#include <LCPForceFeedback.h>

Inheritance diagram for sofa::component::haptics::LCPForceFeedback< TDataTypes >:

Detailed Description

template<class TDataTypes>
class sofa::component::haptics::LCPForceFeedback< TDataTypes >

LCP force field

Public Attributes
Data< double >	forceCoef
	multiply haptic force by this coef. More...

Data< double >	solverTimeout
	max time to spend solving constraints. More...

Data< int >	d_solverMaxIt
	max iteration to spend solving constraints. More...

Data< bool >	d_derivRotations
	if true, deriv the rotations when updating the violations More...

Data< bool >	d_localHapticConstraintAllFrames
	Flag to enable/disable constraint haptic influence from all frames. More...

Public Attributes inherited from sofa::component::haptics::ForceFeedback
Data< bool >	d_activate
	boolean to activate or deactivate the forcefeedback More...

Data< int >	d_indice
	Tool indice in the OmniDriver. More...

simulation::Node *	context

Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< bool >	f_listening
	if true, handle the events, otherwise ignore the events More...

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

Data< int >	d_messageLogCount

Data< std::string >	name
	Name of the object. More...

Data< bool >	f_printLog
	if true, emits extra messages at runtime. More...

Data< sofa::core::objectmodel::TagSet >	f_tags
	list of the subsets the objet belongs to More...

Data< sofa::type::BoundingBox >	f_bbox
	this object bounding box More...

Data< sofa::core::objectmodel::ComponentState >	d_componentState
	the object state More...

std::string	m_definitionSourceFileName {""}

int	m_definitionSourceFilePos {-1}

std::string	m_instanciationSourceFileName {""}

int	m_instanciationSourceFilePos {-1}

Protected Attributes
core::behavior::MechanicalState< DataTypes > *	mState
	The device try to follow this mechanical state. More...

VecCoord	mVal [3]

MatrixDeriv	mConstraints [3]

std::vector< int >	mId_buf [3]

component::constraint::lagrangian::solver::ConstraintProblem *	mCP [3]

unsigned char	mNextBufferId

unsigned char	mCurBufferId

bool	mIsCuBufferInUse

sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl *	constraintSolver

helper::system::thread::CTime *	_timer
	timer: verifies the time rates of the haptic loop More...

helper::system::thread::ctime_t	time_buf

int	timer_iterations

double	haptic_freq

unsigned int	num_constraints

std::mutex	lockForce
	mutex used in method @doComputeForce which can be touched from outside using method More...

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
	List of fields (Data instances) More...

MapData	m_aliasData
	name -> Data multi-map (includes names and aliases) More...

VecLink	m_vecLink
	List of links. More...

MapLink	m_aliasLink
	name -> Link multi-map (includes names and aliases) More...

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE(LCPForceFeedback, TDataTypes), MechanicalStateForceFeedback< TDataTypes >)

void	init () override
	Initialization method called at graph creation and modification, during top-down traversal. More...

void	draw (const core::visual::VisualParams *) override
	Render internal data of this object, for debugging purposes. More...

void	computeForce (SReal x, SReal y, SReal z, SReal u, SReal v, SReal w, SReal q, SReal &fx, SReal &fy, SReal &fz) override

void	computeWrench (const sofa::type::Transform< SReal > &world_H_tool, const sofa::type::SpatialVector< SReal > &V_tool_world, sofa::type::SpatialVector< SReal > &W_tool_world) override

void	computeForce (const VecCoord &state, VecDeriv &forces) override

void	handleEvent (sofa::core::objectmodel::Event *event) override
	Handle an event. More...

void	setLock (bool value) override
	Overide method to lock or unlock the force feedback computation. According to parameter, value == true (resp. false) will lock (resp. unlock) mutex. More...

void	computeForce (SReal x, SReal y, SReal z, SReal, SReal, SReal, SReal, SReal &fx, SReal &fy, SReal &fz)

void	computeWrench (const sofa::type::Transform< SReal > &world_H_tool, const sofa::type::SpatialVector< SReal > &, sofa::type::SpatialVector< SReal > &W_tool_world)

void SOFA_COMPONENT_HAPTICS_API	computeForce (SReal x, SReal y, SReal z, SReal, SReal, SReal, SReal, SReal &fx, SReal &fy, SReal &fz)

void SOFA_COMPONENT_HAPTICS_API	computeWrench (const sofa::type::Transform< SReal > &world_H_tool, const sofa::type::SpatialVector< SReal > &, sofa::type::SpatialVector< SReal > &W_tool_world)

Public Member Functions inherited from sofa::component::haptics::MechanicalStateForceFeedback< TDataTypes >
	SOFA_CLASS (SOFA_TEMPLATE(MechanicalStateForceFeedback, TDataTypes), ForceFeedback)

void	init () override
	Initialization method called at graph creation and modification, during top-down traversal. More...

void	setReferencePosition (sofa::type::Transform< SReal > &) override

Public Member Functions inherited from sofa::component::haptics::ForceFeedback
	SOFA_ABSTRACT_CLASS (ForceFeedback, core::behavior::BaseController)

virtual bool	isEnabled ()

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

void	setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr)
	Sets a source Object and parses it to collect dependent Data. More...

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
	Return the full path name of this object. More...

virtual bool	insertInNode (BaseNode *)

virtual bool	removeInNode (BaseNode *)

SReal	getTime () const
	Current time. More...

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
	Parse the given description to assign values to this object's fields and potentially other parameters. More...

virtual void	bwdInit ()
	Initialization method called at graph creation and modification, during bottom-up traversal. More...

virtual void	reinit ()
	Update method called when variables used in precomputation are modified. More...

void	updateInternal ()
	Update method called when variables (used to compute other internal variables) are modified. More...

virtual void	storeResetState ()
	Save the initial state for later uses in reset() More...

virtual void	reset ()
	Reset to initial state. More...

virtual void	cleanup ()

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
	Accessor to the object name. More...

void	setName (const std::string &n)
	Set the name of this object. More...

void	setName (const std::string &n, int counter)
	Set the name of this object, adding an integer counter. More...

std::string	getTypeName () const
	Get the type name of this object (i.e. class and template types) More...

virtual std::string	getClassName () const
	Get the class name of this object. More...

virtual std::string	getTemplateName () const final
	Get the template type names (if any) used to instantiate this object. More...

std::string	getNameSpaceName () const
	Get the template type names (if any) used to instantiate this object. More...

void	setDefinitionSourceFileName (const std::string &sourceFileName)
	Set the source filename (where the component is implemented) More...

const std::string &	getDefinitionSourceFileName () const
	Get the source filename (where the component is implemented) More...

void	setDefinitionSourceFilePos (const int)
	Set the source location (where the component is implemented) More...

int	getDefinitionSourceFilePos () const
	Get the source location (where the component is implemented) More...

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
	Represents the subsets the object belongs to. More...

bool	hasTag (Tag t) const
	Return true if the object belong to the given subset. More...

void	addTag (Tag t)
	Add a subset qualification to the object. More...

void	removeTag (Tag t)
	Remove a subset qualification to the object. More...

ComponentState	getComponentState () const

bool	isComponentStateValid () const

virtual bool	parseField (const std::string &attribute, const std::string &value)
	Assign one field value (Data or Link) More...

virtual bool	hasField (const std::string &attribute) const
	Check if a given Data field or Link exists. More...

void	parseFields (const std::list< std::string > &str)
	Assign the field values stored in the given list of name + value pairs of strings. More...

virtual void	parseFields (const std::map< std::string, std::string * > &str)
	Assign the field values stored in the given map of name -> value pairs. More...

void	writeDatas (std::map< std::string, std::string * > &str)
	Write the current field values to the given map of name -> value pairs. More...

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
	Find data fields given a name: several can be found as we look into the alias map. More...

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

std::vector< BaseLink * >	findLinks (const std::string &name) const
	Find link fields given a name: several can be found as we look into the alias map. More...

virtual void	updateLinks (bool logErrors=true)
	Update pointers in case the pointed-to objects have appeared. More...

template<class T >
BaseData::BaseInitData	initData (::sofa::core::objectmodel::Data< T > field, const char name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
	Helper method used to initialize a data field containing a value of type T. More...

template<class T >
BaseData::BaseInitData	initData (Data< T > field, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used to initialize a data field containing a value of type T. More...

template<class T >
Data< T >::InitData	initData (Data< T > field, const T &value, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used to initialize a data field containing a value of type T. More...

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

void	addData (BaseData *f)

void	removeData (BaseData *f)
	Remove a data field. More...

void	addAlias (BaseData field, const char alias)
	Add an alias to a Data. More...

void	addLink (BaseLink *l)
	Add a link. More...

void	addAlias (BaseLink link, const char alias)
	Add an alias to a Link. More...

const VecData &	getDataFields () const
	Accessor to the vector containing all the fields of this object. More...

const MapData &	getDataAliases () const
	Accessor to the map containing all the aliases of this object. More...

const VecLink &	getLinks () const
	Accessor to the vector containing all the fields of this object. More...

const MapLink &	getLinkAliases () const
	Accessor to the map containing all the aliases of this object. More...

