first commit

.gitignore

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+kortex_api/
+kortex_api*.zip
+api_cpp/examples/build/

LICENSE

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+Copyright (c) 2018, Kinova inc.
+All rights reserved.
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+* Redistributions of source code must retain the above copyright notice,
+this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
+* Neither the name of the copyright holder nor the names of its contributors
+may be used to endorse or promote products derived from this software
+without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+____________________________________________________________________
+
+
+Protocol Buffer license
+
+Copyright 2008 Google Inc.  All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+    * Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the
+distribution.
+    * Neither the name of Google Inc. nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+Code generated by the Protocol Buffer compiler is owned by the owner
+of the input file used when generating it.  This code is not
+standalone and requires a support library to be linked with it.  This
+support library is itself covered by the above license.

api_cpp/doc/markdown/references/enm_ActuatorConfig_CommandMode.md

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+# Enum CommandMode
+
+This page describes the C++ Kinova::Api::ActuatorConfig::CommandMode enumeration.
+
+## Overview / Purpose
+
+List of admissible command modes
+
+## Enumeration definition
+
+|Enumerator|Value|Description|
+|----------|-----|-----------|
+|CYCLIC|0|Only cyclic data|
+|ASYNC\_CYCLIC\_FLAGS|1|Not supported|
+|ASYNC|2|Only config messages|
+|CYCLIC\_JITTERCOMPENSATED\_POSITION|3|Smoothing using only position inputs|
+|CYCLIC\_JITTERCOMPENSATED\_VELOCITY|4|Smoothing using position and velocity inputs|
+|CYCLIC\_JITTERCOMPENSATED\_ACCELERATION|5|Smoothing using position, velocity and acceleration inputs \(not supported\)|
+
+**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md)
+

api_cpp/doc/markdown/references/enm_ActuatorConfig_ControlLoopSelection.md

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+# Enum ControlLoopSelection
+
+This page describes the C++ Kinova::Api::ActuatorConfig::ControlLoopSelection enumeration.
+
+## Overview / Purpose
+
+List of admissible control loop selections
+
+## Enumeration definition
+
+|Enumerator|Value|Description|
+|----------|-----|-----------|
+|RESERVED|0|0x0 - Reserved \(internal use only\)|
+|JOINT\_POSITION|1|0x1 - Joint position control \(if available\)|
+|MOTOR\_POSITION|2|0x2 - Motor position control|
+|JOINT\_VELOCITY|4|0x4 - Joint velocity control \(if available\)|
+|MOTOR\_VELOCITY|8|0x8 - Motor velocity control|
+|JOINT\_TORQUE|16|0x10 - Joint torque control|
+|MOTOR\_CURRENT|32|0x20 - Motor current control|
+
+**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md)
+

api_cpp/doc/markdown/references/enm_ActuatorConfig_ControlMode.md

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+# Enum ControlMode
+
+This page describes the C++ Kinova::Api::ActuatorConfig::ControlMode enumeration.
+
+## Overview / Purpose
+
+List of admissible control modes
+
+## Enumeration definition
+
+|Enumerator|Value|Description|
+|----------|-----|-----------|
+|NONE|0|None|
+|POSITION|1|Position mode|
+|VELOCITY|2|Velocity mode|
+|TORQUE|3|Torque mode|
+|CURRENT|4|Current mode|
+|CUSTOM|5|Custom mode|
+
+**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md)
+

api_cpp/doc/markdown/references/enm_ActuatorConfig_SafetyIdentifier.md

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+# Enum SafetyIdentifier
+
+This page describes the C++ Kinova::Api::ActuatorConfig::SafetyIdentifier enumeration.
+
+## Overview / Purpose
+
+List of admissible actuator safeties
+
+## Enumeration definition
+
+|Enumerator|Value|Description|
+|----------|-----|-----------|
+|UNSPECIFIED\_ACTUATOR\_SAFETY\_IDENTIFIER|0|0x0 - Unspecified actuator safety|
+|FOLLOWING\_ERROR|1|0x1 - Following error|
+|MAXIMUM\_VELOCITY|2|0x2 - Maximum velocity|
+|JOINT\_LIMIT\_HIGH|4|0x4 - Joint position limit high|
+|JOINT\_LIMIT\_LOW|8|0x8 - Joint position limit low|
+|STRAIN\_GAUGE\_MISMATCH|16|0x10 - Strain gauge mismatch|
+|MAXIMUM\_TORQUE|32|0x20 - Maximum torque|
+|UNRELIABLE\_ABSOLUTE\_POSITION|64|0x40 - Unreliable absolute position|
+|MAGNETIC\_POSITION|128|0x80 - Magnetic position|
+|HALL\_POSITION|256|0x100 - Hall position|
+|HALL\_SEQUENCE|512|0x200 - Hall sequence|
+|INPUT\_ENCODER\_HALL\_MISMATCH|1024|0x400 - Input encoder Hall mismatch|
+|INPUT\_ENCODER\_INDEX\_MISMATCH|2048|0x800 - Input encoder index mismatch|
+|INPUT\_ENCODER\_MAGNETIC\_MISMATCH|4096|0x1000 - Input encoder magnetic mismatch|
+|MAXIMUM\_MOTOR\_CURRENT|8192|0x2000 - Maximum motor current|
+|MOTOR\_CURRENT\_MISMATCH|16384|0x4000 - Motor current mismatch|
+|MAXIMUM\_VOLTAGE|32768|0x8000 - Maximum voltage|
+|MINIMUM\_VOLTAGE|65536|0x10000 - Minimum voltage|
+|MAXIMUM\_MOTOR\_TEMPERATURE|131072|0x20000 - Maximum motor temperature|
+|MAXIMUM\_CORE\_TEMPERATURE|262144|0x40000 - Maximum core temperature|
+|NON\_VOLATILE\_MEMORY\_CORRUPTED|524288|0x80000 - Non-volatile memory corrupted|
+|MOTOR\_DRIVER\_FAULT|1048576|0x100000 - Motor driver fault|
+|EMERGENCY\_LINE\_ASSERTED|2097152|0x200000 - Emergency line asserted|
+|COMMUNICATION\_TICK\_LOST|4194304|0x400000 - Communication tick lost|
+|WATCHDOG\_TRIGGERED|8388608|0x800000 - Watchdog triggered|
+
+**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md)
+

api_cpp/doc/markdown/references/enm_ActuatorConfig_SafetyLimitType.md

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+# Enum SafetyLimitType
+
+This page describes the C++ Kinova::Api::ActuatorConfig::SafetyLimitType enumeration.
+
+## Overview / Purpose
+
+List of of admissible limit types
+
+## Enumeration definition
+
+|Enumerator|Value|Description|
+|----------|-----|-----------|
+|MAXIMAL\_LIMIT|0|Maximal limit|
+|MINIMAL\_LIMIT|1|Minimal limit|
+
+**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md)
+

api_cpp/doc/markdown/references/enm_ActuatorConfig_ServiceVersion.md

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+# Enum ServiceVersion
+
+This page describes the C++ Kinova::Api::ActuatorConfig::ServiceVersion enumeration.
+
+## Overview / Purpose
+
+Enumeration used to identify ActuatorConfig service current version
+
+## Enumeration definition
+
+|Enumerator|Value|Description|
+|----------|-----|-----------|
+|RESERVED\_0|0|Reserved|
+|CURRENT\_VERSION|1|Current version|
+
+**Parent topic:** [ActuatorConfig](../references/summary_ActuatorConfig.md)
+

api_cpp/doc/markdown/references/enm_ActuatorCyclic_ServiceVersion.md

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+# Enum ServiceVersion
+
+This page describes the C++ Kinova::Api::ActuatorCyclic::ServiceVersion enumeration.
+
+## Overview / Purpose
+
+Enumeration used to identify ActuatorCyclic current version
+
+## Enumeration definition
+
+|Enumerator|Value|Description|
+|----------|-----|-----------|
+|RESERVED\_0|0|Reserved|
+|CURRENT\_VERSION|1|Current version|
+
+**Parent topic:** [ActuatorCyclic](../references/summary_ActuatorCyclic.md)
+

api_cpp/doc/markdown/references/enm_Api_ErrorCodes.md

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+# Enum ErrorCodes
+
+This page describes the C++ Kinova::Api::ErrorCodes enumeration.
+
+## Overview / Purpose
+
+List of possible error codes
+
+## Enumeration definition
+
+|Enumerator|Value|Description|
+|----------|-----|-----------|
+|SUCCESS|0|No errors|
+|ERROR\_PROTOCOL\_SERVER|1|Protocol server errors|
+|ERROR\_PROTOCOL\_CLIENT|2|Protocol client errors|
+|ERROR\_DEVICE|3|Device errors|
+|ERROR\_INTERNAL|4|Internal errors|
+
+**Parent topic:** [Api](../references/summary_Api.md)
+

