A simple listener to calculate collision force against a square area for the example application. More...

#include <MovingSquareForce.h>

Inheritance diagram for MovingSquareForce:

Public Member Functions
	MovingSquareForce (const std::string &toolDeviceName, const std::string &squareDeviceName)
	Constructor.

void	initializeInput (const std::string &device, const SurgSim::DataStructures::DataGroup &inputData) override
	Set the initial input data group. More...

void	handleInput (const std::string &device, const SurgSim::DataStructures::DataGroup &inputData) override
	Notifies the consumer that the application input coming from the device has been updated. More...

bool	requestOutput (const std::string &device, SurgSim::DataStructures::DataGroup *outputData) override
	Asks the producer to provide output state to the device. More...

Public Member Functions inherited from SurgSim::Input::InputConsumerInterface
virtual	~InputConsumerInterface ()
	Virtual destructor (empty).

Public Member Functions inherited from SurgSim::Input::OutputProducerInterface
virtual	~OutputProducerInterface ()
	Virtual destructor (empty).

Protected Member Functions
void	updateTool (const SurgSim::DataStructures::DataGroup &toolInputData)
	Updates the state of the tool as described by toolInputData. More...

void	updateSquare (const SurgSim::DataStructures::DataGroup &squareInputData)
	Updates the state of the square as described by squareInputData. More...

SurgSim::Math::Vector3d	computeForce (const SurgSim::Math::Vector3d &position)
	Calculates the force as a function of device tip position. More...

Detailed Description

A simple listener to calculate collision force against a square area for the example application.

Includes support for the square being moved by a second tool.

See also: SurgSim::Input::InputConsumerInterface, SurgSim::Input::OutputProducerInterface

Member Function Documentation

§ computeForce()

Vector3d MovingSquareForce::computeForce ( const SurgSim::Math::Vector3d & position )

protected

Calculates the force as a function of device tip position.

The calculation is very simple, for a simple demo of the device input/output functionality.

Parameters

position The device tip position.

Returns: The computed force.

§ handleInput()

void MovingSquareForce::handleInput	(	const std::string &	device,
		const SurgSim::DataStructures::DataGroup &	inputData
	)

overridevirtual

Notifies the consumer that the application input coming from the device has been updated.

Typical input data contents (but note that individual devices may do things differently):

type	name
pose	"pose"	Device pose (units are meters).
bool	"button1"	State of the first device button.
bool	"button2"	State of the second device button (and so on).

§ initializeInput()

void MovingSquareForce::initializeInput	(	const std::string &	device,
		const SurgSim::DataStructures::DataGroup &	inputData
	)

overridevirtual

Set the initial input data group.

Parameters

device	The name of the device that is producing the input. This should only be used to identify the device (e.g. if the consumer is listening to several devices at once).
inputData	The application input state coming from the device.

Implements SurgSim::Input::InputConsumerInterface.

§ requestOutput()

bool MovingSquareForce::requestOutput	(	const std::string &	device,
		SurgSim::DataStructures::DataGroup *	outputData
	)

overridevirtual

Asks the producer to provide output state to the device.

Note that devices may never call this method, e.g. because the device doesn't actually have any output capability.

Typical output data contents (but note that individual devices may do things differently):

type	name
vector	"force"	Commanded force for the device (units are newtons).
vector	"torque"	Commanded torque for the device (units are newton-meters).
bool	"isEnabled"	Safety switch input.

§ updateSquare()

void MovingSquareForce::updateSquare ( const SurgSim::DataStructures::DataGroup & squareInputData )

protected

Updates the state of the square as described by squareInputData.

Parameters

squareInputData The state of the device controlling the colliding square.

§ updateTool()

void MovingSquareForce::updateTool ( const SurgSim::DataStructures::DataGroup & toolInputData )

protected

Updates the state of the tool as described by toolInputData.

Parameters

toolInputData The state of the device controlling the tool.

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

SurgSim/Testing/VisualTestCommon/MovingSquareForce.h
SurgSim/Testing/VisualTestCommon/MovingSquareForce.cpp

type	name
bool	"isHomed"	Device homing status.
bool	"isHomedX"	Individual homing status for the X axis (and so on).
bool	"isHeld"	Safety sensor etc. status.
string	"model"	Device model description.
string	"serial"	Serial number string.
(any)	"debug:*"	Various debugging information

type	name
bool	"led0"	Desired state for LED 0.
bool	"led1"	Desired state for LED 1.
string	"toolId"	Calibration ID to use, e.g. for camera devices.

	device	The name of the device that is requesting the output. This should only be used to identify the device (e.g. if the producer is listening to several devices at once).
[out]	outputData	The application output state being fed into the device.

Public Member Functions

Protected Member Functions

Detailed Description

Member Function Documentation

§ computeForce()

§ handleInput()

§ initializeInput()

§ requestOutput()

§ updateSquare()

§ updateTool()