Package com.forcedimension.sdk
Class DRD
java.lang.Object
com.forcedimension.sdk.DRD
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Constructor Summary
Constructors -
Method Summary
Modifier and TypeMethodDescriptionint
AutoInit()
Java wrapper for drdAutoInit()int
Java wrapper for drdCheckInit()int
Close()
Java wrapper for drdClose()int
EnableFilter
(boolean on) Java wrapper for drdEnableFilter()double
Java wrapper for drdGetCtrlFreq()byte
Java wrapper for drdGetDeviceID()double
Java wrapper for drdGetEncDGain()double
Java wrapper for drdGetEncIGain()int
GetEncMoveParam
(double[] avj) Java wrapper for drdGetEncMoveParam()double
Java wrapper for drdGetEncPGain()int
GetEncTrackParam
(double[] avj) Java wrapper for drdGetEncTrackParam()int
GetGripMoveParam
(double[] avj) Java wrapper for drdGetGripMoveParam()int
GetGripTrackParam
(double[] avj) Java wrapper for drdGetGripTrackParam()double
Java wrapper for drdGetMotRatioMax()int
GetPosMoveParam
(double[] avj) Java wrapper for drdGetPosMoveParam()int
GetPosRotGrip
(double[] p) Java wrapper for drdGetPositionAndOrientation()int
GetPosTrackParam
(double[] avj) Java wrapper for drdGetPosTrackParam()int
GetPriorities
(int[] prio) Java wrapper for drdGetPriorities()int
GetRotMoveParam
(double[] avj) Java wrapper for drdGetRotMoveParam()int
GetRotTrackParam
(double[] avj) Java wrapper for drdGetRotTrackParam()static double
GetTime()
Java wrapper for drdGetTime()int
GetVelocity
(double[] v) Java wrapper for drdGetVelocity()int
Hold()
Java wrapper for drdHold()boolean
Java wrapper for drdIsFiltering()boolean
Java wrapper for drdIsInitialized()boolean
IsMoving()
Java wrapper for drdIsMoving()boolean
Java wrapper for drdIsRunning()boolean
Java wrapper for drdIsSupported()int
Lock
(byte mask, boolean init) Java wrapper for drdLock()int
MoveTo
(double[] p) Java wrapper for drdMoveTo()int
MoveTo
(double[] p, boolean block) Java wrapper for drdMoveTo()int
MoveToAllEnc
(int[] e) Java wrapper for drdMoveToAllEnc()int
MoveToAllEnc
(int[] e, boolean block) Java wrapper for drdMoveToAllEnc()int
MoveToEnc
(int[] e) Java wrapper for drdMoveToEnc()int
MoveToEnc
(int[] e, boolean block) Java wrapper for drdMoveToEnc()int
MoveToGrip
(double pg) Java wrapper for drdMoveToGrip()int
MoveToGrip
(double pg, boolean block) Java wrapper for drdMoveToGrip()int
MoveToPos
(double[] p) Java wrapper for drdMoveToPos()int
MoveToPos
(double[] p, boolean block) Java wrapper for drdMoveToPos()int
MoveToRot
(double[] p) Java wrapper for drdMoveToRot()int
MoveToRot
(double[] p, boolean block) Java wrapper for drdMoveToRot()int
Open()
Java wrapper for drdOpen()int
OpenID
(byte id) Java wrapper for drdOpenID()int
Java wrapper for drdPrecisionInit()int
RegulateGrip
(boolean on) Java wrapper for drdRegulateGrip()int
RegulatePos
(boolean on) Java wrapper for drdRegulatePos()int
RegulateRot
(boolean on) Java wrapper for drdRegulateRot()void
SetDeviceID
(byte id) Java wrapper for drdSetDevice()int
SetEncDGain
(double gain) Java wrapper for drdSetEncDGain()int
SetEncIGain
(double gain) Java wrapper for drdSetEncIGain()int
SetEncMoveParam
(double[] avj) Java wrapper for drdSetEncMoveParam()int
SetEncPGain
(double gain) Java wrapper for drdSetEncPGain()int
SetEncTrackParam
(double[] avj) Java wrapper for drdSetEncTrackParam()int
SetForceAndTorqueAndGripperForce
(double[] f) Java wrapper for drdSetForceAndTorqueAndGripperForce()int
SetForceAndWristJointTorquesAndGripperForce
(double[] f) Java wrapper for drdSetForceAndWristJointTorquesAndGripperForce()int
SetGripMoveParam
(double[] avj) Java wrapper for drdSetGripMoveParam()int
SetGripTrackParam
(double[] avj) Java wrapper for drdSetGripTrackParam()int
SetMotRatioMax
(double scale) Java wrapper for drdSetMotRatioMax()int
SetPosMoveParam
(double[] avj) Java wrapper for drdSetPosMoveParam()int
SetPosTrackParam
(double[] avj) Java wrapper for drdSetPosTrackParam()int
SetPriorities
(int[] prio) Java wrapper for drdSetPriorities()int
SetRotMoveParam
(double[] avj) Java wrapper for drdSetRotMoveParam()int
SetRotTrackParam
(double[] avj) Java wrapper for drdSetRotTrackParam()static void
Sleep
(double sec) Java wrapper for drdSleep()int
Start()
Java wrapper for drdStart()int
Stop()
Java wrapper for drdStop()int
Stop
(boolean frc) Java wrapper for drdStop()int
Track
(double[] p) Java wrapper for drdTrack()int
TrackAllEnc
(int[] e) Java wrapper for drdTrackAllEnc()int
TrackEnc
(int[] e) Java wrapper for drdTrackEnc()int
TrackGrip
(double pg) Java wrapper for drdTrackGrip()int
TrackPos
(double[] p) Java wrapper for drdTrackPos()int
TrackRot
(double[] p) Java wrapper for drdTrackRot()void
Java wrapper for drdWaitForTick()
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Constructor Details
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DRD
public DRD()
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Method Details
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SetDeviceID
public void SetDeviceID(byte id) Java wrapper for drdSetDevice() -
GetDeviceID
public byte GetDeviceID()Java wrapper for drdGetDeviceID() -
Close
public int Close()Java wrapper for drdClose() -
IsSupported
public boolean IsSupported()Java wrapper for drdIsSupported() -
IsRunning
public boolean IsRunning()Java wrapper for drdIsRunning() -
IsMoving
public boolean IsMoving()Java wrapper for drdIsMoving() -
IsFiltering
public boolean IsFiltering()Java wrapper for drdIsFiltering() -
GetTime
public static double GetTime()Java wrapper for drdGetTime() -
Sleep
public static void Sleep(double sec) Java wrapper for drdSleep() -
WaitForTick
public void WaitForTick()Java wrapper for drdWaitForTick() -
IsInitialized
public boolean IsInitialized()Java wrapper for drdIsInitialized() -
AutoInit
public int AutoInit()Java wrapper for drdAutoInit() -
CheckInit
public int CheckInit()Java wrapper for drdCheckInit() -
PrecisionInit
public int PrecisionInit()Java wrapper for drdPrecisionInit() -
GetCtrlFreq
public double GetCtrlFreq()Java wrapper for drdGetCtrlFreq() -
Start
public int Start()Java wrapper for drdStart() -
RegulatePos
public int RegulatePos(boolean on) Java wrapper for drdRegulatePos() -
RegulateRot
public int RegulateRot(boolean on) Java wrapper for drdRegulateRot() -
RegulateGrip
public int RegulateGrip(boolean on) Java wrapper for drdRegulateGrip() -
EnableFilter
public int EnableFilter(boolean on) Java wrapper for drdEnableFilter() -
MoveToPos
public int MoveToPos(double[] p) Java wrapper for drdMoveToPos() -
MoveToPos
public int MoveToPos(double[] p, boolean block) Java wrapper for drdMoveToPos() -
MoveToRot
public int MoveToRot(double[] p) Java wrapper for drdMoveToRot() -
MoveToRot
public int MoveToRot(double[] p, boolean block) Java wrapper for drdMoveToRot() -
MoveToGrip
public int MoveToGrip(double pg) Java wrapper for drdMoveToGrip() -
MoveToGrip
public int MoveToGrip(double pg, boolean block) Java wrapper for drdMoveToGrip() -
MoveToEnc
public int MoveToEnc(int[] e) Java wrapper for drdMoveToEnc() -
MoveToEnc
public int MoveToEnc(int[] e, boolean block) Java wrapper for drdMoveToEnc() -
TrackPos
public int TrackPos(double[] p) Java wrapper for drdTrackPos() -
TrackRot
public int TrackRot(double[] p) Java wrapper for drdTrackRot() -
TrackGrip
public int TrackGrip(double pg) Java wrapper for drdTrackGrip() -
TrackEnc
public int TrackEnc(int[] e) Java wrapper for drdTrackEnc() -
Hold
public int Hold()Java wrapper for drdHold() -
Lock
public int Lock(byte mask, boolean init) Java wrapper for drdLock() -
