A class implementing the communication with a Novint Falcon with the Open Surgery Grip 7-DoF device. More...

#include <SurgSim/Devices/Novint/Novint7DofDevice.h>

Inheritance diagram for SurgSim::Device::Novint7DofDevice:

Public Member Functions
	Novint7DofDevice (const std::string &uniqueName, const std::string &initializationName)
	Constructor. More...

virtual	~Novint7DofDevice ()
	Destructor. More...

Public Member Functions inherited from SurgSim::Device::NovintCommonDevice
	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...

Public Member Functions inherited from SurgSim::Input::CommonDevice
	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...

Public Member Functions inherited from SurgSim::Input::DeviceInterface
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
Protected Member Functions inherited from SurgSim::Input::CommonDevice
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...

Detailed Description

A class implementing the communication with a Novint Falcon with the Open Surgery Grip 7-DoF device.

Application input provided by the device:

type	name
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.

Application output used by the device:

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.

See also: NovintHapticDevice; NovintCommonDevice, SurgSim::Input::CommonDevice, SurgSim::Input::DeviceInterface

Constructor & Destructor Documentation

SurgSim::Device::Novint7DofDevice::Novint7DofDevice	(	const std::string &	uniqueName,
		const std::string &	initializationName
	)

Constructor.

Parameters

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.

SurgSim::Device::Novint7DofDevice::~Novint7DofDevice ( )

virtual

Destructor.

Member Function Documentation

bool SurgSim::Device::Novint7DofDevice::is7DofDevice ( ) const

overrideprivatevirtual

Query if this object represents a 7 degree of freedom hardware device.

Returns: true if 7 degree of freedom device, false if not.

Reimplemented from SurgSim::Device::NovintCommonDevice.

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

SurgSim/Devices/Novint/Novint7DofDevice.h
SurgSim/Devices/Novint/Novint7DofDevice.cpp

Public Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation