Structures and functions for the primary HAPTIX API. More...

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Data Structures
struct	hxCommand
	Motor command data. More...

struct	hxRobotInfo
	Robot information. More...

struct	hxSensor
	Sensor data. More...

struct	hxTime
	A representation of time. More...

Macros
#define	hxMAXCONTACTSENSOR 32
	Maximum number of contact sensors. More...

#define	hxMAXIMU 32
	Maximum number of IMUs. More...

#define	hxMAXJOINT 32
	Maximum number of joints. More...

#define	hxMAXMOTOR 32
	Maximum number of motors. More...

Enumerations
enum	hxResult { hxOK = 0, hxERROR }
	API return codes. More...

Functions
hxResult	hx_close ()
	Close connection to a robot or simulator. More...

hxResult	hx_connect (const char *_host, int _port)
	Connect to a robot or simulator. More...

const char *	hx_last_result ()
	Return a string that describes the last result. More...

hxResult	hx_read_sensors (hxSensor *_sensor)
	Similar to hx_update, this function reads the latest sensor information from the robot in a non-blocking manner. More...

hxResult	hx_robot_info (hxRobotInfo *_robotinfo)
	Get information for a specified robot or simulator. More...

hxResult	hx_update (const hxCommand _command, hxSensor _sensor)
	A non-blocking function that sends a command to the robot and receives the latest sensor information. More...

Detailed Description

Structures and functions for the primary HAPTIX API.

Macro Definition Documentation

#define hxMAXCONTACTSENSOR 32

Maximum number of contact sensors.

Defines the maximum number of contact sensors across any particular robot. It is used when allocating an hxSensor.contact object. The number of contact sensors for a particular robot is defined in _hxRobotInfo.

#define hxMAXIMU 32

Maximum number of IMUs.

Defines the maximum number of inertial measurement units across any particular robot. It is used when allocating sensor objects related to IMUs. The number of IMUs for a particular robot is defined in _hxRobotInfo.

#define hxMAXJOINT 32

Maximum number of joints.

Defines the maximum number of joints across any particular robot. It is used when allocating sensor properties related to the joints. number of joints for a particular robot is defined in _hxRobotInfo.

#define hxMAXMOTOR 32

Maximum number of motors.

Defines the maximum number of motors across any particular robot. It is used when allocating sensor and command objects related to the motors. The number of motors for a particular robot is defined in _hxRobotInfo.

Enumeration Type Documentation

enum hxResult

API return codes.

These return codes are used to specify the outcome of a haptix-comm function (e.g. success or failure).

Enumerator
hxOK	success
hxERROR	failure

Function Documentation

hxResult hx_close ( )

Close connection to a robot or simulator.

Returns: 'hxOK' if the disconnection succeed or an error code otherwise.

hxResult hx_connect	(	const char *	_host,
		int	_port
	)

Connect to a robot or simulator.

Use this function if you want to connect to a specific host and port.

Parameters

[in]	_host	When connecting to a simulator, use _host to specify the machine that is running the simulator. Use a value of NULL to perform automatic discovery.
[in]	_port	When connecting to a simulator, use _port to specify what port the simulator is running on. If _host is NULL, then _port is ignored.

Returns: 'hxOK' if the connection succeed or an error code otherwise.

const char* hx_last_result ( )

Return a string that describes the last result.

See also: hxResult.

Returns: String that describes the last result.

hxResult hx_read_sensors ( hxSensor * _sensor )

Similar to hx_update, this function reads the latest sensor information from the robot in a non-blocking manner.

This function may be called as often as desired, but the robot is only guaranteeed to update at a minimum of 50Hz. Return sensor data.

Parameters

[out] _sensor Sensor data received after the update.

Returns: 'hxOK' if the operation succeed or an error code otherwise.

hxResult hx_robot_info ( hxRobotInfo * _robotinfo )

Get information for a specified robot or simulator.

Parameters

[out] _robotInfo Robot information requested. See _hxRobotInfo for a list of available fields.

Returns: 'hxOK' if the operation succeed or an error code otherwise.

hxResult hx_update	(	const hxCommand *	_command,
		hxSensor *	_sensor
	)

A non-blocking function that sends a command to the robot and receives the latest sensor information.

This function may be used as frequently as desired, but the robot is only guaranteed to update at a minimum of 50Hz.

Parameters

[in]	_command	New command to be sent. See _hxCommand for the full description of fields contained in a command request.
[out]	_sensor	Sensor data received after the update. See _hxSensor for the full description of fields contained the state response.

Returns: 'hxOK' if the operation succeed or an error code otherwise.

HAPTIX API

Data Structures

Macros

Enumerations

Functions

Detailed Description

Macro Definition Documentation

Enumeration Type Documentation

Function Documentation