SurgSim::Devices::PhantomScaffold::DeviceData Struct Reference

Public Member Functions
	DeviceData (const std::string &apiName, PhantomDevice *device)
	Initialize the state.

Public Attributes
const std::string	initializationName
	The OpenHaptics device name.
PhantomDevice *const	deviceObject
	The corresponding device object.
PhantomScaffold::Handle	deviceHandle
	The device handle wrapper.
int	buttonsBuffer
	The raw button state read from the device.
Vector3d	position
	The position value from the device.
Vector3d	linearVelocity
	The linear velocity value from the device.
RigidTransform3d	scaledPose
	The pose value from the device, after scaling.
Vector3d	force
	The force value to be written to the device, in Newtons.
Vector3d	torque
	The torque value to be written to the device, in milliNewton-meters.

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The documentation for this struct was generated from the following file:

• SurgSim/Devices/Phantom/PhantomScaffold.cpp