Inheritance diagram for scl::CHapticsChai:

Collaboration diagram for scl::CHapticsChai:

Public Member Functions
virtual scl::sInt	connectToDevices ()

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

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

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

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

virtual bool	closeConnectionToDevices ()

virtual scl::sUInt	getNumDevicesConnected ()

	CHapticsChai ()

	~CHapticsChai ()

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_

Private Attributes
std::vector < chai3d::cGenericHapticDevice * >	haptic_devices_

chai3d::cHapticDeviceHandler *	haptics_handler_

Constructor & Destructor Documentation

scl::CHapticsChai::CHapticsChai ( )

inline

Default constructor. Does nothing.

scl::CHapticsChai::~CHapticsChai ( )

Default destructor. Closes haptic connections.

Member Function Documentation

scl::sInt scl::CHapticsChai::connectToDevices ( )

virtual

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

Implements scl::CHapticsBase.

bool scl::CHapticsChai::getAllHapticDevicePositions ( std::vector< Eigen::VectorXd > & ret_pos_vec ) const

virtual

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

Implements scl::CHapticsBase.

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

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.

Implements scl::CHapticsBase.

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

inlinevirtualinherited

Get the object's type

virtual scl::sUInt scl::CHapticsChai::getNumDevicesConnected ( )

inlinevirtual

Returns the number of currently connected devices

Implements scl::CHapticsBase.

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::CHapticsChai::setAllHapticDeviceActuators ( const std::vector< Eigen::VectorXd > & arg_cmd_vec )

inlinevirtual

Sets the actuators on the haptic devices.

NOTE TODO : Implement this

Implements scl::CHapticsBase.

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

inlinevirtual

Sets the actuators on the haptic devices.

NOTE TODO : Implement this

Implements scl::CHapticsBase.

Member Data Documentation

std::vector<chai3d::cGenericHapticDevice*> scl::CHapticsChai::haptic_devices_

private

A vector to contain the state of all presently connected haptic devices

chai3d::cHapticDeviceHandler* scl::CHapticsChai::haptics_handler_

private

Chai communicates with a haptic device through a handler. One handler keeps track of all connected devices.

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 files:

/home/samir/Code/control/scl.git/src/scl/haptics/chai/CHapticsChai.hpp
/home/samir/Code/control/scl.git/src/scl/haptics/chai/CHapticsChai.cpp

Public Member Functions

Public Attributes

Protected Attributes

Private Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation