Updated the documentation and examples for Kortex API v1.1.6

Kinovarobotics · Apr 2, 2019 · 031e256 · 031e256
1 parent b43195b
commit 031e256
Show file tree

Hide file tree

Showing 161 changed files with 1,753 additions and 758 deletions.
diff --git a/api_cpp/doc/markdown/references/enm_Api_ErrorCodes.md b/api_cpp/doc/markdown/references/enm_Api_ErrorCodes.md
@@ -10,11 +10,11 @@ List of possible error codes
 
 |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|
+|ERROR\_NONE|0|No error|
+|ERROR\_PROTOCOL\_SERVER|1|Protocol server error|
+|ERROR\_PROTOCOL\_CLIENT|2|Protocol client error|
+|ERROR\_DEVICE|3|Device error|
+|ERROR\_INTERNAL|4|Internal error|
 
 **Parent topic:** [Api](../references/summary_Api.md)
 
diff --git a/api_cpp/doc/markdown/references/enm_Api_SubErrorCodes.md b/api_cpp/doc/markdown/references/enm_Api_SubErrorCodes.md
@@ -10,8 +10,8 @@ List of possible sub errror codes
 
 |Enumerator|Value|Description|
 |----------|-----|-----------|
-|SUB\_SUCCESS|0|No sub errors|
-|FAILED|1|Failed method|
+|SUB\_ERROR\_NONE|0|No sub error|
+|METHOD\_FAILED|1|Method returned a failure status \(generic error\)|
 |UNIMPLEMENTED|2|Unimplemented method|
 |INVALID\_PARAM|3|Invalid parameter|
 |UNSUPPORTED\_SERVICE|4|Service not recognized|

diff --git a/api_cpp/doc/markdown/references/enm_Base_ActionType.md b/api_cpp/doc/markdown/references/enm_Base_ActionType.md
@@ -23,7 +23,7 @@ List of admissible action types
 |CHANGE\_JOINT\_SPEEDS|23|Action to change the joint speeds individually|
 |APPLY\_EMERGENCY\_STOP|28|Action to apply robot emergency stop|
 |CLEAR\_FAULTS|29|Action to clear faults. Robot will be able to move if there is no more fault \(see BaseCyclic.BaseFeedback.\[fault\_bank\_a | fault\_bank\_b\]\)|
-|DELAY|31|Action to apply a delay|
+|TIME\_DELAY|31|Action to apply a delay|
 |EXECUTE\_ACTION|32|Action to execute an existing action|
 |SEND\_GRIPPER\_COMMAND|33|Action to execute a gripper command|
 |STOP\_ACTION|35|Action to stop movement|

diff --git a/api_cpp/doc/markdown/references/enm_Base_ConfigurationNotificationEvent.md b/api_cpp/doc/markdown/references/enm_Base_ConfigurationNotificationEvent.md
@@ -11,10 +11,10 @@ List of admissible configuration events
 |Enumerator|Value|Description|
 |----------|-----|-----------|
 |UNSPECIFIED\_CONFIGURATION\_EVENT|0|Unspecified configuration event|
-|UPDATE|1|Delete configuration|
-|DELETE|2|Update configuration|
-|DELETE\_ALL|3|Delete all configuration|
-|CREATE|4|Create configuration|
+|CONFIGURATION\_UPDATED|1|Configuration deleted|
+|CONFIGURATION\_DELETED|2|Configuration updated|
+|CONFIGURATION\_DELETED\_ALL|3|All configurations deleted|
+|CONFIGURATION\_CREATED|4|Configuration created|
 
 **Parent topic:** [Base](../references/summary_Base.md)
 
diff --git a/api_cpp/doc/markdown/references/enm_Base_CountryCodeIdentifier.md b/api_cpp/doc/markdown/references/enm_Base_CountryCodeIdentifier.md
@@ -4,7 +4,7 @@ This page describes the C++ Kinova::Api::Base::CountryCodeIdentifier enumeration
 
 ## Overview / Purpose
 
-list of supported ISO3166 country identifiers
+List of supported ISO3166 country identifiers
 
 ## Enumeration definition
 

diff --git a/api_cpp/doc/markdown/references/enm_Base_EventIdSequenceInfoNotification.md b/api_cpp/doc/markdown/references/enm_Base_EventIdSequenceInfoNotification.md
@@ -11,12 +11,12 @@ List of admissible sequence event types
 |Enumerator|Value|Description|
 |----------|-----|-----------|
 |UNSPECIFIED\_SEQUENCE\_EVENT|0|Unspecified sequence event|
-|END|1|Sequence end reached|
-|ABORT|2|Sequence aborted|
-|PAUSE|3|Sequence paused|
-|TASK\_START|4|Sequence task started|
-|TASK\_END|5|Sequence task ended|
-|START|6|Sequence started|
+|SEQUENCE\_COMPLETED|1|Sequence completed successfully|
+|SEQUENCE\_ABORTED|2|Sequence aborted|
+|SEQUENCE\_PAUSED|3|Sequence paused|
+|SEQUENCE\_TASK\_STARTED|4|Sequence task started|
+|SEQUENCE\_TASK\_COMPLETED|5|Sequence task completed|
+|SEQUENCE\_STARTED|6|Sequence started|
 
 **Parent topic:** [Base](../references/summary_Base.md)
 
diff --git a/api_cpp/doc/markdown/references/enm_Common_ArmState.md b/api_cpp/doc/markdown/references/enm_Common_ArmState.md
@@ -10,17 +10,17 @@ List of admissible arm states
 
 |Enumerator|Value|Description|
 |----------|-----|-----------|
-|UNSPECIFIED\_ARM\_STATE|0|Unspecified arm state|
-|BASE\_INITIALIZATION|1|Cannot be reported as the base initialization must be completed before allowing user connection|
-|IDLE|2|Base initialization succeeded|
-|ARM\_INITIALIZATION|3|Arm is being initialized|
-|ARM\_IN\_FAULT|4|Arm is in fault|
-|ARM\_MAINTENANCE|5|Arm is in maintenance|
-|ARM\_SERVOING\_LOW\_LEVEL|6|Arm is in low-level servoing mode|
-|ARM\_SERVOING\_READY|7|Arm is ready to be controlled|
-|ARM\_SERVOING\_PLAYING\_SEQUENCE|8|Arm is currently being controlled via a sequence|
-|ARM\_SERVOING\_MANUALLY\_CONTROLLED|9|Arm is currently being controlled manually|
-|RESERVED|255|For debugging, this state must never be reported outside the base. this means that a state is not mapped correctly|
+|ARMSTATE\_UNSPECIFIED|0|Unspecified arm state|
+|ARMSTATE\_BASE\_INITIALIZATION|1|Cannot be reported as the Base initialization must be completed before allowing user connection|
+|ARMSTATE\_IDLE|2|Base initialization succeeded|
+|ARMSTATE\_INITIALIZATION|3|Arm is being initialized|
+|ARMSTATE\_IN\_FAULT|4|Arm is in fault|
+|ARMSTATE\_MAINTENANCE|5|Arm is in maintenance|
+|ARMSTATE\_SERVOING\_LOW\_LEVEL|6|Arm is in low-level servoing mode|
+|ARMSTATE\_SERVOING\_READY|7|Arm is ready to be controlled|
+|ARMSTATE\_SERVOING\_PLAYING\_SEQUENCE|8|Arm is currently being controlled via a sequence|
+|ARMSTATE\_SERVOING\_MANUALLY\_CONTROLLED|9|Arm is currently being controlled manually|
+|ARMSTATE\_RESERVED|255|For debugging, this state must never be reported outside the base. this means that a state is not mapped correctly|
 
 **Parent topic:** [Common](../references/summary_Common.md)
 
diff --git a/api_cpp/doc/markdown/references/enm_Common_NotificationType.md b/api_cpp/doc/markdown/references/enm_Common_NotificationType.md
@@ -10,10 +10,10 @@ List of admissible notification types
 
 |Enumerator|Value|Description|
 |----------|-----|-----------|
-|UNSPECIFIED\_NOTIFICATION\_TYPE|0|Unspecified notification|
-|THRESHOLD|1|Threshold notification. Refers to a notification sent beyond a specific threshold \(future\)|
-|FIX\_RATE|2|Fix rate notification. Refers to a notification sent at a predetermined fix rate \(future\)|
-|EVENT|3|Event type notification. Refers to a notification sent in response to an event|
+|NOTIFICATION\_TYPE\_UNSPECIFIED|0|Unspecified notification|
+|NOTIFICATION\_TYPE\_THRESHOLD|1|Threshold notification. Refers to a notification sent beyond a specific threshold \(future\)|
+|NOTIFICATION\_TYPE\_FIX\_RATE|2|Fix rate notification. Refers to a notification sent at a predetermined fix rate \(future\)|
+|NOTIFICATION\_TYPE\_EVENT|3|Event type notification. Refers to a notification sent in response to an event|
 
 **Parent topic:** [Common](../references/summary_Common.md)
 
diff --git a/api_cpp/doc/markdown/references/enm_Common_SafetyStatusValue.md b/api_cpp/doc/markdown/references/enm_Common_SafetyStatusValue.md
@@ -10,10 +10,10 @@ List of admissible safety statuses
 
 |Enumerator|Value|Description|
 |----------|-----|-----------|
-|UNSPECIFIED|0|Unspecified safety status|
-|WARNING|1|Warning safety reached|
-|ERROR|2|Error safety reached|
-|NORMAL|3|Safety is off|
+|SAFETY\_STATUS\_UNSPECIFIED|0|Unspecified safety status|
+|SAFETY\_STATUS\_WARNING|1|Warning safety reached|
+|SAFETY\_STATUS\_ERROR|2|Error safety reached|
+|SAFETY\_STATUS\_NORMAL|3|Safety is off|
 
