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A class implementing the communication with a generic Novint Falcon device. More...
#include <SurgSim/Devices/Novint/NovintCommonDevice.h>
Public Member Functions | |
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 |
Query if this object represents a 7 degree of freedom hardware device. More... | |
Private Attributes | |
std::shared_ptr< NovintScaffold > | m_scaffold |
The scaffold handles all the communication with the SDK. More... | |
std::string | m_initializationName |
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... | |
Friends | |
class | NovintScaffold |
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 generic Novint Falcon device.
SurgSim::Device::NovintCommonDevice::NovintCommonDevice | ( | 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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overridevirtual |
Finalize (de-initialize) the device.
Implements SurgSim::Input::DeviceInterface.
std::string SurgSim::Device::NovintCommonDevice::getInitializationName | ( | ) | const |
Gets the name used by the Novint device configuration to refer to this device.
Note that this may or may not be the same as the device name retrieved by getName(). An empty string indicates the default device.
double SurgSim::Device::NovintCommonDevice::getOrientationScale | ( | ) | const |
Gets the orientation scale for this device.
double SurgSim::Device::NovintCommonDevice::getPositionScale | ( | ) | const |
Gets the position scale for this device.
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overridevirtual |
Fully initialize the device.
When the manager object creates the device, the internal state of the device usually isn't fully initialized yet. This method performs any needed initialization.
Implements SurgSim::Input::DeviceInterface.
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privatevirtual |
Query if this object represents a 7 degree of freedom hardware device.
Reimplemented in SurgSim::Device::Novint7DofDevice.
bool SurgSim::Device::NovintCommonDevice::isInitialized | ( | ) | const |
Check whether this device is initialized.
void SurgSim::Device::NovintCommonDevice::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.
scale | The multiplicative factor to apply to the rotation angles. |
void SurgSim::Device::NovintCommonDevice::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.
scale | The multiplicative factor to apply to the position. |
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friend |
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private |
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private |
Scale factor for the orientation axes; stored locally before the device is initialized.
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private |
Scale factor for the position axes; stored locally before the device is initialized.
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private |
The scaffold handles all the communication with the SDK.