api_cpp/doc/markdown/references/enm_Api_SubErrorCodes.md

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+# Enum SubErrorCodes
+
+This page describes the C++ Kinova::Api::SubErrorCodes enumeration.
+
+## Overview / Purpose
+
+List of possible sub errror codes
+
+## Enumeration definition
+
+|Enumerator|Value|Description|
+|----------|-----|-----------|
+|SUB\_SUCCESS|0|No sub errors|
+|FAILED|1|Failed method|
+|UNIMPLEMENTED|2|Unimplemented method|
+|INVALID\_PARAM|3|Invalid parameter|
+|UNSUPPORTED\_SERVICE|4|Service not recognized|
+|UNSUPPORTED\_METHOD|5|Method not recognized|
+|TOO\_LARGE\_ENCODED\_FRAME\_BUFFER|6|Encoded frame bigger than what transport permits|
+|FRAME\_ENCODING\_ERR|7|Unable to encode frame|
+|FRAME\_DECODING\_ERR|8|Unable to decode frame|
+|INCOMPATIBLE\_HEADER\_VERSION|9|Frame header version differs from what is expected and is considered incompatible|
+|UNSUPPORTED\_FRAME\_TYPE|10|Unrecognized frame type|
+|UNREGISTERED\_NOTIFICATION\_RECEIVED|11|Server receiving unregistered notification|
+|INVALID\_SESSION|12|Session not recognized|
+|PAYLOAD\_DECODING\_ERR|13|Unable to decode payload|
+|UNREGISTERED\_FRAME\_RECEIVED|14|Client received a response for which it did not send an RPC call|
+|INVALID\_PASSWORD|15|Password does not match specified user|
+|USER\_NOT\_FOUND|16|Unrecognized user|
+|ENTITY\_NOT\_FOUND|17|Cannot find entity|
+|ROBOT\_MOVEMENT\_IN\_PROGRESS|18|Robot refuses new control command because robot movement in progress|
+|ROBOT\_NOT\_MOVING|19|Robot refuses stop command because robot is not moving|
+|NO\_MORE\_STORAGE\_SPACE|20|Unable to execute because no more storage|
+|ROBOT\_NOT\_READY|21|Robot initialization is not complete|
+|ROBOT\_IN\_FAULT|22|Robot in fault|
+|ROBOT\_IN\_MAINTENANCE|23|Robot in maintenance|
+|ROBOT\_IN\_UPDATE\_MODE|24|Robot in update|
+|ROBOT\_IN\_EMERGENCY\_STOP|25|Robot in emergency stop state|
+|SINGLE\_LEVEL\_SERVOING|26|Robot is in single-level servoing mode|
+|LOW\_LEVEL\_SERVOING|27|Robot is in low-level servoing mode|
+|MAPPING\_GROUP\_NON\_ROOT|28|Trying to add a non-root MapGroup to Mapping|
+|MAPPING\_INVALID\_GROUP|29|Trying to add an invalid or non-existent MapGroup to Mapping|
+|MAPPING\_INVALID\_MAP|30|Trying to add an invalid or non-existent Map to Mapping|
+|MAP\_GROUP\_INVALID\_MAP|31|Trying to add an invalid or non-existent Map to MapGroup|
+|MAP\_GROUP\_INVALID\_PARENT|32|Trying to add a MapGroup under an invalid parent|
+|MAP\_GROUP\_INVALID\_CHILD|33|Trying to add an invalid or non-existent to MapGroup|
+|MAP\_GROUP\_INVALID\_MOVE|34|Trying to change a MapGroup's parent: move not supported|
+|MAP\_IN\_USE|35|Deleting a Map used in a Mapping or MapGroup|
+|WIFI\_CONNECT\_ERROR|36|Unable to connect to specified Wifi network|
+|UNSUPPORTED\_NETWORK\_TYPE|37|Unsupported network type|
+|TOO\_LARGE\_ENCODED\_PAYLOAD\_BUFFER|38|Encoded payload bigger than what transport permits|
+|UPDATE\_PERMISSION\_DENIED|39|Attempting update command on non-updatable entity|
+|DELETE\_PERMISSION\_DENIED|40|Attempting delete command on non-deletable entity|
+|DATABASE\_ERROR|41|Internal DB error|
+|UNSUPPORTED\_OPTION|42|Option not supported|
+|UNSUPPORTED\_RESOLUTION|43|Resolution not supported|
+|UNSUPPORTED\_FRAME\_RATE|44|Frame rate not supported|
+|UNSUPPORTED\_BIT\_RATE|45|Bit rate not supported|
+|UNSUPPORTED\_ACTION|46|Action not supported \(generic, when an action is not supported for a particular item\)|
+|UNSUPPORTED\_FOCUS\_ACTION|47|Focus action not supported|
+|VALUE\_IS\_ABOVE\_MAXIMUM|48|Specified value is above the supported maximum|
+|VALUE\_IS\_BELOW\_MINIMUM|49|Specified value is below the supported minimum|
+|DEVICE\_DISCONNECTED|50|Device is not connected|
+|DEVICE\_NOT\_READY|51|Device is not ready|
+|INVALID\_DEVICE|52|Device id is invalid during bridging|
+|SAFETY\_THRESHOLD\_REACHED|53|Safety threshold is reached therefore safety is on|
+|INVALID\_USER\_SESSION\_ACCESS|54|Service or function access not allowed: out of session or level access|
+|CONTROL\_MANUAL\_STOP|55|Manually stopped sequence or action|
+|CONTROL\_OUTSIDE\_WORKSPACE|56|Commanded Cartesian position is outside of robot workspace|
+|CONTROL\_ACTUATOR\_COUNT\_MISMATCH|57|Number of constraint sent does not correspond to number of actuator \(ex: joint speed\)|
+|CONTROL\_INVALID\_DURATION|58|Duration constraint is too short. The robot would need out of limit speeds/accelerations to reach this duration.|
+|CONTROL\_INVALID\_SPEED|59|Speed constraint is negative|
+|CONTROL\_LARGE\_SPEED|60|Speed constraint is too high \(exceed speed limit of leads to high acceleration\)|
+|CONTROL\_INVALID\_ACCELERATION|61|Speed constraint is too high or duration constraint too short and leads to high acceleration|
+|CONTROL\_INVALID\_TIME\_STEP|62|Refresh rate is smaller than the duration of the trajectory|
+|CONTROL\_LARGE\_SIZE|63|Duration of the trajectory is more than 100s. The length of the trajectory is limited to 100000 points to avoid saturating the base memory.|
+|CONTROL\_WRONG\_MODE|64|Control mode is not a trajectory mode|
+|CONTROL\_JOINT\_POSITION\_LIMIT|65|Commanded configuration contains at least one actuator which is out of its physical limits|
+|CONTROL\_NO\_FILE\_IN\_MEMORY|66|Trajectory is not computed and try to be started|
+|CONTROL\_INDEX\_OUT\_OF\_TRAJECTORY|67|Attempting to read a point of the trajectory with an index higher than the number of point in trajectory point list.|
+|CONTROL\_ALREADY\_RUNNING|68|Trajectory is already running|
+|CONTROL\_WRONG\_STARTING\_POINT|69|Robot is not on the first point of the trajectory when we try to start the trajectory. This can happen if there is a motion between the moment when trajectory is computed and when it is started.|
+|CONTROL\_CARTESIAN\_CANNOT\_START|70|Cannot start|
+|CONTROL\_UNDEFINED\_CONSTRAINT|71|Kontrol library is not initialized|
+|CONTROL\_UNINITIALIZED|72|Contraint sent is not defined|
+|CONTROL\_NO\_ACTION|73|Action does not exist|
+|CONTROL\_UNDEFINED|74|Undefined error|
+|WRONG\_SERVOING\_MODE|75|Robot is in not in the right servoing mode|
+|USERNAME\_LENGTH\_EXCEEDED|100|User profile username length exceeds maximum allowed length|
+|FIRSTNAME\_LENGTH\_EXCEEDED|101|User profile first name length exceeds maximum allowed length|
+|LASTNAME\_LENGTH\_EXCEEDED|102|User profile last name length exceeds maximum allowed length|
+|PASSWORD\_LENGTH\_EXCEEDED|103|User profile password length exceeds maximum allowed length|
+|USERNAME\_ALREADY\_EXISTS|104|User profile username already in use by another profile|
+|USERNAME\_EMPTY|105|User profile empty username not allowed|
+|PASSWORD\_NOT\_CHANGED|106|Change password both passwords are the same|
+|MAXIMUM\_USER\_PROFILES\_USED|107|Maximum number of user profiles in use|
+
+**Parent topic:** [Api](../references/summary_Api.md)
+

