1.11/24``) -+ Add a route to the arm actuators: - + under Windows - ```batch - route ADD -p 10.10.0.0 MASK 255.255.255.0 192.168.1.10 METRIC 1 - ``` - + under Linux - ```sh - ip route add 10.10.0.0/24 via 192.168.1.10 - ``` - -Now you're ready to run the examples. Each Python example has its own ``__main__`` instruction. You need only ``cd`` into the example directory and invoke the Python file using the command: + +Now you're ready to run the examples. Each Python example has its own ``__main__`` instruction. You need only to ``cd`` into the example directory and invoke the Python file using the command: + +- On Linux: +```sh +python3 .py +``` +- On Windows: ```sh python .py ``` @@ -90,4 +97,4 @@ Here's a link to the generated documentation __________________________ -# Back to root topic: **[readme.md](../../readme.md)** +## Back to root topic: **[readme.md](../../readme.md)** diff --git a/api_python/examples/utilities.py b/api_python/examples/utilities.py new file mode 100644 index 00000000..9147bb67 --- /dev/null +++ b/api_python/examples/utilities.py @@ -0,0 +1,76 @@ +import argparse + +from kortex_api.TCPTransport import TCPTransport +from kortex_api.UDPTransport import UDPTransport +from kortex_api.RouterClient import RouterClient, RouterClientSendOptions +from kortex_api.SessionManager import SessionManager +from kortex_api.autogen.messages import Session_pb2 + +def parseConnectionArguments(parser = argparse.ArgumentParser()): + parser.add_argument("--ip", type=str, help="IP address of destination", default="192.168.1.10") + parser.add_argument("-u", "--username", type=str, help="username to login", default="admin") + parser.add_argument("-p", "--password", type=str, help="password to login", default="admin") + return parser.parse_args() + +class DeviceConnection: + + TCP_PORT = 10000 + UDP_PORT = 10001 + + @staticmethod + def createTcpConnection(args): + """ + returns RouterClient required to create services and send requests to device or sub-devices, + """ + + return DeviceConnection(args.ip, port=DeviceConnection.TCP_PORT, credentials=(args.username, args.password)) + + @staticmethod + def createUdpConnection(args): + """ + returns RouterClient that allows to create services and send requests to a device or its sub-devices @ 1khz. + """ + + return DeviceConnection(args.ip, port=DeviceConnection.UDP_PORT, credentials=(args.username, args.password)) + + def __init__(self, ipAddress, port=TCP_PORT, credentials = ("","")): + + self.ipAddress = ipAddress + self.port = port + self.credentials = credentials + + self.sessionManager = None + + # Setup API + self.transport = TCPTransport() if port == DeviceConnection.TCP_PORT else UDPTransport() + self.router = RouterClient(self.transport, RouterClient.basicErrorCallback) + + # Called when entering 'with' statement + def __enter__(self): + + self.transport.connect(self.ipAddress, self.port) + + if (self.credentials[0] != ""): + session_info = Session_pb2.CreateSessionInfo() + session_info.username = self.credentials[0] + session_info.password = self.credentials[1] + session_info.session_inactivity_timeout = 10000 # (milliseconds) + session_info.connection_inactivity_timeout = 2000 # (milliseconds) + + self.sessionManager = SessionManager(self.router) + print("Logging as", self.credentials[0], "on device", self.ipAddress) + self.sessionManager.CreateSession(session_info) + + return self.router + + # Called when exiting 'with' statement + def __exit__(self, exc_type, exc_value, traceback): + + if self.sessionManager != None: + + router_options = RouterClientSendOptions() + router_options.timeout_ms = 1000 + + self.sessionManager.CloseSession(router_options) + + self.transport.disconnect() diff --git a/linked_md/add_cmake_to_path.PNG b/linked_md/add_cmake_to_path.PNG new file mode 100644 index 0000000000000000000000000000000000000000..f5ff0a7499284d903834603fee8d40818bbf0c28 GIT binary patch literal 17398 zcmeIZXIRtQw=Rl{rKq5|L>JOklrE9b1StZdAXN~Mu0kl%JE28HK?Ug@DJn&3B$NmQ zqDyHB5TpeNBnpH`36X>lLP)sL{oni9=bU}NoV(BYbU)wR_aDV*iZD3)*!_%C> zzjyy2_xF)t6UQ(fp5vc?eGc>oz4PSZF-kSPZg3~sja+)<)v4ZjMhaS55=`~cS&UCQ zd{imr@ZrPHo*n(;ak2mCy>wDM)wHZocJny^^AJJQM7Aer+Kx=XqF(uH7Zjw z4J`fSgrS_oKZw5!55LYmLc4MJ+!Gs_A+d8$PTVSrL?JS?md_Nac-%OTWDW;i$Qj(J z;$C=e;?%4>P4e=+N9M1tn01;LUXrj z0tLj1V<*cW|ZkMN*1H>55_2(zPEW2j>m7*|; 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API mechanism

