A class implementing the communication with Natural Point TrackIR camera. More...

#include <SurgSim/Devices/TrackIR/TrackIRDevice.h>

Inheritance diagram for SurgSim::Device::TrackIRDevice:

Public Member Functions
	TrackIRDevice (const std::string &uniqueName)
	Constructor. More...

virtual	~TrackIRDevice ()
	Destructor. More...

virtual bool	initialize () override
	Initialize this device, register it with the scaffold. More...

virtual bool	finalize () override
	Finalize this device, unregister this device from the scaffold. 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...

Static Private Member Functions
static double	defaultPositionScale ()

static double	defaultOrientationScale ()

Private Attributes
double	m_positionScale
	Scale factor for the position axes; stored locally before the device is initialized. More...

double	m_orientationScale
	Scale factor for the orientation axes; stored locally before the device is initialized. More...

std::shared_ptr< TrackIRScaffold >	m_scaffold
	Communication with hardware is handled by scaffold. More...

Friends
class	TrackIRScaffold

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 Natural Point TrackIR camera.

Application input provided by the device:

type	name
pose	"pose"	Device pose (units are meters).

Application output used by the device: none.

See also: SurgSim::Input::CommonDevice, SurgSim::Input::DeviceInterface

Constructor & Destructor Documentation

SurgSim::Device::TrackIRDevice::TrackIRDevice ( const std::string & uniqueName )

explicit

Constructor.

Parameters

uniqueName A unique name for the device.

SurgSim::Device::TrackIRDevice::~TrackIRDevice ( )

virtual

Destructor.

Member Function Documentation

double SurgSim::Device::TrackIRDevice::defaultOrientationScale ( )

staticprivate

double SurgSim::Device::TrackIRDevice::defaultPositionScale ( )

staticprivate

bool SurgSim::Device::TrackIRDevice::finalize ( )

overridevirtual

Finalize this device, unregister this device from the scaffold.

Returns: True on success; false otherwise.

Implements SurgSim::Input::DeviceInterface.

double SurgSim::Device::TrackIRDevice::getOrientationScale ( ) const

Gets the orientation scale for this device.

double SurgSim::Device::TrackIRDevice::getPositionScale ( ) const

Gets the position scale for this device.

bool SurgSim::Device::TrackIRDevice::initialize ( )

overridevirtual

Initialize this device, register it with the scaffold.

Returns: True on success; false otherwise.

Implements SurgSim::Input::DeviceInterface.

bool SurgSim::Device::TrackIRDevice::isInitialized ( ) const

Check whether this device is initialized.

Returns: True if this device is initialized; false otherwise.

void SurgSim::Device::TrackIRDevice::setOrientationScale ( double scale )

Sets the orientation scale for this device.

The orientation scale controls how much the pose changes for a given device rotation. The default value for a raw device tries to correspond to the actual physical motion of the device.

void SurgSim::Device::TrackIRDevice::setPositionScale ( double scale )

Sets the position scale for this device.

The position scale controls how much the pose changes for a given device translation. The default value for a raw device tries to correspond to the actual physical motion of the device.

Friends And Related Function Documentation

friend class TrackIRScaffold

friend

Member Data Documentation

double SurgSim::Device::TrackIRDevice::m_orientationScale

private

Scale factor for the orientation axes; stored locally before the device is initialized.

double SurgSim::Device::TrackIRDevice::m_positionScale

private

Scale factor for the position axes; stored locally before the device is initialized.

std::shared_ptr<TrackIRScaffold> SurgSim::Device::TrackIRDevice::m_scaffold

private

Communication with hardware is handled by scaffold.

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

SurgSim/Devices/TrackIR/TrackIRDevice.h
SurgSim/Devices/TrackIR/TrackIRDevice.cpp

Public Member Functions

Static Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation