SurgSim::Devices::NovintDevice Class Reference

A class implementing the communication with a Novint Falcon device. More...

#include <NovintDevice.h>

Inheritance diagram for SurgSim::Devices::NovintDevice:

Public Member Functions
	NovintDevice (const std::string &name)
	Constructor. More...
	SURGSIM_CLASSNAME (SurgSim::Devices::NovintDevice)
virtual	~NovintDevice ()
	Destructor.
void	setSerialNumber (const std::string &serialNumber)
	Sets the serial number used to register this device with the hardware library. More...
bool	getSerialNumber (std::string *serialNumber) const
	Gets the serial number used to register this device with the hardware library. More...
void	setInitializationName (const std::string &initializationName)
	Sets the name used to register this device with the hardware library. More...
bool	getInitializationName (std::string *initializationName) const
	Gets the name used to register this device with the hardware library. More...
bool	initialize () override
	Fully initialize the device. More...
bool	isInitialized () const override
void	setPositionScale (double scale)
	Sets the position scale for this device. More...
double	getPositionScale () const
	Gets the position scale for this device.
void	setOrientationScale (double scale)
	Sets the orientation scale for this device. More...
double	getOrientationScale () const
	Gets the orientation scale for this device.
void	set7DofDevice (bool val)
	Sets whether or not this is supposed to be a 7Dof device. More...
virtual bool	is7DofDevice () const
	Query if this object represents a 7 degree of freedom hardware device. More...
void	setMaxForce (double force)
	Set the maximum force that can be sent to the device. More...
double	getMaxForce () const
void	setAntigrav (Math::Vector3d antigrav)
	Set a constant force that gets added to all forces sent to the hardware. More...
Math::Vector3d	getAntigrav () const
double	getYawOffset () const
void	setYawOffset (double yawOffset)
	Set constant offset for yaw. More...
double	getPitchOffset () const
void	setPitchOffset (double pitchOffset)
	Set constant offset for pitch. More...
double	getRollOffset () const
void	setRollOffset (double rollOffset)
	Set constant offset for roll. More...
double	getToolDofOffset () const
void	setToolDofOffset (double toolDofOffset)
	Set constant offset for tool DOF. More...
Public Member Functions inherited from SurgSim::Input::CommonDevice
	CommonDevice (const std::string &name)
	Constructor. More...
	CommonDevice (const std::string &name, const DataStructures::DataGroup &inputData)
	Constructor. More...
	CommonDevice (const std::string &name, DataStructures::DataGroup &&inputData)
	Constructor. More...
virtual	~CommonDevice ()
	Destructor.
std::string	getName () const override
	Return a (hopefully unique) device name.
std::string	getClassName () const override
	The class name for this class. 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...
bool	addInputConsumer (std::shared_ptr< InputConsumerInterface > inputConsumer) override
	Adds an input consumer that will be notified when the application input state is updated. More...
bool	removeInputConsumer (std::shared_ptr< InputConsumerInterface > inputConsumer) override
	Removes an input consumer previously added via addInputConsumer. More...
void	clearInputConsumers () override
	Removes all InputConsumers.
bool	setOutputProducer (std::shared_ptr< OutputProducerInterface > outputProducer) override
	Sets an output producer that will be asked for application output state when the device needs it. More...
bool	removeOutputProducer (std::shared_ptr< OutputProducerInterface > outputProducer) override
	Removes an output producer previously added via setOutputProducer. More...
bool	hasOutputProducer () override
	Query if this object has output producer. More...
void	clearOutputProducer () override
	Removes any OutputProducer.
Public Member Functions inherited from SurgSim::Input::DeviceInterface
virtual	~DeviceInterface ()
	Virtual destructor (empty).
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

Protected Attributes
bool	m_7DofDevice
	True if the device is 7Dof, false if the device is 3Dof.
double	m_maxForce
	The maximum force magnitude (in Newtons) that should be sent to the hardware.
Math::Vector3d	m_antigrav
	The anti-gravity force in Newtons.
double	m_yawOffset
double	m_pitchOffset
double	m_rollOffset
double	m_toolDofOffset

Friends
class	NovintScaffold

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 ()
Protected Member Functions inherited from SurgSim::Input::CommonDevice
virtual void	pushInput ()
	Push application input to consumers.
virtual bool	pullOutput ()
	Pull application output from a producer.
DataStructures::DataGroup &	getInputData ()
	Getter for the input data DataGroup. More...
const DataStructures::DataGroup &	getOutputData () const
	Getter for the output data DataGroup. More...