+

C++ API mechanism

Table of Contents

@@ -28,36 +28,42 @@ ## Overview -The C++ Kortex API offers three mechanisms to call a method: (1) the standard **blocking** method, (2) the **callback** function version and the (3) **async** method. +The C++ Kortex API offers three mechanisms to call a method, one blocking, and two non-blocking: + +1. standard **blocking** method +2. **callback** function version, and +3. **async** method ## Blocking method -One of the mechanisms offered by the Kortex API is to use **blocking** method (blocking call). If a procedural approach suffices, it is the easiest. The method is called; execution is blocked until the result is returned by the server side. +The first mechanism offered by the Kortex API is to use a **blocking** method (blocking call). If a procedural approach suffices, this is the easiest option. The method is called and execution is blocked until the result is returned by the server side. ```cpp -// Execution will be blocked until GetAvailableWifi has completed its execution. -auto availableWifi = pBase->GetAvailableWifi(); +// Execution will be blocked until GetAllJointsSpeedHardLimitation has completed its execution. +auto limitations = base->GetAllJointsSpeedHardLimitation(); ``` ## Callback -It is also possible to call an method and specify a **callback** function that will be called when the answer from the server side is received. +You can also call a method and specify a **callback** function that will be called when the answer from the server side is received. The callback function is passed in as an additional argument to the method. Either an anonymous function (lambda) can be used as a callback function, or a named function. + +The name of the callback version method is that used in the blocking call version, but with '_callback' appended to the name, i.e. `MethodName_callback()`. #### Example using lambda ```cpp -// callback function used in Refresh_callback +// Callback function used in Refresh_callback auto lambda_fct_callback = [](const Kinova::Api::Error &err, const k_api::BaseCyclic::Feedback data) { - // we are printing the data for example purposes - std::string serializedData; - google::protobuf::util::MessageToJsonString(data, &serializedData); - std::cout << serializedData << std::endl; + // We are printing the data for example purpose + std::string serialized_data; + google::protobuf::util::MessageToJsonString(data, &serialized_data); + std::cout << serialized_data << std::endl; }; -pBaseCyclicService->Refresh_callback(BaseCommand, lambda_fct_callback, 0); +base_cyclic->Refresh_callback(base_command, lambda_fct_callback, 0); ``` @@ -65,71 +71,70 @@ pBaseCyclicService->Refresh_callback(BaseCommand, lambda_fct_callback, 0); ```cpp namespace k_api = Kinova::Api; -void printWifiList(k_api::Base::WifiInformationList availableWifi) +void print_limitations(const k_api::Base::JointsLimitationsList& limitations) { - for(int i = 0 ; i < availableWifi.wifi_information_list_size(); i++) + std::cout << "============================================" << std::endl; + for(auto limitation : limitations.joints_limitations()) { - std::cout << "============================================" << std::endl; - std::cout << "SSID: " << availableWifi.wifi_information_list(i).ssid().identifier() << std::endl; - std::cout << "Wi-Fi security type: " << availableWifi.wifi_information_list(i).security_type() << std::endl; - std::cout << "Wi-Fi encryption type: " << availableWifi.wifi_information_list(i).encryption_type() << std::endl; - std::cout << "Signal strength: " << availableWifi.wifi_information_list(i).signal_strength() << std::endl; - std::cout << "============================================" << std::endl << std::endl; + std::cout << "Joint: " << limitation.joint_identifier() << std::endl; + std::cout << "Type of limitation: " << k_api::Base::LimitationType_Name(limitation.type()) << std::endl; + std::cout << "Value: " << limitation.value() << std::endl << std::endl; } + std::cout << "============================================" << std::endl << std::endl; } -// callback function used in Refresh_callback -void fct_callback(const k_api::Error &err, const k_api::BaseCyclic::Feedback data) +// Callback function used in Refresh_callback +void function_callback(const k_api::Error& err, const k_api::Base::JointsLimitationsList& limitations) { std::cout << "Callback function results: " << std::endl << std::endl; - printWifiList(wifiList); + print_limitations(limitations); } void example_function_call() { - pBaseCyclicService->Refresh_callback(BaseCommand, fct_callback, 0); + base->GetAllJointsSpeedHardLimitation_callback(function_callback); } - ``` ## Async method -The last mechanism offered by the Kortex API is an async function that uses the **future/promise** process. The user calls the async version of the method and then waits until the **promise** is completed and the **future** object is returned. The async method is preferred when the user wants to call many functions in a short window of time. As an example, if for some reason you want to talk directly to many actuators without using the robot's base synchronization process, using the **async** method could be a solution. +The last mechanism offered by the Kortex API is an async function that uses the **future/promise** process. The user calls the async version of the method and then waits until the **promise** is completed and the **future** object is returned. + +The name of the async version method is that used in the blocking call version, but with '_async' appended to the name, i.e. `MethodName_async()`. + +The async method is preferred when the user wants to call many functions in a short window of time. For example, if for some reason you want to talk directly to many actuators without using the robot's base synchronization process, using the **async** method could be a solution. ```cpp namespace k_api = Kinova::Api; -void printWifiList(k_api::Base::WifiInformationList availableWifi) +void print_limitations(const k_api::Base::JointsLimitationsList& limitations) { - for(int i = 0 ; i < availableWifi.wifi_information_list_size(); i++) + std::cout << "============================================" << std::endl; + for(auto limitation : limitations.joints_limitations()) { - std::cout << "============================================" << std::endl; - std::cout << "SSID: " << availableWifi.wifi_information_list(i).ssid().identifier() << std::endl; - std::cout << "Wi-Fi security type: " << availableWifi.wifi_information_list(i).security_type() << std::endl; - std::cout << "Wi-Fi encryption type: " << availableWifi.wifi_information_list(i).encryption_type() << std::endl; - std::cout << "Signal strength: " << availableWifi.wifi_information_list(i).signal_strength() << std::endl; - std::cout << "============================================" << std::endl << std::endl; + std::cout << "Joint: " << limitation.joint_identifier() << std::endl; + std::cout << "Type of limitation: " << k_api::Base::LimitationType_Name(limitation.type()) << std::endl; + std::cout << "Value: " << limitation.value() << std::endl << std::endl; } + std::cout << "============================================" << std::endl << std::endl; } -void example(k_api::Base::BaseClient* pBase) +void example_future_function_call(k_api::Base::BaseClient* base) { - - // The function returns a future, not a workable object. - std::future availableWifiFuture_async = pBase->GetAvailableWifi_async(); + // The function returns a future object, and not a workable object. + std::future limitations_future_async = base->GetAllJointsSpeedHardLimitation_async(); - // Waiting for the promise to be complete by the API. + // Waiting for the promise to be completed by the API. auto timeout_ms = std::chrono::milliseconds(10000); - std::future_status status = availableWifiFuture_async.wait_for(timeout_ms); - + std::future_status status = limitations_future_async.wait_for(timeout_ms); if(status != std::future_status::ready) { throw std::runtime_error("Timeout detected while waiting for function\n"); } - // Retrieve the workable object from the future. - auto