JARA_ARM::ManipulatorCommonInterface_Middle Interface Reference

import"ManipulatorCommonInterface_Middle.idl";

Public Member Functions
RETURN_ID	closeGripper ()
RETURN_ID	getBaseOffset (out HgMatrix offset)
RETURN_ID	getFeedbackPosCartesian (out CarPosWithElbow pos)
RETURN_ID	getMaxSpeedCartesian (out CartesianSpeed speed)
RETURN_ID	getMaxSpeedJoint (out DoubleSeq speed)
RETURN_ID	getMinAccelTimeCartesian (out double aclTime)
RETURN_ID	getMinAccelTimeJoint (out double aclTime)
RETURN_ID	getSoftLimitCartesian (out LimitValue xLimit, out LimitValue yLimit, out LimitValue zLimit)
RETURN_ID	moveGripper (in ULONG angleRatio)
RETURN_ID	moveLinearCartesianAbs (in CarPosWithElbow carPoint)
RETURN_ID	moveLinearCartesianRel (in CarPosWithElbow carPoint)
RETURN_ID	movePTPCartesianAbs (in CarPosWithElbow carPoint)
RETURN_ID	movePTPCartesianRel (in CarPosWithElbow carPoint)
RETURN_ID	movePTPJointAbs (in JointPos jointPoints)
RETURN_ID	movePTPJointRel (in JointPos jointPoints)
RETURN_ID	openGripper ()
RETURN_ID	pause ()
RETURN_ID	resume ()
RETURN_ID	stop ()
RETURN_ID	setAccelTimeCartesian (in double aclTime)
RETURN_ID	setAccelTimeJoint (in double aclTime)
RETURN_ID	setBaseOffset (in HgMatrix offset)
RETURN_ID	setControlPointOffset (in HgMatrix offset)
RETURN_ID	setMaxSpeedCartesian (in CartesianSpeed speed)
RETURN_ID	setMaxSpeedJoint (in DoubleSeq speed)
RETURN_ID	setMinAccelTimeCartesian (in double aclTime)
RETURN_ID	setMinAccelTimeJoint (in double aclTime)
RETURN_ID	setSoftLimitCartesian (in LimitValue xLimit, in LimitValue yLimit, in LimitValue zLimit)
RETURN_ID	setSpeedCartesian (in ULONG spdRatio)
RETURN_ID	setSpeedJoint (in ULONG spdRatio)
RETURN_ID	moveCircularCartesianAbs (in CarPosWithElbow carPointR, in CarPosWithElbow carPointT)
RETURN_ID	moveCircularCartesianRel (in CarPosWithElbow carPointR, in CarPosWithElbow carPointT)
RETURN_ID	setHome (in JointPos jointPoint)
RETURN_ID	getHome (out JointPos jointPoint)
RETURN_ID	goHome ()

Member Function Documentation

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::closeGripper

(

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::getBaseOffset

(

out HgMatrix

offset

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::getFeedbackPosCartesian

(

out CarPosWithElbow

pos

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::getHome

(

out JointPos

jointPoint

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::getMaxSpeedCartesian

(

out CartesianSpeed

speed

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::getMaxSpeedJoint

(

out DoubleSeq

speed

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::getMinAccelTimeCartesian

(

out double

aclTime

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::getMinAccelTimeJoint

(

out double

aclTime

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::getSoftLimitCartesian	(	out LimitValue	xLimit,
		out LimitValue	yLimit,
		out LimitValue	zLimit
	)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::goHome

(

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::moveCircularCartesianAbs	(	in CarPosWithElbow	carPointR,
		in CarPosWithElbow	carPointT
	)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::moveCircularCartesianRel	(	in CarPosWithElbow	carPointR,
		in CarPosWithElbow	carPointT
	)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::moveGripper

(

in ULONG

angleRatio

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::moveLinearCartesianAbs

(

in CarPosWithElbow

carPoint

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::moveLinearCartesianRel

(

in CarPosWithElbow

carPoint

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::movePTPCartesianAbs

(

in CarPosWithElbow

carPoint

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::movePTPCartesianRel

(

in CarPosWithElbow

carPoint

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::movePTPJointAbs

(

in JointPos

jointPoints

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::movePTPJointRel

(

in JointPos

jointPoints

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::openGripper

(

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::pause

(

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::resume

(

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::setAccelTimeCartesian

(

in double

aclTime

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::setAccelTimeJoint

(

in double

aclTime

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::setBaseOffset

(

in HgMatrix

offset

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::setControlPointOffset

(

in HgMatrix

offset

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::setHome

(

in JointPos

jointPoint

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::setMaxSpeedCartesian

(

in CartesianSpeed

speed

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::setMaxSpeedJoint

(

in DoubleSeq

speed

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::setMinAccelTimeCartesian

(

in double

aclTime

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::setMinAccelTimeJoint

(

in double

aclTime

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::setSoftLimitCartesian	(	in LimitValue	xLimit,
		in LimitValue	yLimit,
		in LimitValue	zLimit
	)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::setSpeedCartesian

(

in ULONG

spdRatio

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::setSpeedJoint

(

in ULONG

spdRatio

)

RETURN_ID JARA_ARM::ManipulatorCommonInterface_Middle::stop

(

)

---

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

• ext/ManipulatorCommonInterface_Middle.idl