================================
SafetyControlUnitConfig
================================
    
.. py:currentmodule:: kortex_api.autogen

.. _SafetyControlUnitConfigArmCalibration:

.. py:class:: ArmCalibration

    Arm calibration

   :canonical: kortex_api.autogen.messages.SafetyControlUnitConfig_pb2.ArmCalibration

   :param frame_calibrations:   calibration for each frame
   :type frame_calibrations: :ref:`FrameCalibration <SafetyControlUnitConfigFrameCalibration>` [ ]

.. _SafetyControlUnitConfigFrameCalibration:

.. py:class:: FrameCalibration

    Frame calibration

   :canonical: kortex_api.autogen.messages.SafetyControlUnitConfig_pb2.FrameCalibration

   :param geometric_calibration_matrix:   geometric calibration for a single frame
   :type geometric_calibration_matrix: :ref:`GeometricCalibrationMatrix <SafetyControlUnitConfigGeometricCalibrationMatrix>` 

   :param elasto_static_calibration_matrix:   elasto-static calibration for a single frame
   :type elasto_static_calibration_matrix: :ref:`ElastoStaticCalibrationMatrix <SafetyControlUnitConfigElastoStaticCalibrationMatrix>` 

.. _SafetyControlUnitConfigGeometricCalibrationMatrix:

.. py:class:: GeometricCalibrationMatrix

    Geometric calibration matrix

   :canonical: kortex_api.autogen.messages.SafetyControlUnitConfig_pb2.GeometricCalibrationMatrix

   :param m00:   m00 value
   :type m00: :ref:`float <>` 

   :param m10:   m10 value
   :type m10: :ref:`float <>` 

   :param m20:   m20 value
   :type m20: :ref:`float <>` 

   :param m01:   m01 value
   :type m01: :ref:`float <>` 

   :param m11:   m11 value
   :type m11: :ref:`float <>` 

   :param m21:   m21 value
   :type m21: :ref:`float <>` 

   :param m02:   m02 value
   :type m02: :ref:`float <>` 

   :param m12:   m12 value
   :type m12: :ref:`float <>` 

   :param m22:   m22 value
   :type m22: :ref:`float <>` 

   :param m03:   m03 value
   :type m03: :ref:`float <>` 

   :param m13:   m13 value
   :type m13: :ref:`float <>` 

   :param m23:   m23 value
   :type m23: :ref:`float <>` 

.. _SafetyControlUnitConfigElastoStaticCalibrationMatrix:

.. py:class:: ElastoStaticCalibrationMatrix

    Elasto-static calibration matrix

   :canonical: kortex_api.autogen.messages.SafetyControlUnitConfig_pb2.ElastoStaticCalibrationMatrix

   :param cx:   cx value
   :type cx: :ref:`float <>` 

   :param cy:   cy value
   :type cy: :ref:`float <>` 

   :param cz:   cz value
   :type cz: :ref:`float <>` 

   :param crx:   crx value
   :type crx: :ref:`float <>` 

   :param cry:   cry value
   :type cry: :ref:`float <>` 

   :param crz:   crz value
   :type crz: :ref:`float <>` 

.. _SafetyControlUnitConfigSafetyParametersChecksumChangeNotification:

.. py:class:: SafetyParametersChecksumChangeNotification

    Notification about a safety parameters checksum change event

   :canonical: kortex_api.autogen.messages.SafetyControlUnitConfig_pb2.SafetyParametersChecksumChangeNotification

   :param safety_parameters_checksum:   New Safety parameters checksum
   :type safety_parameters_checksum: :ref:`CRC32Checksum <CommonCRC32Checksum>` 

   :param generic_info:   Generic notification information
   :type generic_info: :ref:`NotificationInformation <CommonNotificationInformation>`