availableWifi_async = availableWifiFuture_async.get(); + // Retrieve the workable object from the future object. + auto limitations_async = limitations_future_async.get(); std::cout << "Future function results: " << std::endl << std::endl; - printWifiList(availableWifi_async); + print_limitations(limitations_async); } ``` diff --git a/linked_md/cpp_device_routing.md b/linked_md/cpp_device_routing.md index 3bf6e89a..030e4f0a 100644 --- a/linked_md/cpp_device_routing.md +++ b/linked_md/cpp_device_routing.md @@ -21,9 +21,8 @@ - [Service description](#service-description) - [Good to know](#good-to-know) - [Example](#example) -- [Device Config](#device-config) +- [Device Config service](#device-config-service) - [Service description](#service-description-1) - - [Good to know](#good-to-know-1) - [Example](#example-1) - [Other Services](#other-services) - [Example](#example-2) @@ -32,109 +31,123 @@ ## Overview -Device routing is a mechanism that allows the sending of commands to specific devices using the connection with the base. This is done by specifying a *device_identifier* when sending a command through a service, which doesn't need to be implemented by the base. +Device routing is a mechanism that allows users to send commands to specific devices using the connection with the base. This is done by specifying a *device_identifier* when sending a command through a service. This service doesn't need to be implemented by the base. -In other words, you can send a command to a sub device with a service known only by the sub device (e.g.: ``ActuatorConfigClientRpc)`` as long as the *device_identifier* is specified in the command parameter. +In other words, you can send a command to a sub device with a service known only by the sub device (e.g.: ``ActuatorConfigClient)`` as long as the *device_identifier* is specified as an additional command parameter. The **Device Manager** service is used to obtain the *device_identifier*. - + ## Device Manager service - + ### Service description -The purpose of the **Device Manager** service is to return a device handle list which contains handles for all current devices. +The **Device Manager** service contains a method `ReadAllDevices()` which returns a device handle list containing handles for all current devices in the robot. - + ### Good to know -- The device handle list returned by ``ReadAllDevices()`` is not ordered. +- The device handle list returned by `ReadAllDevices()` is not in any particular order with respect to the location of devices in the robot. +- Device handles also have a *device_type* field and an *order* field. - + ### Example ```cpp namespace k_api = Kinova::Api; /* API initialisation */ -auto pDeviceMng = new k_api::DeviceManager::DeviceManagerClient(pRouter); -auto allDevicesInfo = pDeviceMng->ReadAllDevices(); +auto device_manager = new k_api::DeviceManager::DeviceManagerClient(router); +auto allDevicesInfo = device_manager->ReadAllDevices(); ``` - -## Device Config + +## Device Config service - + ### Service description -The **Device Config** service provides information about the device being interrogated, including device type, firmware version, manufacturing information and hardware revision. +The **Device Config** service provides information about the device being interrogated, including: +- device type +- firmware and bootloader version +- part and serial numbers +- MAC address and +- hardware revision - -### Good to know -- The device handle list returned by ``ReadAllDevices()`` is not ordered. -- Device handles also have a *device_type* field and an *order* field. - + ### Example ```cpp namespace k_api = Kinova::Api; -namespace pb = google::protobuf; /* API initialisation */ -auto pDeviceMng = new k_api::DeviceManager::DeviceManagerClient(pRouter); -auto allDevicesInfo = pDeviceMng->ReadAllDevices(); +auto device_manager = new k_api::DeviceManager::DeviceManagerClient(router); +auto device_config = new k_api::DeviceConfig::DeviceConfigClient(router); + +// Get all device routing information (from DeviceManagerClient service) +auto allDevicesInfo = device_manager->ReadAllDevices(); -// RouterClientSendOptions still available when routing k_api::RouterClientSendOptions options; options.timeout_ms = 4000; // (milliseconds) -for ( auto dev : allDevicesInfo.device_handle() ) +// Use device routing information to route to every device (base, actuator, interconnect, etc.) in the arm base system and request general device information +for (auto device : allDevicesInfo.device_handle()) { + + std::cout << "-----------------------------\n"; + std::cout << "-- " << k_api::Common::DeviceTypes_Name(device.device_type()) << ": id = " << device.device_identifier() << " --\n"; + std::string str; - pb::TextFormat::PrintToString( pDeviceConfig->GetDeviceType (dev.device_identifier(), options), &str ); std::cout << str; - pb::TextFormat::PrintToString( pDeviceConfig->GetFirmwareVersion (dev.device_identifier(), options), &str ); std::cout << str; - pb::TextFormat::PrintToString( pDeviceConfig->GetBootloaderVersion (dev.device_identifier(), options), &str ); std::cout << str; - pb::TextFormat::PrintToString( pDeviceConfig->GetPartNumber (dev.device_identifier(), options), &str ); std::cout << str; - pb::TextFormat::PrintToString( pDeviceConfig->GetSerialNumber (dev.device_identifier(), options), &str ); std::cout << str; - pb::TextFormat::PrintToString( pDeviceConfig->GetMACAddress (dev.device_identifier(), options), &str ); std::cout << str; - pb::TextFormat::PrintToString( pDeviceConfig->GetPartNumberRevision (dev.device_identifier(), options), &str ); std::cout << str; - std::cout << "\n"; + google::protobuf::TextFormat::PrintToString(device_config->GetDeviceType(device.device_identifier(), options), &str); + std::cout << str; + google::protobuf::TextFormat::PrintToString(device_config->GetFirmwareVersion(device.device_identifier(), options), &str); + std::cout << str; + google::protobuf::TextFormat::PrintToString(device_config->GetBootloaderVersion(device.device_identifier(), options), &str); + std::cout << str; + google::protobuf::TextFormat::PrintToString(device_config->GetModelNumber(device.device_identifier(), options), &str); + std::cout << str; + google::protobuf::TextFormat::PrintToString(device_config->GetPartNumber(device.device_identifier(), options), &str); + std::cout << str; + google::protobuf::TextFormat::PrintToString(device_config->GetPartNumberRevision(device.device_identifier(), options), &str); + std::cout << str; + google::protobuf::TextFormat::PrintToString(device_config->GetSerialNumber(device.device_identifier(), options), &str); + std::cout << str; + std::cout << std::endl; } ``` - + ## Other Services The *device_identifier* can be used by other services to directly interrogate a device. - + ### Example ```cpp namespace k_api = Kinova::Api; -namespace pb = google::protobuf; /* API initialisation */ -auto pDeviceMng = new k_api::DeviceManager::DeviceManagerClient(pRouter); -auto pVision = new k_api::VisionConfig::VisionConfigClient(pRouter); +auto device_manager = new k_api::DeviceManager::DeviceManagerClient(router); +auto vision_config = new k_api::VisionConfig::VisionConfigClient(router); -auto allDevicesInfo = pDeviceMng->ReadAllDevices(); +auto allDevicesInfo = device_manager->ReadAllDevices(); // uses device routing information to route to every device (base, actuator, interconnect, etc.) -for ( auto dev : allDevicesInfo.device_handle() ) +for (auto dev : allDevicesInfo.device_handle()) { - if ( dev.device_type() == k_api::Common::DeviceTypes::VISION ) + if (dev.device_type() == k_api::Common::DeviceTypes::VISION) { - printf("-- Using Vision Config Service to get intrinsic parameters --\n"); - k_api::VisionConfig::SensorIdentifier sensorId; - sensorId.set_sensor(k_api::VisionConfig::SENSOR_COLOR); + std::cout << "-- Using Vision Config Service to get intrinsic parameters --" << std::endl; + k_api::VisionConfig::SensorIdentifier sensor_id; + sensor_id.set_sensor(k_api::VisionConfig::SENSOR_COLOR); // We can now use the Vision service with the base connection by specifing the device_identifier - auto