| KINOVAAPIUSBCOMMANDLAYER_API int MoveHome | ( | ) |
This Moce the robot to the HOME position also known as READY position.
#include <iostream> #include <dlfcn.h> //Ubuntu #include <vector> #include "KinovaTypes.h" //Note that under windows, you may/will have to perform other #include using namespace std; int main() { int result; int data; cout << "MoveHome function example" << endl; //Handle for the library's command layer. void * commandLayer_handle; //Function pointers to the functions we need int (*MyInitAPI)(); int (*MyCloseAPI)(); int (*MyMoveHome)(int &); //We load the library (Under Windows, use the function LoadLibrary) commandLayer_handle = dlopen("Kinova.API.USBCommandLayerUbuntu.so",RTLD_NOW|RTLD_GLOBAL); //We load the functions from the library (Under Windows, use GetProcAddress) MyInitAPI = (int (*)()) dlsym(commandLayer_handle,"InitAPI"); MyCloseAPI = (int (*)()) dlsym(commandLayer_handle,"CloseAPI"); MyMoveHome = (int (*)(int &)) dlsym(commandLayer_handle,"MoveHome"); //If the was loaded correctly if((MyInitAPI == NULL) || (MyCloseAPI == NULL) || (MyMoveHome == NULL)) { cout << "Unable to initialize the command layer." << endl; } else { cout << "The command has been initialized correctly." << endl << endl; cout << "Calling the method InitAPI()" << endl; result = (*MyInitAPI)(); cout << "result of InitAPI() = " << result << endl; //Sending the robot to the READY(HOME) position. result = (*MyMoveHome)(data); cout << endl << "Calling the method CloseAPI()" << endl; result = (*MyCloseAPI)(); cout << "result of CloseAPI() = " << result << endl; } return 0; }