A class implementing the communication with a multi-axis controller input device, for example a 3DConnexion SpaceNavigator. More...

#include <MultiAxisDevice.h>

Inheritance diagram for SurgSim::Devices::MultiAxisDevice:

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

	SURGSIM_CLASSNAME (SurgSim::Devices::MultiAxisDevice)

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...

void	setAxisDominance (bool onOff)
	Turns on or off the axis dominance setting for this device. More...

bool	isUsingAxisDominance () const
	Gets the axis dominance setting for this device. More...

void	setReset (const std::string &name)
	Sets the string name of the boolean entry that will reset the pose to its initial value. More...

Public Member Functions inherited from SurgSim::Devices::FilteredDevice
	FilteredDevice (const std::string &name)
	Constructor. More...

	SURGSIM_CLASSNAME (SurgSim::Devices::FilteredDevice)

virtual	~FilteredDevice ()
	Destructor.

std::string	getName () const override
	Return a (hopefully unique) device name.

bool	initialize () override
	Fully initialize the device. More...

bool	isInitialized () const override

bool	addInputConsumer (std::shared_ptr< Input::InputConsumerInterface > inputConsumer) override

bool	removeInputConsumer (std::shared_ptr< Input::InputConsumerInterface > inputConsumer) override

void	clearInputConsumers () override
	Removes all InputConsumers.

bool	setOutputProducer (std::shared_ptr< Input::OutputProducerInterface > outputProducer) override

bool	removeOutputProducer (std::shared_ptr< Input::OutputProducerInterface > outputProducer) override

bool	hasOutputProducer () override
	Query if this object has output producer. More...

void	clearOutputProducer () override
	Removes any OutputProducer.

void	setDevice (std::shared_ptr< Input::DeviceInterface > device)
	Sets the raw/base device. More...

void	addFilter (std::shared_ptr< DeviceFilter > filter)
	Adds a DeviceFilter. More...

const std::vector< std::shared_ptr< Input::DeviceInterface > > &	getDevices () const

bool	setDevices (const std::vector< std::shared_ptr< Input::DeviceInterface >> &devices)
	Sets the devices. More...

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

virtual std::string	getClassName () const =0
	The class name for this class. More...

virtual bool	addInputConsumer (std::shared_ptr< InputConsumerInterface > inputConsumer)=0
	Adds an input consumer that will be notified when the application input state is updated. More...

virtual bool	removeInputConsumer (std::shared_ptr< InputConsumerInterface > inputConsumer)=0
	Removes an input consumer previously added via addInputConsumer. More...

virtual bool	setOutputProducer (std::shared_ptr< OutputProducerInterface > outputProducer)=0
	Sets an output producer that will be asked for application output state when the device needs it. More...

virtual bool	removeOutputProducer (std::shared_ptr< OutputProducerInterface > outputProducer)=0
	Removes an output producer previously added via setOutputProducer. More...

Public Member Functions inherited from SurgSim::Framework::Accessible
	Accessible ()
	Default Constructor.

	~Accessible ()
	Destructor.

template<class T >
T	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...

boost::any	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found. More...

template<class T >
bool	getValue (const std::string &name, T *value) const
	Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...

void	setValue (const std::string &name, const boost::any &value)
	Sets a value of a property that has setter. More...

bool	isReadable (const std::string &name) const
	Check whether a property is readable. More...

bool	isWriteable (const std::string &name) const
	Check whether a property is writable. More...

void	setGetter (const std::string &name, GetterType func)
	Sets a getter for a given property. More...

void	setSetter (const std::string &name, SetterType func)
	Sets a setter for a given property. More...

void	setAccessors (const std::string &name, GetterType getter, SetterType setter)
	Sets the accessors getter and setter in one function. More...

void	removeAccessors (const std::string &name)
	Removes all the accessors (getter and setter) for a given property. More...

void	forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
	Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...

void	setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
	Sets the functions used to convert data from and to a YAML::Node. More...

void	setDecoder (const std::string &name, DecoderType decoder)
	Sets the functions used to convert data from a YAML::Node. More...