intrinsicValue = pVision->GetIntrinsicParameters(sensorId, dev.device_identifier()); - - std::cout << "Width: " << intrinsicValue.width() << std::endl; - std::cout << "Height: " << intrinsicValue.height() << std::endl; - std::cout << "Principal point x: " << intrinsicValue.principal_point_x() << std::endl; - std::cout << "Principal point y: " << intrinsicValue.principal_point_y() << std::endl; - std::cout << "focal lenght x: " << intrinsicValue.focal_length_x() << std::endl; - std::cout << "focal lenght y: " << intrinsicValue.focal_length_y() << std::endl; + auto intrinsic_value = vision_config->GetIntrinsicParameters(sensor_id, dev.device_identifier()); + + std::cout << "Width: " << intrinsic_value.width() << std::endl; + std::cout << "Height: " << intrinsic_value.height() << std::endl; + std::cout << "Principal point x: " << intrinsic_value.principal_point_x() << std::endl; + std::cout << "Principal point y: " << intrinsic_value.principal_point_y() << std::endl; + std::cout << "Focal length x: " << intrinsic_value.focal_length_x() << std::endl; + std::cout << "Focal length y: " << intrinsic_value.focal_length_y() << std::endl; break; } diff --git a/linked_md/cpp_error_management.md b/linked_md/cpp_error_management.md index 13376c3a..df6184a6 100644 --- a/linked_md/cpp_error_management.md +++ b/linked_md/cpp_error_management.md @@ -17,7 +17,6 @@ - [Overview](#overview) - - [To summarize:](#to-summarize) - [Blocking method](#blocking-method) - [Example](#example) - [KDetailedException](#kdetailedexception) @@ -36,15 +35,18 @@ ## Overview -There are three mechanisms available to manage errors triggered by the C++ Kortex API: standard **Exception**, accessing the **Error object** returned by the callback function, and catching the exception thrown by a **std::future**. When you use the Kortex API, choose one of these mechanisms according to the type of called method. +There are three mechanisms available to manage errors triggered by the C++ Kortex API: +- standard `Exception` +- accessing the `Error` object returned by the callback function, and +- catching the exception thrown by a `std::future`. -#### To summarize: +When you use the Kortex API, the mechanism to be used depends on the type of called method: - - With the blocking method, use exceptions. - - With the callback function, use the Error object from the callback header. - - With the async method, use exceptions. +- With the blocking method, use standard `Exception`. +- With the callback version of a method, use the `Error` object provided in the callback header. +- With the async version of a method, use the `Exception` thrown by the future. -Note that there is a [special case](#special-cases) explained at the end of this document. +Note that there is a [special case](#special-cases) explained at the end of this section. ## Blocking method @@ -57,23 +59,26 @@ Exceptions are only used if a blocking or async function is used. The code is su ```cpp try { - // Your code... + // Your code... } catch(k_api::KDetailedException& ex) { - auto errorInfo = ex.getErrorInfo(); - auto errorCode = errorInfo.getError(); - - std::cout << "KDetailedException toStr: " << ex.toString().c_str() << std::endl; - std::cout << "KDetailedException what: " << ex.what() << std::endl << std::endl; - - std::cout << "KError error_code: " << errorCode.error_code() << std::endl; - std::cout << "KError sub_code: " << errorCode.error_sub_code() << std::endl; - std::cout << "KError sub_string: " << errorCode.error_sub_string() << std::endl; + // You can print the error informations and error codes + auto error_info = ex.getErrorInfo().getError(); + std::cout << "KDetailedoption detected what: " << ex.what() << std::endl; + + std::cout << "KError error_code: " << error_info.error_code() << std::endl; + std::cout << "KError sub_code: " << error_info.error_sub_code() << std::endl; + std::cout << "KError sub_string: " << error_info.error_sub_string() << std::endl; + + // Error codes by themselves are not very verbose if you don't see their corresponding enum value + // You can use google::protobuf helpers to get the string enum element for every error code and sub-code + std::cout << "Error code string equivalent: " << k_api::ErrorCodes_Name(k_api::ErrorCodes(error_info.error_code())) << std::endl; + std::cout << "Error sub-code string equivalent: " << k_api::SubErrorCodes_Name(k_api::SubErrorCodes (error_info.error_sub_code())) << std::endl; } ``` -Here are the details of the object **Kinova::Api::KDetailedException** thrown by the Kortex API. +Here are the details of the object `Kinova::Api::KDetailedException` thrown by the Kortex API. #### KDetailedException @@ -98,7 +103,7 @@ class KDetailedException : public KBasicException }; ``` -Here are the details of the object **KError** nested in the exception. +Here are the details of the object `KError` nested in the exception. #### KError @@ -129,9 +134,9 @@ class KError }; ``` -The **KError** object holds an error code and a sub error code to identify the fault. +The `KError` object holds an error code and a sub error code to identify the fault. -Here's a link to the documentation that explains all of the error codes: +Here is a link to documentation explaining all of the error and sub error codes: - [Error code](https://github.com/Kinovarobotics/kortex/blob/master/api_cpp/doc/markdown/references/enm_Api_ErrorCodes.md) - [Sub error code](https://github.com/Kinovarobotics/kortex/blob/master/api_cpp/doc/markdown/references/enm_Api_SubErrorCodes.md#) @@ -146,15 +151,15 @@ If the callback version is used, a ``std::function`` is given as a parameter to // callback function used in Refresh_callback auto lambda_fct_callback = [](const Kinova::Api::Error &err, const k_api::BaseCyclic::Feedback data) { - // we are printing the data for example purposes + // We are printing the data for example purposes // avoid this for a real-time loop - std::string serializedData; - google::protobuf::util::MessageToJsonString(data, &serializedData); - std::cout << serializedData << std::endl; + std::string serialized_data; + google::protobuf::util::MessageToJsonString(data, &serialized_data); + std::cout << serialized_data << std::endl; }; -pBaseCyclicService->Refresh_callback(BaseCommand, lambda_fct_callback, 0); +base_cyclic->Refresh_callback(BaseCommand, lambda_fct_callback, 0); ``` @@ -163,13 +168,13 @@ pBaseCyclicService->Refresh_callback(BaseCommand, lambda_fct_callback, 0); // callback function used in Refresh_callback void fct_callback(const k_api::Error &err, const k_api::BaseCyclic::Feedback data) { - std::cout << "Callback function results: " << std::endl << std::endl; - //React to the fault... + std::cout << "Callback function results: " << std::endl; + //react to the fault... } void example_function_call() { - pBaseCyclicService->Refresh_callback(BaseCommand, fct_callback, 0); + base_cyclic->Refresh_callback(BaseCommand, fct_callback, 0); } ``` @@ -183,26 +188,26 @@ If an async function is used, exceptions must be used to catch any error trigger #### Async example ```cpp -// The function returns a **future** object -std::future availableWifiFuture_async = pBase->GetAvailableWifi_async(); +// The function returns a future object, and not a workable object. +std::future limitations_future_async = base->GetAllJointsSpeedHardLimitation_async(); -// Waiting for the promise to be complete by the API +// Waiting for the promise to be completed by the API. auto timeout_ms = std::chrono::milliseconds(10000); -std::future_status status = availableWifiFuture_async.wait_for(timeout_ms); +std::future_status status = limitations_future_async.wait_for(timeout_ms); if(status != std::future_status::ready) { - throw std::runtime_error("Timeout detected while waiting for function\n"); + throw std::runtime_error("Timeout detected while waiting for function\n"); } +// Retrieve the workable object from the future object. try { - // Retrieve the result object from the future object - auto availableWifi_async = availableWifiFuture_async.get(); + auto limitations_async = limitations_future_async.get(); } catch(k_api::KDetailedException& ex) { - //respond to the fault. + // Respond to the fault } ``` @@ -212,5 +217,5 @@ This section describes a case that doesn't follow the standard error management #### RouterClient When a **RouterClient** object is instantiated a callback can be specified for execution when an error occurs. ```cpp -RouterClient* pRouter = new RouterClient(pTransport, [](KError err){ cout << "callback error" << err.toString(); }); +RouterClient* router = new RouterClient(pTransport, [](KError err){ cout << "callback error" << err.toString(); }); ``` diff --git a/linked_md/cpp_servoing_modes.md b/linked_md/cpp_servoing_modes.md index 06173691..c927a999 100644 --- a/linked_md/cpp_servoing_modes.md +++ b/linked_md/cpp_servoing_modes.md @@ -33,12 +33,12 @@ The RPC to set the servoing mode is in the Base service ```cpp // API initialisation -k_api::Base::BaseClient* pBase = new k_api::Base::BaseClient(pRouter); +k_api::Base::BaseClient* base = new k_api::Base::BaseClient(pRouter); // Sets the base in low level servoing auto servoingMode = k_api::Base::ServoingModeInformation(); servoingMode.set_servoing_mode(k_api::Base::ServoingMode::LOW_LEVEL_SERVOING); //Enum type -pBase->SetServoingMode(servoingMode); +base->SetServoingMode(servoingMode); ``` @@ -47,155 +47,14 @@ High-level servoing is the default servoing mode for the robot on bootup. In high-level servoing, users connect to the base through the API, sending command inputs. The base routes commands to the actuators, and manages a 1 kHz control loop. -High-level servoing is the recommended servoing mode for non-advanced users, because you have access to cartesian movement and doesn't have to manage a 1kHz control loop. +High-level servoing is the recommended servoing mode for non-advanced users, because you have access to Cartesian movement and don't have to manage a 1kHz control loop to send commands to the robot. ### Low level servoing mode -In low-level servoing, the API client connects to the base and sends commands through the base for routing. Take note that this mode **does not support cartesian command** +In low-level servoing, the API client connects to the base and sends commands through the base for routing. Take note that this mode **does not** support Cartesian commands. -The base ensures device routing and internal communications with the actuators at 1 kHz, but the high-level functionality for the base control loop (cartesian movement, robot kinematics, trajectory management, etc.) are no longer available. +The base ensures device routing and internal communications with the actuators at 1 kHz, but the high-level functionalities for the base control loop (Cartesian movement, robot kinematics, trajectory management, etc.) are no longer available. -Low-level servoing allows clients to control each actuator individually by sending little position increments at a 1 kHz frequency (bypassing the kinematic control library). +Low-level servoing allows clients to control each actuator individually by sending small position increments at a 1 kHz frequency (bypassing the kinematic control library). -```cpp -#define IP_ADDRESS "192.168.1.10" -#define PORT 10000 // network adapter port -#define PORT_RT 10001 - -// BaseClient connection -k_api::TransportClientUdp* pTransport = new k_api::TransportClientUdp(); - -auto errorCallback = [](k_api::KError err) { std::cout << "_________ callback error _________" << err.toString(); }; -k_api::RouterClient* pRouter = new k_api::RouterClient(pTransport, errorCallback); - -pTransport->connect(IP_ADDRESS, PORT); - -k_api::Base::BaseClient* pBase = new k_api::Base::BaseClient(pRouter); -k_api::SessionManager* pSessionMng = new k_api::SessionManager(pRouter); - -auto createSessionInfo = k_api::Session::CreateSessionInfo(); -createSessionInfo.set_username("admin"); -createSessionInfo.set_password("admin"); -createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) -createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) - - -// BaseCyclic connection (required in low-level servoing) -k_api::TransportClientUdp* pTransportRT = new k_api::TransportClientUdp(); - -auto errorCallbackRT = [](k_api::KError err) { std::cout << "_________ callback error (RT) _________" << err.toString(); }; -k_api::RouterClient* pRouterRT = new k_api::RouterClient(pTransportRT, errorCallbackRT); - -pTransportRT->connect(IP_ADDRESS, PORT_RT); // cyclic data have their own port - -k_api::BaseCyclic::BaseCyclicClient* pBaseCyclicRT = new k_api::BaseCyclic::BaseCyclicClient(pRouterRT); -k_api::SessionManager* pSessionMngRT = new k_api::SessionManager(pRouterRT); - -auto createSessionInfoRT = k_api::Session::CreateSessionInfo(); -createSessionInfoRT.set_username("admin"); -createSessionInfoRT.set_password("admin"); -createSessionInfoRT.set_session_inactivity_timeout(60000); // (milliseconds) -createSessionInfoRT.set_connection_inactivity_timeout(2000); // (milliseconds) - - -// A session is required in both services -std::cout << "Creating session for communication" << std::endl; -pSessionMng->CreateSession(createSessionInfo); -pSessionMngRT->CreateSession(createSessionInfoRT); -std::cout << "Session created" << std::endl; - -k_api::BaseCyclic::Feedback BaseFeedback; -k_api::BaseCyclic::Command BaseCommand; - -std::vector ActuatorCommands; -std::vector ActuatorFeedbacks; -std::vector Commands; - -int timerCount = 0; -int64_t now = 0; -int64_t last = 0; - -int timeout = 0; - -std::cout << "duration: " << time_duration << std::endl; -std::cout << "velocity: " << velocity << std::endl; - -try -{ - // sets the base to low-level servoing - auto servoingMode = k_api::Base::ServoingModeInformation(); - servoingMode.set_servoing_mode(k_api::Base::ServoingMode::LOW_LEVEL_SERVOING); - pBase->SetServoingMode(servoingMode); - BaseFeedback = pBaseCyclicRT->RefreshFeedback(); - - // initializes each actuator and sets to their current position - for(int i = 0; i < 7; i++) - { - ActuatorCommands.push_back(k_api::BaseCyclic::ActuatorCommand()); - ActuatorFeedbacks.push_back(k_api::BaseCyclic::ActuatorFeedback()); - - Commands.push_back(BaseFeedback.actuators(i).position()); - - ActuatorCommands[i].set_flags(1); - ActuatorCommands[i].set_position(BaseFeedback.actuators(i).position()); - BaseCommand.add_actuators()->set_position(BaseFeedback.actuators(i).position()); - } - - // callback function used in Refresh_callback - auto lambda_fct_callback = [](const Kinova::Api::Error &err, const k_api::BaseCyclic::Feedback data) - { - // we are printing the data just for the example purpose - // normally if we want a real-time loop avoid this - std::string serializedData; - google::protobuf::util::MessageToJsonString(data, &serializedData); - std::cout << serializedData << std::endl; - }; - - // real-time loop - while(timerCount < (time_duration * 1000)) - { - now = GetTickUs(); - - if(now - last > 1000) - { - - for(int i = 0; i < ACTUATOR_COUNT; i++) - { - // move only the last actuator to prevent collision - if(i == 6) - { - Commands[i] += (0.001f * velocity); - ActuatorCommands[i].set_position(Commands[i]); - BaseCommand.mutable_actuators(i)->set_position(fmod(Commands[i], 360.0f)); - } - } - - try - { - pBaseCyclicRT->Refresh_callback(BaseCommand, lambda_fct_callback, 0); - } - catch(...) - { - timeout++; - } - - timerCount++; - last = GetTickUs(); - } - } - - servoingMode.set_servoing_mode(k_api::Base::ServoingMode::SINGLE_LEVEL_SERVOING); - pBase->SetServoingMode(servoingMode); - -} -catch (k_api::KDetailedException& ex) -{ - std::cout << "API error: " << ex.what() << std::endl; - returnStatus = false; -} -catch (std::runtime_error& ex2) -{ - std::cout << "Error: " << ex2.what() << std::endl; - returnStatus = false; -} -``` +You can have a look at the [actuator low-level cyclic example](../api_cpp/examples/200-BaseGen3_actuator_low_level/01-actuator_low_level_velocity_control.cpp) for a code example. diff --git a/linked_md/cpp_transport_router_session_notif.md b/linked_md/cpp_transport_router_session_notif.md index 98bb2d6f..cd7bf5b8 100644 --- a/linked_md/cpp_transport_router_session_notif.md +++ b/linked_md/cpp_transport_router_session_notif.md @@ -10,85 +10,104 @@ * --> -

