Kinova API Documentation
KINOVAAPIUSBCOMMANDLAYER_API int GetCartesianForce ( CartesianPosition Response)

This function returns the cartesian force at the robotical arm's end effector. Translation unit is N and orientation unit is N * m .

Parameters:
ResponseA structure that contains the force vector at the end effector.
#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;
        CartesianPosition data;

        cout << "GetCartesianForce 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 (*MyGetCartesianForce)(CartesianPosition &);

        //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");
        MyGetCartesianForce = (int (*)(CartesianPosition &)) dlsym(commandLayer_handle,"GetCartesianForce");

        //If the was loaded correctly
        if((MyInitAPI == NULL) || (MyCloseAPI == NULL) || (MyGetCartesianForce == 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;

                result = (*MyGetCartesianForce)(data);

                cout << "       Position X : " << data.Coordinates.X << " N" << endl;
                cout << "       Position Y : " << data.Coordinates.Y << " N" << endl;
                cout << "       Position Z : " << data.Coordinates.Z << " N" << endl;

                cout << "  Position ThetaX : " << data.Coordinates.ThetaX << " N*m" << endl;
                cout << "  Position ThetaY : " << data.Coordinates.ThetaY << " N*m" << endl;
                cout << "  Position ThetaZ : " << data.Coordinates.ThetaZ << " N*m" << endl;

                cout << "Position Finger 1 : " << data.Fingers.Finger1 << endl;
                cout << "Position Finger 2 : " << data.Fingers.Finger2 << endl;
                cout << "Position Finger 3 : " << data.Fingers.Finger3 << endl;

                cout << endl << "Calling the method CloseAPI()" << endl;
                result = (*MyCloseAPI)();
                cout << "result of CloseAPI() = " << result << endl;
        }

        return 0;
}
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