SurgSim::Device::NovintScaffold::DeviceData Struct Reference

Public Types
typedef std::array< bool, MAX_NUM_BUTTONS >	ButtonStates
	Type used to store button states. More...

Public Member Functions
	DeviceData (const std::string &apiName, NovintCommonDevice *device)
	Initialize the state. More...

Public Attributes
const std::string	initializationName
	The HDAL device name. More...
NovintCommonDevice *const	deviceObject
	The corresponding device object. More...
NovintScaffold::Handle	deviceHandle
	The device handle wrapper. More...
Clock::time_point	initializationTime
	Time of the initialization of the handle. More...
Vector3d	jointAngles
	The joint angles for the device orientation. More...
ButtonStates	buttonStates
	The button state read from the device. More...
bool	isPositionHomed
	The homing state read from the device. More...
bool	isOrientationHomed
	The homing state read from the device. More...
bool	isDeviceHomed
	The homing state read from the device. More...
bool	isDeviceHeld
	The proximity state read from the device. More...
bool	isDevice7Dof
	True if this is a 7DoF device. More...
bool	isDeviceRollAxisReversed
	True if the roll axis of a 7DoF device has reverse polarity because the device is left-handed. More...
double	eulerAngleOffsetRoll
	The offset added to the roll Euler angle. More...
double	eulerAngleOffsetYaw
	The offset added to the yaw Euler angle. More...
double	eulerAngleOffsetPitch
	The offset added to the pitch Euler angle. More...
double	forwardPointingPoseThreshold
	The threshold to determine if the device is pointing forwards before unlocking orientation. More...
Vector3d	torqueScale
	The scaling factors for the torque axes. More...
Vector3d	position
	The position value from the device. More...
RigidTransform3d	orientationTransform
	The orientation value from the device. If the device is not 7Dof the orientation is always Identity. More...
RigidTransform3d	scaledPose
	The pose value from the device, after scaling. More...
Vector3d	force
	The force value to be written to the device. More...
Vector4d	torque
	The torque value to be written to the device. More...
double	positionScale
	Scale factor for the position axes. More...
double	orientationScale
	Scale factor for the orientation axes. More...
boost::mutex	parametersMutex
	The mutex that protects the externally modifiable parameters. More...

Static Public Attributes
static const size_t	MAX_NUM_BUTTONS = 4
	The maximum number of buttons supported by any device object. More...

Private Member Functions
	DeviceData (const DeviceData &)
DeviceData &	operator= (const DeviceData &)

Member Typedef Documentation

typedef std::array<bool, MAX_NUM_BUTTONS> SurgSim::Device::NovintScaffold::DeviceData::ButtonStates

Type used to store button states.

Constructor & Destructor Documentation

SurgSim::Device::NovintScaffold::DeviceData::DeviceData ( const std::string &  apiName, NovintCommonDevice *  device  )

inline

Initialize the state.

SurgSim::Device::NovintScaffold::DeviceData::DeviceData ( const DeviceData &  )

private

Member Function Documentation

DeviceData& SurgSim::Device::NovintScaffold::DeviceData::operator= ( const DeviceData &  )

private

Member Data Documentation

ButtonStates SurgSim::Device::NovintScaffold::DeviceData::buttonStates

The button state read from the device.

NovintScaffold::Handle SurgSim::Device::NovintScaffold::DeviceData::deviceHandle

The device handle wrapper.

NovintCommonDevice* const SurgSim::Device::NovintScaffold::DeviceData::deviceObject

The corresponding device object.

double SurgSim::Device::NovintScaffold::DeviceData::eulerAngleOffsetPitch

The offset added to the pitch Euler angle.

double SurgSim::Device::NovintScaffold::DeviceData::eulerAngleOffsetRoll

The offset added to the roll Euler angle.

double SurgSim::Device::NovintScaffold::DeviceData::eulerAngleOffsetYaw

The offset added to the yaw Euler angle.

Vector3d SurgSim::Device::NovintScaffold::DeviceData::force

The force value to be written to the device.

double SurgSim::Device::NovintScaffold::DeviceData::forwardPointingPoseThreshold

The threshold to determine if the device is pointing forwards before unlocking orientation.

const std::string SurgSim::Device::NovintScaffold::DeviceData::initializationName

The HDAL device name.

Clock::time_point SurgSim::Device::NovintScaffold::DeviceData::initializationTime

Time of the initialization of the handle.

bool SurgSim::Device::NovintScaffold::DeviceData::isDevice7Dof

True if this is a 7DoF device.

bool SurgSim::Device::NovintScaffold::DeviceData::isDeviceHeld

The proximity state read from the device.

bool SurgSim::Device::NovintScaffold::DeviceData::isDeviceHomed

The homing state read from the device.

bool SurgSim::Device::NovintScaffold::DeviceData::isDeviceRollAxisReversed

True if the roll axis of a 7DoF device has reverse polarity because the device is left-handed.

bool SurgSim::Device::NovintScaffold::DeviceData::isOrientationHomed

The homing state read from the device.

bool SurgSim::Device::NovintScaffold::DeviceData::isPositionHomed

The homing state read from the device.

Vector3d SurgSim::Device::NovintScaffold::DeviceData::jointAngles

The joint angles for the device orientation.

const size_t SurgSim::Device::NovintScaffold::DeviceData::MAX_NUM_BUTTONS = 4

static

The maximum number of buttons supported by any device object.

double SurgSim::Device::NovintScaffold::DeviceData::orientationScale

Scale factor for the orientation axes.

RigidTransform3d SurgSim::Device::NovintScaffold::DeviceData::orientationTransform

The orientation value from the device. If the device is not 7Dof the orientation is always Identity.

boost::mutex SurgSim::Device::NovintScaffold::DeviceData::parametersMutex

The mutex that protects the externally modifiable parameters.

Vector3d SurgSim::Device::NovintScaffold::DeviceData::position

The position value from the device.

double SurgSim::Device::NovintScaffold::DeviceData::positionScale

Scale factor for the position axes.

RigidTransform3d SurgSim::Device::NovintScaffold::DeviceData::scaledPose

The pose value from the device, after scaling.

Vector4d SurgSim::Device::NovintScaffold::DeviceData::torque

The torque value to be written to the device.

Vector3d SurgSim::Device::NovintScaffold::DeviceData::torqueScale

The scaling factors for the torque axes.

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The documentation for this struct was generated from the following file:

• SurgSim/Devices/Novint/NovintScaffold.cpp