Package com.forcedimension.sdk
Class DHD
java.lang.Object
com.forcedimension.sdk.DHD
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Field Summary
FieldsModifier and TypeFieldDescriptionstatic final int
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Constructor Summary
Constructors -
Method Summary
Modifier and TypeMethodDescriptionint
Java wrapper for dhdCalibrateWrist()int
Java wrapper for dhdCheckControllerMemory()int
Close()
Java wrapper for dhdClose()int
ConfigAngularVelocity
(int ms, int mode) Java wrapper for dhdConfigAngularVelocity()int
ConfigGripperVelocity
(int ms, int mode) Java wrapper for dhdConfigGripperVelocity()int
ConfigLinearVelocity
(int ms, int mode) Java wrapper for dhdConfigLinearVelocity()int
ControllerSetDevice
(int type) Java wrapper for dhdControllerSetDevice()int
DeltaEncodersToJointAngles
(int[] e, double[] j) Java wrapper for dhdDeltaEncodersToJointAngles()int
DeltaEncoderToPosition
(int[] e, double[] p) Java wrapper for dhdDeltaEncoderToPosition()int
DeltaForceToMotor
(double[] f, int[] e, int[] m) Java wrapper for dhdDeltaForceToMotor()int
DeltaGravityJointTorques
(double[] j, double[] q) Java wrapper for dhdDeltaGravityJointTorques()int
DeltaJointAnglesToEncoders
(double[] j, int[] e) Java wrapper for dhdDeltaJointAnglesToEncoders()int
DeltaJointAnglesToJacobian
(double[] j, double[][] mat) Java wrapper for dhdDeltaJointAnglesToJacobian()int
DeltaJointTorquesExtrema
(double[] j, double[] minq, double[] maxq) Java wrapper for dhdDeltaJointTorquesExtrema()int
DeltaMotorToForce
(int[] m, int[] e, double[] f) Java wrapper for dhdDeltaMotorToForce()int
DeltaPositionToEncoder
(double[] p, int[] e) Java wrapper for dhdDeltaPositionToEncoder()int
Java wrapper for dhdDisableExpertMode()int
EmulateButton
(boolean on) Java wrapper for dhdEmulateButton()int
Java wrapper for dhdEnableExpertMode()int
EnableForce
(boolean on) Java wrapper for dhdEnableForce()int
EnableGripperForce
(boolean on) Java wrapper for dhdEnableGripperForce()static void
EnableSimulator
(boolean on) Java wrapper for dhdEnableSimulator()int
GetAngularVelocityDeg
(double[] v) Java wrapper for dhdGetAngularVelocityDeg()int
GetAngularVelocityRad
(double[] v) Java wrapper for dhdGetAngularVelocityRad()static int
Java wrapper for dhdGetAvailableCount()int
GetBaseAngleXDeg
(double[] a) Java wrapper for dhdGetBaseAngleXDeg()int
GetBaseAngleXRad
(double[] a) Java wrapper for dhdGetBaseAngleXRad()int
GetBaseAngleZDeg
(double[] a) Java wrapper for dhdGetBaseAngleZDeg()int
GetBaseAngleZRad
(double[] a) Java wrapper for dhdGetBaseAngleZRad()int
GetButton
(int index) Java wrapper for dhdGetButton()int
Java wrapper for dhdGetButtonMask()double
Java wrapper for dhdGetComFreq()int
Java wrapper for dhdGetComMode()int
GetDeltaEncoders
(int[] e) Java wrapper for dhdGetDeltaEncoders()int
GetDeltaJacobian
(double[][] mat) Java wrapper for dhdGetDeltaJacobian()int
GetDeltaJointAngles
(double[] j) Java wrapper for dhdGetDeltaJointAngles()int
GetDeviceAngleDeg
(double[] a) Java wrapper for dhdGetDeviceAngleDeg()int
GetDeviceAngleRad
(double[] a) Java wrapper for dhdGetDeviceAngleRad()static int
Java wrapper for dhdGetDeviceCount()byte
Java wrapper for dhdGetDeviceID()int
GetEffectorMass
(double[] a) Java wrapper for dhdGetEffectorMass()int
GetEnc
(int[] e, byte mask) Java wrapper for dhdGetEnc()int
GetEncoder
(int index) Java wrapper for dhdGetEncoder()int
GetEncRange
(int[] encMin, int[] encMax) Java wrapper for dhdGetEncRange()int
GetEncVelocities
(double[] j) Java wrapper for dhdGetEncVelocities()static String
GetErrorString
(int error) Java wrapper for dhdErrorGetStr()int
GetForce
(double[] f) Java wrapper for dhdGetForce()int
GetForceAndTorque
(double[] f, double[] t) Java wrapper for dhdGetForceAndTorque()int
GetForceAndTorqueAndGripperForce
(double[] f, double[] t, double[] g) Java wrapper for dhdGetForceAndTorqueAndGripperForce()int
GetGripperAngleDeg
(double[] a) Java wrapper for dhdGetGripperAngleDeg()int
GetGripperAngleRad
(double[] a) Java wrapper for dhdGetGripperAngleRad()int
GetGripperAngularVelocityDeg
(double[] v) Java wrapper for dhdGetGripperAngularVelocityDeg()int
GetGripperAngularVelocityRad
(double[] v) Java wrapper for dhdGetGripperAngularVelocityRad()int
GetGripperEncoder
(int[] e) Java wrapper for dhdGetGripperEncoder()int
GetGripperFingerPos
(double[] p) Java wrapper for dhdGetGripperFingerPos()int
GetGripperGap
(double[] p) Java wrapper for dhdGetGripperGap()int
GetGripperLinearVelocity
(double[] v) Java wrapper for dhdGetGripperLinearVelocity()int
GetGripperThumbPos
(double[] p) Java wrapper for dhdGetGripperThumbPos()int
GetJointAngleRange
(double[] jmin, double[] jmax) Java wrapper for dhdGetJointAngleRange()int
GetJointAngles
(double[] j) Java wrapper for dhdGetJointAngles()int
GetJointVelocities
(double[] j) Java wrapper for dhdGetJointVelocities()static int
Java wrapper for dhdErrorGetLast()static String
Java wrapper for dhdErrorGetLastStr()int
GetLinearVelocity
(double[] v) Java wrapper for dhdGetLinearVelocity()double
Java wrapper for dhdGetMaxForce()double
Java wrapper for dhdGetMaxGripperForce()double
Java wrapper for dhdGetMaxTorque()int
GetOrientationDeg
(double[] o) Java wrapper for dhdGetOrientationDeg()int
GetOrientationFrame
(double[][] mat) Java wrapper for dhdGetOrientationFrame()int
GetOrientationRad
(double[] o) Java wrapper for dhdGetOrientationRad()int
GetPosition
(double[] p) Java wrapper for dhdGetPosition()int
GetPositionAndOrientationDeg
(double[] p, double[] o) Java wrapper for dhdGetPositionAndOrientationDeg()int
GetPositionAndOrientationFrame
(double[] p, double[][] mat) Java wrapper for dhdGetPositionAndOrientationFrame()int
GetPositionAndOrientationRad
(double[] p, double[] o) Java wrapper for dhdGetPositionAndOrientationRad()static void
GetSDKVersion
(int[] version) Java wrapper for dhdGetSDKVersion()static String
Java wrapper for dhdGetSDKVersionStr()int
GetSerialNumber
(int[] s) Java wrapper for dhdGetSerialNumber()int
GetStatus
(int[] status) Java wrapper for dhdGetStatus()static long
Java wrapper for dhdGetSystemCounter()Java wrapper for dhdGetSystemName()int
Java wrapper for dhdGetSystemRev()int
Java wrapper for dhdGetSystemType()static double
GetTime()
Java wrapper for dhdGetTime()int
GetVelocityThreshold
(int[] val) Java wrapper for dhdGetVelocityThreshold()int
GetVersion
(double[] version) Java wrapper for dhdGetVersion()int
GetWatchdog
(int[] val) Java wrapper for dhdGetWatchdog()int
GetWristEncoders
(int[] e) Java wrapper for dhdGetWristEncoders()int
GetWristJacobian
(double[][] mat) Java wrapper for dhdGetWristJacobian()int
GetWristJointAngles
(double[] j) Java wrapper for dhdGetWristJointAngles()int
GripperAngleRadToEncoder
(double a, int[] e) Java wrapper for dhdGripperAngleRadToEncoder()int
GripperEncoderToAngleRad
(int e, double[] a) Java wrapper for dhdGripperEncoderToAngleRad()int
GripperEncoderToGap
(int e, double[] p) Java wrapper for dhdGripperEncoderToGap()int
GripperForceToMotor
(double f, int[] m, int[] e) Java wrapper for dhdGripperForceToMotor()int
GripperGapToEncoder
(double p, int[] e) Java wrapper for dhdGripperGapToEncoder()int
GripperMotorToForce
(int m, double[] f, int[] e) Java wrapper for dhdGripperMotorToForce()boolean
Java wrapper for dhdHasActiveGripper()boolean
Java wrapper for dhdHasActiveWrist()boolean
HasBase()
Java wrapper for dhdHasBase()boolean
Java wrapper for dhdHasGripper()boolean
HasWrist()
Java wrapper for dhdHasWrist()boolean
Java wrapper for dhdIsLeftHanded()int
JointAnglesToGravityJointTorques
(double[] j, double[] q, byte mask) Java wrapper for dhdJointAnglesToGravityJointTorques()int
JointAnglesToInertiaMatrix
(double[] j, double[][] mat) Java wrapper for dhdJointAnglesToInertiaMatrix()int
Open()
Java wrapper for dhdOpen()int
OpenID
(byte id) Java wrapper for dhdOpenID()int
OpenSerial
(int serial) Java wrapper for dhdOpenSerial()int
OpenType
(int type) Java wrapper for dhdOpenType()int
PreloadMot
(int[] m, byte mask) Java wrapper for dhdPreloadMot()int
Preset
(int[] e, byte mask) Java wrapper for dhdPreset()int
Reset()
Java wrapper for dhdReset()int
Java wrapper for dhdResetWrist()int
SetBaseAngleXDeg
(double a) Java wrapper for dhdSetBaseAngleXDeg()int
SetBaseAngleXRad
(double a) Java wrapper for dhdSetBaseAngleXRad()int
SetBaseAngleZDeg
(double a) Java wrapper for dhdSetBaseAngleZDeg()int
SetBaseAngleZRad
(double a) Java wrapper for dhdSetBaseAngleZRad()int
SetBrakes
(boolean on) Java wrapper for dhdSetBrakes()int
SetBrk
(byte mask) Java wrapper for dhdSetBrk()int
SetComMode
(int mode) Java wrapper for dhdSetComMode()int
SetComModePriority
(int priority) Java wrapper for dhdSetComModePriority()int
SetDeltaJointTorques
(double[] t) Java wrapper for dhdSetDeltaJointTorques()int
SetDeltaMotor
(int[] m) Java wrapper for dhdSetDeltaMotor()int
SetDeviceAngleDeg
(double angle) Java wrapper for dhdSetDeviceAngleDeg()int
SetDeviceAngleRad
(double angle) Java wrapper for dhdSetDeviceAngleRad()void
SetDeviceID
(byte id) Java wrapper for dhdSetDevice()int
SetEffectorMass
(double mass) Java wrapper for dhdSetEffectorMass()int
SetForce
(double[] f) Java wrapper for dhdSetForce()int
SetForceAndGripperForce
(double[] f, double g) Java wrapper for dhdSetForceAndGripperForce()int
SetForceAndTorque
(double[] f, double[] t) Java wrapper for dhdSetForceAndTorque()int
SetForceAndTorqueAndGripperForce
(double[] f, double[] t, double g) Java wrapper for dhdSetForceAndTorqueAndGripperForce()int
SetGravityCompensation
(boolean on) Java wrapper for dhdSetGravityCompensation()int
SetGripperMotor
(int m) Java wrapper for dhdSetGripperMotor()int
SetJointTorques
(double[] j, byte mask) Java wrapper for dhdSetJointTorques()int
SetMaxForce
(double f) Java wrapper for dhdSetMaxForce()int
SetMaxGripperForce
(double f) Java wrapper for GripperdhdSetMaxForce()int
SetMaxTorque
(double t) Java wrapper for dhdSetMaxTorque()int
SetMot
(int[] m, byte mask) Java wrapper for dhdSetMot()int
SetMotor
(int index, int m) Java wrapper for dhdSetMotor()int
SetOutput
(int output) Java wrapper for dhdSetOutput()int
SetStandardGravity
(double g) Java wrapper for dhdSetStandardGravity()int
SetTimeGuard
(int us) Java wrapper for dhdSetTimeGuard()int
SetVelocityThreshold
(int val) Java wrapper for dhdSetVelocityThreshold()int
SetVibration
(double f, double a, int t) Java wrapper for dhdSetVibration()int
SetWatchdog
(int val) Java wrapper for dhdSetWatchdog()int
SetWristJointTorques
(double[] t) Java wrapper for dhdSetWristJointTorques()int
SetWristMotor
(int[] m) Java wrapper for dhdSetWristMotor()static void
Sleep
(double sec) Java wrapper for dhdSleep()int
Stop()
Java wrapper for dhdStop()int
Java wrapper for dhdUpdateEncoders()int
WaitForReset
(int timeout) Java wrapper for dhdWaitForReset()int
WristEncodersToJointAngles
(int[] e, double[] j) Java wrapper for dhdWristEncodersToJointAngles()int
WristEncoderToOrientation
(int[] e, double[] o) Java wrapper for dhdWristEncoderToOrientation()int
WristGravityJointTorques
(double[] j, double[] q) Java wrapper for dhdWristGravityJointTorques()int
WristJointAnglesToEncoders
(double[] j, int[] e) Java wrapper for dhdWristJointAnglesToEncoders()int
WristJointAnglesToJacobian
(double[] j, double[][] mat) Java wrapper for dhdWristJointAnglesToJacobian()int
WristJointTorquesExtrema
(double[] j, double[] minq, double[] maxq) Java wrapper for dhdWristJointTorquesExtrema()int
WristMotorToTorque
(int[] m, int[] e, double[] t) Java wrapper for dhdWristMotorToTorque()int
WristOrientationToEncoder
(double[] o, int[] e) Java wrapper for dhdWristOrientationToEncoder()int
WristTorqueToMotor
(double[] t, int[] e, int[] m) Java wrapper for dhdWristTorqueToMotor()
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Field Details
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MAX_DOF
public static final int MAX_DOF- See Also:
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MAX_BUTTONS
public static final int MAX_BUTTONS- See Also:
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DEVICE_NONE
public static final int DEVICE_NONE- See Also:
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DEVICE_DELTA3
public static final int DEVICE_DELTA3- See Also:
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DEVICE_OMEGA3
public static final int DEVICE_OMEGA3- See Also:
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DEVICE_OMEGA6_RIGHT
public static final int DEVICE_OMEGA6_RIGHT- See Also:
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DEVICE_OMEGA6_LEFT
public static final int DEVICE_OMEGA6_LEFT- See Also:
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DEVICE_OMEGA7_RIGHT
public static final int DEVICE_OMEGA7_RIGHT- See Also:
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DEVICE_OMEGA7_LEFT
public static final int DEVICE_OMEGA7_LEFT- See Also:
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DEVICE_FALCON
public static final int DEVICE_FALCON- See Also:
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DEVICE_CONTROLLER
public static final int DEVICE_CONTROLLER- See Also:
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DEVICE_CONTROLLER_HR
public static final int DEVICE_CONTROLLER_HR- See Also:
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DEVICE_CUSTOM
public static final int DEVICE_CUSTOM- See Also:
