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45 lines
1.5 KiB
45 lines
1.5 KiB
#ifndef _COMMANDSHELP_H_
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#define _COMMANDSHELP_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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* Additional functions for the client commands to print help and usage of them
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* @{
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* @addtogroup help
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* @{
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*/
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//Handling request for current Joint Values
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void getPositionJointsHelp (SocketObject& client, std::string& arg);
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//Get Position as POSE Matrix
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void getPositionHomRowWiseHelp (SocketObject& client, std::string& arg);
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//Get Force/torque values from TCP
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void getForceTorqueTcpHelp (SocketObject& client, std::string& arg);
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//Move to given Joint combination
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void movePTPJointsHelp (SocketObject& client, std::string& arg);
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//Move to given POSE position
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void moveHomRowWiseStatusHelp (SocketObject& client, std::string& arg);
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//Set Velocity
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void setSpeedHelp (SocketObject& client, std::string& arg);
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//Set Acceleration
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void setAccelHelp (SocketObject& client, std::string& arg);
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//Starting Potential Field Movement Mode
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void startPotFieldModeHelp (SocketObject& client, std::string& arg);
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//Stopping Potential Field Movement Mode
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void stopPotFieldModeHelp (SocketObject& client, std::string& arg);
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// set the current trajectory type
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void setTrajectoryTypeHelp (SocketObject& client, std::string& arg);
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// get the current trajectory type
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void getTrajectoryTypeHelp (SocketObject& client, std::string& arg);
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//Quit
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void quitHelp (SocketObject& client, std::string& arg);
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// check if we use a kuka
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void isKukaLwrHelp (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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