kinova jaco2 sdk win10开发所用数据结构

 

 

/** @brief This data structure holds the values of the robot's fingers.
*  \struct FingersPosition KinovaTypes.h "Definition"
*/
struct FingersPosition
{
    /**
    * @brief This is the value of the finger #1. The units will depends on the context it's been used.
    */
    float Finger1;

    /**
    * @brief This is the value of the finger #2. The units will depends on the context it's been used.
    */
    float Finger2;

    /**
    * @brief This is the value of the finger #3. The units will depends on the context it's been used.
    */
    float Finger3;

    /**
    * This method will initialises all the values to 0
    */
    void InitStruct()
    {
        Finger1 = 0.0f;
        Finger2 = 0.0f;
        Finger3 = 0.0f;
    }
};

 

 

/** Coordinates holds the cartesian parts
*  of the position and Fingers holds contains the value of the fingers. As an example, if an instance
*  of the CartesianPosition is used in a cartesian velocity control context, the values in the struct
*  will be velocity.
*  @brief This data structure holds the values of a cartesian position.
*  \struct CartesianPosition KinovaTypes.h "Definition"
*/
struct CartesianPosition
{
    /**
    * @brief This contains values regarding the cartesian information.(end effector).
    */
    CartesianInfo Coordinates;

    /**
    * @brief This contains value regarding the fingers.
    */
    FingersPosition Fingers;


    /**
    * This method will initialises all the values to 0
    */
    void InitStruct()
    {
        Coordinates.InitStruct();
        Fingers.InitStruct();
    }
};

 

 

/** @brief This data structure holds the values of an angular(actuators) position.
*  \struct AngularPosition KinovaTypes.h "Definition"
*/
struct AngularPosition
{
    /**
    * @brief This contains value regarding the actuators.
    */
    AngularInfo Actuators;

    /**
    * @brief This contains value regarding the actuators.
    */
    FingersPosition Fingers;

    /**
    * This method will initialises all the values to 0
    */
    void InitStruct()
    {
        Actuators.InitStruct();
        Fingers.InitStruct();
    }
};

 

 

 

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