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opensurgsim
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Public Types | |
| typedef std::array< bool, MAX_NUM_BUTTONS > | ButtonStates |
| Type used to store button states. | |
Public Member Functions | |
| DeviceData (NovintDevice *device) | |
| Initialize the state. | |
Public Attributes | |
| std::string | initializationName |
| The HDAL device name. | |
| std::string | serialNumber |
| The HDAL device serial number. | |
| NovintDevice *const | deviceObject |
| The corresponding device object. | |
| std::shared_ptr< NovintScaffold::Handle > | deviceHandle |
| The device handle wrapper. | |
| Vector3d | jointAngles |
| The joint angles for the device orientation. | |
| ButtonStates | buttonStates |
| The button state read from the device. | |
| bool | isPositionHomed |
| The homing state read from the device. | |
| bool | isOrientationHomed |
| The homing state read from the device. | |
| bool | isDeviceHomed |
| The homing state read from the device. | |
| bool | isDeviceHeld |
| The proximity state read from the device. | |
| bool | isDevice7Dof |
| True if this is a 7DoF device. | |
| double | maxForce |
| The maximum force magnitude (in Newtons) to send to the device. | |
| Vector3d | antigrav |
| The constant force added to all forces sent to the device (in Newtons). | |
| bool | isDeviceRollAxisReversed |
| True if the roll axis of a 7DoF device has reverse polarity because the device is left-handed. | |
| double | eulerAngleOffsetRoll |
| The offset added to the roll Euler angle. | |
| double | eulerAngleOffsetYaw |
| The offset added to the yaw Euler angle. | |
| double | eulerAngleOffsetPitch |
| The offset added to the pitch Euler angle. | |
| double | offsetTool |
| The offset added to the tool dof angle. | |
| double | toolDof |
| The tool's degree-of-freedom, e.g., the handle's open/close angle. | |
| double | forwardPointingPoseThreshold |
| The threshold to determine if the device is pointing forwards before unlocking orientation. | |
| Vector3d | torqueScale |
| The scaling factors for the torque axes. | |
| RigidTransform3d | scaledPose |
| The pose value from the device, after scaling. | |
| Vector3d | force |
| The force value to be written to the device. | |
| Vector4d | torque |
| The torque value to be written to the device. | |
| double | positionScale |
| Scale factor for the position axes. | |
| double | orientationScale |
| Scale factor for the orientation axes. | |
| boost::mutex | parametersMutex |
| The mutex that protects the externally modifiable parameters. | |
Static Public Attributes | |
| static const size_t | MAX_NUM_BUTTONS = 4 |
| The maximum number of buttons supported by any device object. | |
1.8.12