SensorForceControl.h

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#ifndef SENSORFORCECONTROL_H_
#define SENSORFORCECONTROL_H_
 
/*---------------------------- Includes ------------------------------------*/
#include "Base/robotStruct.h"
 
#ifdef __cplusplus
namespace HYYRobotBase
{
extern "C" {
#endif
 
extern int SFCInit(const char* name, int control_type, int is_tool_ctrl, tool* rtool, wobj* rwobj, int robot_index);
 
extern int SFCSetHybridForceMotionCtrlParam(const char* name, double* P, double* I, double* D);
 
extern int SFCSetHybridForceMotionTargetForce(const char* name, double* target_force);
 
extern int SFCSetAdmittanceCtrlParam(const char* name, double* M, double* B, double* K);
 
extern int SFCSetSensorMaxForce(const char* name, double* max_force);
 
extern int SFCStart(const char* name);
 
extern int SFCEnd(const char* name);
 
#ifdef __cplusplus
}
}
#endif
 
#endif /* SENSORFORCECONTROL_H_ */