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DEVICE_SIGMA3
public static final int DEVICE_SIGMA3- See Also:
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DEVICE_SIGMA7_RIGHT
public static final int DEVICE_SIGMA7_RIGHT- See Also:
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DEVICE_SIGMA7_LEFT
public static final int DEVICE_SIGMA7_LEFT- See Also:
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DEVICE_LAMBDA3
public static final int DEVICE_LAMBDA3- See Also:
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DEVICE_LAMBDA7_RIGHT
public static final int DEVICE_LAMBDA7_RIGHT- See Also:
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DEVICE_LAMBDA7_LEFT
public static final int DEVICE_LAMBDA7_LEFT- See Also:
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MAX_STATUS
public static final int MAX_STATUS- See Also:
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STATUS_POWER
public static final int STATUS_POWER- See Also:
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STATUS_CONNECTED
public static final int STATUS_CONNECTED- See Also:
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STATUS_STARTED
public static final int STATUS_STARTED- See Also:
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STATUS_RESET
public static final int STATUS_RESET- See Also:
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STATUS_IDLE
public static final int STATUS_IDLE- See Also:
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STATUS_FORCE
public static final int STATUS_FORCE- See Also:
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STATUS_BRAKE
public static final int STATUS_BRAKE- See Also:
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STATUS_TORQUE
public static final int STATUS_TORQUE- See Also:
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STATUS_WRIST_DETECTED
public static final int STATUS_WRIST_DETECTED- See Also:
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STATUS_ERROR
public static final int STATUS_ERROR- See Also:
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STATUS_GRAVITY
public static final int STATUS_GRAVITY- See Also:
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STATUS_TIMEGUARD
public static final int STATUS_TIMEGUARD- See Also:
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STATUS_WRIST_INIT
public static final int STATUS_WRIST_INIT- See Also:
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STATUS_REDUNDANCY
public static final int STATUS_REDUNDANCY- See Also:
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STATUS_FORCE_OFF_CAUSE
public static final int STATUS_FORCE_OFF_CAUSE- See Also:
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STATUS_LOCKS
public static final int STATUS_LOCKS- See Also:
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STATUS_AXIS_CHECKED
public static final int STATUS_AXIS_CHECKED- See Also:
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VELOCITY_WINDOWING
public static final int VELOCITY_WINDOWING- See Also:
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VELOCITY_INSTANT
public static final int VELOCITY_INSTANT- See Also:
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VELOCITY_WINDOW
public static final int VELOCITY_WINDOW- See Also:
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NO_ERROR
public static final int NO_ERROR- See Also:
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ERROR
public static final int ERROR- See Also:
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ERROR_COM
public static final int ERROR_COM- See Also:
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ERROR_DHC_BUSY
public static final int ERROR_DHC_BUSY- See Also:
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ERROR_NO_DRIVER_FOUND
public static final int ERROR_NO_DRIVER_FOUND- See Also:
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ERROR_NO_DEVICE_FOUND
public static final int ERROR_NO_DEVICE_FOUND- See Also:
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ERROR_NOT_AVAILABLE
public static final int ERROR_NOT_AVAILABLE- See Also:
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ERROR_TIMEOUT
public static final int ERROR_TIMEOUT- See Also:
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ERROR_GEOMETRY
public static final int ERROR_GEOMETRY- See Also:
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ERROR_EXPERT_MODE_DISABLED
public static final int ERROR_EXPERT_MODE_DISABLED- See Also:
