Robotic SDK: GLOSSARY

GLOSSARY

GLOSSARY

This page describes some of the technical expressions commonly used in the documentation. Make sure to check out the DHD glossary as well.

Initialization
The device must be initialized before drdStart() can be called. This can be achieved in two ways: either by manually placing the device calibration pole into the calibration pit, or by calling drdAutoInit() or drdCheckInit() to perform automatic, robotically controlled initialization. The current initialization status can be checked by calling drdIsInitialized(). Initialization can also be performed manually as described in the DHD initialization section.

Motion Filter
When calling drdTrackPos() or drdTrackEnc(), the trajectory generation algorithm is used to to guarantee the continuity of the acceleration. Because `drdTrack*` functions can be called asynchronously, the motion generation algorithm takes the acceleration and velocity at time of calling into account and generates a smooth transition to the new regulation target (for each axis independently).

Thread Priority
The DRD allows the programmer to control the priority of the regulation thread, as well as that of the calling thread. However, thread priority and its meaning is system dependent. Please refer to your platform documentation to determine the priority level scale, as well as safety and performance consideration involved in changing thread priorities.