 **Parent topic:** [Common](../references/summary_Common.md)
 
diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_ControlLoopParameters.md b/api_cpp/doc/markdown/references/msg_ActuatorConfig_ControlLoopParameters.md
@@ -15,8 +15,8 @@ Defines control loop parameters \(discrete transfer function\)
 |loop\_selection| [ControlLoopSelection](enm_ActuatorConfig_ControlLoopSelection.md#)|ControlLoopSelection enum|
 |error\_saturation|float32|Error saturation value|
 |output\_saturation|float32|Output saturation value|
-|kAz|float32|KAz \(index 0 to 4\): denominator gains A1 to A5|
-|kBz|float32|KBz \(index 0 to 5\): numerator gains B0 to B5|
+|kAz|Collection of float32|KAz \(index 0 to 4\): denominator gains A1 to A5|
+|kBz|Collection of float32|KBz \(index 0 to 5\): numerator gains B0 to B5|
 
  **Methods** 
 

diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_CustomDataSelection.md b/api_cpp/doc/markdown/references/msg_ActuatorConfig_CustomDataSelection.md
@@ -12,7 +12,7 @@ Selects custom data channels content
 
 |Member name|Data type|Description|
 |-----------|---------|-----------|
-|channel| [CustomDataIndex](enm_ActuatorConfig_CustomDataIndex.md#)|16 channels maximum|
+|channel|Collection of [CustomDataIndex](enm_ActuatorConfig_CustomDataIndex.md#)|16 channels maximum|
 
  **Methods** 
 

diff --git a/api_cpp/doc/markdown/references/msg_ActuatorConfig_TorqueCalibration.md b/api_cpp/doc/markdown/references/msg_ActuatorConfig_TorqueCalibration.md
@@ -14,8 +14,8 @@ Defines torque calibration
 |-----------|---------|-----------|
 |global\_gain|float32|Global gain value|
 |global\_offset|float32|Global offset value|
-|gain|float32|Gain \(index 0 to 3\)|
-|offset|float32|Offset \(index 0 to 3\)|
+|gain|Collection of float32|Gain \(index 0 to 3\)|
+|offset|Collection of float32|Offset \(index 0 to 3\)|
 
  **Methods** 
 

diff --git a/api_cpp/doc/markdown/references/msg_BaseCyclic_Command.md b/api_cpp/doc/markdown/references/msg_BaseCyclic_Command.md
@@ -13,7 +13,7 @@ Defines a command for many modules \(actuactors and interconnect\)
 |Member name|Data type|Description|
 |-----------|---------|-----------|
 |frame\_id|uint32|Frame ID|
-|actuators| [ActuatorCommand](msg_BaseCyclic_ActuatorCommand.md#)|Actuator command \(repeated\)|
+|actuators|Collection of [ActuatorCommand](msg_BaseCyclic_ActuatorCommand.md#)|Actuator command \(repeated\)|
 |interconnect| [InterconnectCommand](msg_BaseCyclic_InterconnectCommand.md#)|Interconnect command|
 
  **Methods** 

diff --git a/api_cpp/doc/markdown/references/msg_BaseCyclic_CustomData.md b/api_cpp/doc/markdown/references/msg_BaseCyclic_CustomData.md
@@ -21,7 +21,7 @@ Custom development data, content varies according to debug needs
 |custom\_data\_5|uint32|Custom data word 5|
 |custom\_data\_6|uint32|Custom data word 6|
 |custom\_data\_7|uint32|Custom data word 7|
-|actuators\_custom\_data| [ActuatorCustomData](msg_BaseCyclic_ActuatorCustomData.md#)|Actuator custom data \(repeated\)|
+|actuators\_custom\_data|Collection of [ActuatorCustomData](msg_BaseCyclic_ActuatorCustomData.md#)|Actuator custom data \(repeated\)|
 |interconnect\_custom\_data| [InterconnectCustomData](msg_BaseCyclic_InterconnectCustomData.md#)|Interconnect custom data|
 
  **Methods** 

diff --git a/api_cpp/doc/markdown/references/msg_BaseCyclic_Feedback.md b/api_cpp/doc/markdown/references/msg_BaseCyclic_Feedback.md
@@ -14,7 +14,7 @@ Defines the feedback provided by many modules \(base, actuactors and interconnec
 |-----------|---------|-----------|
 |frame\_id|uint32|Frame ID|
 |base| [BaseFeedback](msg_BaseCyclic_BaseFeedback.md#)|Base feedback|
-|actuators| [ActuatorFeedback](msg_BaseCyclic_ActuatorFeedback.md#)|Actuator feedback|
+|actuators|Collection of [ActuatorFeedback](msg_BaseCyclic_ActuatorFeedback.md#)|Actuator feedback|
 |interconnect| [InterconnectFeedback](msg_BaseCyclic_InterconnectFeedback.md#)|Interconnect feedback|
 
  **Methods**