基于kinova jaco2机械臂的仿真模拟

基于kinova jaco2机械臂的仿真模拟

struct AngularInfo
{
    /**
     * As an example if the current control mode is angular position the unit will be degree but if the control mode is angular velocity
     * then the unit will be degree per second.
     * @brief This is the value related to the first actuator. Unit depends on the context it's been used.
     */
    float Actuator1;

    /**
     * As an example if the current control mode is angular position the unit will be degree but if the control mode is angular velocity
     * then the unit will be degree per second.
     * @brief This is the value related to the second actuator. Unit depends on the context it's been used.
     */
    float Actuator2;

    /**
     * As an example if the current control mode is angular position the unit will be degree but if the control mode is angular velocity
     * then the unit will be degree per second.
     * @brief This is the value related to the third actuator. Unit depends on the context it's been used.
     */
    float Actuator3;

    /**
     * As an example if the current control mode is angular position the unit will be degree but if the control mode is angular velocity
     * then the unit will be degree per second.
     * @brief This is the value related to the actuator #4. Unit depends on the context it's been used.
     */
    float Actuator4;

    /**
     * As an example if the current control mode is angular position the unit will be degree but if the control mode is angular velocity
     * then the unit will be degree per second.
     * @brief This is the value related to the actuator #5. Unit depends on the context it's been used.
     */
    float Actuator5;

    /**
     * As an example if the current control mode is angular position the unit will be degree but if the control mode is angular velocity
     * then the unit will be degree per second.
     * @brief This is the value related to the actuator #6. Unit depends on the context it's been used.
     */
    float Actuator6;

    /**
    * As an example if the current control mode is angular position the unit will be degree but if the control mode is angular velocity
    * then the unit will be degree per second.
    * @brief This is the value related to the actuator #7. Unit depends on the context it's been used.
    */
    float Actuator7;


    /**
     * This method will initialises all the values to 0
     */
    void InitStruct()
    {
        Actuator1 = 0.0f;
        Actuator2 = 0.0f;
        Actuator3 = 0.0f;
        Actuator4 = 0.0f;
        Actuator5 = 0.0f;
        Actuator6 = 0.0f;
        Actuator7 = 0.0f;
    }
};

//That is a device you can communicate with via this library.
struct KinovaDevice
{
    //The serial number of the device. If you are communicating with more than 1 device, this will be used to identify
    //the devices.
    char SerialNumber[SERIAL_LENGTH];

    //The model of the device.
    char Model[SERIAL_LENGTH];

    //Those variables represents the code version - Major.Minor.Release
    int VersionMajor;
    int VersionMinor;
    int VersionRelease;

    //The type of the device.
    int DeviceType;

    //This is a device ID used by the API. User should not use it.
    int DeviceID;
};

 

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