HAPTIX Communication API Reference

This site provides useful information about the HAPTIX API (C and Matlab). Should you find problems with this documentation - typos, unclear phrases, or insufficient detail - please create a new bitbucket issue. Include sufficient detail to quickly locate the problematic documentation, and set the issue's fields accordingly: Assignee - blank; Kind - bug; Priority - minor; Version - blank.

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C-API

The C-API contains two headers:

• haptix.h : The primary HAPTIX interface
• haptix_sim.h : Simulation specific interface

Important functions:

• hx_connect(const char *_host, int _port) : Connect to a robot or simulator
• hx_robot_info(hxRobotInfo *_robotinfo) : Get info for specified robot/simulator target
• hx_update(const hxCommand *_command, hxSensor *_sensor) : Asynchronous update at the rate supported by the device
• hx_read_sensors(hxSensor *_sensor) : Reads the latest sensor information from the robot in a non-blocking manner
• hx_close() : Close connection to to a robot or simulator

Matlab API

The Matlab API is a wrapper around the C-API. Use the following links to view each .m file.

• hx_connect.m
• hx_robot_info.m
• hx_update.m
• hx_read_sensors.m
• hx_close.m

MPL Arm Schematics

The following diagrams describe the locations of sensors, motors, and joints on the MPL hand. The numbers on the diagrams correspond to indices in data arrays specified in the hxSensor and hxCommand structures.