#ifndef _COMMANDSHELP_H_
#define _COMMANDSHELP_H_

#include "SocketObject.h"
#include <stdlib.h>
/**
 * @addtogroup commands
 * Additional functions for the client commands to print help and usage of them
 * @{
 *  @addtogroup help
 *  @{
 */

//Handling request for current Joint Values
void getPositionJointsHelp (SocketObject& client);
//Get Position as POSE Matrix
void getPositionHomRowWiseHelp (SocketObject& client);
//Get Force/torque values from TCP
void getForceTorqueTcpHelp (SocketObject& client);
//Move to given Joint combination
void movePTPJointsHelp (SocketObject& client);
//Move to given POSE position
void moveHomRowWiseStatusHelp (SocketObject& client);
//Set Velocity
void setSpeedHelp (SocketObject& client);
//Set Acceleration
void setAccelHelp (SocketObject& client);
//Starting Potential Field Movement Mode
void startPotFieldModeHelp (SocketObject& client);
//Stopping Potential Field Movement Mode
void stopPotFieldModeHelp (SocketObject& client);
// set the current trajectory type 
void setTrajectoryTypeHelp (SocketObject& client);
// get the current trajectory type 
void getTrajectoryTypeHelp (SocketObject& client);
// Quit
void quitHelp (SocketObject& client);
// check if we use a kuka
void isKukaLwrHelp (SocketObject& client);

/**
 *  @}
 * @}
 */
#endif