MovingSquareForce Class Reference

A simple listener to calculate collision force against a square area for the example application. More...

#include <SurgSim/Testing/VisualTestCommon/MovingSquareForce.h>

Inheritance diagram for MovingSquareForce:

Classes
struct	SquarePoseVectors
	State defined by the pose of the square. More...

Public Member Functions
	MovingSquareForce (const std::string &toolDeviceName, const std::string &squareDeviceName)
	Constructor. More...
virtual void	initializeInput (const std::string &device, const SurgSim::DataStructures::DataGroup &inputData) override
	Set the initial input data group. More...
virtual void	handleInput (const std::string &device, const SurgSim::DataStructures::DataGroup &inputData) override
	Notifies the consumer that the application input coming from the device has been updated. More...
virtual bool	requestOutput (const std::string &device, SurgSim::DataStructures::DataGroup *outputData) override
	Asks the producer to provide output state to the device. More...
Public Member Functions inherited from SurgSim::Input::InputConsumerInterface
virtual	~InputConsumerInterface ()
	Virtual destructor (empty). More...
Public Member Functions inherited from SurgSim::Input::OutputProducerInterface
virtual	~OutputProducerInterface ()
	Virtual destructor (empty). More...

Protected Member Functions
void	updateTool (const SurgSim::DataStructures::DataGroup &toolInputData)
	Updates the state of the tool as described by toolInputData. More...
void	updateSquare (const SurgSim::DataStructures::DataGroup &squareInputData)
	Updates the state of the square as described by squareInputData. More...
SurgSim::Math::Vector3d	computeForce (const SurgSim::Math::Vector3d &position)
	Calculates the force as a function of device tip position. More...

Private Attributes
const std::string	m_toolDeviceName
	Name of the device used as the tool. More...
const std::string	m_squareDeviceName
	Name of the device used to move the square. More...
SurgSim::DataStructures::DataGroup	m_outputData
	Internally stored output data (force and torque). More...
double	m_squareHalfSize
	One half of the edge length of the square we're colliding against, in meters. More...
double	m_surfaceStiffness
	The surface stiffness, in newtons per meter. More...
double	m_forceLimit
	The maximum force before the application allows the tool to pop through. More...
SurgSim::Framework::LockedContainer< SquarePoseVectors >	m_square
	Points and directions defined by the pose of the square. More...
double	m_squareNormalDirection
	The current sign of the direction of the normal vector of the square. More...
SurgSim::Math::Vector3d	m_tipPoint
	The location of the "tip" (i.e. interacting point) of the tool, in the local frame relative to the tool pose. More...

Detailed Description

A simple listener to calculate collision force against a square area for the example application.

Includes support for the square being moved by a second tool.

See also

SurgSim::Input::InputConsumerInterface, SurgSim::Input::OutputProducerInterface

Constructor & Destructor Documentation

MovingSquareForce::MovingSquareForce	(	const std::string &	toolDeviceName,
		const std::string &	squareDeviceName
	)

Constructor.

Member Function Documentation

Vector3d MovingSquareForce::computeForce ( const SurgSim::Math::Vector3d &  position )

protected

Calculates the force as a function of device tip position.

The calculation is very simple, for a simple demo of the device input/output functionality.

Parameters

position

The device tip position.

Returns

The computed force.

void MovingSquareForce::handleInput ( const std::string &  device, const SurgSim::DataStructures::DataGroup &  inputData  )

overridevirtual

Notifies the consumer that the application input coming from the device has been updated.

Typical input data contents (but note that individual devices may do things differently):

type	name
pose	"pose"	Device pose (units are meters).
bool	"button1"	State of the first device button.
bool	"button2"	State of the second device button (and so on).

Other possible contents includes:

type	name
bool	"isHomed"	Device homing status.
bool	"isHomedX"	Individual homing status for the X axis (and so on).
bool	"isHeld"	Safety sensor etc. status.
string	"model"	Device model description.
string	"serial"	Serial number string.
(any)	"debug:*"	Various debugging information

Parameters

device	The name of the device that is producing the input. This should only be used to identify the device (e.g. if the consumer is listening to several devices at once).
inputData	The application input state coming from the device.

Implements SurgSim::Input::InputConsumerInterface.

void MovingSquareForce::initializeInput ( const std::string &  device, const SurgSim::DataStructures::DataGroup &  inputData  )

overridevirtual

Set the initial input data group.

Parameters

device	The name of the device that is producing the input. This should only be used to identify the device (e.g. if the consumer is listening to several devices at once).
inputData	The application input state coming from the device.

Implements SurgSim::Input::InputConsumerInterface.

bool MovingSquareForce::requestOutput ( const std::string &  device, SurgSim::DataStructures::DataGroup *  outputData  )

overridevirtual

Asks the producer to provide output state to the device.

Note that devices may never call this method, e.g. because the device doesn't actually have any output capability.

Typical output data contents (but note that individual devices may do things differently):

type	name
vector	"force"	Commanded force for the device (units are newtons).
vector	"torque"	Commanded torque for the device (units are newton-meters).
bool	"isEnabled"	Safety switch input.

Other possible contents includes:

type	name
bool	"led0"	Desired state for LED 0.
bool	"led1"	Desired state for LED 1.
string	"toolId"	Calibration ID to use, e.g. for camera devices.

Parameters

	device	The name of the device that is requesting the output. This should only be used to identify the device (e.g. if the producer is listening to several devices at once).
[out]	outputData	The application output state being fed into the device.

Returns

true if the producer has provided some output, false if it refuses to do so. A producer that returns false should leave outputData unmodified.

Implements SurgSim::Input::OutputProducerInterface.

void MovingSquareForce::updateSquare ( const SurgSim::DataStructures::DataGroup &  squareInputData )

protected

Updates the state of the square as described by squareInputData.

Parameters

squareInputData

The state of the device controlling the colliding square.

void MovingSquareForce::updateTool ( const SurgSim::DataStructures::DataGroup &  toolInputData )

protected

Updates the state of the tool as described by toolInputData.

Parameters

toolInputData

The state of the device controlling the tool.

Member Data Documentation

double MovingSquareForce::m_forceLimit

private

The maximum force before the application allows the tool to pop through.

SurgSim::DataStructures::DataGroup MovingSquareForce::m_outputData

private

Internally stored output data (force and torque).

SurgSim::Framework::LockedContainer<SquarePoseVectors> MovingSquareForce::m_square

private

Points and directions defined by the pose of the square.

const std::string MovingSquareForce::m_squareDeviceName

private

Name of the device used to move the square.

double MovingSquareForce::m_squareHalfSize

private

One half of the edge length of the square we're colliding against, in meters.

double MovingSquareForce::m_squareNormalDirection

private

The current sign of the direction of the normal vector of the square.

double MovingSquareForce::m_surfaceStiffness

private

The surface stiffness, in newtons per meter.

SurgSim::Math::Vector3d MovingSquareForce::m_tipPoint

private

The location of the "tip" (i.e. interacting point) of the tool, in the local frame relative to the tool pose.

const std::string MovingSquareForce::m_toolDeviceName

private

Name of the device used as the tool.

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The documentation for this class was generated from the following files:

• SurgSim/Testing/VisualTestCommon/MovingSquareForce.h
• SurgSim/Testing/VisualTestCommon/MovingSquareForce.cpp