Catalyzes the phosphorylation of D-glucose to D-glucose 6-phosphate using ADP as the phosphate donor. GDP and CDP can replace ADP, but with reduced efficiency (By similarity). ADP + D-glucose = AMP + D-glucose 6-phosphate + H(+) Binds 1 Mg(2+) ion per subunit. Carbohydrate degradation; glycolysis. Monomer. Belongs to the ADP-dependent glucokinase family.