Package com.forcedimension.sdk

Class DHD

java.lang.Object

com.forcedimension.sdk.DHD

public class DHD
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
static final int	DEVICE_CONTROLLER
static final int	DEVICE_CONTROLLER_HR
static final int	DEVICE_CUSTOM
static final int	DEVICE_DELTA3
static final int	DEVICE_FALCON
static final int	DEVICE_LAMBDA3
static final int	DEVICE_LAMBDA7_LEFT
static final int	DEVICE_LAMBDA7_RIGHT
static final int	DEVICE_NONE
static final int	DEVICE_OMEGA3
static final int	DEVICE_OMEGA6_LEFT
static final int	DEVICE_OMEGA6_RIGHT
static final int	DEVICE_OMEGA7_LEFT
static final int	DEVICE_OMEGA7_RIGHT
static final int	DEVICE_SIGMA3
static final int	DEVICE_SIGMA7_LEFT
static final int	DEVICE_SIGMA7_RIGHT
static final int	ERROR
static final int	ERROR_COM
static final int	ERROR_CONFIGURATION
static final int	ERROR_DEPRECATED
static final int	ERROR_DEVICE_IN_USE
static final int	ERROR_DEVICE_NOT_READY
static final int	ERROR_DHC_BUSY
static final int	ERROR_EXPERT_MODE_DISABLED
static final int	ERROR_FILE_NOT_FOUND
static final int	ERROR_GEOMETRY
static final int	ERROR_INVALID
static final int	ERROR_INVALID_INDEX
static final int	ERROR_NO_DEVICE_FOUND
static final int	ERROR_NO_DRIVER_FOUND
static final int	ERROR_NO_REGULATION
static final int	ERROR_NOT_AVAILABLE
static final int	ERROR_NOT_ENABLED
static final int	ERROR_NOT_IMPLEMENTED
static final int	ERROR_NULL_ARGUMENT
static final int	ERROR_OUT_OF_MEMORY
static final int	ERROR_REDUNDANT_FAIL
static final int	ERROR_TIMEOUT
static final int	MAX_BUTTONS
static final int	MAX_DOF
static final int	MAX_STATUS
static final int	NO_ERROR
static final int	STATUS_AXIS_CHECKED
static final int	STATUS_BRAKE
static final int	STATUS_CONNECTED
static final int	STATUS_ERROR
static final int	STATUS_FORCE
static final int	STATUS_FORCE_OFF_CAUSE
static final int	STATUS_GRAVITY
static final int	STATUS_IDLE
static final int	STATUS_LOCKS
static final int	STATUS_POWER
static final int	STATUS_REDUNDANCY
static final int	STATUS_RESET
static final int	STATUS_STARTED
static final int	STATUS_TIMEGUARD
static final int	STATUS_TORQUE
static final int	STATUS_WRIST_DETECTED
static final int	STATUS_WRIST_INIT
static final int	VELOCITY_INSTANT
static final int	VELOCITY_WINDOW
static final int	VELOCITY_WINDOWING

Constructor Summary

Constructors

Constructor	Description
DHD()

Method Summary

Modifier and Type	Method	Description
int	CalibrateWrist()	Java wrapper for dhdCalibrateWrist()
int	CheckControllerMemory()	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	DisableExpertMode()	Java wrapper for dhdDisableExpertMode()
int	EmulateButton(boolean on)	Java wrapper for dhdEmulateButton()
int	EnableExpertMode()	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	GetAvailableCount()	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	GetButtonMask()	Java wrapper for dhdGetButtonMask()
double	GetComFreq()	Java wrapper for dhdGetComFreq()
int	GetComMode()	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	GetDeviceCount()	Java wrapper for dhdGetDeviceCount()
byte	GetDeviceID()	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	GetLastError()	Java wrapper for dhdErrorGetLast()
static String	GetLastErrorString()	Java wrapper for dhdErrorGetLastStr()
int	GetLinearVelocity(double[] v)	Java wrapper for dhdGetLinearVelocity()
double	GetMaxForce()	Java wrapper for dhdGetMaxForce()
double	GetMaxGripperForce()	Java wrapper for dhdGetMaxGripperForce()
double	GetMaxTorque()	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	GetSDKVersionString()	Java wrapper for dhdGetSDKVersionStr()
int	GetSerialNumber(int[] s)	Java wrapper for dhdGetSerialNumber()
int	GetStatus(int[] status)	Java wrapper for dhdGetStatus()
static long	GetSystemCounter()	Java wrapper for dhdGetSystemCounter()
String	GetSystemName()	Java wrapper for dhdGetSystemName()
int	GetSystemRev()	Java wrapper for dhdGetSystemRev()
int	GetSystemType()	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	HasActiveGripper()	Java wrapper for dhdHasActiveGripper()
boolean	HasActiveWrist()	Java wrapper for dhdHasActiveWrist()
boolean	HasBase()	Java wrapper for dhdHasBase()
boolean	HasGripper()	Java wrapper for dhdHasGripper()
boolean	HasWrist()	Java wrapper for dhdHasWrist()
boolean	IsLeftHanded()	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	ResetWrist()	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	UpdateEncoders()	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()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

MAX_DOF

public static final int MAX_DOF

See Also:

• Constant Field Values

MAX_BUTTONS

public static final int MAX_BUTTONS

See Also:

• Constant Field Values

DEVICE_NONE

public static final int DEVICE_NONE

See Also:

• Constant Field Values

DEVICE_DELTA3

public static final int DEVICE_DELTA3

See Also:

• Constant Field Values

DEVICE_OMEGA3

public static final int DEVICE_OMEGA3

See Also:

• Constant Field Values

DEVICE_OMEGA6_RIGHT

public static final int DEVICE_OMEGA6_RIGHT

See Also:

• Constant Field Values

DEVICE_OMEGA6_LEFT

public static final int DEVICE_OMEGA6_LEFT

See Also:

• Constant Field Values

DEVICE_OMEGA7_RIGHT

public static final int DEVICE_OMEGA7_RIGHT

See Also:

• Constant Field Values

DEVICE_OMEGA7_LEFT

public static final int DEVICE_OMEGA7_LEFT

See Also:

• Constant Field Values

DEVICE_FALCON

public static final int DEVICE_FALCON

See Also:

• Constant Field Values

DEVICE_CONTROLLER

public static final int DEVICE_CONTROLLER

See Also:

• Constant Field Values

DEVICE_CONTROLLER_HR

public static final int DEVICE_CONTROLLER_HR

See Also:

• Constant Field Values

DEVICE_CUSTOM

public static final int DEVICE_CUSTOM

See Also:

• Constant Field Values

DEVICE_SIGMA3

public static final int DEVICE_SIGMA3

See Also:

• Constant Field Values

DEVICE_SIGMA7_RIGHT

public static final int DEVICE_SIGMA7_RIGHT

See Also:

• Constant Field Values

DEVICE_SIGMA7_LEFT

public static final int DEVICE_SIGMA7_LEFT

See Also:

• Constant Field Values

DEVICE_LAMBDA3

public static final int DEVICE_LAMBDA3

See Also:

• Constant Field Values

DEVICE_LAMBDA7_RIGHT

public static final int DEVICE_LAMBDA7_RIGHT

See Also:

• Constant Field Values

DEVICE_LAMBDA7_LEFT

public static final int DEVICE_LAMBDA7_LEFT

See Also:

• Constant Field Values

MAX_STATUS

public static final int MAX_STATUS

See Also:

• Constant Field Values

STATUS_POWER

public static final int STATUS_POWER

See Also:

• Constant Field Values

STATUS_CONNECTED

public static final int STATUS_CONNECTED

See Also:

• Constant Field Values

STATUS_STARTED

public static final int STATUS_STARTED

See Also:

• Constant Field Values

STATUS_RESET

public static final int STATUS_RESET

See Also:

• Constant Field Values

STATUS_IDLE

public static final int STATUS_IDLE

See Also:

• Constant Field Values

STATUS_FORCE

public static final int STATUS_FORCE

See Also:

• Constant Field Values

STATUS_BRAKE

public static final int STATUS_BRAKE

See Also:

• Constant Field Values

STATUS_TORQUE

public static final int STATUS_TORQUE

See Also:

• Constant Field Values

STATUS_WRIST_DETECTED

public static final int STATUS_WRIST_DETECTED

See Also:

• Constant Field Values

STATUS_ERROR

public static final int STATUS_ERROR

See Also:

