SurgSim::Devices::PhantomScaffold Class Reference

A class that manages Sensable PHANTOM devices. More...

#include <PhantomScaffold.h>

Classes
class	Callback
struct	DeviceData
class	Handle
struct	StateData

Public Member Functions
	PhantomScaffold ()
	Constructor.
	~PhantomScaffold ()
	Destructor.

Static Public Member Functions
static std::shared_ptr< PhantomScaffold >	getOrCreateSharedInstance ()
	Gets or creates the scaffold shared by all PhantomDevice instances. More...

Friends
class	PhantomDevice

Detailed Description

A class that manages Sensable PHANTOM devices.

This should support any PHANTOM device that can communicate using OpenHaptics 3.0 toolkit, such as PHANTOM Omni, PHANTOM Desktop, and the PHANTOM Premium series devices. The implementation is currently limited to 3DoF haptic output (forces only, no torques).

See also

SurgSim::Devices::PhantomDevice

Member Function Documentation

getOrCreateSharedInstance()

std::shared_ptr< PhantomScaffold > SurgSim::Devices::PhantomScaffold::getOrCreateSharedInstance ( )

static

Gets or creates the scaffold shared by all PhantomDevice instances.

The scaffold is managed using a SharedInstance object, so it will be destroyed when all devices are released.

Returns

the scaffold object.

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

• SurgSim/Devices/Phantom/PhantomScaffold.h
• SurgSim/Devices/Phantom/PhantomScaffold.cpp