api_cpp/doc/markdown/references/enm_BaseCyclic_ServiceVersion.md

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+# Enum ServiceVersion
+
+This page describes the C++ Kinova::Api::BaseCyclic::ServiceVersion enumeration.
+
+## Overview / Purpose
+
+Enumeration used to identify BaseCyclic current version
+
+## Enumeration definition
+
+|Enumerator|Value|Description|
+|----------|-----|-----------|
+|RESERVED\_0|0|Reserved|
+|CURRENT\_VERSION|1|Current version|
+
+**Parent topic:** [BaseCyclic](../references/summary_BaseCyclic.md)
+

api_cpp/doc/markdown/references/enm_Base_ActionEvent.md

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+# Enum ActionEvent
+
+This page describes the C++ Kinova::Api::Base::ActionEvent enumeration.
+
+## Overview / Purpose
+
+List of admissible action event types
+
+## Enumeration definition
+
+|Enumerator|Value|Description|
+|----------|-----|-----------|
+|UNSPECIFIED\_ACTION\_EVENT|0|Unspecified action event|
+|ACTION\_END|1|Action execution end reached|
+|ACTION\_ABORT|2|Action execution aborted|
+|ACTION\_PAUSE|3|Action execution paused|
+|ACTION\_START|4|Action execution started|
+
+**Parent topic:** [Base](../references/summary_Base.md)
+