A device filter that integrates the pose, turning a relative device into an absolute one. More...

#include <PoseIntegrator.h>

Inheritance diagram for SurgSim::Devices::PoseIntegrator:

Public Types
typedef Math::RigidTransform3d	PoseType
	The type used for poses.

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

Public Member Functions
	PoseIntegrator (const std::string &name)
	Constructor. More...

	SURGSIM_CLASSNAME (SurgSim::Devices::PoseIntegrator)

const PoseType &	integrate (const PoseType &pose)
	Integrates the pose. More...

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

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

	SURGSIM_CLASSNAME (SurgSim::Devices::DeviceFilter)

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

bool	isInitialized () const override

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

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	filterOutput (const std::string &device, const SurgSim::DataStructures::DataGroup &dataToFilter, SurgSim::DataStructures::DataGroup *result) override
	Overridden from DeviceFilter tries to see if "pose" was sent and resets itself to that pose.

Protected Member Functions inherited from SurgSim::Devices::DeviceFilter
virtual void	filterInput (const std::string &device, const DataStructures::DataGroup &dataToFilter, DataStructures::DataGroup *result)
	Filter the input data. More...

bool	finalize () override
	Finalize (de-initialize) the device.

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...

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

Protected Attributes inherited from SurgSim::Devices::DeviceFilter
bool	m_initialized
	true if initialized and not finalized.

Detailed Description

A device filter that integrates the pose, turning a relative device into an absolute one.

Also provides the instantaneous linear and angular velocities.

See also: SurgSim::Input::CommonDevice; SurgSim::Input::InputConsumerInterface; SurgSim::Input::OutputProducerInterface

Constructor & Destructor Documentation

§ PoseIntegrator()

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

explicit

Constructor.

Parameters

name	Name of this device filter.

Member Function Documentation

§ handleInput()

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

overridevirtual

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

Treats the pose coming from the input device as a delta pose and integrates it to get the output pose.

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.

Reimplemented from SurgSim::Devices::DeviceFilter.

§ initializeInput()

void SurgSim::Devices::PoseIntegrator::initializeInput	(	const std::string &	device,
		const 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.

Reimplemented from SurgSim::Devices::DeviceFilter.

§ integrate()

const PoseIntegrator::PoseType & SurgSim::Devices::PoseIntegrator::integrate ( const PoseType & pose )

Integrates the pose.

Parameters

pose	The latest differential pose.

Returns: The integrated pose.

§ setReset()

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

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

Such a reset can be useful if the integrated pose is used to position an object and the integration takes the object out of view.

Parameters

name	The name of the NamedData<bool> entry.

Warning: A pose reset may generate high velocities, and if the pose is the input to a VirtualToolCoupler then large forces will likely be generated.

Exceptions

Asserts if called after initialize.

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

SurgSim/Devices/DeviceFilters/PoseIntegrator.h
SurgSim/Devices/DeviceFilters/PoseIntegrator.cpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ PoseIntegrator()

Member Function Documentation

§ handleInput()

§ initializeInput()

§ integrate()

§ setReset()