Detailed Description

A class implementing the communication with a Novint Falcon device.

This should provide basic support for any device that can communicate using the Novint HDAL SDK toolkit, such as the off-the-shelf Novint Falcon haptic gaming controller. Note that certain devices may require device-specific support in the code to enable particular hardware features. In particular, the Novint Falcon with the Open Surgery Grip will not be able to produce torques unless it is accessed using the NovintOsgDevice class.

Application input provided by the device:

type	name
pose	"pose"	Device pose (units are meters)*.
scalar	"toolDof"	%7th Dof (e.g., handle open/close angle)
bool	"button1"	State of the first device button if present.**
bool	"button2"	State of the second device button if present.**
bool	"button3"	State of the third device button if present.**
bool	"button4"	State of the third device button if present.**
bool	"isHomed"	Device homing status.
bool	"isPositionHomed"	Device homing status, position only.
bool	"isOrientationHomed"	Device homing status, orientation only.

* The workspace of an off-the-shelf Novint Falcon is +z points out from the face of the Falcon, +y points up, and +x points to your right if you are looking at the face of the Falcon (a right-hand frame). The workspace of both 7dof OSG Falcons in a pair is +x towards the right Falcon, +y up, and +z towards the user (a right-hand frame). Thus, if the 7dof OSG Falcons are setup in a typical configuration such that the left Falcon is to the user's left and the right Falcon is to the user's right, then the workspace will be the same as an off-the-shelf Falcon placed directly facing the user. The identity orientation for an OSG Falcon is with the handle of the tool parallel to the floor (pitch), and pointed towards the user (yaw)...therefore in the home pose, the "business end" of the tool points away from the user along the -z axis. **button1 through 4 correspond to the buttons 0 through 3 provided by the HDAL SDK, but a custom Novint device might have fewer than 4 buttons.

Application output used by the device:

type	name
vector	"force"	Device output force (units are newtons).
vector	"torque"	Device output torque (in newton-meters, 7Dof only).
bool	"gravityCompensation"	Enable or disable hardware gravity compensation.

Constructor & Destructor Documentation

NovintDevice()

SurgSim::Devices::NovintDevice::NovintDevice ( const std::string &  name )

explicit

Constructor.

Parameters

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

Member Function Documentation

getAntigrav()

Math::Vector3d SurgSim::Devices::NovintDevice::getAntigrav

(

)

const

Returns

The constant force that gets added to all forces sent to the hardware (in Newtons).

getInitializationName()

bool SurgSim::Devices::NovintDevice::getInitializationName

(

std::string *

initializationName

)

const

Gets the name used to register this device with the hardware library.

Parameters

[out]

initializationName

The initialization name, if set.

Returns

true if the initializationName has been set

getMaxForce()

double SurgSim::Devices::NovintDevice::getMaxForce

(

)

const

Returns

The maximum force (in Newtons) that can be sent to the device.

getPitchOffset()

double SurgSim::Devices::NovintDevice::getPitchOffset

(

)

const

Returns

The constant offset for pitch in radians.

getRollOffset()

double SurgSim::Devices::NovintDevice::getRollOffset

(

)

const

Returns

The constant offset for roll in radians.

getSerialNumber()

bool SurgSim::Devices::NovintDevice::getSerialNumber

(

std::string *

serialNumber

)

const

Gets the serial number used to register this device with the hardware library.

Parameters

[out]

serialNumber

The serial number, if set.

Returns

true if the serialNumber has been set.

getToolDofOffset()

double SurgSim::Devices::NovintDevice::getToolDofOffset

(

)

const

Returns

The constant offset for the tool DOF (e.g., grasp) in radians.

getYawOffset()

double SurgSim::Devices::NovintDevice::getYawOffset

(

)

const

Returns

The constant offset for yaw in radians.

initialize()

bool SurgSim::Devices::NovintDevice::initialize ( )

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.

is7DofDevice()

bool SurgSim::Devices::NovintDevice::is7DofDevice ( ) const

virtual

Query if this object represents a 7 degree of freedom hardware device.

Returns

true if 7 degree of freedom device, false if not.

isInitialized()

bool SurgSim::Devices::NovintDevice::isInitialized ( ) const

overridevirtual

Returns

true if the device has been initialized and has not yet been finalized.

Implements SurgSim::Input::DeviceInterface.

set7DofDevice()

void SurgSim::Devices::NovintDevice::set7DofDevice

(

bool

val

)

Sets whether or not this is supposed to be a 7Dof device.

If the hardware is not actually 7Dof, the resulting device will never home. If the hardware is 7Dof, and this is not called, the resulting device will act like a typical 3Dof.

Parameters

val	true for a 7Dof device.

setAntigrav()

void SurgSim::Devices::NovintDevice::setAntigrav

(

Math::Vector3d

antigrav

)

Set a constant force that gets added to all forces sent to the hardware.

Parameters

antigrav

The anti-gravity force in Newtons.

setInitializationName()

void SurgSim::Devices::NovintDevice::setInitializationName

(

const std::string &

initializationName

)

Sets the name used to register this device with the hardware library.

To use an initialization name, the 'devices.yaml' file must be in the working directory, (see example at Data/devices.yaml) with an entry of the form "initializationName: serialNumber". An empty string indicates the first available device.

Parameters

initializationName

The initialization name.

See also

setSerialNumber

setMaxForce()

void SurgSim::Devices::NovintDevice::setMaxForce

(

double

force

)

Set the maximum force that can be sent to the device.

Higher force values will be scaled to this magnitude. Generally Falcons are robust enough that commanding excessive forces will not cause a problem, but in-development systems may overheat if over-driven.

Parameters

force

The maximum force magnitude (in Newtons) that will be sent to the hardware.

setOrientationScale()

void SurgSim::Devices::NovintDevice::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.

Parameters

scale

The multiplicative factor to apply to the rotation angles.

setPitchOffset()

void SurgSim::Devices::NovintDevice::setPitchOffset

(

double

pitchOffset

)

Set constant offset for pitch.

Parameters

pitchOffset

The pitch offset in radians.

setPositionScale()

void SurgSim::Devices::NovintDevice::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.

Parameters

scale

The multiplicative factor to apply to the position.

setRollOffset()

void SurgSim::Devices::NovintDevice::setRollOffset

(

double

rollOffset

)

Set constant offset for roll.

Parameters

rollOffset

The roll offset in radians.

setSerialNumber()

void SurgSim::Devices::NovintDevice::setSerialNumber

(

const std::string &

serialNumber

)

Sets the serial number used to register this device with the hardware library.

An empty string indicates the first available device.

Parameters

serialNumber

The serial number.

See also

setInitializationName

setToolDofOffset()

void SurgSim::Devices::NovintDevice::setToolDofOffset

(

double

toolDofOffset

)

Set constant offset for tool DOF.

Parameters

toolDofOffset

The toolDof offset in radians.

setYawOffset()

void SurgSim::Devices::NovintDevice::setYawOffset

(

double

yawOffset

)

Set constant offset for yaw.

Parameters

yawOffset

The yaw offset in radians.

Member Data Documentation

m_yawOffset

double SurgSim::Devices::NovintDevice::m_yawOffset

protected

For 7Dof device, the euler angle offsets that should be added to the angles provided by the hardware.

---

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

• SurgSim/Devices/Novint/NovintDevice.h
• SurgSim/Devices/Novint/NovintDevice.cpp