OutputComponents connect SceneElements to devices, facilitating data transfer from a SceneElement to a device. More...

#include <OutputComponent.h>

Inheritance diagram for SurgSim::Input::OutputComponent:

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

virtual	~OutputComponent ()
	Destructor.

	SURGSIM_CLASSNAME (SurgSim::Input::OutputComponent)

void	setDeviceName (const std::string &deviceName)
	Set name of the device of output component. More...

std::string	getDeviceName () const
	Gets device name. More...

virtual void	setData (const SurgSim::DataStructures::DataGroup &dataGroup)
	Sets the output data. More...

virtual bool	doInitialize ()
	Overridden from Component, do nothing.

virtual bool	doWakeUp ()
	Overridden from Component, do nothing.

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

SurgSim::Math::RigidTransform3d	getToDeviceTransform () const

void	setToDeviceTransform (const SurgSim::Math::RigidTransform3d &val)
	Sets the offset of the device pose to the scene. More...

SurgSim::Math::RigidTransform3d	getToElementTransform () const

void	setToElementTransform (const SurgSim::Math::RigidTransform3d &val)
	Sets the offset of the device to the element origin. More...

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

virtual	~Representation ()
	Destructor.

virtual void	setLocalPose (const SurgSim::Math::RigidTransform3d &pose)
	Set the pose of the representation with respect to the Scene Element. More...

virtual SurgSim::Math::RigidTransform3d	getLocalPose () const
	Get the pose of the representation with respect to the Scene Element. More...

virtual SurgSim::Math::RigidTransform3d	getPose () const
	Get the pose of the representation in world coordinates. More...

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

virtual	~Component ()
	Destructor.

std::string	getName () const
	Gets component name. More...

std::string	getFullName () const
	Gets a string containing the name of the Component and (if it has one) its SceneElement. More...

void	setName (const std::string &name)
	Sets the name of component. More...

boost::uuids::uuid	getUuid () const
	Gets the id of the component.

bool	isInitialized () const

bool	initialize (const std::weak_ptr< Runtime > &runtime)
	Initialize this component, this needs to be called before wakeUp() can be called. More...

bool	isAwake () const

bool	wakeUp ()
	Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...

void	retire ()
	Retire this component, this will be called when the component is removed from the ComponentManager that is responsible for handling this component. More...

void	setScene (std::weak_ptr< Scene > scene)
	Sets the scene. More...

std::shared_ptr< Scene >	getScene ()
	Gets the scene. More...

void	setSceneElement (std::weak_ptr< SceneElement > sceneElement)
	Sets the scene element. More...

std::shared_ptr< SceneElement >	getSceneElement ()
	Gets the scene element. More...

std::shared_ptr< const SceneElement >	getSceneElement () const
	Gets the scene element, constant version. More...

std::shared_ptr< Runtime >	getRuntime () const
	Get the runtime which contains this component. More...

virtual std::string	getClassName () const
	The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...

std::shared_ptr< Component >	getSharedPtr ()
	Gets a shared pointer to this component. More...

virtual void	doRetire ()
	Interface to be implemented by derived classes Has a default implementation, does nothing.

bool	isActive () const

virtual void	setLocalActive (bool val)
	Set the component's active state. More...

bool	isLocalActive () const

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::OutputProducerInterface
virtual	~OutputProducerInterface ()
	Virtual destructor (empty).

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< Component, std::string >
typedef ObjectFactory1< Component, std::string >	FactoryType

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

Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponent >	getPoseComponent ()
	Get the PoseComponent for this component. More...

virtual std::shared_ptr< const PoseComponent >	getPoseComponent () const
	Get the PoseComponent for this component, constant access. More...

Detailed Description

OutputComponents connect SceneElements to devices, facilitating data transfer from a SceneElement to a device.

The actual SceneElement pose is expected to be calculated like this ToDeviceTransform * pose * ToElementTransform

Constructor & Destructor Documentation

§ OutputComponent()

SurgSim::Input::OutputComponent::OutputComponent ( const std::string & name )

explicit

Constructor.

Parameters

name	Name of this output component

Member Function Documentation

§ getDeviceName()

std::string SurgSim::Input::OutputComponent::getDeviceName ( ) const

Gets device name.

Returns: The device name.

§ getToDeviceTransform()

SurgSim::Math::RigidTransform3d SurgSim::Input::OutputComponent::getToDeviceTransform ( ) const

Returns: the offset of the device pose to the scene

§ getToElementTransform()

SurgSim::Math::RigidTransform3d SurgSim::Input::OutputComponent::getToElementTransform ( ) const

Returns: the offset of the device to the element origin

§ requestOutput()

bool SurgSim::Input::OutputComponent::requestOutput	(	const std::string &	device,
		SurgSim::DataStructures::DataGroup *	outputData
	)

overridevirtual

Asks the producer to provide output state to the device.

Note that devices may never call this method, e.g. because the device doesn't actually have any output capability.

Typical output data contents (but note that individual devices may do things differently):

type	name
vector	"force"	Commanded force for the device (units are newtons).
vector	"torque"	Commanded torque for the device (units are newton-meters).
bool	"isEnabled"	Safety switch input.

§ setData()

void SurgSim::Input::OutputComponent::setData ( const SurgSim::DataStructures::DataGroup & dataGroup )

virtual

Sets the output data.

Parameters

dataGroup The data to output.

Reimplemented in SurgSim::Input::CombiningOutputComponent.

§ setDeviceName()

void SurgSim::Input::OutputComponent::setDeviceName ( const std::string & deviceName )

Set name of the device of output component.

Parameters

deviceName The name of the device that will receive the output data.

§ setToDeviceTransform()

void SurgSim::Input::OutputComponent::setToDeviceTransform ( const SurgSim::Math::RigidTransform3d & val )

Sets the offset of the device pose to the scene.

Parameters

val	the actual offset

§ setToElementTransform()

void SurgSim::Input::OutputComponent::setToElementTransform ( const SurgSim::Math::RigidTransform3d & val )

Sets the offset of the device to the element origin.

Parameters

val	the actual offset

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

SurgSim/Input/OutputComponent.h
SurgSim/Input/OutputComponent.cpp

type	name
bool	"led0"	Desired state for LED 0.
bool	"led1"	Desired state for LED 1.
string	"toolId"	Calibration ID to use, e.g. for camera devices.

	device	The name of the device that is requesting the output. This should only be used to identify the device (e.g. if the producer is listening to several devices at once).
[out]	outputData	The application output state being fed into the device.

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ OutputComponent()

Member Function Documentation

§ getDeviceName()

§ getToDeviceTransform()

§ getToElementTransform()

§ requestOutput()

§ setData()

§ setDeviceName()

§ setToDeviceTransform()

§ setToElementTransform()