#include <CHapticsBase.hpp>

Inheritance diagram for scl::CHapticsBase:

Collaboration diagram for scl::CHapticsBase:

Public Member Functions
	CHapticsBase ()

virtual	~CHapticsBase ()

virtual scl::sInt	connectToDevices ()=0

virtual scl::sBool	getHapticDevicePosition (const sUInt arg_id, Eigen::VectorXd &ret_pos_vec) const =0

virtual scl::sBool	getAllHapticDevicePositions (std::vector< Eigen::VectorXd > &ret_pos_vec) const =0

virtual scl::sBool	setHapticDeviceActuator (const sUInt arg_id, const Eigen::VectorXd &arg_cmd_vec)=0

virtual scl::sBool	setAllHapticDeviceActuators (const std::vector< Eigen::VectorXd > &arg_cmd_vec)=0

virtual scl::sBool	closeConnectionToDevices ()=0

virtual scl::sUInt	getNumDevicesConnected ()=0

virtual const std::string &	getType () const

virtual const std::string &	getName () const

virtual bool	hasBeenInit () const

Public Attributes
std::string	name_

sBool	has_been_init_

Protected Attributes
std::string	type_

Detailed Description

This class is a simple API to access a haptics subsystem. It is designed to abstract the actual device initialization and operation. Provides a high level interface to get device positions for multiple haptic devices and specify their control torques.

Constructor & Destructor Documentation

scl::CHapticsBase::CHapticsBase ( )

inline

Default constructor. Does nothing.

virtual scl::CHapticsBase::~CHapticsBase ( )

inlinevirtual

Default destructor. Closes haptic connections.

Member Function Documentation

virtual scl::sInt scl::CHapticsBase::connectToDevices ( )

pure virtual

Connects to the haptic devices. Returns: success : The number of devices it found. failure : -1

Implemented in scl::CHapticsChai.

virtual scl::sBool scl::CHapticsBase::getAllHapticDevicePositions ( std::vector< Eigen::VectorXd > & ret_pos_vec ) const

pure virtual

Get the present state of all the haptic devices. This is typically the position, but can also include the orientation and/or a push button.

Implemented in scl::CHapticsChai.

virtual scl::sBool scl::CHapticsBase::getHapticDevicePosition	(	const sUInt	arg_id,
		Eigen::VectorXd &	ret_pos_vec
	)		const

pure virtual

Get the present state of a single haptic devices. This is typically the position, but can also include the orientation and/or a push button.

Implemented in scl::CHapticsChai.

virtual const std::string& scl::SObject::getName ( ) const

inlinevirtualinherited

Get the object's type

virtual scl::sUInt scl::CHapticsBase::getNumDevicesConnected ( )

pure virtual

Returns the number of currently connected devices

Implemented in scl::CHapticsChai.

virtual const std::string& scl::SObject::getType ( ) const

inlinevirtualinherited

Get the object's type

virtual bool scl::SObject::hasBeenInit ( ) const

inlinevirtualinherited

Get the object's type

virtual scl::sBool scl::CHapticsBase::setAllHapticDeviceActuators ( const std::vector< Eigen::VectorXd > & arg_cmd_vec )

pure virtual

Sets the actuators on the haptic devices.

Implemented in scl::CHapticsChai.

virtual scl::sBool scl::CHapticsBase::setHapticDeviceActuator	(	const sUInt	arg_id,
		const Eigen::VectorXd &	arg_cmd_vec
	)

pure virtual

Sets the actuators on the haptic devices.

Implemented in scl::CHapticsChai.

Member Data Documentation

sBool scl::SObject::has_been_init_

inherited

Whether the object is ready for use

std::string scl::SObject::name_

inherited

The object's name

std::string scl::SObject::type_

protectedinherited

The object's type. Should only be set by the constructor

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

/home/samir/Code/control/scl.git/src/scl/haptics/CHapticsBase.hpp

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation