#include <IHPDriver.h>

Inheritance diagram for sofa::component::controller::IHPDriver:

Detailed Description

IHP Xitact driver http://www.mentice.com/default.asp?viewset=1&on=%27Products%27&id=&initid=99&heading=Products&mainpage=templates/05.asp?sida=85

Public Attributes
Data< double >	Scale
	Default scale applied to the Phantom Coordinates. More...

Data< double >	forceScale
	Default scale applied to the force feedback. More...

Data< bool >	permanent
	Apply the force feedback permanently. More...

Data< int >	indexTool
	index of the tool to simulate (if more than 1). Index 0 correspond to first tool. More...

Data< double >	graspThreshold
	Threshold value under which grasping will launch an event. More...

Data< bool >	showToolStates
	Display states and forces from the tool. More...

Data< bool >	testFF
	If true will add force when closing handle. As if tool was entering an elastic body. More...

Data< int >	RefreshFrequency
	Frequency of the haptic loop. More...

Data< bool >	xitactVisu
	Visualize the position of the interface in the virtual scene. More...

Data< VecCoord >	positionBase
	position of the base of the device More...

Data< string >	locPosBati
	localisation of the restPosition of the bati More...

Data< int >	deviceIndex
	index of the device More...

Data< Vec1d >	openTool
	opening of the tool More...

Data< double >	maxTool
	maxTool value More...

Data< double >	minTool
	minTool value More...

allXiToolDataIHP	allData

XiToolDataIHP	data

vector< IHPDriver * >	otherXitact

bool	operation

Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< bool >	f_listening

Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * >	m_oldAttributes

Data< int >	d_messageLogCount

Data< std::string >	name

Data< bool >	f_printLog

Data< sofa::core::objectmodel::TagSet >	f_tags

Data< sofa::type::BoundingBox >	f_bbox

Data< sofa::core::objectmodel::ComponentState >	d_componentState

std::string	m_definitionSourceFileName

int	m_definitionSourceFilePos

std::string	m_instanciationSourceFileName

int	m_instanciationSourceFilePos

Public Member Functions
	SOFA_CLASS (IHPDriver, sofa::component::controller::Controller)

	IHPDriver ()

virtual	~IHPDriver ()

virtual void	init ()

virtual void	bwdInit ()

virtual void	reset ()

void	reinit ()

void	cleanup ()

void	setLCPForceFeedback (LCPForceFeedback< Rigid3dTypes > *ff)

void	onKeyPressedEvent (core::objectmodel::KeypressedEvent *)

void	onKeyReleasedEvent (core::objectmodel::KeyreleasedEvent *)

void	createCallBack ()

void	deleteCallBack ()

void	stateCallBack ()

void	updateForce ()

void	displayState ()

void	setDataValue ()

void	reinitVisual ()

double	getScale ()

void	rightButtonPushed ()

void	leftButtonPushed ()

void	graspClosed ()

Public Member Functions inherited from sofa::component::controller::Controller
	SOFA_CLASS (Controller, core::behavior::BaseController)

virtual void	onMouseEvent (core::objectmodel::MouseEvent *)

virtual void	onHapticDeviceEvent (core::objectmodel::HapticDeviceEvent *)

virtual void	onJoystickEvent (core::objectmodel::JoystickEvent *)

virtual void	onBeginAnimationStep (const double)

virtual void	onEndAnimationStep (const double)

virtual void	onGUIEvent (core::objectmodel::GUIEvent *)

Public Member Functions inherited from sofa::core::behavior::BaseController
	SOFA_ABSTRACT_CLASS (BaseController, core::objectmodel::BaseObject)

Public Member Functions inherited from sofa::core::objectmodel::BaseObject
	SOFA_CLASS (BaseObject, Base)

virtual void	draw (const core::visual::VisualParams *)

virtual void	computeBBox (const core::ExecParams *, bool=false)

void	setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr)

void	setSrc (const std::string &v, const BaseObject loader, std::vector< std::string > attributeList=nullptr)

Base *	findLinkDestClass (const BaseClass destType, const std::string &path, const BaseLink link) override

virtual std::string	getPathName () const override

virtual bool	insertInNode (BaseNode *)

virtual bool	removeInNode (BaseNode *)

SReal	getTime () const

const BaseContext *	getContext () const

BaseContext *	getContext ()

const BaseObject *	getMaster () const

BaseObject *	getMaster ()

const VecSlaves &	getSlaves () const

BaseObject *	getSlave (const std::string &name) const

virtual void	addSlave (BaseObject::SPtr s)

virtual void	removeSlave (BaseObject::SPtr s)

virtual void	handleTopologyChange ()

virtual void	handleTopologyChange (core::topology::Topology *t)

void	parse (BaseObjectDescription *arg) override

void	updateInternal ()

virtual void	storeResetState ()

SReal	getTime () const

Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClass *	getClass () const

void	addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)

void	addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)

void	addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)

const std::string &	getName () const

void	setName (const std::string &n)

void	setName (const std::string &n, int counter)

std::string	getTypeName () const

virtual std::string	getClassName () const

virtual std::string	getTemplateName () const final

std::string	getNameSpaceName () const

void	setDefinitionSourceFileName (const std::string &sourceFileName)

const std::string &	getDefinitionSourceFileName () const

void	setDefinitionSourceFilePos (const int)

int	getDefinitionSourceFilePos () const

void	setInstanciationSourceFileName (const std::string &sourceFileName)

const std::string &	getInstanciationSourceFileName () const

void	setInstanciationSourceFilePos (const int)

int	getInstanciationSourceFilePos () const

void	addMessage (const sofa::helper::logging::Message &m) const

size_t	countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const

const std::deque< sofa::helper::logging::Message > &	getLoggedMessages () const

const std::string	getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const

void	clearLoggedMessages () const

bool	notMuted () const

const sofa::core::objectmodel::TagSet &	getTags () const

bool	hasTag (Tag t) const

void	addTag (Tag t)

void	removeTag (Tag t)

ComponentState	getComponentState () const

bool	isComponentStateValid () const

virtual bool	parseField (const std::string &attribute, const std::string &value)

virtual bool	hasField (const std::string &attribute) const

void	parseFields (const std::list< std::string > &str)

virtual void	parseFields (const std::map< std::string, std::string * > &str)

void	writeDatas (std::map< std::string, std::string * > &str)

void	writeDatas (std::ostream &out, const std::string &separator=" ")

BaseData *	findData (const std::string &name) const

std::vector< BaseData * >	findGlobalField (const std::string &name) const

BaseLink *	findLink (const std::string &name) const

std::vector< BaseLink * >	findLinks (const std::string &name) const

virtual void	updateLinks (bool logErrors=true)

BaseData::BaseInitData	initData (::sofa::core::objectmodel::Data< T > field, const char name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)

BaseData::BaseInitData	initData (Data< T > field, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)

Data< T >::InitData	initData (Data< T > field, const T &value, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)

void	addData (BaseData *f, const std::string &name)

void	addData (BaseData *f)

void	removeData (BaseData *f)

void	addAlias (BaseData field, const char alias)

void	addLink (BaseLink *l)

void	addAlias (BaseLink link, const char alias)

const VecData &	getDataFields () const

const MapData &	getDataAliases () const

const VecLink &	getLinks () const

const MapLink &	getLinkAliases () const

virtual bool	findDataLinkDest (BaseData &ptr, const std::string &path, const BaseLink link)

bool	findLinkDest (T &ptr, const std::string &path, const BaseLink link)

const sofa::core::objectmodel::TagSet &	getTags () const

bool	hasTag (Tag t) const

void	addTag (Tag t)

void	removeTag (Tag t)

ComponentState	getComponentState () const

bool	isComponentStateValid () const

Additional Inherited Members
Protected Attributes inherited from sofa::component::controller::Controller
Data< bool >	handleEventTriggersUpdate

Data< bool >	d_handleEventTriggersUpdate

Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK >	l_context

LinkSlaves	l_slaves

SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK >	l_master

Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallback >	m_internalEngine

VecData	m_vecData

MapData	m_aliasData

VecLink	m_vecLink

MapLink	m_aliasLink

Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
static bool	canCreate (T , BaseContext , BaseObjectDescription *)

static T::SPtr	create (T , BaseContext context, BaseObjectDescription *arg)

Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClass *	GetClass ()

static std::string	shortName (const T ptr=nullptr, BaseObjectDescription =nullptr)

Protected Member Functions inherited from sofa::component::controller::Controller
	Controller ()

	~Controller () override

Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
	BaseObject ()

	~BaseObject () override

virtual void	doUpdateInternal ()

void	changeContextLink (BaseContext before, BaseContext &after)

void	changeSlavesLink (BaseObject::SPtr ptr, std::size_t, bool add)

void	trackInternalData (const BaseData &data)

void	cleanTracker ()

bool	hasDataChanged (const BaseData &data)

Protected Member Functions inherited from sofa::core::objectmodel::Base
	Base ()

virtual	~Base ()

void	initData0 (BaseData field, BaseData::BaseInitData &res, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)

void	initData0 (BaseData field, BaseData::BaseInitData &res, const char name, const char *help, BaseData::DataFlags dataFlags)

void	initData0 (Data< T > field, typename Data< T >::InitData &res, const T &value, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)

Attribute details

◆ allData

allXiToolDataIHP sofa::component::controller::IHPDriver::allData

◆ data

XiToolDataIHP sofa::component::controller::IHPDriver::data

◆ deviceIndex

Data<int> sofa::component::controller::IHPDriver::deviceIndex

index of the device

◆ forceScale

Data<double> sofa::component::controller::IHPDriver::forceScale

Default scale applied to the force feedback.

◆ graspThreshold

Data<double> sofa::component::controller::IHPDriver::graspThreshold

Threshold value under which grasping will launch an event.

◆ indexTool

Data<int> sofa::component::controller::IHPDriver::indexTool

index of the tool to simulate (if more than 1). Index 0 correspond to first tool.

◆ locPosBati

Data<string> sofa::component::controller::IHPDriver::locPosBati

localisation of the restPosition of the bati

◆ maxTool

Data<double> sofa::component::controller::IHPDriver::maxTool

maxTool value

◆ minTool

Data<double> sofa::component::controller::IHPDriver::minTool

minTool value

◆ openTool

Data<Vec1d> sofa::component::controller::IHPDriver::openTool

opening of the tool

◆ operation

bool sofa::component::controller::IHPDriver::operation

◆ otherXitact

vector<IHPDriver*> sofa::component::controller::IHPDriver::otherXitact

◆ permanent

Data<bool> sofa::component::controller::IHPDriver::permanent

Apply the force feedback permanently.

◆ positionBase

Data< VecCoord > sofa::component::controller::IHPDriver::positionBase

position of the base of the device

◆ RefreshFrequency

Data<int> sofa::component::controller::IHPDriver::RefreshFrequency

Frequency of the haptic loop.

◆ Scale

Data<double> sofa::component::controller::IHPDriver::Scale

Default scale applied to the Phantom Coordinates.

◆ showToolStates

Data<bool> sofa::component::controller::IHPDriver::showToolStates

Display states and forces from the tool.

◆ testFF

Data<bool> sofa::component::controller::IHPDriver::testFF

If true will add force when closing handle. As if tool was entering an elastic body.

◆ xitactVisu

Data<bool> sofa::component::controller::IHPDriver::xitactVisu

Visualize the position of the interface in the virtual scene.

Constructor details

◆ IHPDriver()

sofa::component::controller::IHPDriver::IHPDriver ( )

◆ ~IHPDriver()

sofa::component::controller::IHPDriver::~IHPDriver ( )

virtual

Function details

◆ bwdInit()

void sofa::component::controller::IHPDriver::bwdInit ( )

virtual

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ cleanup()

void sofa::component::controller::IHPDriver::cleanup ( )

virtual

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ createCallBack()

void sofa::component::controller::IHPDriver::createCallBack ( )

◆ deleteCallBack()

void sofa::component::controller::IHPDriver::deleteCallBack ( )

◆ displayState()

void sofa::component::controller::IHPDriver::displayState ( )

◆ getScale()

double sofa::component::controller::IHPDriver::getScale ( )

inline

◆ graspClosed()

void sofa::component::controller::IHPDriver::graspClosed ( )

◆ init()

void sofa::component::controller::IHPDriver::init ( void )

virtual

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ leftButtonPushed()

void sofa::component::controller::IHPDriver::leftButtonPushed ( )

◆ onKeyPressedEvent()

void sofa::component::controller::IHPDriver::onKeyPressedEvent ( core::objectmodel::KeypressedEvent * kpe )

virtual

Reimplemented from sofa::component::controller::Controller.

◆ onKeyReleasedEvent()

void sofa::component::controller::IHPDriver::onKeyReleasedEvent ( core::objectmodel::KeyreleasedEvent * kre )

virtual

Reimplemented from sofa::component::controller::Controller.

◆ reinit()

void sofa::component::controller::IHPDriver::reinit ( )

virtual

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ reinitVisual()

void sofa::component::controller::IHPDriver::reinitVisual ( )

◆ reset()

void sofa::component::controller::IHPDriver::reset ( )

virtual

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ rightButtonPushed()

void sofa::component::controller::IHPDriver::rightButtonPushed ( )

◆ setDataValue()

void sofa::component::controller::IHPDriver::setDataValue ( )

◆ setLCPForceFeedback()

void sofa::component::controller::IHPDriver::setLCPForceFeedback ( LCPForceFeedback< Rigid3dTypes > * ff )

◆ SOFA_CLASS()

sofa::component::controller::IHPDriver::SOFA_CLASS	(	IHPDriver	,
		sofa::component::controller::Controller
	)

◆ stateCallBack()

void sofa::component::controller::IHPDriver::stateCallBack ( )

◆ updateForce()

void sofa::component::controller::IHPDriver::updateForce ( )

Detailed Description

Public Attributes

Public Member Functions

Additional Inherited Members

Attribute details

◆ allData

◆ data

◆ deviceIndex

◆ forceScale

◆ graspThreshold

◆ indexTool

◆ locPosBati

◆ maxTool

◆ minTool

◆ openTool

◆ operation

◆ otherXitact

◆ permanent

◆ positionBase

◆ RefreshFrequency

◆ Scale

◆ showToolStates

◆ testFF

◆ xitactVisu

Constructor details

◆ IHPDriver()

◆ ~IHPDriver()

Function details

◆ bwdInit()

◆ cleanup()

◆ createCallBack()

◆ deleteCallBack()

◆ displayState()

◆ getScale()

◆ graspClosed()

◆ init()

◆ leftButtonPushed()

◆ onKeyPressedEvent()

◆ onKeyReleasedEvent()

◆ reinit()

◆ reinitVisual()

◆ reset()

◆ rightButtonPushed()

◆ setDataValue()

◆ setLCPForceFeedback()

◆ SOFA_CLASS()

◆ stateCallBack()

◆ updateForce()