• Constant Field Values

STATUS_GRAVITY

public static final int STATUS_GRAVITY

See Also:

• Constant Field Values

STATUS_TIMEGUARD

public static final int STATUS_TIMEGUARD

See Also:

• Constant Field Values

STATUS_WRIST_INIT

public static final int STATUS_WRIST_INIT

See Also:

• Constant Field Values

STATUS_REDUNDANCY

public static final int STATUS_REDUNDANCY

See Also:

• Constant Field Values

STATUS_FORCE_OFF_CAUSE

public static final int STATUS_FORCE_OFF_CAUSE

See Also:

• Constant Field Values

STATUS_LOCKS

public static final int STATUS_LOCKS

See Also:

• Constant Field Values

STATUS_AXIS_CHECKED

public static final int STATUS_AXIS_CHECKED

See Also:

• Constant Field Values

VELOCITY_WINDOWING

public static final int VELOCITY_WINDOWING

See Also:

• Constant Field Values

VELOCITY_INSTANT

public static final int VELOCITY_INSTANT

See Also:

• Constant Field Values

VELOCITY_WINDOW

public static final int VELOCITY_WINDOW

See Also:

• Constant Field Values

NO_ERROR

public static final int NO_ERROR

See Also:

• Constant Field Values

ERROR

public static final int ERROR

See Also:

• Constant Field Values

ERROR_COM

public static final int ERROR_COM

See Also:

• Constant Field Values

ERROR_DHC_BUSY

public static final int ERROR_DHC_BUSY

See Also:

• Constant Field Values

ERROR_NO_DRIVER_FOUND

public static final int ERROR_NO_DRIVER_FOUND

See Also:

• Constant Field Values

ERROR_NO_DEVICE_FOUND

public static final int ERROR_NO_DEVICE_FOUND

See Also:

• Constant Field Values

ERROR_NOT_AVAILABLE

public static final int ERROR_NOT_AVAILABLE

See Also:

• Constant Field Values

ERROR_TIMEOUT

public static final int ERROR_TIMEOUT

See Also:

• Constant Field Values

ERROR_GEOMETRY

public static final int ERROR_GEOMETRY

See Also:

• Constant Field Values

ERROR_EXPERT_MODE_DISABLED

public static final int ERROR_EXPERT_MODE_DISABLED

See Also:

• Constant Field Values

ERROR_NOT_IMPLEMENTED

public static final int ERROR_NOT_IMPLEMENTED

See Also:

• Constant Field Values

ERROR_OUT_OF_MEMORY

public static final int ERROR_OUT_OF_MEMORY

See Also:

• Constant Field Values

ERROR_DEVICE_NOT_READY

public static final int ERROR_DEVICE_NOT_READY

See Also:

• Constant Field Values

ERROR_FILE_NOT_FOUND

public static final int ERROR_FILE_NOT_FOUND

See Also:

• Constant Field Values

ERROR_CONFIGURATION

public static final int ERROR_CONFIGURATION

See Also:

• Constant Field Values

ERROR_INVALID_INDEX

public static final int ERROR_INVALID_INDEX

See Also:

• Constant Field Values

ERROR_DEPRECATED

public static final int ERROR_DEPRECATED

See Also:

• Constant Field Values

ERROR_NULL_ARGUMENT

public static final int ERROR_NULL_ARGUMENT

See Also:

• Constant Field Values

ERROR_REDUNDANT_FAIL

public static final int ERROR_REDUNDANT_FAIL

See Also:

• Constant Field Values

ERROR_NOT_ENABLED

public static final int ERROR_NOT_ENABLED

See Also:

• Constant Field Values

ERROR_DEVICE_IN_USE

public static final int ERROR_DEVICE_IN_USE

See Also:

• Constant Field Values

ERROR_INVALID

public static final int ERROR_INVALID

See Also:

• Constant Field Values

ERROR_NO_REGULATION

public static final int ERROR_NO_REGULATION

See Also:

• Constant Field Values

Constructor Details

DHD

public DHD()

Method Details

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

public String 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

public static String 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

public static String GetLastErrorString()

Java wrapper for dhdErrorGetLastStr()

GetErrorString

public static String GetErrorString(int error)

Java wrapper for dhdErrorGetStr()