Kinova API Documentation
KINOVAAPIUSBCOMMANDLAYER_API int GetForcesInfo ( ForcesInfo Response)

This function gets information regarding all forces.

Parameters:
ResponseA struct containing the information about the forces.
#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;

        cout << "GetForcesInfo 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 (*MyGetForcesInfo)(ForcesInfo &Response);

        //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");
        MyGetForcesInfo = (int (*)(ForcesInfo &)) dlsym(commandLayer_handle,"GetForcesInfo");

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

                ForcesInfo info;

                result = (*MyGetForcesInfo)(info);

                cout << "Actuator torque 1 = " << info.Actuator1 << " N * m" << endl;
                cout << "Actuator torque 2 = " << info.Actuator2 << " N * m"  << endl;
                cout << "Actuator torque 3 = " << info.Actuator3 << " N * m"  << endl;
                cout << "Actuator torque 4 = " << info.Actuator4 << " N * m"  << endl;
                cout << "Actuator torque 5 = " << info.Actuator5 << " N * m"  << endl;
                cout << "Actuator torque 6 = " << info.Actuator6 << " N * m"  << endl;

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

        return 0;
}
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