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Merge release 2.3 to master (Kinovarobotics#66)
* Update C++ part * Update Python part * Update documentation, add modbus
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‎api_cpp/doc/markdown/enums/ActuatorConfig/ControlLoopSelection.md

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@@ -13,6 +13,7 @@ Enumeration ControlLoopSelection
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|MOTOR\_VELOCITY|8|0x8 - Motor velocity control|
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|JOINT\_TORQUE|16|0x10 - Joint torque control|
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|MOTOR\_CURRENT|32|0x20 - Motor current control|
16+
|JOINT\_TORQUE\_HIGH\_VELOCITY|64|0x30 - High velocity joint torque control|
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**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md)
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‎api_cpp/doc/markdown/enums/ActuatorConfig/ControlMode.md

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@@ -12,6 +12,7 @@ Enumeration ControlMode
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|TORQUE|3|Torque mode|
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|CURRENT|4|Current mode|
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|CUSTOM|5|Custom mode|
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|TORQUE\_HIGH\_VELOCITY|6|High velocity torque mode|
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**Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md)
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‎api_cpp/doc/markdown/enums/Api/SubErrorCodes.md

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@@ -103,6 +103,9 @@ Enumeration SubErrorCodes
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|READ\_PERMISSION\_DENIED|136|Attempting read command on unreadable entity|
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|CONTROLLER\_INVALID\_MAPPING|137|Attempting to assign an unsuited mapping to controller|
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|ACTION\_IN\_USE|138|Attempting to delete an Action used by another entity|
106+
|SEND\_FAILED|139|An error occured when trying to send the message \(Transport error\)|
107+
|CONTROL\_WAYPOINT\_TRAJECTORY\_ABORTED|140|Waypoint trajectory sequence aborted by kontrol library|
108+
|CONTROL\_PERMISSION\_DENIED|141|Permission to execute a routine from the kontrol interface denied|
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**Parent topic:** [Api \(C++\)](../../summary_pages/Api.md)
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‎api_cpp/doc/markdown/enums/Base/ActionEvent.md

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@@ -17,6 +17,7 @@ Enumeration ActionEvent
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|ACTION\_POSTPROCESS\_START|8|Action post-process started|
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|ACTION\_POSTPROCESS\_ABORT|9|Action post-process aborted|
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|ACTION\_POSTPROCESS\_END|10|Action post-process ended|
20+
|ACTION\_FEEDBACK|11|Action feedback received|
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**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
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‎api_cpp/doc/markdown/enums/Base/ActionType.md

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@@ -25,8 +25,11 @@ Enumeration ActionType
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|TIME\_DELAY|31|Apply a delay|
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|EXECUTE\_ACTION|32|Execute an existing action|
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|SEND\_GRIPPER\_COMMAND|33|Send a gripper command|
28+
|SEND\_GPIO\_COMMAND|34|Send a gpio command \(not implemented yet\)|
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|STOP\_ACTION|35|Stop robot movement|
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|PLAY\_PRE\_COMPUTED\_TRAJECTORY|39|Play a pre-computed trajectory|
31+
|EXECUTE\_SEQUENCE|40|Execute an existing sequence|
32+
|EXECUTE\_WAYPOINT\_LIST|41|Execute a trajectory defined by a series of waypoints|
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**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
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‎api_cpp/doc/markdown/enums/Base/ControllerType.md

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@@ -10,7 +10,8 @@ Enumeration ControllerType
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|XBOX\_CONTROLLER|1|Xbox gamepad|
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|WRIST\_CONTROLLER|2|Wrist buttons|
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|BASIC\_JOYSTICK\_CONTROLLER|3|Simplified joystick connected to Kinova robot base|
13-
|BASE\_GPIO\_CONTROLLER|4|GPIO Controller \(not implemented yet\)|
13+
|BASE\_GPIO\_CONTROLLER|4|GPIO Controller|
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|GPIO\_JOYSTICK|5|TEMP, will be deleted|
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**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
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‎api_cpp/doc/markdown/enums/Base/GpioAction.md

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# enum GpioAction
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3+
## Overview / Purpose
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5+
Enumeration GpioAction
6+
7+
|Enumerator|Value|Description|
8+
|----------|-----|-----------|
9+
|UNSPECIFIED\_GPIO\_ACTION|0|Unspecified gpio action|
10+
|GPIOACTION\_SET|1|Set GPIO output|
11+
|GPIOACTION\_CLEAR|2|Clear GPIO output|
12+
|GPIOACTION\_PULSE\_HIGH|3|Pulse high GPIO output with specified period|
13+
|GPIOACTION\_PULSE\_LOW|4|Pulse low GPIO output with specified period|
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15+
**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
16+

‎api_cpp/doc/markdown/enums/Base/GpioBehavior.md

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@@ -11,6 +11,7 @@ Enumeration GpioBehavior
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|GPIO\_RISING|2|Rising edge|
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|GPIO\_PULSE\_LOW|3|Sequence of HIGH - LOW - HIGH|
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|GPIO\_PULSE\_HIGH|4|Sequence of LOW - HIGH - LOW|
14+
|GPIO\_ANALOG\_CHANGE|5|Analog input value change|
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**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
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‎api_cpp/doc/markdown/enums/Base/GpioPinPropertyFlags.md

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# enum GpioPinPropertyFlags
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3+
## Overview / Purpose
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5+
Enumeration GpioPinPropertyFlags
6+
7+
|Enumerator|Value|Description|
8+
|----------|-----|-----------|
9+
|GPIOPROPERTY\_UNKNOWN|0| |
10+
|GPIOPROPERTY\_INPUT|1|0x1 : Pin can be used as digital input|
11+
|GPIOPROPERTY\_OUTPUT|2|0x2 : Pin can be used as digital output|
12+
|GPIOPROPERTY\_ANALOG|4|0x4 : Pin can be used as analog input|
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14+
**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
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‎api_cpp/doc/markdown/enums/Base/NetworkType.md

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@@ -10,7 +10,7 @@ Enumeration NetworkType
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|WIFI|1|Wi-Fi network|
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|WIRED\_ETHERNET|2|Wired Ethernet network|
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|WIRED\_MICROUSB|3|Wired Ethernet over USB network \(RNDIS\)|
13-
|WIRED\_USB|4|Wired Ethernet over USB network|
13+
|WIRED\_USB|4|This enum value is deprecated and will be removed in a future release.|
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**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
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‎api_cpp/doc/markdown/enums/Base/TrajectoryErrorIdentifier.md

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@@ -6,12 +6,12 @@ Enumeration TrajectoryErrorIdentifier
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|Enumerator|Value|Description|
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|----------|-----|-----------|
9-
|TRAJECTORY\_ERROR\_IDENTIFIER\_UNSPECIFIED|0|Unspecified error identifier|
10-
|TRAJECTORY\_ERROR\_IDENTIFIER\_UNAPPLICABLE|1|No identifier required for this error|
11-
|TRAJECTORY\_ERROR\_IDENTIFIER\_TIME|2|Time validation failed|
12-
|TRAJECTORY\_ERROR\_IDENTIFIER\_POSITION|3|Position validation failed|
13-
|TRAJECTORY\_ERROR\_IDENTIFIER\_VELOCITY|4|Velocity validation failed|
14-
|TRAJECTORY\_ERROR\_IDENTIFIER\_ACCELERATION|5|Acceleration validation failed|
9+
|TRAJECTORY\_ERROR\_IDENTIFIER\_UNSPECIFIED|0|Unspecified error identifier. This enum is deprecated.|
10+
|TRAJECTORY\_ERROR\_IDENTIFIER\_UNAPPLICABLE|1|No identifier required for this error. This enum is deprecated.|
11+
|TRAJECTORY\_ERROR\_IDENTIFIER\_TIME|2|Time validation failed. This enum is deprecated.|
12+
|TRAJECTORY\_ERROR\_IDENTIFIER\_POSITION|3|Position validation failed. This enum is deprecated.|
13+
|TRAJECTORY\_ERROR\_IDENTIFIER\_VELOCITY|4|Velocity validation failed. This enum is deprecated.|
14+
|TRAJECTORY\_ERROR\_IDENTIFIER\_ACCELERATION|5|Acceleration validation failed. This enum is deprecated.|
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**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
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‎api_cpp/doc/markdown/enums/Base/TrajectoryErrorType.md

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@@ -7,25 +7,42 @@ Enumeration TrajectoryErrorType
77
|Enumerator|Value|Description|
88
|----------|-----|-----------|
99
|TRAJECTORY\_ERROR\_TYPE\_UNSPECIFIED|0|Unspecified error type|
10-
|TRAJECTORY\_ERROR\_TYPE\_OUTSIDE\_WORKSPACE|1|The trajectory point is outside robot workspace|
11-
|TRAJECTORY\_ERROR\_TYPE\_ACTUATOR\_COUNT\_MISMATCH|2|There is an actuator count mismatch with the robot|
12-
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_DURATION|3|The trajectory has an invalid duration|
13-
|TRAJECTORY\_ERROR\_TYPE\_ZERO\_DISTANCE|4|The trajectory does not move the robot because the delta is either zero or too small|
14-
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_SPEED|5|The speed for a trajectory point for an actuator is invalid|
15-
|TRAJECTORY\_ERROR\_TYPE\_LARGE\_SPEED|6|The speed for a trajectory point for an actuator exceeds its limit|
16-
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_ACCELERATION|7|The acceleration for a trajectory point for an actuator is invalid|
17-
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_TIME\_STEP|8|The time step for a trajectory point is invalid|
18-
|TRAJECTORY\_ERROR\_TYPE\_LARGE\_SIZE|9|The trajectory is too large|
19-
|TRAJECTORY\_ERROR\_TYPE\_WRONG\_MODE|10|The robot is not currently in Trajectory Control mode|
20-
|TRAJECTORY\_ERROR\_TYPE\_JOINT\_POSITION\_LIMIT|11|The position limit for a trajectory point for an actuator is exceeded|
21-
|TRAJECTORY\_ERROR\_TYPE\_FILE\_ERROR|12|An internal file error was encountered|
22-
|TRAJECTORY\_ERROR\_TYPE\_NO\_FILE\_IN\_MEMORY|13|An internal file memory error was encountered|
23-
|TRAJECTORY\_ERROR\_TYPE\_INDEX\_OUT\_OF\_TRAJ|14|The index for a trajectory point is invalid|
24-
|TRAJECTORY\_ERROR\_TYPE\_ALREADY\_RUNNING|15|A trajectory is already running|
25-
|TRAJECTORY\_ERROR\_TYPE\_WRONG\_STARTING\_POINT|16|The difference between the trajectory's starting point and the current position is too large|
26-
|TRAJECTORY\_ERROR\_TYPE\_CARTESIAN\_CANNOT\_START|17|The cartesian trajectory is not able to start|
27-
|TRAJECTORY\_ERROR\_TYPE\_WRONG\_STARTING\_SPEED|18|The difference between the trajectory's starting speed and the current speed is too large|
28-
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_POSITION|19|The position for a trajectory point for an actuator is invalid|
10+
|TRAJECTORY\_ERROR\_TYPE\_OUTSIDE\_WORKSPACE|1|The desired pose is outside robot workspace|
11+
|TRAJECTORY\_ERROR\_TYPE\_ACTUATOR\_COUNT\_MISMATCH|2|The provided number of joint values does not match robot's number of actuators|
12+
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_DURATION|3|The duration exceeds a limit or is invalid|
13+
|TRAJECTORY\_ERROR\_TYPE\_JOINT\_NO\_MOTION|4|The robot's actuators are already at the targeted configuration|
14+
|TRAJECTORY\_ERROR\_TYPE\_ZERO\_DISTANCE|4|This enum value is deprecated and will be removed in a future release.|
15+
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_JOINT\_SPEED|5|The joint speed exceeds a limit, initial speed does not match current robot speed or is invalid|
16+
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_SPEED|5|This enum value is deprecated and will be removed in a future release.|
17+
|TRAJECTORY\_ERROR\_TYPE\_LARGE\_SPEED|6|This enum value is deprecated and will be removed in a future release.|
18+
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_JOINT\_ACCELERATION|7|The joint acceleration exceeds a limit or is invalid|
19+
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_ACCELERATION|7|This enum value is deprecated and will be removed in a future release.|
20+
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_TIME\_STEP|8|The time step does not match robot time step or is invalid|
21+
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_TRAJECTORY\_SIZE|9|The trajectory size is outside the limits or is invalid|
22+
|TRAJECTORY\_ERROR\_TYPE\_LARGE\_SIZE|9|This enum value is deprecated and will be removed in a future release.|
23+
|TRAJECTORY\_ERROR\_TYPE\_WRONG\_MODE|10|This enum value is deprecated and will be removed in a future release.|
24+
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_JOINT\_POSITION|11|The joint position exceeds a limit, initial joint position does not match current robot joint position or is invalid|
25+
|TRAJECTORY\_ERROR\_TYPE\_JOINT\_POSITION\_LIMIT|11|This enum value is deprecated and will be removed in a future release.|
26+
|TRAJECTORY\_ERROR\_TYPE\_FILE\_ERROR|12|This enum value is deprecated and will be removed in a future release.|
27+
|TRAJECTORY\_ERROR\_TYPE\_NO\_FILE\_IN\_MEMORY|13|This enum value is deprecated and will be removed in a future release.|
28+
|TRAJECTORY\_ERROR\_TYPE\_INDEX\_OUT\_OF\_TRAJ|14|This enum value is deprecated and will be removed in a future release.|
29+
|TRAJECTORY\_ERROR\_TYPE\_TRAJECTORY\_ALREADY\_RUNNING|15|The new trajectory cannot start because another trajectory is being played|
30+
|TRAJECTORY\_ERROR\_TYPE\_ALREADY\_RUNNING|15|This enum value is deprecated and will be removed in a future release.|
31+
|TRAJECTORY\_ERROR\_TYPE\_WRONG\_STARTING\_POINT|16|This enum value is deprecated and will be removed in a future release.|
32+
|TRAJECTORY\_ERROR\_TYPE\_CARTESIAN\_CANNOT\_START|17|This enum value is deprecated and will be removed in a future release.|
33+
|TRAJECTORY\_ERROR\_TYPE\_WRONG\_STARTING\_SPEED|18|This enum value is deprecated and will be removed in a future release.|
34+
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_POSITION|19|This enum value is deprecated and will be removed in a future release.|
35+
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_CARTESIAN\_POSITION|20|The cartesian position exceeds a limit, initial pose does not match current robot pose or is invalid|
36+
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_CARTESIAN\_ORIENTATION|21|The cartesian orientation exceeds a limit, initial orientation does not match current robot orientation or is invalid|
37+
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_CARTESIAN\_LINEAR\_VELOCITY|22|The cartesian linear velocity exceeds a limit or is invalid|
38+
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_CARTESIAN\_ANGULAR\_VELOCITY|23|The cartesian angular velocity exceeds a limit or is invalid|
39+
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_JOINT\_TORQUE|24|The joint torque exceeds a limit or is invalid|
40+
|TRAJECTORY\_ERROR\_TYPE\_MULTIPLE\_WAYPOINT\_TYPE\_LIST|25|The waypoints in a trajectory must be all of the same type \(cartesian or angular\)|
41+
|TRAJECTORY\_ERROR\_TYPE\_INITIAL\_WAYPOINT\_NO\_STOP|26|The first waypoint must not have blending \(currently unused\)|
42+
|TRAJECTORY\_ERROR\_TYPE\_FINAL\_WAYPOINT\_NO\_STOP|27|The last waypoint must not have blending|
43+
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_BLENDING\_RADIUS|28|The blending radius must be positive and not overlap other blendings or waypoint or is invalid|
44+
|TRAJECTORY\_ERROR\_TYPE\_INVALID\_REFERENCE\_FRAME|29|The reference frame is invalid or not supported|
45+
|TRAJECTORY\_ERROR\_TYPE\_NUMERICAL\_ERROR\_IMPOSSIBLE\_TRAJECTORY|30|The conditions \(points, velocities\) of the trajectory lead to numerical errors that make the computation impossible|
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**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
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‎api_cpp/doc/markdown/enums/Base/TrajectoryInfoType.md