Stop
public int Stop()Java wrapper for drdStop() -
Stop
public int Stop(boolean frc) Java wrapper for drdStop() -
SetPriorities
public int SetPriorities(int[] prio) Java wrapper for drdSetPriorities() -
SetEncPGain
public int SetEncPGain(double gain) Java wrapper for drdSetEncPGain() -
GetEncPGain
public double GetEncPGain()Java wrapper for drdGetEncPGain() -
SetEncIGain
public int SetEncIGain(double gain) Java wrapper for drdSetEncIGain() -
GetEncIGain
public double GetEncIGain()Java wrapper for drdGetEncIGain() -
SetEncDGain
public int SetEncDGain(double gain) Java wrapper for drdSetEncDGain() -
GetEncDGain
public double GetEncDGain()Java wrapper for drdGetEncDGain() -
SetMotRatioMax
public int SetMotRatioMax(double scale) Java wrapper for drdSetMotRatioMax() -
GetMotRatioMax
public double GetMotRatioMax()Java wrapper for drdGetMotRatioMax() -
SetEncMoveParam
public int SetEncMoveParam(double[] avj) Java wrapper for drdSetEncMoveParam() -
SetEncTrackParam
public int SetEncTrackParam(double[] avj) Java wrapper for drdSetEncTrackParam() -
SetPosMoveParam
public int SetPosMoveParam(double[] avj) Java wrapper for drdSetPosMoveParam() -
SetPosTrackParam
public int SetPosTrackParam(double[] avj) Java wrapper for drdSetPosTrackParam() -
SetRotMoveParam
public int SetRotMoveParam(double[] avj) Java wrapper for drdSetRotMoveParam() -
SetRotTrackParam
public int SetRotTrackParam(double[] avj) Java wrapper for drdSetRotTrackParam() -
SetGripMoveParam
public int SetGripMoveParam(double[] avj) Java wrapper for drdSetGripMoveParam() -
SetGripTrackParam
public int SetGripTrackParam(double[] avj) Java wrapper for drdSetGripTrackParam() -
Open
public int Open()Java wrapper for drdOpen() -
OpenID
public int OpenID(byte id) Java wrapper for drdOpenID() -
GetPosRotGrip
public int GetPosRotGrip(double[] p) Java wrapper for drdGetPositionAndOrientation() -
GetVelocity
public int GetVelocity(double[] v) Java wrapper for drdGetVelocity() -
SetForceAndTorqueAndGripperForce
public int SetForceAndTorqueAndGripperForce(double[] f) Java wrapper for drdSetForceAndTorqueAndGripperForce() -
SetForceAndWristJointTorquesAndGripperForce
public int SetForceAndWristJointTorquesAndGripperForce(double[] f) Java wrapper for drdSetForceAndWristJointTorquesAndGripperForce() -
GetPriorities
public int GetPriorities(int[] prio) Java wrapper for drdGetPriorities() -
GetEncMoveParam
public int GetEncMoveParam(double[] avj) Java wrapper for drdGetEncMoveParam() -
GetEncTrackParam
public int GetEncTrackParam(double[] avj) Java wrapper for drdGetEncTrackParam() -
GetPosMoveParam
public int GetPosMoveParam(double[] avj) Java wrapper for drdGetPosMoveParam() -
GetPosTrackParam
public int GetPosTrackParam(double[] avj) Java wrapper for drdGetPosTrackParam() -
GetRotMoveParam
public int GetRotMoveParam(double[] avj) Java wrapper for drdGetRotMoveParam() -
GetRotTrackParam
public int GetRotTrackParam(double[] avj) Java wrapper for drdGetRotTrackParam() -
GetGripMoveParam
public int GetGripMoveParam(double[] avj) Java wrapper for drdGetGripMoveParam() -
GetGripTrackParam
public int GetGripTrackParam(double[] avj) Java wrapper for drdGetGripTrackParam() -
MoveTo
public int MoveTo(double[] p) Java wrapper for drdMoveTo() -
MoveTo
public int MoveTo(double[] p, boolean block) Java wrapper for drdMoveTo() -
MoveToAllEnc
public int MoveToAllEnc(int[] e) Java wrapper for drdMoveToAllEnc() -
MoveToAllEnc
public int MoveToAllEnc(int[] e, boolean block) Java wrapper for drdMoveToAllEnc() -
Track
public int Track(double[] p) Java wrapper for drdTrack() -
TrackAllEnc
public int TrackAllEnc(int[] e) Java wrapper for drdTrackAllEnc()
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