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55 lines
1.6 KiB
55 lines
1.6 KiB
#ifndef _COMMANDS_H_
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#define _COMMANDS_H_
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#include "SocketObject.h"
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#include <stdlib.h>
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/**
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* @addtogroup commands
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* functions to process the request from client side and respond to them
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* @{
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* @addtogroup processing
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* @{
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*/
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static struct ClientCommand* commands;
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static unsigned int commandCount;
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// registers all commands
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void registerCommands();
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// print out all commands to the client interface
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void printUsage(SocketObject& client, std::string& arg);
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//Handling request for current Joint Values
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void getPositionJoints(SocketObject& client, std::string& arg);
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//Get Position as POSE Matrix
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void getPositionHomRowWise(SocketObject& client, std::string& arg);
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//Get Force/torque values from TCP
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void getForceTorqueTcp(SocketObject& client, std::string& arg);
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//Move to given Joint combination
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void movePTPJoints(SocketObject& client, std::string& arg);
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//Move to given POSE position
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void moveHomRowWiseStatus(SocketObject& client, std::string& arg);
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//Set Velocity
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void setSpeed(SocketObject& client, std::string& arg);
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//Set Acceleration
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void setAccel(SocketObject& client, std::string& arg);
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//Starting Potential Field Movement Mode
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void startPotFieldMode(SocketObject& client, std::string& arg);
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//Stopping Potential Field Movement Mode
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void stopPotFieldMode(SocketObject& client, std::string& arg);
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// set a specific trajectory type
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void setTrajectoryType(SocketObject& client, std::string& arg);
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void getTrajectoryType(SocketObject& client, std::string& arg);
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//Quit
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void quit(SocketObject& client, std::string& arg);
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// check if we use a kuka
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void isKukaLwr(SocketObject& client, std::string& arg);
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/**
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* @}
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* @}
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*/
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#endif
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