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ERROR_NOT_IMPLEMENTED
public static final int ERROR_NOT_IMPLEMENTED- See Also:
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ERROR_OUT_OF_MEMORY
public static final int ERROR_OUT_OF_MEMORY- See Also:
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ERROR_DEVICE_NOT_READY
public static final int ERROR_DEVICE_NOT_READY- See Also:
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ERROR_FILE_NOT_FOUND
public static final int ERROR_FILE_NOT_FOUND- See Also:
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ERROR_CONFIGURATION
public static final int ERROR_CONFIGURATION- See Also:
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ERROR_INVALID_INDEX
public static final int ERROR_INVALID_INDEX- See Also:
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ERROR_DEPRECATED
public static final int ERROR_DEPRECATED- See Also:
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ERROR_NULL_ARGUMENT
public static final int ERROR_NULL_ARGUMENT- See Also:
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ERROR_REDUNDANT_FAIL
public static final int ERROR_REDUNDANT_FAIL- See Also:
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ERROR_NOT_ENABLED
public static final int ERROR_NOT_ENABLED- See Also:
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ERROR_DEVICE_IN_USE
public static final int ERROR_DEVICE_IN_USE- See Also:
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ERROR_INVALID
public static final int ERROR_INVALID- See Also:
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ERROR_NO_REGULATION
public static final int ERROR_NO_REGULATION- See Also:
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Constructor Details
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DHD
public DHD()
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Method Details
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EnableSimulator
public static void EnableSimulator(boolean on) Java wrapper for dhdEnableSimulator() -
GetDeviceCount
public static int GetDeviceCount()Java wrapper for dhdGetDeviceCount() -
GetAvailableCount
public static int GetAvailableCount()Java wrapper for dhdGetAvailableCount() -
SetDeviceID
public void SetDeviceID(byte id) Java wrapper for dhdSetDevice() -
GetDeviceID
public byte GetDeviceID()Java wrapper for dhdGetDeviceID() -
GetSerialNumber
public int GetSerialNumber(int[] s) Java wrapper for dhdGetSerialNumber() -
Open
public int Open()Java wrapper for dhdOpen() -
OpenType
public int OpenType(int type) Java wrapper for dhdOpenType() -
OpenSerial
public int OpenSerial(int serial) Java wrapper for dhdOpenSerial() -
OpenID
public int OpenID(byte id) Java wrapper for dhdOpenID() -
Close
public int Close()Java wrapper for dhdClose() -
ControllerSetDevice
public int ControllerSetDevice(int type) Java wrapper for dhdControllerSetDevice() -
CheckControllerMemory
public int CheckControllerMemory()Java wrapper for dhdCheckControllerMemory() -
Stop
public int Stop()Java wrapper for dhdStop() -
GetComMode
public int GetComMode()Java wrapper for dhdGetComMode() -
EnableForce
public int EnableForce(boolean on) Java wrapper for dhdEnableForce() -
EnableGripperForce
public int EnableGripperForce(boolean on) Java wrapper for dhdEnableGripperForce() -
GetSystemType
public int GetSystemType()Java wrapper for dhdGetSystemType() -
GetSystemName
Java wrapper for dhdGetSystemName() -
GetSystemRev
public int GetSystemRev()Java wrapper for dhdGetSystemRev() -
GetVersion
public int GetVersion(double[] version) Java wrapper for dhdGetVersion() -
GetSDKVersion
public static void GetSDKVersion(int[] version) Java wrapper for dhdGetSDKVersion() -
GetSDKVersionString
Java wrapper for dhdGetSDKVersionStr() -
GetStatus
public int GetStatus(int[] status) Java wrapper for dhdGetStatus() -
GetDeviceAngleRad
public int GetDeviceAngleRad(double[] a) Java wrapper for dhdGetDeviceAngleRad() -
GetDeviceAngleDeg
public int GetDeviceAngleDeg(double[] a) Java wrapper for dhdGetDeviceAngleDeg() -
GetEffectorMass
public int GetEffectorMass(double[] a) Java wrapper for dhdGetEffectorMass() -
GetSystemCounter
public static long GetSystemCounter()Java wrapper for dhdGetSystemCounter() -
GetButton
public int GetButton(int index) Java wrapper for dhdGetButton() -
GetButtonMask
public int GetButtonMask()Java wrapper for dhdGetButtonMask() -
SetOutput
public int SetOutput(int output) Java wrapper for dhdSetOutput() -
IsLeftHanded
public boolean IsLeftHanded()Java wrapper for dhdIsLeftHanded() -
HasBase
public boolean HasBase()Java wrapper for dhdHasBase() -
HasWrist
public boolean HasWrist()Java wrapper for dhdHasWrist() -
HasActiveWrist
public boolean HasActiveWrist()Java wrapper for dhdHasActiveWrist() -
HasGripper
public boolean HasGripper()Java wrapper for dhdHasGripper() -
HasActiveGripper
public boolean HasActiveGripper()Java wrapper for dhdHasActiveGripper() -
Reset
public int Reset()Java wrapper for dhdReset() -
ResetWrist
public int ResetWrist()Java wrapper for dhdResetWrist() -
WaitForReset
public int WaitForReset(int timeout) Java wrapper for dhdWaitForReset() -
SetStandardGravity
public int SetStandardGravity(double g) Java wrapper for dhdSetStandardGravity() -
SetGravityCompensation
public int SetGravityCompensation(boolean on) Java wrapper for dhdSetGravityCompensation() -
SetBrakes
public int SetBrakes(boolean on) Java wrapper for dhdSetBrakes() -
SetDeviceAngleRad
public int SetDeviceAngleRad(double angle) Java wrapper for dhdSetDeviceAngleRad() -
SetDeviceAngleDeg
public int SetDeviceAngleDeg(double angle) Java wrapper for dhdSetDeviceAngleDeg() -
SetEffectorMass
public int SetEffectorMass(double mass) Java wrapper for dhdSetEffectorMass() -
GetPosition
public int GetPosition(double[] p) Java wrapper for dhdGetPosition() -
GetForce
public int GetForce(double[] f) Java wrapper for dhdGetForce() -
SetForce
public int SetForce(double[] f) Java wrapper for dhdSetForce() -
GetOrientationRad
public int GetOrientationRad(double[] o) Java wrapper for dhdGetOrientationRad() -
GetOrientationDeg
public int GetOrientationDeg(double[] o) Java wrapper for dhdGetOrientationDeg() -
GetPositionAndOrientationRad
public int GetPositionAndOrientationRad(double[] p, double[] o) Java wrapper for dhdGetPositionAndOrientationRad() -
GetPositionAndOrientationDeg
public int GetPositionAndOrientationDeg(double[] p, double[] o) Java wrapper for dhdGetPositionAndOrientationDeg() -
GetPositionAndOrientationFrame
public int GetPositionAndOrientationFrame(double[] p, double[][] mat) Java wrapper for dhdGetPositionAndOrientationFrame() -
GetForceAndTorque
public int GetForceAndTorque(double[] f, double[] t) Java wrapper for dhdGetForceAndTorque() -
SetForceAndTorque
public int SetForceAndTorque(double[] f, double[] t) Java wrapper for dhdSetForceAndTorque() -
GetOrientationFrame
public int GetOrientationFrame(double[][] mat) Java wrapper for dhdGetOrientationFrame() -
GetGripperAngleDeg
public int GetGripperAngleDeg(double[] a) Java wrapper for dhdGetGripperAngleDeg() -
GetGripperAngleRad
public int GetGripperAngleRad(double[] a) Java wrapper for dhdGetGripperAngleRad() -
GetGripperGap
public int GetGripperGap(double[] p) Java wrapper for dhdGetGripperGap() -
GetGripperThumbPos
public int GetGripperThumbPos(double[] p) Java wrapper for dhdGetGripperThumbPos() -
GetGripperFingerPos
public int GetGripperFingerPos(double[] p) Java wrapper for dhdGetGripperFingerPos() -
GetComFreq
public double GetComFreq()Java wrapper for dhdGetComFreq() -
SetForceAndGripperForce
public int SetForceAndGripperForce(double[] f, double g) Java wrapper for dhdSetForceAndGripperForce() -
SetForceAndTorqueAndGripperForce
public int SetForceAndTorqueAndGripperForce(double[] f, double[] t, double g) Java wrapper for dhdSetForceAndTorqueAndGripperForce() -
GetForceAndTorqueAndGripperForce
public int GetForceAndTorqueAndGripperForce(double[] f, double[] t, double[] g) Java wrapper for dhdGetForceAndTorqueAndGripperForce() -
ConfigLinearVelocity
public int ConfigLinearVelocity(int ms, int mode) Java wrapper for dhdConfigLinearVelocity() -
GetLinearVelocity
public int GetLinearVelocity(double[] v) Java wrapper for dhdGetLinearVelocity() -
ConfigAngularVelocity
public int ConfigAngularVelocity(int ms, int mode) Java wrapper for dhdConfigAngularVelocity() -
GetAngularVelocityRad
public int GetAngularVelocityRad(double[] v) Java wrapper for dhdGetAngularVelocityRad() -
GetAngularVelocityDeg
public int GetAngularVelocityDeg(double[] v) Java wrapper for dhdGetAngularVelocityDeg() -
ConfigGripperVelocity
public int ConfigGripperVelocity(int ms, int mode) Java wrapper for dhdConfigGripperVelocity() -
GetGripperLinearVelocity
public int GetGripperLinearVelocity(double[] v) Java wrapper for dhdGetGripperLinearVelocity() -
GetGripperAngularVelocityRad
public int GetGripperAngularVelocityRad(double[] v) Java wrapper for dhdGetGripperAngularVelocityRad() -
GetGripperAngularVelocityDeg
public int GetGripperAngularVelocityDeg(double[] v) Java wrapper for dhdGetGripperAngularVelocityDeg() -
EmulateButton
public int EmulateButton(boolean on) Java wrapper for dhdEmulateButton() -
GetBaseAngleXRad
public int GetBaseAngleXRad(double[] a) Java wrapper for dhdGetBaseAngleXRad() -
GetBaseAngleXDeg
public int GetBaseAngleXDeg(double[] a) Java wrapper for dhdGetBaseAngleXDeg() -
SetBaseAngleXRad
public int SetBaseAngleXRad(double a) Java wrapper for dhdSetBaseAngleXRad() -
SetBaseAngleXDeg
public int SetBaseAngleXDeg(double a) Java wrapper for dhdSetBaseAngleXDeg() -
GetBaseAngleZRad
public int GetBaseAngleZRad(double[] a) Java wrapper for dhdGetBaseAngleZRad() -
GetBaseAngleZDeg
public int GetBaseAngleZDeg(double[] a) Java wrapper for dhdGetBaseAngleZDeg() -
SetBaseAngleZRad
public int SetBaseAngleZRad(double a) Java wrapper for dhdSetBaseAngleZRad() -
SetBaseAngleZDeg
public int SetBaseAngleZDeg(double a) Java wrapper for dhdSetBaseAngleZDeg() -
SetVibration
public int SetVibration(double f, double a, int t) Java wrapper for dhdSetVibration() -
SetMaxForce
public int SetMaxForce(double f) Java wrapper for dhdSetMaxForce() -
SetMaxTorque
public int SetMaxTorque(double t) Java wrapper for dhdSetMaxTorque() -
SetMaxGripperForce
public int SetMaxGripperForce(double f) Java wrapper for GripperdhdSetMaxForce() -
GetMaxForce
public double GetMaxForce()Java wrapper for dhdGetMaxForce() -
GetMaxTorque
public double GetMaxTorque()Java wrapper for dhdGetMaxTorque() -
GetMaxGripperForce
public double GetMaxGripperForce()Java wrapper for dhdGetMaxGripperForce() -
EnableExpertMode
public int EnableExpertMode()Java wrapper for dhdEnableExpertMode() -
DisableExpertMode
public int DisableExpertMode()Java wrapper for dhdDisableExpertMode() -
Preset
public int Preset(int[] e, byte mask) Java wrapper for dhdPreset() -
CalibrateWrist
public int CalibrateWrist()Java wrapper for dhdCalibrateWrist() -
SetTimeGuard
public int SetTimeGuard(int us) Java wrapper for dhdSetTimeGuard() -
SetVelocityThreshold
public int SetVelocityThreshold(int val) Java wrapper for dhdSetVelocityThreshold() -
GetVelocityThreshold
public int GetVelocityThreshold(int[] val) Java wrapper for dhdGetVelocityThreshold() -
UpdateEncoders
public int UpdateEncoders()Java wrapper for dhdUpdateEncoders() -
GetDeltaEncoders
public int GetDeltaEncoders(int[] e) Java wrapper for dhdGetDeltaEncoders() -
GetWristEncoders
public int GetWristEncoders(int[] e) Java wrapper for dhdGetWristEncoders() -
GetGripperEncoder
public int GetGripperEncoder(int[] e) Java wrapper for dhdGetGripperEncoder() -
GetEncoder
public int GetEncoder(int index) Java wrapper for dhdGetEncoder() -
SetMotor
public int SetMotor(int index, int m) Java wrapper for dhdSetMotor() -
SetDeltaMotor
public int SetDeltaMotor(int[] m) Java wrapper for dhdSetDeltaMotor() -
SetWristMotor
public int SetWristMotor(int[] m) Java wrapper for dhdSetWristMotor() -
SetGripperMotor
public int SetGripperMotor(int m) Java wrapper for dhdSetGripperMotor() -
DeltaEncoderToPosition
public int DeltaEncoderToPosition(int[] e, double[] p) Java wrapper for dhdDeltaEncoderToPosition() -
DeltaPositionToEncoder
public int DeltaPositionToEncoder(double[] p, int[] e) Java wrapper for dhdDeltaPositionToEncoder() -
DeltaMotorToForce
public int DeltaMotorToForce(int[] m, int[] e, double[] f) Java wrapper for dhdDeltaMotorToForce() -
DeltaForceToMotor
public int DeltaForceToMotor(double[] f, int[] e, int[] m) Java wrapper for dhdDeltaForceToMotor() -
WristEncoderToOrientation
public int WristEncoderToOrientation(int[] e, double[] o) Java wrapper for dhdWristEncoderToOrientation() -
WristOrientationToEncoder
public int WristOrientationToEncoder(double[] o, int[] e) Java wrapper for dhdWristOrientationToEncoder() -
WristMotorToTorque
public int WristMotorToTorque(int[] m, int[] e, double[] t) Java wrapper for dhdWristMotorToTorque() -
WristTorqueToMotor
public int WristTorqueToMotor(double[] t, int[] e, int[] m) Java wrapper for dhdWristTorqueToMotor() -
GripperEncoderToAngleRad
public int GripperEncoderToAngleRad(int e, double[] a) Java wrapper for dhdGripperEncoderToAngleRad() -
GripperEncoderToGap
public int GripperEncoderToGap(int e, double[] p) Java wrapper for dhdGripperEncoderToGap() -
GripperAngleRadToEncoder
public int GripperAngleRadToEncoder(double a, int[] e) Java wrapper for dhdGripperAngleRadToEncoder() -
