Package com.forcedimension.sdk

Class DRD

java.lang.Object
com.forcedimension.sdk.DRD
public class DRD extends Object

  • Constructor Details

    • DRD

      public DRD()

  • Method Details

    • 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()