YAML::Node	encode () const
	Encode this Accessible to a YAML::Node. More...

void	decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
	Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...

std::vector< std::string >	getProperties ()

template<>
boost::any	getValue (const std::string &name) const

Additional Inherited Members
Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)>	GetterType

typedef std::function< void(boost::any)>	SetterType

typedef std::function< YAML::Node(void)>	EncoderType

typedef std::function< void(const YAML::Node *)>	DecoderType

Public Types inherited from SurgSim::Framework::FactoryBase1< DeviceInterface, std::string >
typedef ObjectFactory1< DeviceInterface, std::string >	FactoryType

Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< DeviceInterface, std::string >
static FactoryType &	getFactory ()

Detailed Description

A class implementing the communication with a multi-axis controller input device, for example a 3DConnexion SpaceNavigator.

This object will integrate the output of the physical device, treating it as a differential device. In other words, holding the controller moves the pose and releasing the controller lets the pose hold steady in its new state.

Application input provided by the device:

type	name
pose	"pose"	Absolute device pose (units are ill-defined, but nominally meters).
bool	"button1"	True if button 1 exists and is pressed.
bool	"button2"	True if button 2 exists and is pressed.
bool	"button3"	True if button 3 exists and is pressed.
bool	"button4"	True if button 4 exists and is pressed.

Application output used by the device:

type	name
bool	"led1"	If the device has at least one LED light, controls the first one.
pose	"pose"	This resets the builtin integrator to the give pose

See also: RawMultiAxisDevice

Constructor & Destructor Documentation

§ MultiAxisDevice()

SurgSim::Devices::MultiAxisDevice::MultiAxisDevice ( const std::string & uniqueName )

explicit

Constructor.

Parameters

uniqueName A unique name for the device that will be used by the application.

Member Function Documentation

§ getOrientationScale()

double SurgSim::Devices::MultiAxisDevice::getOrientationScale ( ) const

Gets the orientation scale for this device.

Returns: The orientation scale.

§ getPositionScale()

double SurgSim::Devices::MultiAxisDevice::getPositionScale ( ) const

Gets the position scale for this device.

Returns: The position scale.

§ isUsingAxisDominance()

bool SurgSim::Devices::MultiAxisDevice::isUsingAxisDominance ( ) const

Gets the axis dominance setting for this device.

Returns: True if using axis dominance.

§ setAxisDominance()

void SurgSim::Devices::MultiAxisDevice::setAxisDominance ( bool onOff )

Turns on or off the axis dominance setting for this device.

When axis dominance is on, only one (the largest) of the 6 pure axis directions is allowed to be active. In other words, the device will be translating in X, or in Y, or in Z, or rotating around X, or around Y, or around Z; but only one of those at a time.

Parameters

onOff Whether or not to use only the dominant axis.

§ setOrientationScale()

void SurgSim::Devices::MultiAxisDevice::setOrientationScale ( double scale )

Sets the orientation scale for this device.

The orientation scale controls how much the pose changes for a given device rotation.

Parameters

scale The new scale.

Note: The default value for a raw device tries to correspond to the actual physical motion of the device.

§ setPositionScale()

void SurgSim::Devices::MultiAxisDevice::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.

§ setReset()

void SurgSim::Devices::MultiAxisDevice::setReset ( const std::string & name )

Sets the string name of the boolean entry that will reset the pose to its initial value.

Parameters

name	The name of the NamedData<bool> entry, e.g., SurgSim::DataStructures::Names::BUTTON_1.

See also: PoseIntegrator::setReset

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

SurgSim/Devices/MultiAxis/MultiAxisDevice.h
SurgSim/Devices/MultiAxis/MultiAxisDevice.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ MultiAxisDevice()

Member Function Documentation

§ getOrientationScale()

§ getPositionScale()

§ isUsingAxisDominance()

§ setAxisDominance()

§ setOrientationScale()

§ setPositionScale()

§ setReset()