java.lang.Object
- com.forcedimension.sdk.DHD

public class DHD
extends java.lang.Object

Field Summary

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

Constructor Summary

Constructors
Constructor Description

DHD()

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
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 java.lang.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 java.lang.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 java.lang.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()
`java.lang.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 Detail
- 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 Detail
- DHD
```
public DHD()
```

Method Detail

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 java.lang.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 java.lang.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 java.lang.String GetLastErrorString()
```
Java wrapper for dhdErrorGetLastStr()

GetErrorString

public static java.lang.String GetErrorString(int error)

Java wrapper for dhdErrorGetStr()

Class DHD

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

MAX_DOF

MAX_BUTTONS

DEVICE_NONE

DEVICE_DELTA3

DEVICE_OMEGA3

DEVICE_OMEGA6_RIGHT

DEVICE_OMEGA6_LEFT

DEVICE_OMEGA7_RIGHT

DEVICE_OMEGA7_LEFT

DEVICE_FALCON

DEVICE_CONTROLLER

DEVICE_CONTROLLER_HR

DEVICE_CUSTOM

DEVICE_SIGMA3

DEVICE_SIGMA7_RIGHT

DEVICE_SIGMA7_LEFT

DEVICE_LAMBDA3

DEVICE_LAMBDA7_RIGHT

DEVICE_LAMBDA7_LEFT

MAX_STATUS

STATUS_POWER

STATUS_CONNECTED

STATUS_STARTED

STATUS_RESET

STATUS_IDLE

STATUS_FORCE

STATUS_BRAKE

STATUS_TORQUE

STATUS_WRIST_DETECTED

STATUS_ERROR

STATUS_GRAVITY

STATUS_TIMEGUARD

STATUS_WRIST_INIT

STATUS_REDUNDANCY

STATUS_FORCE_OFF_CAUSE

STATUS_LOCKS

STATUS_AXIS_CHECKED

VELOCITY_WINDOWING

VELOCITY_INSTANT

VELOCITY_WINDOW

NO_ERROR

ERROR

ERROR_COM

ERROR_DHC_BUSY

ERROR_NO_DRIVER_FOUND

ERROR_NO_DEVICE_FOUND

ERROR_NOT_AVAILABLE

ERROR_TIMEOUT

ERROR_GEOMETRY

ERROR_EXPERT_MODE_DISABLED

ERROR_NOT_IMPLEMENTED

ERROR_OUT_OF_MEMORY

ERROR_DEVICE_NOT_READY

ERROR_FILE_NOT_FOUND

ERROR_CONFIGURATION

ERROR_INVALID_INDEX

ERROR_DEPRECATED

ERROR_NULL_ARGUMENT

ERROR_REDUNDANT_FAIL

ERROR_NOT_ENABLED

ERROR_DEVICE_IN_USE

ERROR_INVALID

ERROR_NO_REGULATION

Constructor Detail

DHD

Method Detail

EnableSimulator

GetDeviceCount

GetAvailableCount

SetDeviceID

GetDeviceID

GetSerialNumber

Open

OpenType