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1+
# enum TrajectoryInfoType
2+
3+
## Overview / Purpose
4+
5+
Enumeration TrajectoryInfoType
6+
7+
|Enumerator|Value|Description|
8+
|----------|-----|-----------|
9+
|UNSPECIFIED\_TRAJECTORY\_INFORMATION|0|No information provided|
10+
|JOINT\_ACCELERATION\_LIMIT\_REACHED|1|Joint acceleration limit reached|
11+
|JOINT\_SPEED\_LIMIT\_REACHED|2|Joint speed limit reached|
12+
|JOINT\_POSITION\_LIMIT\_REACHED|3|Joint position limit reached|
13+
|JOINT\_TORQUE\_LIMIT\_REACHED|4|Joint torque limit reached|
14+
|SINGULARITY\_REGION|5|The arm is inside a singularity region|
15+
|INVERSE\_KINEMATIC\_FAILED|6|The inverse kinematic calculation has failed|
16+
|CARTESIAN\_ACCELERATION\_LIMIT\_REACHED|7|Cartesian acceleration limit reached|
17+
|CARTESIAN\_SPEED\_LIMIT\_REACHED|8|Cartesian speed limit reached|
18+
|CARTESIAN\_POSITION\_LIMIT\_REACHED|9|Cartesian position limit reached|
19+
|CARTESIAN\_WRENCH\_LIMIT\_REACHED|10|Cartesian torque limit reached|
20+
|ENTERING\_PROTECTION\_ZONE|11|The arm is entering a protection zone|
21+
|WAYPOINT\_REACHED|12|Waypoint reached|
22+
|TRAJECTORY\_OK|13|There is more trajectory notification|
23+
24+
**Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
25+

‎api_cpp/doc/markdown/enums/ControlConfig/ControlMode.md

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@@ -16,6 +16,7 @@ Enumeration ControlMode
1616
|NULL\_SPACE\_ADMITTANCE|8|Null space mode|
1717
|FORCE\_CONTROL|10|Force control mode|
1818
|FORCE\_CONTROL\_MOTION\_RESTRICTED|11|Force control motion restricted mode|
19+
|CARTESIAN\_WAYPOINT\_TRAJECTORY|12|Cartesian waypoint trajectory mode|
1920
|IDLE|13|Idle|
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**Parent topic:** [ControlConfig \(C++\)](../../summary_pages/ControlConfig.md)

‎api_cpp/doc/markdown/index.md

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@@ -49,6 +49,7 @@
4949
- [class ActuatorInformation](messages/Base/ActuatorInformation.md)
5050
- [class Admittance](messages/Base/Admittance.md)
5151
- [class AdvancedSequenceHandle](messages/Base/AdvancedSequenceHandle.md)
52+
- [class AngularWaypoint](messages/Base/AngularWaypoint.md)
5253
- [class AppendActionInformation](messages/Base/AppendActionInformation.md)
5354
- [class ArmStateInformation](messages/Base/ArmStateInformation.md)
5455
- [class ArmStateNotification](messages/Base/ArmStateNotification.md)
@@ -62,6 +63,7 @@
6263
- [class CartesianLimitationList](messages/Base/CartesianLimitationList.md)
6364
- [class CartesianSpeed](messages/Base/CartesianSpeed.md)
6465
- [class CartesianTrajectoryConstraint](messages/Base/CartesianTrajectoryConstraint.md)
66+
- [class CartesianWaypoint](messages/Base/CartesianWaypoint.md)
6567
- [class ChangeJointSpeeds](messages/Base/ChangeJointSpeeds.md)
6668
- [class ChangeTwist](messages/Base/ChangeTwist.md)
6769
- [class ChangeWrench](messages/Base/ChangeWrench.md)
@@ -96,10 +98,15 @@
9698
- [class FirmwareComponentVersion](messages/Base/FirmwareComponentVersion.md)
9799
- [class FullIPv4Configuration](messages/Base/FullIPv4Configuration.md)
98100
- [class FullUserProfile](messages/Base/FullUserProfile.md)
101+
- [class GpioCommand](messages/Base/GpioCommand.md)
102+
- [class GpioConfiguration](messages/Base/GpioConfiguration.md)
103+
- [class GpioConfigurationList](messages/Base/GpioConfigurationList.md)
99104
- [class GpioEvent](messages/Base/GpioEvent.md)
105+
- [class GpioPinConfiguration](messages/Base/GpioPinConfiguration.md)
100106
- [class Gripper](messages/Base/Gripper.md)
101107
- [class GripperCommand](messages/Base/GripperCommand.md)
102108
- [class GripperRequest](messages/Base/GripperRequest.md)
109+
- [class IKData](messages/Base/IKData.md)
103110
- [class IPv4Configuration](messages/Base/IPv4Configuration.md)
104111
- [class IPv4Information](messages/Base/IPv4Information.md)
105112
- [class JointAngle](messages/Base/JointAngle.md)
@@ -111,6 +118,7 @@
111118
- [class JointTorques](messages/Base/JointTorques.md)
112119
- [class JointTrajectoryConstraint](messages/Base/JointTrajectoryConstraint.md)
113120
- [class JointsLimitationsList](messages/Base/JointsLimitationsList.md)
121+
- [class KinematicTrajectoryConstraints](messages/Base/KinematicTrajectoryConstraints.md)
114122
- [class Map](messages/Base/Map.md)
115123
- [class MapElement](messages/Base/MapElement.md)
116124
- [class MapEvent](messages/Base/MapEvent.md)
@@ -175,6 +183,7 @@
175183
- [class Timeout](messages/Base/Timeout.md)
176184
- [class TrajectoryErrorElement](messages/Base/TrajectoryErrorElement.md)
177185
- [class TrajectoryErrorReport](messages/Base/TrajectoryErrorReport.md)
186+
- [class TrajectoryInfo](messages/Base/TrajectoryInfo.md)
178187
- [class TransformationMatrix](messages/Base/TransformationMatrix.md)
179188
- [class TransformationRow](messages/Base/TransformationRow.md)
180189
- [class Twist](messages/Base/Twist.md)
@@ -185,6 +194,9 @@
185194
- [class UserNotificationList](messages/Base/UserNotificationList.md)
186195
- [class UserProfile](messages/Base/UserProfile.md)
187196
- [class UserProfileList](messages/Base/UserProfileList.md)
197+
- [class Waypoint](messages/Base/Waypoint.md)
198+
- [class WaypointList](messages/Base/WaypointList.md)
199+
- [class WaypointValidationReport](messages/Base/WaypointValidationReport.md)
188200
- [class WifiConfiguration](messages/Base/WifiConfiguration.md)
189201
- [class WifiConfigurationList](messages/Base/WifiConfigurationList.md)
190202
- [class WifiInformation](messages/Base/WifiInformation.md)
@@ -210,7 +222,9 @@
210222
- [enum EventIdSequenceInfoNotification](enums/Base/EventIdSequenceInfoNotification.md)
211223
- [enum FactoryEvent](enums/Base/FactoryEvent.md)
212224
- [enum Gen3GpioPinId](enums/Base/Gen3GpioPinId.md)
225+
- [enum GpioAction](enums/Base/GpioAction.md)
213226
- [enum GpioBehavior](enums/Base/GpioBehavior.md)
227+
- [enum GpioPinPropertyFlags](enums/Base/GpioPinPropertyFlags.md)
214228
- [enum GripperMode](enums/Base/GripperMode.md)
215229
- [enum JointNavigationDirection](enums/Base/JointNavigationDirection.md)
216230
- [enum JointTrajectoryConstraintType](enums/Base/JointTrajectoryConstraintType.md)
@@ -232,6 +246,7 @@
232246
- [enum TrajectoryContinuityMode](enums/Base/TrajectoryContinuityMode.md)
233247
- [enum TrajectoryErrorIdentifier](enums/Base/TrajectoryErrorIdentifier.md)
234248
- [enum TrajectoryErrorType](enums/Base/TrajectoryErrorType.md)
249+
- [enum TrajectoryInfoType](enums/Base/TrajectoryInfoType.md)
235250
- [enum UserEvent](enums/Base/UserEvent.md)
236251
- [enum WifiEncryptionType](enums/Base/WifiEncryptionType.md)
237252
- [enum WifiSecurityType](enums/Base/WifiSecurityType.md)
@@ -279,6 +294,7 @@
279294
- [class CartesianTransform](messages/ControlConfig/CartesianTransform.md)
280295
- [class ControlConfigurationNotification](messages/ControlConfig/ControlConfigurationNotification.md)
281296
- [class ControlModeInformation](messages/ControlConfig/ControlModeInformation.md)
297+
- [class ControlModeNotification](messages/ControlConfig/ControlModeNotification.md)
282298
- [class DesiredSpeeds](messages/ControlConfig/DesiredSpeeds.md)
283299
- [class GravityVector](messages/ControlConfig/GravityVector.md)
284300
- [class JointAccelerationSoftLimits](messages/ControlConfig/JointAccelerationSoftLimits.md)

‎api_cpp/doc/markdown/messages/ActuatorConfig/AxisOffsets.md

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|Member name|Data type|Description|
66
|-----------|---------|-----------|
7-
|absolute\_offset|float32|Absolute offset value \(meters\)|
8-
|relative\_offset|float32|Relative offset value \(meters\)|
7+
|absolute\_offset|float32|Absolute offset value \(degrees\)|
8+
|relative\_offset|float32|Relative offset value \(degrees\)|
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**Member functions**
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‎api_cpp/doc/markdown/messages/ActuatorConfig/AxisPosition.md

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|Member name|Data type|Description|
66
|-----------|---------|-----------|
7-
|position|float32|Axis position \(meters\)|
7+
|position|float32|Axis position \(degrees\)|
88

99
**Member functions**
1010

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