Transport and Router classes, Session Manager and notification handler

+

TransportClient, RouterClient, SessionManager and NotificationHandler

Table of Contents

- [Overview](#overview) -- [Transport class](#transport-class) -- [Router class](#router-class) -- [Session Manager](#session-manager) -- [Notification Handler](#notification-handler) +- [TransportClient classes](#transportclient-classes) +- [RouterClient class](#routerclient-class) +- [SessionManager](#sessionmanager) +- [NotificationHandler](#notificationhandler) ## Overview -This document covers communication with the robot base, in both directions. +This section covers communication with the robot base, in both directions. +Connections with the robot base are enabled by: +- Transport classes +- Router class +- Session Manager -Connections with the robot base are covered by the Transport class, Router class and Sessions Manager sections. Once the connection is established commands can be sent to the robot base and corresponding responses received. To receive unsolicited messages from the robot base the notification handler must be implemented. +Once the connection is established, commands can be sent to the robot base and corresponding responses received. + +To receive unsolicited messages from the robot base, the notification handler must be implemented. -## Transport class -The ``Transport`` class is used to instantiate an object which identifies the robot base being connected to, by specifying an IP address and port number. +## TransportClient classes +`TransportClient` classes are used to instantiate an object which identifies the robot base being connected to, by specifying an IP address and port number. + +Kinova provides two pre-defined `TransportClient` object types: + +- `TransportClientTcp` - using TCP as a transport protocol +- `TransportClientUdp` - using UDP as a transport protocol -Currently, only UDP is implemented. +`TransportClientTcp` is used for high-level robot control, configuration, and any other purposes not requiring sending commands at high frequency. + +`TransportClientUdp` can only be used for low-level cyclic communication at 1kHz with the robot via the `Kinova::Api::BaseCyclic` service. ```cpp namespace k_api = Kinova::Api; -k_api::TransportClientUdp* pTransport = new k_api::TransportClientUdp(); -pTransport->connect(IP_ADDRESS, PORT); +k_api::TransportClientTcp* transport = new k_api::TransportClientTcp(); +transport->connect(IP_ADDRESS, PORT); ``` -Also there is an interface call ``ITransportClient`` that allow you to implement your own transport. Here's the list of function in the interface: +`TransportClientUdp` and `TransportClientTcp` are both sub-classes of an interface provided called `ITransportClient`. This interface allows you to implement your own transport. Here is the list of functions in the interface: ```cpp +// connect to a specified robot base virtual bool connect(std::string host, uint32_t port) = 0; +// disconnect from the base virtual void disconnect() = 0; - +// send a message virtual void send(const char* txBuffer, uint32_t txSize) = 0; +// handler for received messages virtual void onMessage(std::function callback) = 0; - +// obtain a transmission buffer for holding content of outgoing messages virtual char* getTxBuffer() = 0; +// obtain maximum size of transmission buffer virtual size_t getMaxTxBufferSize() = 0; ``` -## Router class -The ``Router`` class is used to instantiate an object which sends the command to the robot base specified by the ``Transport`` object. A ``Router`` object needs a ``Transport`` object to work. The purpose of the router is to transmit to the robot base all commands sent through the services. +## RouterClient class +The `RouterClient` class is used to instantiate an object which sends the command to the robot base specified by a `TransportClient` object. A `RouterClient` object needs a `TransportClient` object to work. -It will also manage all messages sended and received by that service. A new router needs to be specified each a new service is declared. +The purpose of the router is to transmit to the robot base all commands sent through the services. +It will also manage all messages sent and received by that service. A router needs to be specified each time a new service is declared. -For cases where there is a connection problem with the robot base, a callback method needs to be provided. +To handle cases where there is a connection problem with the robot base, a callback method needs to be provided. ```cpp namespace k_api = Kinova::Api; -k_api::TransportClientUdp* pTransport = new k_api::TransportClientUdp(); +k_api::TransportClientTcp* transport = new k_api::TransportClientTcp(); -k_api::RouterClient* pRouter = new k_api::RouterClient(pTransport, [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }); +k_api::RouterClient* router = new k_api::RouterClient(transport, [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }); -pTransport->connect(IP_ADDRESS, PORT); +transport->connect(IP_ADDRESS, PORT); ``` -## Session Manager +## SessionManager -The **Session Manager** will manage the connection to the robot base. If no Session Manager is declared on an active connection, the robot base will not answer commands. The Session Manager will also manage the connection to ensure that it is still alive if sent commands take too long to execute. +The `SessionManager` object will manage the connection to the robot base for a specified user. If no `SessionManager` is declared on an active connection, the robot base will not answer commands. +A `SessionManager` object requires a `RouterClient` object. The `SessionManager` will also manage the connection to ensure that it is still alive if sent commands take too long to execute. ```cpp namespace k_api = Kinova::Api; -k_api::TransportClientUdp* pTransport = new k_api::TransportClientUdp(); +k_api::TransportClientTcp* transport = new k_api::TransportClientTcp(); -k_api::RouterClient* pRouter = new k_api::RouterClient(pTransport, [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }); +k_api::RouterClient* router = new k_api::RouterClient(transport, [](k_api::KError err){ std::cout << "_________ callback error _________" << err.toString(); }); -pTransport->connect(IP_ADDRESS, PORT); +transport->connect(IP_ADDRESS, PORT); auto createSessionInfo = k_api::Session::CreateSessionInfo(); createSessionInfo.set_username("admin"); @@ -96,13 +115,13 @@ createSessionInfo.set_password("admin"); createSessionInfo.set_session_inactivity_timeout(60000); // (milliseconds) createSessionInfo.set_connection_inactivity_timeout(2000); // (milliseconds) -k_api::SessionManager* pSessionMng = new k_api::SessionManager(pRouter); -pSessionMng->CreateSession(createSessionInfo); +k_api::SessionManager* session_manager = new k_api::SessionManager(router); +session_manager->CreateSession(createSessionInfo); ``` -## Notification Handler +## NotificationHandler The robot base provides notifications on different topics as requested by a client application that has a session open with the robot. The robot base uses a **Publish/Subscribe** design pattern. Rather than polling periodically for updates, the client application subscribes to a list of topics. Whenever a change happens related to that topic, whether caused by the same client session or not, the publisher sends a notification to all subscribers. @@ -122,5 +141,5 @@ auto notification_callback = [](k_api::Base::ConfigurationChangeNotification dat }; // Subscribe to ConfigurationChange notifications -auto notifHandle = pBase->OnNotificationConfigurationChangeTopic(notification_callback, k_api::Common::NotificationOptions()); +auto notifHandle = base->OnNotificationConfigurationChangeTopic(notification_callback, k_api::Common::NotificationOptions()); ``` diff --git a/linked_md/py_device_routing.md b/linked_md/py_device_routing.md deleted file mode 100644 index ec7bee1c..00000000 --- a/linked_md/py_device_routing.md +++ /dev/null @@ -1,132 +0,0 @@ - - -

Device routing

- -

Table of Contents

- - - -- [Overview](#overview) -- [Device Manager Service](#srv-devMng) - - [Service description](#devMng-description) - - [Good to know](#devMng-gtk) - - [Example](#devMng-example) -- [Device Config](#srv-devConfig) - - [Service description](#devConfig-description) - - [Good to know](#devConfig-gtk) - - [Example](#devConfig-example) -- [Other Services](#other) - - [Example](#other-example) - - - - -## Overview -Device routing is a mechanism that allows you to send commands to a specific device using the connection with the base. This is done by specifying the *device_identifier* when sending a command through a service. The service doesn't need to be implemented by the base. - -In other words, a command can be sent to a sub device, using a service known ony by the sub device (e.g.: ``ActuatorConfigClientRpc``) as long as the *device_identifier* is specified in the command parameters. - -To obtain the *device_identifier* you need to use the **Device Manager** service. - - -## Device Manager service - - -### Service description -The sole purpose of the **Device Manager** service is to return a device handle list containing handles for all devices present. - - -### Good to know -- The device handle list returned by ``ReadAllDevices()`` is *not* in alphabetical order. - - -### Example - -```python -# API initialisation -device_manager_service = DeviceManagerClient(router) -subDevicesInfo = device_manager_service.ReadAllDevices() -``` - - - -## Device Config - - -### Service description -The **Device Config** service provides information about the interrogate device: device type, firmware version, manufacturing information and hardware revision. - - -### Good to know -- Device order is *not* guaranteed when calling ``ReadAllDevices``. -- Device handles also have the fields *device_type* and *order*. - - -### Example -```python -# Api initialisation -device_manager_service = DeviceManagerClient(router) -# getting all device routing information (from DeviceManagerClient service) -print("-- ReadAllDevices --\n") -subDevicesInfo = device_manager_service.ReadAllDevices() -print(json_format.MessageToJson(subDevicesInfo)) -print("--------------------\n") - -# using device routing information to route to every devices (base, actuator, interconnect, etc.) in the arm/base system -for dev in subDevicesInfo.device_handle: - deviceInfo = {} - deviceInfo.update( json_format.MessageToDict( device_config_service.GetDeviceType (dev.device_identifier, options) ) ) - deviceInfo.update( json_format.MessageToDict( device_config_service.GetFirmwareVersion (dev.device_identifier, options) ) ) - deviceInfo.update( json_format.MessageToDict( device_config_service.GetBootloaderVersion (dev.device_identifier, options) ) ) - deviceInfo.update( json_format.MessageToDict( device_config_service.GetModelNumber (dev.device_identifier, options) ) ) - deviceInfo.update( json_format.MessageToDict( device_config_service.GetPartNumber (dev.device_identifier, options) ) ) - deviceInfo.update( json_format.MessageToDict( device_config_service.GetSerialNumber (dev.device_identifier, options) ) ) - deviceInfo.update( json_format.MessageToDict( device_config_service.GetMACAddress (dev.device_identifier, options) ) ) - deviceInfo.update( json_format.MessageToDict( device_config_service.GetPartNumberRevision (dev.device_identifier, options) ) ) -``` - - -## Other Services - -The *device_identifier* can be used with other services to directly interrogate a device. - - -### Example - -```python -# API initialisation -device_manager_service = DeviceManagerClient(router) -# getting all device routing information (from DeviceManagerClient service) -allDevicesInfo = device_manager_service.ReadAllDevices() - -vision_handles = [ hd for hd in allDevicesInfo.device_handle if hd.device_type == DeviceConfig_pb2.VISION ] -if len(vision_handles) == 0: - print("error: there is no vision device register in the devices infos") -elif len(vision_handles) > 1: - print("error: there are more than one vision device register in the devices infos") -else: - handle = vision_handles[0] - -sensor_id = VisionConfig_pb2.SensorIdentifier() -sensor_id.sensor = VisionConfig_pb2.SENSOR_COLOR - -intrinsic_value = vision_config_service.GetIntrinsicParameters(sensor_id, handle.device_identifier) - -print("Width: {0}".format(intrinsic_value.width)) -print("Height: {0}".format(intrinsic_value.height)) -print("Principal point x: {0}".format(intrinsic_value.principal_point_x)) -print("Principal point y: {0}".format(intrinsic_value.principal_point_y)) -print("Focal length x: {0}".format(intrinsic_value.focal_length_x)) -print("Focal length y: {0}".format(intrinsic_value.focal_length_y)) - -``` \ No newline at end of file diff --git a/linked_md/py_transport_router_session_notif.md b/linked_md/py_transport_router_session_notif.md deleted file mode 100644 index 8416767c..00000000 --- a/linked_md/py_transport_router_session_notif.md +++ /dev/null @@ -1,118 +0,0 @@ - - -

