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#ifndef __CONTROLCONFIGCLIENT_H__
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#define __CONTROLCONFIGCLIENT_H__
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#include <string>
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#include <future>
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#include <functional>
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#include <exception>
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#include "messages/Frame.pb.h"
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#include "messages/ControlConfig.pb.h"
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#include "common/Frame.h"
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#include "client/IRouterClient.h"
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#include "client/NotificationHandler.h"
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#if __cplusplus >= 201402L
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#define DEPRECATED [[ deprecated ]]
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#define DEPRECATED_MSG(msg) [[ deprecated(msg) ]]
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#elif defined(__GNUC__)
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#define DEPRECATED __attribute__ ((deprecated))
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#define DEPRECATED_MSG(msg) __attribute__ ((deprecated(msg)))
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#elif defined(_MSC_VER)
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#define DEPRECATED __declspec(deprecated)
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#define DEPRECATED_MSG(msg) __declspec(deprecated(msg))
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#else
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#define DEPRECATED
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#define DEPRECATED_MSG
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#endif
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namespace Kinova
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{
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namespace Api
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{
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namespace ControlConfig
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{
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const std::string none = "";
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enum FunctionUids
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{
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eUidSetGravityVector = 0x100001,
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eUidGetGravityVector = 0x100002,
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eUidSetPayloadInformation = 0x100003,
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eUidGetPayloadInformation = 0x100004,
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eUidSetToolConfiguration = 0x100005,
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eUidGetToolConfiguration = 0x100006,
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eUidControlConfigurationTopic = 0x100007,
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eUidUnsubscribe = 0x100008,
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eUidSetCartesianReferenceFrame = 0x100009,
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eUidGetCartesianReferenceFrame = 0x10000a,
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eUidGetControlMode = 0x10000d,
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eUidSetJointSpeedSoftLimits = 0x10000e,
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eUidSetTwistLinearSoftLimit = 0x10000f,
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eUidSetTwistAngularSoftLimit = 0x100010,
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eUidSetJointAccelerationSoftLimits = 0x100011,
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eUidGetKinematicHardLimits = 0x100012,
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eUidGetKinematicSoftLimits = 0x100013,
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eUidGetAllKinematicSoftLimits = 0x100014,
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eUidSetDesiredLinearTwist = 0x100015,
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eUidSetDesiredAngularTwist = 0x100016,
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eUidSetDesiredJointSpeeds = 0x100017,
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eUidGetDesiredSpeeds = 0x100018,
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eUidResetGravityVector = 0x100019,
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eUidResetPayloadInformation = 0x10001a,
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eUidResetToolConfiguration = 0x10001b,
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eUidResetJointSpeedSoftLimits = 0x10001c,
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eUidResetTwistLinearSoftLimit = 0x10001d,
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eUidResetTwistAngularSoftLimit = 0x10001e,
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eUidResetJointAccelerationSoftLimits = 0x10001f,
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eUidControlModeTopic = 0x100020,
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};
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class ControlConfigClient
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{
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static const uint32_t m_serviceVersion = 1;
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static const uint32_t m_serviceId = eIdControlConfig;
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NotificationHandler m_notificationHandler;
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protected:
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IRouterClient* const m_clientRouter;
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public:
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ControlConfigClient(IRouterClient* clientRouter);
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static uint32_t getUniqueFctId(uint16_t fctId);
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void SetGravityVector(const GravityVector& gravityvector, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetGravityVector_callback(const GravityVector& gravityvector, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetGravityVector_async(const GravityVector& gravityvector, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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GravityVector GetGravityVector(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetGravityVector_callback(std::function< void (const Error&, const GravityVector&) > callback, uint32_t deviceId = 0);
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std::future<GravityVector> GetGravityVector_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetPayloadInformation(const PayloadInformation& payloadinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetPayloadInformation_callback(const PayloadInformation& payloadinformation, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetPayloadInformation_async(const PayloadInformation& payloadinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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PayloadInformation GetPayloadInformation(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetPayloadInformation_callback(std::function< void (const Error&, const PayloadInformation&) > callback, uint32_t deviceId = 0);
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std::future<PayloadInformation> GetPayloadInformation_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetToolConfiguration(const ToolConfiguration& toolconfiguration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetToolConfiguration_callback(const ToolConfiguration& toolconfiguration, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetToolConfiguration_async(const ToolConfiguration& toolconfiguration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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ToolConfiguration GetToolConfiguration(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetToolConfiguration_callback(std::function< void (const Error&, const ToolConfiguration&) > callback, uint32_t deviceId = 0);
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std::future<ToolConfiguration> GetToolConfiguration_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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Kinova::Api::Common::NotificationHandle OnNotificationControlConfigurationTopic(std::function< void (ControlConfigurationNotification) > callback, const Kinova::Api::Common::NotificationOptions& notificationoptions, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void Unsubscribe(const Kinova::Api::Common::NotificationHandle& notificationhandle, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetCartesianReferenceFrame(const CartesianReferenceFrameInfo& cartesianreferenceframeinfo, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetCartesianReferenceFrame_callback(const CartesianReferenceFrameInfo& cartesianreferenceframeinfo, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetCartesianReferenceFrame_async(const CartesianReferenceFrameInfo& cartesianreferenceframeinfo, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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CartesianReferenceFrameInfo GetCartesianReferenceFrame(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetCartesianReferenceFrame_callback(std::function< void (const Error&, const CartesianReferenceFrameInfo&) > callback, uint32_t deviceId = 0);
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std::future<CartesianReferenceFrameInfo> GetCartesianReferenceFrame_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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ControlModeInformation GetControlMode(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetControlMode_callback(std::function< void (const Error&, const ControlModeInformation&) > callback, uint32_t deviceId = 0);
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std::future<ControlModeInformation> GetControlMode_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetJointSpeedSoftLimits(const JointSpeedSoftLimits& jointspeedsoftlimits, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetJointSpeedSoftLimits_callback(const JointSpeedSoftLimits& jointspeedsoftlimits, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetJointSpeedSoftLimits_async(const JointSpeedSoftLimits& jointspeedsoftlimits, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetTwistLinearSoftLimit(const TwistLinearSoftLimit& twistlinearsoftlimit, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetTwistLinearSoftLimit_callback(const TwistLinearSoftLimit& twistlinearsoftlimit, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetTwistLinearSoftLimit_async(const TwistLinearSoftLimit& twistlinearsoftlimit, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetTwistAngularSoftLimit(const TwistAngularSoftLimit& twistangularsoftlimit, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetTwistAngularSoftLimit_callback(const TwistAngularSoftLimit& twistangularsoftlimit, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetTwistAngularSoftLimit_async(const TwistAngularSoftLimit& twistangularsoftlimit, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetJointAccelerationSoftLimits(const JointAccelerationSoftLimits& jointaccelerationsoftlimits, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetJointAccelerationSoftLimits_callback(const JointAccelerationSoftLimits& jointaccelerationsoftlimits, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetJointAccelerationSoftLimits_async(const JointAccelerationSoftLimits& jointaccelerationsoftlimits, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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KinematicLimits GetKinematicHardLimits(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetKinematicHardLimits_callback(std::function< void (const Error&, const KinematicLimits&) > callback, uint32_t deviceId = 0);
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std::future<KinematicLimits> GetKinematicHardLimits_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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KinematicLimits GetKinematicSoftLimits(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetKinematicSoftLimits_callback(const ControlModeInformation& controlmodeinformation, std::function< void (const Error&, const KinematicLimits&) > callback, uint32_t deviceId = 0);
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std::future<KinematicLimits> GetKinematicSoftLimits_async(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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KinematicLimitsList GetAllKinematicSoftLimits(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetAllKinematicSoftLimits_callback(std::function< void (const Error&, const KinematicLimitsList&) > callback, uint32_t deviceId = 0);
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std::future<KinematicLimitsList> GetAllKinematicSoftLimits_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetDesiredLinearTwist(const LinearTwist& lineartwist, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetDesiredLinearTwist_callback(const LinearTwist& lineartwist, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetDesiredLinearTwist_async(const LinearTwist& lineartwist, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetDesiredAngularTwist(const AngularTwist& angulartwist, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetDesiredAngularTwist_callback(const AngularTwist& angulartwist, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetDesiredAngularTwist_async(const AngularTwist& angulartwist, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetDesiredJointSpeeds(const JointSpeeds& jointspeeds, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetDesiredJointSpeeds_callback(const JointSpeeds& jointspeeds, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetDesiredJointSpeeds_async(const JointSpeeds& jointspeeds, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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DesiredSpeeds GetDesiredSpeeds(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetDesiredSpeeds_callback(std::function< void (const Error&, const DesiredSpeeds&) > callback, uint32_t deviceId = 0);
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std::future<DesiredSpeeds> GetDesiredSpeeds_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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GravityVector ResetGravityVector(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void ResetGravityVector_callback(std::function< void (const Error&, const GravityVector&) > callback, uint32_t deviceId = 0);
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std::future<GravityVector> ResetGravityVector_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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PayloadInformation ResetPayloadInformation(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void ResetPayloadInformation_callback(std::function< void (const Error&, const PayloadInformation&) > callback, uint32_t deviceId = 0);
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std::future<PayloadInformation> ResetPayloadInformation_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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ToolConfiguration ResetToolConfiguration(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void ResetToolConfiguration_callback(std::function< void (const Error&, const ToolConfiguration&) > callback, uint32_t deviceId = 0);
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std::future<ToolConfiguration> ResetToolConfiguration_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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JointSpeedSoftLimits ResetJointSpeedSoftLimits(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void ResetJointSpeedSoftLimits_callback(const ControlModeInformation& controlmodeinformation, std::function< void (const Error&, const JointSpeedSoftLimits&) > callback, uint32_t deviceId = 0);
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std::future<JointSpeedSoftLimits> ResetJointSpeedSoftLimits_async(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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TwistLinearSoftLimit ResetTwistLinearSoftLimit(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void ResetTwistLinearSoftLimit_callback(const ControlModeInformation& controlmodeinformation, std::function< void (const Error&, const TwistLinearSoftLimit&) > callback, uint32_t deviceId = 0);
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std::future<TwistLinearSoftLimit> ResetTwistLinearSoftLimit_async(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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TwistAngularSoftLimit ResetTwistAngularSoftLimit(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void ResetTwistAngularSoftLimit_callback(const ControlModeInformation& controlmodeinformation, std::function< void (const Error&, const TwistAngularSoftLimit&) > callback, uint32_t deviceId = 0);
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std::future<TwistAngularSoftLimit> ResetTwistAngularSoftLimit_async(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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JointAccelerationSoftLimits ResetJointAccelerationSoftLimits(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void ResetJointAccelerationSoftLimits_callback(const ControlModeInformation& controlmodeinformation, std::function< void (const Error&, const JointAccelerationSoftLimits&) > callback, uint32_t deviceId = 0);
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std::future<JointAccelerationSoftLimits> ResetJointAccelerationSoftLimits_async(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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Kinova::Api::Common::NotificationHandle OnNotificationControlModeTopic(std::function< void (ControlModeNotification) > callback, const Kinova::Api::Common::NotificationOptions& notificationoptions, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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private:
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void messageHeaderValidation(const Frame& msgFrame){ }
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};
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}
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}
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}
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#endif |
