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A class implementing the communication with a Novint Falcon with the Open Surgery Grip 7-DoF device. More...
#include <SurgSim/Devices/Novint/Novint7DofDevice.h>
Public Member Functions | |
Novint7DofDevice (const std::string &uniqueName, const std::string &initializationName) | |
Constructor. More... | |
virtual | ~Novint7DofDevice () |
Destructor. More... | |
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NovintCommonDevice (const std::string &uniqueName, const std::string &initializationName) | |
Constructor. More... | |
virtual | ~NovintCommonDevice () |
Destructor. More... | |
std::string | getInitializationName () const |
Gets the name used by the Novint device configuration to refer to this device. More... | |
virtual bool | initialize () override |
Fully initialize the device. More... | |
virtual bool | finalize () override |
Finalize (de-initialize) the device. More... | |
bool | isInitialized () const |
Check whether this device is initialized. More... | |
void | setPositionScale (double scale) |
Sets the position scale for this device. More... | |
double | getPositionScale () const |
Gets the position scale for this device. More... | |
void | setOrientationScale (double scale) |
Sets the orientation scale for this device. More... | |
double | getOrientationScale () const |
Gets the orientation scale for this device. More... | |
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CommonDevice (const std::string &name) | |
Constructor. More... | |
CommonDevice (const std::string &name, const SurgSim::DataStructures::DataGroup &inputData) | |
Constructor. More... | |
CommonDevice (const std::string &name, SurgSim::DataStructures::DataGroup &&inputData) | |
Constructor. More... | |
virtual | ~CommonDevice () |
Destructor. More... | |
virtual std::string | getName () const override |
Return a (hopefully unique) device name. More... | |
void | setNameForCallback (const std::string &name) |
Set the name used for calling the input consumers and output producer. More... | |
std::string | getNameForCallback () const |
Get the name used for calling the input consumers and output producer. More... | |
virtual bool | addInputConsumer (std::shared_ptr< InputConsumerInterface > inputConsumer) override |
Connect this device to an InputConsumerInterface, which will receive the data that comes from this device. More... | |
virtual bool | removeInputConsumer (std::shared_ptr< InputConsumerInterface > inputConsumer) override |
Disconnect this device from an InputConsumerInterface, which will no longer receive data from this device. More... | |
virtual bool | setOutputProducer (std::shared_ptr< OutputProducerInterface > outputProducer) override |
Connect this device to an OutputProducerInterface, which will send data to this device. More... | |
virtual bool | removeOutputProducer (std::shared_ptr< OutputProducerInterface > outputProducer) override |
Disconnect this device from an OutputProducerInterface, which will no longer send data to this device. More... | |
virtual bool | hasOutputProducer () override |
Getter for whether or not this device is connected with an OutputProducerInterface. More... | |
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virtual | ~DeviceInterface () |
Virtual destructor (empty). More... | |
Private Member Functions | |
virtual bool | is7DofDevice () const override |
Query if this object represents a 7 degree of freedom hardware device. More... | |
Additional Inherited Members | |
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virtual void | pushInput () |
Push application input to consumers. More... | |
virtual bool | pullOutput () |
Pull application output from a producer. More... | |
SurgSim::DataStructures::DataGroup & | getInputData () |
Getter for the input data DataGroup. More... | |
const SurgSim::DataStructures::DataGroup & | getOutputData () const |
Getter for the output data DataGroup. More... | |
A class implementing the communication with a Novint Falcon with the Open Surgery Grip 7-DoF device.
type | name | |
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pose | "pose" | Device pose (units are meters). |
bool | "button1" | Always false (there are no buttons present). |
bool | "button2" | Always false (there are no buttons present). |
bool | "button3" | Always false (there are no buttons present). |
bool | "button4" | Always false (there are no buttons present). |
bool | "isHomed" | Device homing status. |
bool | "isHeld" | Device homing status. |
type | name | |
---|---|---|
vector | "force" | Device output force (units are newtons). |
vector | "torque" | Device output torque (units are newton-meters). |
bool | "gravityCompensation" | Enable or disable hardware gravity compensation. |
SurgSim::Device::Novint7DofDevice::Novint7DofDevice | ( | const std::string & | uniqueName, |
const std::string & | initializationName | ||
) |
Constructor.
uniqueName | A unique name for the device that will be used by the application. |
initializationName | The name passed to HDAL when initializing the device. This should match a configured Novint device; alternately, an empty string indicates the default device. |
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virtual |
Destructor.
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overrideprivatevirtual |
Query if this object represents a 7 degree of freedom hardware device.
Reimplemented from SurgSim::Device::NovintCommonDevice.