Transport and Router classes, Session Manager and Notification handler

- -

Table of Contents

- - - -- [Overview](#overview) -- [Transport](#transport) -- [Router](#router) -- [Session Manager](#session-manager) -- [Notification Handler](#notification-handler) - - - - -## Overview -This document covers how to communicate with the robot base, in both directions. - -Connections with the robot base are covered by the Transport class, Router class and Sessions Manager sections. Once the connection is established commands can be sent to the robot base and corresponding responses received. To receive unsolicited messages from the robot base the notification handler must be implemented. - - -## Transport - -The ``Transport`` class is used to instantiate an object which identifies the robot base being connected to, by specifying a communications protocol, an IP address and a port number. - -Currently, only UDP is implemented. - -```python -transport = UDPTransport() -transport.connect(DEVICE_IP, DEVICE_PORT) -``` -Also there is an interface call ``ITransportClient`` that allow you to implement your own transport. Here's the list of function in the interface: - -```python -@abstractmethod -def connect(self, host, port): - pass - -@abstractmethod -def disconnect(self): - pass - -@abstractmethod -def send(self, txBuffer, txSize): - pass - -@abstractmethod -def registerOnFrameCallback(self, callback): - pass -``` - - - - -## Router -The ``Router`` class is used to instantiate an object which sends the command to the robot base specified by the ``Transport`` object. A ``Router`` object needs a ``Transport`` object to work. The purpose of the router is to transmit to the robot base all commands sent through the services. - -It will also manage all messages sent and received by that service. A new router needs to be specified each a new service is declared. - -For cases where there is a connection problem with the robot base, a callback method needs to be provided. - -```python -errorCallback = lambda kException: print("_________ callback error _________ {}".format(kException)) -transport = UDPTransport() -router = RouterClient(transport, errorCallback) -transport.connect(DEVICE_IP, DEVICE_PORT) -``` - - -## Session Manager -The **Session Manager** will manage the connection to the robot base. If no Session Manager is declared on an active connection, the robot base will not answer commands. The Session Manager will also manage the connection to ensure that it is still alive if sent commands take too long to execute. - -```python -errorCallback = lambda kException: print("_________ callback error _________ {}".format(kException)) -transport = UDPTransport() -router = RouterClient(transport, errorCallback) -transport.connect(DEVICE_IP, DEVICE_PORT) - -session_info = Session_pb2.CreateSessionInfo() -session_info.username = 'admin' -session_info.password = 'admin' -session_info.session_inactivity_timeout = 60000 # (milliseconds) -session_info.connection_inactivity_timeout = 2000 # (milliseconds) - -session_manager = SessionManager(router) -session_manager.CreateSession(session_info) -``` - - - -## Notification Handler -The robot base provides notifications on different topics as requested by a client application that has a session open with the robot. -The robot base uses a **Publish/Subscribe** design pattern. Rather than polling periodically for updates, the client application subscribes to a list of topics. Whenever a change happens related to that topic, whether caused by the same client session or not, the publisher sends a notification to all subscribers. - -```python -# In this example, when a user is created `notification_callback` will be called because we register it as a -# handler for `ConfigurationChange` topic notifications. -def notification_callback(data): - print("********************************") - print("** Callback function called **") - print(json_format.MessageToJson(data)) - print("********************************") - -# Subscribe to ConfigurationChange notifications -notif_handle = base_service.OnNotificationConfigurationChangeTopic(notification_callback, Base_pb2.NotificationOptions()) -``` diff --git a/linked_md/python_api_mechanism.md b/linked_md/python_api_mechanism.md index 5b12d326..abe3fbbf 100644 --- a/linked_md/python_api_mechanism.md +++ b/linked_md/python_api_mechanism.md @@ -10,25 +10,25 @@ * --> -

API mechanism

+

Python API mechanism

Table Of Contents

- [Overview](#overview) -- [Blocking-method](#blocking-function) +- [Blocking-method](#function) ## Overview -The **Python Kortex API** offers one mechanism to call a method: the standard **blocking** method. +The Python Kortex API offers one mechanism to call a method: a standard blocking method. - + ## Blocking method -The **blocking** method (blocking call) is quite straightforward. The function is called, and the process waits until an answer is received from the server side. +The blocking method (blocking call) is relatively straightforward. The function is called, and the process waits until an answer is received from the server side. ```python @@ -39,13 +39,12 @@ router_options.timeout_ms = 5000 # 5 seconds # The same function call without the options=router_options is valid and will do the same # using the router default value -wifi_list = base_service.GetAvailableWifi(options=router_options) +all_speed_hard_limits = base.GetAllJointsSpeedHardLimitation() -for wifi in wifi_list.wifi_information_list: +for speed_limit in all_speed_hard_limits.joints_limitations: print("============================================") - print("SSID: {0}".format(wifi.ssid.identifier)) - print("Wi-Fi security type: {0}".format(wifi.security_type)) - print("Wi-Fi encryption type: {0}".format(wifi.encryption_type)) - print("Signal strength: {0}".format(wifi.signal_strength)) + print("Joint: {0}".format(speed_limit.joint_identifier)) + print("Type of limitation: {0}".format(Base_pb2.LimitationType.Name(speed_limit.type))) + print("Value: {0}".format(speed_limit.value)) print("============================================") ``` diff --git a/linked_md/python_device_routing.md b/linked_md/python_device_routing.md new file mode 100644 index 00000000..a401411f --- /dev/null +++ b/linked_md/python_device_routing.md @@ -0,0 +1,149 @@ + + +

