Kinova Type

Kinova Type

POSITION_TYPE Type;

/**
 * @brief That represents the type of a position. If used during a trajectory, the type of position
 * will change the behaviour of the robot. For example if the position type is CARTESIAN_POSITION,
 * then the robot's end effector will move to that position using the inverse kinematics. But
 * if the type of position is CARTESIAN_VELOCITY then the robot will use the values as velocity command.
 */
enum POSITION_TYPE
{
    NOMOVEMENT_POSITION = 0,    /*!< Used for initialisation. */
    CARTESIAN_POSITION = 1,     /*!< A cartesian position described by a translation X, Y, Z and an orientation ThetaX, thetaY and ThetaZ. */
    ANGULAR_POSITION = 2,       /*!< An angular position described by a value for each actuator. */
    RETRACTED = 3,              /*!< The robotic arm is in retracted mode. It may be anywhere between the HOME position and the RETRACTED position. */
    PREDEFINED1 = 4,               /*!< The robotic arm is moving to the pre defined position #1. */
    PREDEFINED2 = 5,               /*!< The robotic arm is moving to the pre defined position #2. */
    PREDEFINED3 = 6,             /*!< The robotic arm is moving to the pre defined position #3. */
    CARTESIAN_VELOCITY = 7,     /*!< A velocity vector used for velocity control. */
    ANGULAR_VELOCITY = 8,       /*!< Used for initialisation. */
    PREDEFINED4 = 9,              /*!< The robotic arm is moving to the pre defined position #4. */
    PREDEFINED5 = 10,              /*!< The robotic arm is moving to the pre defined position #5. */
    ANY_TRAJECTORY = 11,        /*!< Not used. */
    TIME_DELAY = 12,            /*!< The robotic arm is on time delay. */
};

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