GripperGapToEncoder
public int GripperGapToEncoder(double p, int[] e) Java wrapper for dhdGripperGapToEncoder() -
GripperMotorToForce
public int GripperMotorToForce(int m, double[] f, int[] e) Java wrapper for dhdGripperMotorToForce() -
GripperForceToMotor
public int GripperForceToMotor(double f, int[] m, int[] e) Java wrapper for dhdGripperForceToMotor() -
SetMot
public int SetMot(int[] m, byte mask) Java wrapper for dhdSetMot() -
SetJointTorques
public int SetJointTorques(double[] j, byte mask) Java wrapper for dhdSetJointTorques() -
PreloadMot
public int PreloadMot(int[] m, byte mask) Java wrapper for dhdPreloadMot() -
GetEnc
public int GetEnc(int[] e, byte mask) Java wrapper for dhdGetEnc() -
SetBrk
public int SetBrk(byte mask) Java wrapper for dhdSetBrk() -
GetDeltaJointAngles
public int GetDeltaJointAngles(double[] j) Java wrapper for dhdGetDeltaJointAngles() -
GetDeltaJacobian
public int GetDeltaJacobian(double[][] mat) Java wrapper for dhdGetDeltaJacobian() -
DeltaJointAnglesToJacobian
public int DeltaJointAnglesToJacobian(double[] j, double[][] mat) Java wrapper for dhdDeltaJointAnglesToJacobian() -
DeltaJointTorquesExtrema
public int DeltaJointTorquesExtrema(double[] j, double[] minq, double[] maxq) Java wrapper for dhdDeltaJointTorquesExtrema() -
DeltaGravityJointTorques
public int DeltaGravityJointTorques(double[] j, double[] q) Java wrapper for dhdDeltaGravityJointTorques() -
SetDeltaJointTorques
public int SetDeltaJointTorques(double[] t) Java wrapper for dhdSetDeltaJointTorques() -
DeltaEncodersToJointAngles
public int DeltaEncodersToJointAngles(int[] e, double[] j) Java wrapper for dhdDeltaEncodersToJointAngles() -
DeltaJointAnglesToEncoders
public int DeltaJointAnglesToEncoders(double[] j, int[] e) Java wrapper for dhdDeltaJointAnglesToEncoders() -
GetWristJointAngles
public int GetWristJointAngles(double[] j) Java wrapper for dhdGetWristJointAngles() -
GetWristJacobian
public int GetWristJacobian(double[][] mat) Java wrapper for dhdGetWristJacobian() -
WristJointAnglesToJacobian
public int WristJointAnglesToJacobian(double[] j, double[][] mat) Java wrapper for dhdWristJointAnglesToJacobian() -
WristJointTorquesExtrema
public int WristJointTorquesExtrema(double[] j, double[] minq, double[] maxq) Java wrapper for dhdWristJointTorquesExtrema() -
WristGravityJointTorques
public int WristGravityJointTorques(double[] j, double[] q) Java wrapper for dhdWristGravityJointTorques() -
SetWristJointTorques
public int SetWristJointTorques(double[] t) Java wrapper for dhdSetWristJointTorques() -
WristEncodersToJointAngles
public int WristEncodersToJointAngles(int[] e, double[] j) Java wrapper for dhdWristEncodersToJointAngles() -
WristJointAnglesToEncoders
public int WristJointAnglesToEncoders(double[] j, int[] e) Java wrapper for dhdWristJointAnglesToEncoders() -
GetJointAngles
public int GetJointAngles(double[] j) Java wrapper for dhdGetJointAngles() -
GetJointVelocities
public int GetJointVelocities(double[] j) Java wrapper for dhdGetJointVelocities() -
GetEncVelocities
public int GetEncVelocities(double[] j) Java wrapper for dhdGetEncVelocities() -
JointAnglesToInertiaMatrix
public int JointAnglesToInertiaMatrix(double[] j, double[][] mat) Java wrapper for dhdJointAnglesToInertiaMatrix() -
JointAnglesToGravityJointTorques
public int JointAnglesToGravityJointTorques(double[] j, double[] q, byte mask) Java wrapper for dhdJointAnglesToGravityJointTorques() -
SetComMode
public int SetComMode(int mode) Java wrapper for dhdSetComMode() -
SetComModePriority
public int SetComModePriority(int priority) Java wrapper for dhdSetComModePriority() -
SetWatchdog
public int SetWatchdog(int val) Java wrapper for dhdSetWatchdog() -
GetWatchdog
public int GetWatchdog(int[] val) Java wrapper for dhdGetWatchdog() -
GetEncRange
public int GetEncRange(int[] encMin, int[] encMax) Java wrapper for dhdGetEncRange() -
GetJointAngleRange
public int GetJointAngleRange(double[] jmin, double[] jmax) Java wrapper for dhdGetJointAngleRange() -
GetTime
public static double GetTime()Java wrapper for dhdGetTime() -
Sleep
public static void Sleep(double sec) Java wrapper for dhdSleep() -
GetLastError
public static int GetLastError()Java wrapper for dhdErrorGetLast() -
GetLastErrorString
Java wrapper for dhdErrorGetLastStr() -
GetErrorString
Java wrapper for dhdErrorGetStr()
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