Keypose

Keypose Store Current Pose

URL

/v1/bundle/{linkID}

Method

POST

Caution

The SDK does not support CORS, so when you send a request with "OPTIONS" method, the SDK returns an error because an HTTP request of "Content-Type" is always sent as "text/plain" NOT "application/json".

Payload

{
  "command": "keyposeStoreCurrentPose",
  "index": 0,
}

Label	Type	Value	Description
`command`	`string`	`keyposeStoreCurrentPose`	command name
`index`	`integer`	`0 - 5`	Keypose slot you want to store the current pose

Return value

See default return values.

Note

Use this command to store your overall pose as a keypose. You can move your system to this location later by referencing with index.

Keypose Store by Numeric Data

URL

/v1/bundle/{linkID}

Method

POST

Caution

The SDK does not support CORS, so when you send a request with "OPTIONS" method, the SDK return a error because of HTTP request of "Content-Type" is sent always as "text/plain" NOT "application/json".

Payload

{
  "command":"keyposeStoreWithNumericData",
  "index":0,
  "{axis name}":"{setpoint value}"
}

Label	Type	Value	Description
`command`	`string`	`keyposeStoreWithNumericData`	command name
`index`	`integer`	`0 - 5`	Keypose slot index you want to move
`axis name`	`float`		In which axis direction you want to move

Axis Name	Type	Value Range
`headPan`	`float`	`-180.0 - +180.0`
`headTilt`	`float`	`-180.0 - +180.0`
`slide`	`float`	`It depends your calibrations.`
`focus`	`float`
`jibPlusPan`	`float`
`jibPlusTilt`	`float`

Example JSON You want to send command for three axes; Head Pan, Head Tilt and Slide;

{
  "command":"keyposeStoreWithNumericData",
  "index":0,
  "headPan":0.0,
  "headTilt":0.0,
  "slide":0.0,
}

Return value

See default return values.

Keypose Move with Fixed Duration

URL

POST /v1/bundle/{linkID}

Caution !!! The SDK does not support CORS, so when you send a request with "OPTIONS" method, the SDK returns an error because an HTTP request of "Content-Type" is always sent as "text/plain" NOT "application/json".

Payload

{
    "command":"keyposeMoveFixedDuration",
    "index":0,
    "duration":0.5,
    "acceleration":0.0
}

Label	Type	Value	Description
`command`	`string`	`keyposeMoveFixedDuration`	command name
`index`	`integer`	`0-5`	Keypose slot index you want to move
`acceleration`	`float`	`0.0 - 1.0`	Ease in / out amount. 0.0 is immediate move, 1.0 is most smooth
`duration`	`float`	`second`	Planned motion duration

Note

System doesn't guarantee that every movement will be completed as requested. If requested duration is lower than what system can achieve with 100% speed, system moves with 100% speed.

Keypose Move with Fixed Speed

URL

POST /v1/bundle/{linkID}

Caution !!! The SDK does not support CORS, so when you send a request with "OPTIONS" method, the SDK returns an error because an HTTP request of "Content-Type" is always sent as "text/plain" NOT "application/json".

Method

POST

Payload

{
  "command": "keyposeMoveFixedSpeed",
  "index": 0,
  "acceleration": 0.5,
  "speed": 8.0,
}

Label	Type	Value	Description
`command`	`string`	`keyposeMoveFixedSpeed`	command name
`index`	`integer`	`0-5`	Keypose slot index you want to move
`acceleration`	`float`	`0.0 - 1.0`	Ease in / out amount. 0.0 is immediate move, 1.0 is most smooth
`speed`	`float`	`-1.0 - +1.0`	Speed ratio for motion

Note

System doesn't guarantee that every movement will be completed as requested. If requested duration is lower than what system can achieve with 100% speed, system moves with 100% speed.

Loop Between Keyposes with Fixed Duration

URL

POST /v1/bundle/{linkID}

Method

POST

Caution !!! The SDK does not support CORS, so when you send a request with "OPTIONS" method, the SDK returns an error because an HTTP request of "Content-Type" is always sent as "text/plain" NOT "application/json".

Payload

{
    "command":"keyposeLoopFixedDuration",
    "index1":0,
    "index2":1,
    "duration":0.0,
    "acceleration":0.0
}

Label	Type	Value	Description
`command`	`string`	`keyposeMoveFixedDuration`	command name
`index1`	`integer`	`0 - 5`
`index2`	`integer`	`0 - 5`
`acceleration`	`float`	`0.0 - 1.0`	Ease in / out amount. 0.0 is immediate move, 1.0 is most smooth
`duration`	`float`	`second`	Planned motion duration

Note

System doesn't guarantee that every movement will be completed as requested. If requested duration is lower than what system can achieve with 100% speed, system moves with 100% speed.

Loop Between Keyposes with Fixed Speed

URL

POST /v1/bundle/{linkID}

Method

POST

Caution !!! The SDK does not support CORS, so when you send a request with "OPTIONS" method, the SDK returns an error because an HTTP request of "Content-Type" is always sent as "text/plain" NOT "application/json"..

Payload

{
  "command": "keyposeLoopFixedSpeed",
  "index1": 0,
  "index2": 0,
  "acceleration": 0.5,
  "speed": 8.0,
}

Label	Type	Value	Description
`command`	`string`	`keyposeLoopFixedSpeed`	command name
`index1`	`integer`	`0 - 5`	Keypose slot index you want to move
`acceleartion`	`float`	`0.0 - 1.0`	Ease in / out amount. 0.0 is immediate move, 1.0 is most smooth
`speed`	`float`	`-1.0 - +1.0`	Speed ratio for motion

Note

System doesn't guarantee to move within you ask for it. If requested duration is lower than what system can achive with %100 speed, system moves with %100 speed.

Read Keypose Numeric Information

URL

POST /v1/bundle/{linkID}

Method

POST

Caution !!! The SDK does not support CORS, so when you send a request with "OPTIONS" method, the SDK returns an error because an HTTP request of "Content-Type" is always sent as "text/plain" NOT "application/json".

Payload

{
  "command": "keyposeReadNumericValues",
  "index": 0
}

Label	Type	Value	Description
`command`	`string`	`keyposeReadNumericValues`	command name
`index`	`integer`	`0 - 5`	Keypose slot index you want to get information about keypose

Return value

{
  "data": {
        "{axis_name}": "{set_point}",
    },
    "result": "ok"
}

Example Return

{
    "data": {
        "focus": 0,
        "headPan": 0.0,
        "headTilt": 0.0,
        "index": 0,
        "jibPlusPan": -1.0,
        "jibPlusTilt": -1.0,
        "slide": 0.0
    },
    "result": "ok"
}

Label	Type	Value	Description
data	`string`	`none` `running` `error` `multipleDevice` `noDevice` `finished`	Update status

Axis Name	Type	Value Range
`headPan`	`float`	`-180.0 - +180.0`
`headTilt`	`float`	`-180.0 - +180.0`
`slide`	`float`	`It depends your calibrations.`
`focus`	`float`
`jibPlusPan`	`float`
`jibPlusTilt`	`float`

Delete Keypose

TO BE FILLED

URL

POST /v1/bundle/{linkID}

Method

POST

Caution !!! The SDK does not support CORS, so when you send a request with "OPTIONS" method, the SDK returns an error because an HTTP request of "Content-Type" is always sent as "text/plain" NOT "application/json".

Payload

{
  "command":"keyposeDeletePose",
  "index":1
}

Label	Type	Value	Description
`command`	`string`	`keyposeDeletePose`	command name
`index`	`integer`	`0 - 5`	Keypose slot index you want to get information about keypose

Default Return Values

{
  "result": "ok"
}

Given arguments are invalid.

{
  "result": "invalid setup"
}

Given device is invalid