A class implementing the replay pose device, which is a pretend device that replays a recorded motion from a file. More...

#include <ReplayPoseDevice.h>

Inheritance diagram for SurgSim::Devices::ReplayPoseDevice:

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

const std::string	getFileName () const

void	setFileName (const std::string &fileName)

double	getRate () const

void	setRate (double rate)

	SURGSIM_CLASSNAME (SurgSim::Devices::ReplayPoseDevice)

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

bool	isInitialized () const override

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

Friends
class	ReplayPoseScaffold

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 replay pose device, which is a pretend device that replays a recorded motion from a file.

This can be useful not only for writing tests, but also as a way to replace real hardware devices in situations where the simulator needs to be run but the hardware is not currently available. The pose file can be created manually, or via the RecordPose DeviceFilter. Only one ReplayPoseDevice can be initialized at a time.

Application input provided by the device:

type	name
pose	"pose"	Device pose (units are meters).

See also: SurgSim::Input::CommonDevice

Constructor & Destructor Documentation

§ ReplayPoseDevice()

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

explicit

Constructor.

Parameters

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

Member Function Documentation

§ getFileName()

const std::string SurgSim::Devices::ReplayPoseDevice::getFileName ( ) const

Returns: The filename from which the input poses are read (default is 'ReplayPoseDevice.txt')

§ getRate()

double SurgSim::Devices::ReplayPoseDevice::getRate ( ) const

Returns: The rate (in Hz) at which the device is running (1KHz is the default)

§ initialize()

bool SurgSim::Devices::ReplayPoseDevice::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.

§ isInitialized()

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

overridevirtual

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

Implements SurgSim::Input::DeviceInterface.

§ setFileName()

void SurgSim::Devices::ReplayPoseDevice::setFileName ( const std::string & fileName )

Parameters

fileName from which the input poses will be read (default is 'ReplayPoseDevice.txt')

§ setRate()

void SurgSim::Devices::ReplayPoseDevice::setRate ( double rate )

Parameters

rate	The rate (in Hz) at which the device will run (1KHz is the default)

Exceptions

SurgSim::Framework::AssertionFailure if the method is called after initialization

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

SurgSim/Devices/ReplayPoseDevice/ReplayPoseDevice.h
SurgSim/Devices/ReplayPoseDevice/ReplayPoseDevice.cpp

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ ReplayPoseDevice()

Member Function Documentation

§ getFileName()

§ getRate()

§ initialize()

§ isInitialized()

§ setFileName()

§ setRate()