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

template<class T >
bool	findLinkDest (T &ptr, const std::string &path, const BaseLink link)

Static Public Member Functions
template<class T >
static bool	canCreate (T &obj, core::objectmodel::BaseContext context, core::objectmodel::BaseObjectDescription *arg)

Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
template<class T >
static bool	canCreate (T , BaseContext , BaseObjectDescription *)
	Pre-construction check method called by ObjectFactory. More...

template<class T >
static T::SPtr	create (T , BaseContext context, BaseObjectDescription *arg)
	Construction method called by ObjectFactory. More...

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

template<class T >
static std::string	shortName (const T ptr=nullptr, BaseObjectDescription =nullptr)

Protected Member Functions
	LCPForceFeedback ()

	~LCPForceFeedback () override

virtual void	updateStats ()

virtual bool	updateConstraintProblem ()

virtual void	doComputeForce (const VecCoord &state, VecDeriv &forces)

Protected Member Functions inherited from sofa::component::haptics::MechanicalStateForceFeedback< TDataTypes >
	MechanicalStateForceFeedback (void)

Protected Member Functions inherited from sofa::component::haptics::ForceFeedback
	ForceFeedback ()

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

	~BaseObject () override

virtual void	doUpdateInternal ()
	Implementation of the internal update. More...

void	changeContextLink (BaseContext before, BaseContext &after)

void	changeSlavesLink (BaseObject::SPtr ptr, std::size_t, bool add)
	This method insures that slaves objects have master and context links set correctly. More...

void	trackInternalData (const BaseData &data)
	Method called to add the Data to the DataTracker (listing the Data to track) More...

void	cleanTracker ()

bool	hasDataChanged (const BaseData &data)
	Method called to know if a tracked Data has changed. More...

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)
	Helper method used by initData() More...

void	initData0 (BaseData field, BaseData::BaseInitData &res, const char name, const char *help, BaseData::DataFlags dataFlags)
	Helper method used by initData() More...

template<class T >
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)
	Helper method used by initData() More...

Attribute details

◆ _timer

template<class TDataTypes >

helper::system::thread::CTime* sofa::component::haptics::LCPForceFeedback< TDataTypes >::_timer

protected

timer: verifies the time rates of the haptic loop

◆ constraintSolver

template<class TDataTypes >

sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl* sofa::component::haptics::LCPForceFeedback< TDataTypes >::constraintSolver

protected

◆ d_derivRotations

template<class TDataTypes >

Data<bool> sofa::component::haptics::LCPForceFeedback< TDataTypes >::d_derivRotations

if true, deriv the rotations when updating the violations

◆ d_localHapticConstraintAllFrames

template<class TDataTypes >

Data< bool > sofa::component::haptics::LCPForceFeedback< TDataTypes >::d_localHapticConstraintAllFrames

Flag to enable/disable constraint haptic influence from all frames.

◆ d_solverMaxIt

template<class TDataTypes >

Data< int > sofa::component::haptics::LCPForceFeedback< TDataTypes >::d_solverMaxIt

max iteration to spend solving constraints.

◆ forceCoef

template<class TDataTypes >

Data< double > sofa::component::haptics::LCPForceFeedback< TDataTypes >::forceCoef

multiply haptic force by this coef.

◆ haptic_freq

template<class TDataTypes >

double sofa::component::haptics::LCPForceFeedback< TDataTypes >::haptic_freq

protected

◆ lockForce

template<class TDataTypes >

std::mutex sofa::component::haptics::LCPForceFeedback< TDataTypes >::lockForce

protected

mutex used in method @doComputeForce which can be touched from outside using method

See also: setLock if components are modified in another thread.

◆ mConstraints

template<class TDataTypes >

MatrixDeriv sofa::component::haptics::LCPForceFeedback< TDataTypes >::mConstraints[3]

protected

◆ mCP

template<class TDataTypes >

component::constraint::lagrangian::solver::ConstraintProblem* sofa::component::haptics::LCPForceFeedback< TDataTypes >::mCP[3]

protected

◆ mCurBufferId

template<class TDataTypes >

unsigned char sofa::component::haptics::LCPForceFeedback< TDataTypes >::mCurBufferId

protected

◆ mId_buf

template<class TDataTypes >

std::vector<int> sofa::component::haptics::LCPForceFeedback< TDataTypes >::mId_buf[3]

protected

◆ mIsCuBufferInUse

template<class TDataTypes >

bool sofa::component::haptics::LCPForceFeedback< TDataTypes >::mIsCuBufferInUse

protected

◆ mNextBufferId

template<class TDataTypes >

unsigned char sofa::component::haptics::LCPForceFeedback< TDataTypes >::mNextBufferId

protected

◆ mState

template<class TDataTypes >

core::behavior::MechanicalState<DataTypes>* sofa::component::haptics::LCPForceFeedback< TDataTypes >::mState

protected

The device try to follow this mechanical state.

◆ mVal

template<class TDataTypes >

VecCoord sofa::component::haptics::LCPForceFeedback< TDataTypes >::mVal[3]

protected

◆ num_constraints

template<class TDataTypes >

unsigned int sofa::component::haptics::LCPForceFeedback< TDataTypes >::num_constraints

protected

◆ solverTimeout

template<class TDataTypes >

Data< double > sofa::component::haptics::LCPForceFeedback< TDataTypes >::solverTimeout

max time to spend solving constraints.

◆ time_buf

template<class TDataTypes >

helper::system::thread::ctime_t sofa::component::haptics::LCPForceFeedback< TDataTypes >::time_buf

protected

◆ timer_iterations

template<class TDataTypes >

int sofa::component::haptics::LCPForceFeedback< TDataTypes >::timer_iterations

protected

Constructor details

◆ LCPForceFeedback()

template<class DataTypes >

sofa::component::haptics::LCPForceFeedback< DataTypes >::LCPForceFeedback

protected

◆ ~LCPForceFeedback()

template<class TDataTypes >

sofa::component::haptics::LCPForceFeedback< TDataTypes >::~LCPForceFeedback ( )

inlineoverrideprotected

Function details

◆ canCreate()

template<class TDataTypes >

template<class T >

static bool sofa::component::haptics::LCPForceFeedback< TDataTypes >::canCreate	(	T *&	obj,
		core::objectmodel::BaseContext *	context,
		core::objectmodel::BaseObjectDescription *	arg
	)

inlinestatic

Pre-construction check method called by ObjectFactory. Check that DataTypes matches the MechanicalState.

◆ computeForce() [1/4]

template<class DataTypes >

void sofa::component::haptics::LCPForceFeedback< DataTypes >::computeForce	(	const VecCoord &	state,
		VecDeriv &	forces
	)

overridevirtual

Implements sofa::component::haptics::MechanicalStateForceFeedback< TDataTypes >.

◆ computeForce() [2/4]

template<typename DataTypes >

void sofa::component::haptics::LCPForceFeedback< DataTypes >::computeForce	(	SReal	x,
		SReal	y,
		SReal	z,
		SReal	u,
		SReal	v,
		SReal	w,
		SReal	q,
		SReal &	fx,
		SReal &	fy,
		SReal &	fz
	)

overridevirtual

Implements sofa::component::haptics::MechanicalStateForceFeedback< TDataTypes >.

◆ computeForce() [3/4]

void sofa::component::haptics::LCPForceFeedback< Rigid3Types >::computeForce	(	SReal	x,
		SReal	y,
		SReal	z,
		SReal	,
		SReal	,
		SReal	,
		SReal	,
		SReal &	fx,
		SReal &	fy,
		SReal &	fz
	)

virtual

Implements sofa::component::haptics::MechanicalStateForceFeedback< TDataTypes >.

◆ computeForce() [4/4]

void SOFA_COMPONENT_HAPTICS_API sofa::component::haptics::LCPForceFeedback< sofa::defaulttype::Rigid3Types >::computeForce	(	SReal	x,
		SReal	y,
		SReal	z,
		SReal	,
		SReal	,
		SReal	,
		SReal	,
		SReal &	fx,
		SReal &	fy,
		SReal &	fz
	)

virtual

Implements sofa::component::haptics::MechanicalStateForceFeedback< TDataTypes >.

◆ computeWrench() [1/3]

void sofa::component::haptics::LCPForceFeedback< Rigid3Types >::computeWrench	(	const sofa::type::Transform< SReal > &	world_H_tool,
		const sofa::type::SpatialVector< SReal > &	,
		sofa::type::SpatialVector< SReal > &	W_tool_world
	)

virtual

Implements sofa::component::haptics::MechanicalStateForceFeedback< TDataTypes >.

◆ computeWrench() [2/3]

void SOFA_COMPONENT_HAPTICS_API sofa::component::haptics::LCPForceFeedback< sofa::defaulttype::Rigid3Types >::computeWrench	(	const sofa::type::Transform< SReal > &	world_H_tool,
		const sofa::type::SpatialVector< SReal > &	,
		sofa::type::SpatialVector< SReal > &	W_tool_world
	)

virtual

Implements sofa::component::haptics::MechanicalStateForceFeedback< TDataTypes >.

◆ computeWrench() [3/3]

template<typename DataTypes >

void sofa::component::haptics::LCPForceFeedback< DataTypes >::computeWrench	(	const sofa::type::Transform< SReal > &	world_H_tool,
		const sofa::type::SpatialVector< SReal > &	V_tool_world,
		sofa::type::SpatialVector< SReal > &	W_tool_world
	)

overridevirtual

Implements sofa::component::haptics::MechanicalStateForceFeedback< TDataTypes >.

◆ doComputeForce()

template<class DataTypes >

void sofa::component::haptics::LCPForceFeedback< DataTypes >::doComputeForce	(	const VecCoord &	state,
		VecDeriv &	forces
	)

protectedvirtual

◆ draw()

template<class TDataTypes >

void sofa::component::haptics::LCPForceFeedback< TDataTypes >::draw ( const core::visual::VisualParams * )

inlineoverridevirtual

Render internal data of this object, for debugging purposes.

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

◆ handleEvent()

template<typename DataTypes >

void sofa::component::haptics::LCPForceFeedback< DataTypes >::handleEvent ( sofa::core::objectmodel::Event * )

overridevirtual

Handle an event.

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

◆ init()

template<class DataTypes >

void sofa::component::haptics::LCPForceFeedback< DataTypes >::init ( void )

overridevirtual

Initialization method called at graph creation and modification, during top-down traversal.

Reimplemented from sofa::component::haptics::ForceFeedback.

◆ setLock()

template<class DataTypes >

void sofa::component::haptics::LCPForceFeedback< DataTypes >::setLock ( bool value )

overridevirtual

Overide method to lock or unlock the force feedback computation. According to parameter, value == true (resp. false) will lock (resp. unlock) mutex.

See also: lockForce

Reimplemented from sofa::component::haptics::ForceFeedback.

◆ SOFA_CLASS()

template<class TDataTypes >

sofa::component::haptics::LCPForceFeedback< TDataTypes >::SOFA_CLASS	(	SOFA_TEMPLATE(LCPForceFeedback< TDataTypes >, TDataTypes)	,
		MechanicalStateForceFeedback< TDataTypes >
	)

◆ updateConstraintProblem()

template<class DataTypes >

bool sofa::component::haptics::LCPForceFeedback< DataTypes >::updateConstraintProblem

protectedvirtual

◆ updateStats()

template<class DataTypes >

void sofa::component::haptics::LCPForceFeedback< DataTypes >::updateStats

protectedvirtual

Detailed Description

template<class TDataTypes> class sofa::component::haptics::LCPForceFeedback< TDataTypes >

Public Attributes

Protected Attributes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Attribute details

◆ _timer

◆ constraintSolver

◆ d_derivRotations

◆ d_localHapticConstraintAllFrames

◆ d_solverMaxIt

◆ forceCoef

◆ haptic_freq

◆ lockForce

◆ mConstraints

◆ mCP

◆ mCurBufferId

◆ mId_buf

◆ mIsCuBufferInUse

◆ mNextBufferId

◆ mState

◆ mVal

◆ num_constraints

◆ solverTimeout

◆ time_buf

◆ timer_iterations

Constructor details

◆ LCPForceFeedback()

◆ ~LCPForceFeedback()

Function details

◆ canCreate()

◆ computeForce() [1/4]

◆ computeForce() [2/4]

◆ computeForce() [3/4]

◆ computeForce() [4/4]

◆ computeWrench() [1/3]

◆ computeWrench() [2/3]

◆ computeWrench() [3/3]

◆ doComputeForce()

◆ draw()

◆ handleEvent()

◆ init()

◆ setLock()

◆ SOFA_CLASS()

◆ updateConstraintProblem()

◆ updateStats()

template<class TDataTypes>
class sofa::component::haptics::LCPForceFeedback< TDataTypes >