16 #ifndef SURGSIM_DEVICES_NOVINT_NOVINTCOMMONDEVICE_H
17 #define SURGSIM_DEVICES_NOVINT_NOVINTCOMMONDEVICE_H
43 NovintCommonDevice(
const std::string& uniqueName,
const std::string& initializationName);
97 #endif // SURGSIM_DEVICES_NOVINT_NOVINTCOMMONDEVICE_H
virtual bool initialize() override
Fully initialize the device.
Definition: NovintCommonDevice.cpp:66
A class that manages Novint Falcon devices.
Definition: NovintScaffold.h:40
Definition: DriveElementFromInputBehavior.cpp:27
virtual bool finalize() override
Finalize (de-initialize) the device.
Definition: NovintCommonDevice.cpp:83
void setPositionScale(double scale)
Sets the position scale for this device.
Definition: NovintCommonDevice.cpp:98
std::string m_initializationName
Definition: NovintCommonDevice.h:86
double m_orientationScale
Scale factor for the orientation axes; stored locally before the device is initialized.
Definition: NovintCommonDevice.h:91
virtual bool is7DofDevice() const
Query if this object represents a 7 degree of freedom hardware device.
Definition: NovintCommonDevice.cpp:126
double m_positionScale
Scale factor for the position axes; stored locally before the device is initialized.
Definition: NovintCommonDevice.h:89
std::shared_ptr< NovintScaffold > m_scaffold
The scaffold handles all the communication with the SDK.
Definition: NovintCommonDevice.h:85
double getPositionScale() const
Gets the position scale for this device.
Definition: NovintCommonDevice.cpp:107
std::string getInitializationName() const
Gets the name used by the Novint device configuration to refer to this device.
Definition: NovintCommonDevice.cpp:60
bool isInitialized() const
Check whether this device is initialized.
Definition: NovintCommonDevice.cpp:93
double getOrientationScale() const
Gets the orientation scale for this device.
Definition: NovintCommonDevice.cpp:121
NovintCommonDevice(const std::string &uniqueName, const std::string &initializationName)
Constructor.
Definition: NovintCommonDevice.cpp:44
virtual ~NovintCommonDevice()
Destructor.
Definition: NovintCommonDevice.cpp:51
A class implementing the communication with a generic Novint Falcon device.
Definition: NovintCommonDevice.h:35
void setOrientationScale(double scale)
Sets the orientation scale for this device.
Definition: NovintCommonDevice.cpp:112