GLOSSARY

This page describes some of the technical expressions commonly used in the documentation.

• Default Device
  In a multiple devices utilization, the API keeps an internal ID of one of the devices. All the API calls that do not explicitly mention a device ID are directed to the default device. The default device can be determined by calling drdGetDeviceID(). The default device can be changed by calling drdSetDevice(). Calls to drdOpen() change the default device ID to the last successfully opened device.

• Single Device Calls
  When used with a single Force Dimension haptic device, programmers should use the single device version of the functions. Single device calls use the null default device ID, unlike the multiple devices API calls, which explicitly take the device ID as a last argument.

• 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() to perform automatic, robotically controlled initialization. The current initialization status can be checked by calling drdIsInitialized().

• 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 generate a smooth transition to the new regulation target (for each axis independently).

• Thread Priority
  The DRD-3.2 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.

References

Please use the following image when referencing the Force Dimension SDK in your own documentation:

Please use the following website when referencing Force Dimension products and services in your own documentation:

www.forcedimension.com