Device routing

+ +

Table of Contents

+ + + +- [Overview](#overview) +- [Device Manager service](#service-device-manager) + - [Service description](#devMng-description) + - [Good to know](#devMng-gtk) + - [Example](#devMng-example) +- [Device Config service](#srv-devConfig) + - [Service description](#devConfig-description) + - [Good to know](#devConfig-gtk) + - [Example](#devConfig-example) +- [Other Services](#other) + - [Example](#other-example) + + + + +## Overview +Device routing is a mechanism that allows you to send commands to a specific device using the connection with the base. This is done by specifying the *device_identifier* when sending a command through a service. The service doesn't need to be implemented by the base. + +In other words, a command can be sent to a sub device, using a service known ony by the sub device (e.g.: ``ActuatorConfigClient``) as long as the *device_identifier* is specified in the command parameters. + +To obtain the *device_identifier* you need to use the **Device Manager** service. + + +## Device Manager service + + +### Service description +The sole purpose of the **Device Manager** service is to return a device handle list containing handles for all devices present using the method `ReadAllDevices()`. + + +### Good to know +- The device handle list returned by `ReadAllDevices()` is *not* in any specific device order +- Device handles also have the fields `device_type` and `order` + + +### Example + +```python +# API initialisation +device_manager = DeviceManagerClient(router) +subDevicesInfo = device_manager.ReadAllDevices() +``` + + + +## Device Config service + + +### Service description +The `DeviceConfig` service provides information about the interrogated device: +- device type +- firmware and bootloader version +- model, part, and serial number +- MAC address and +- hardware revision + + + +### Example +```python +# Api initialisation +device_manager = DeviceManagerClient(router) +device_config = DeviceConfigClient(router) + +# Get all device routing information (from DeviceManagerClient service) +all_devices_info = device_manager.ReadAllDevices() + +options = RouterClientSendOptions() +options.timeout_ms = 4000 + +# Use device routing information to route to every devices (base, actuator, interconnect, etc.) in the arm/base system and request their general device information +for dev in all_devices_info.device_handle: + device_info = {} + device_info.update( json_format.MessageToDict( device_config.GetDeviceType (dev.device_identifier, options) ) ) + device_info.update( json_format.MessageToDict( device_config.GetFirmwareVersion (dev.device_identifier, options) ) ) + device_info.update( json_format.MessageToDict( device_config.GetBootloaderVersion (dev.device_identifier, options) ) ) + device_info.update( json_format.MessageToDict( device_config.GetModelNumber (dev.device_identifier, options) ) ) + device_info.update( json_format.MessageToDict( device_config.GetPartNumber (dev.device_identifier, options) ) ) + device_info.update( json_format.MessageToDict( device_config.GetPartNumberRevision (dev.device_identifier, options) ) ) + device_info.update( json_format.MessageToDict( device_config.GetSerialNumber (dev.device_identifier, options) ) ) + + # Get hexadecimal representation of MAC address + macAddress_hexstr = "" + for b in device_config.GetMACAddress(dev.device_identifier, options).mac_address: + macAddress_hexstr += "%02X:" % b + macAddress_hexstr = macAddress_hexstr[:-1] # remove last ':' + device_info.update( { "macAddress": macAddress_hexstr } ) + print("-----------------------------") + + print("-- {}: id = {} --".format(Common_pb2._DEVICETYPES.values_by_number[dev.device_type].name, dev.device_identifier)) + for key, value in device_info.items(): + print(str("%20s") % key + ": " + str(value)) +``` + + +## Other Services + +The *device_identifier* can be used with other services to directly interrogate a device. + + +### Example + +```python +# API initialisation +device_manager = DeviceManagerClient(router) +vision_config = VisionConfigClient(router) + +# Getting all device routing information (from DeviceManagerClient service) +allDevicesInfo = device_manager.ReadAllDevices() + +vision_handles = [hd for hd in allDevicesInfo.device_handle if hd.device_type == DeviceConfig_pb2.VISION ] + +if len(vision_handles) == 0: + print("Error: there is no vision device registered in the devices info") +elif len(vision_handles) > 1: + print("Error: there are more than one vision device register in the devices infos") +else: + handle = vision_handles[0] + +sensor_id = VisionConfig_pb2.SensorIdentifier() +sensor_id.sensor = VisionConfig_pb2.SENSOR_COLOR + +intrinsic_value = vision_config.GetIntrinsicParameters(sensor_id, handle.device_identifier) + +print("Width: {0}".format(intrinsic_value.width)) +print("Height: {0}".format(intrinsic_value.height)) +print("Principal point x: {0}".format(intrinsic_value.principal_point_x)) +print("Principal point y: {0}".format(intrinsic_value.principal_point_y)) +print("Focal length x: {0}".format(intrinsic_value.focal_length_x)) +print("Focal length y: {0}".format(intrinsic_value.focal_length_y)) +``` \ No newline at end of file diff --git a/linked_md/python_error_management.md b/linked_md/python_error_management.md index 8913275c..7727078f 100644 --- a/linked_md/python_error_management.md +++ b/linked_md/python_error_management.md @@ -25,7 +25,7 @@ ## Overview -The Python Kortex API currently has only one mechanism to manage errors: surrounding the code block with a **try/catch** statement pair and reacting to the exception. +The Python Kortex API currently has only one mechanism to manage errors: surrounding the code block with a **try/except** statement pair and reacting to the exception. Note that there are [special cases](#special-cases) explained at the end of this document. @@ -38,11 +38,11 @@ try: base_service.CreateUserProfile(Base_pb2.FullUserProfile()) except KClientException as ex: - -# get sub error codes -error_code = ex.get_error_code() -sub_error_code = ex.get_error_sub_code() -print("error_code:{0} sub_error_code:{1} ".format(error_code, sub_error_code)) + # Get error and sub error codes + error_code = ex.get_error_code() + sub_error_code = ex.get_error_sub_code() + print("Error_code:{0} , Sub_error_code:{1} ".format(error_code, sub_error_code)) + print("Caught expected error: {0}".format(ex)) except KServerException as server_ex: # Do something... @@ -50,7 +50,12 @@ except KServerException as server_ex: except Exception: # Do something... ``` -A **KClientException** is thrown when an error occurs on the API client side, just as a **KServerException** is thrown when the error occurs on the API server side. +A `KClientException` is thrown when an error occurs on the API client side, just as a `KServerException` is thrown when the error occurs on the API server side. + +A `KClientException` includes error code and sub error code information describing the exception. Here is a link to documentation explaining all of the error and sub error codes: + +- [Error code](https://github.com/Kinovarobotics/kortex/blob/master/api_python/doc/markdown/references/enm_Api_ErrorCodes.md) +- [Sub error code](https://github.com/Kinovarobotics/kortex/blob/master/api_python/doc/markdown/references/enm_Api_SubErrorCodes.md#) ## Special case @@ -58,7 +63,7 @@ This section describes a case that doesn't follow the standard error management #### RouterClient -When a **RouterClient** object is instantiated a callback function (or lambda expression) can be specified. This function will be called if an exception is thrown during the process. +When a `RouterClient` object is instantiated a callback function (or lambda expression) can be specified. This function will be called if an exception is thrown during the process. ```python router = RouterClient(transport, lambda kException: print("Error detected: {}".format(kException))) ``` diff --git a/linked_md/python_quick_start.md b/linked_md/python_quick_start.md index 94be1e05..9ff0316b 100644 --- a/linked_md/python_quick_start.md +++ b/linked_md/python_quick_start.md @@ -32,39 +32,41 @@ - python >= 3.5 - pip ->
-> **Linux (Ubuntu)** -> ->

Install Python 3.5.2

-> ```sh -> sudo apt-get install python3.5 -> sudo apt-get install python3-pip -> python3.5 -m pip install --upgrade pip --user -> ``` -> ->
+
+ Linux (Ubuntu) + +

Install Python 3.5.2

+ + ```sh + sudo apt-get install python3.5 + sudo apt-get install python3-pip + python3.5 -m pip install --upgrade pip --user + ``` + +

->
->**Windows** -> ->

Download Python 3.x (based on 3.5.2)

-> - [python-3.5.2](https://www.python.org/downloads/release/python-352/) -> - alternatively, click this link to download the file directly: [https://www.python.org/ftp/python/3.5.2/python-3.5.2.exe](https://www.python.org/ftp/python/3.5.2/python-3.5.2.exe) -> ->

Installation using the wizard

-> - be sure to install pip and to add Python to the environnement variables -> - you should also consider installing the Python test suite -> ->
+
+Windows +

Download Python 3.x (based on 3.5.2)

+ +- [python-3.5.2](https://www.python.org/downloads/release/python-352/) +- alternatively, click this link to download the file directly: [https://www.python.org/ftp/python/3.5.2/python-3.5.2.exe](https://www.python.org/ftp/python/3.5.2/python-3.5.2.exe) + +

Installation using the wizard

+ + - be sure to install pip and to add Python to the environnement variables + - you should also consider installing the Python test suite + +
### Optional Python modules -- pipenv: packages manager -- pytest: Python test framework -- pytest-cov: pytest coverage tool report -- pylint: Python lint (static analyser for editor) +- `pipenv`: packages manager +- `pytest`: Python test framework +- `pytest-cov`: pytest coverage tool report +- `pylint`: Python lint (static analyser for editor) # Python overview @@ -107,4 +109,4 @@ python