16 #ifndef SURGSIM_DEVICES_NOVINT_NOVINTDEVICE_H 17 #define SURGSIM_DEVICES_NOVINT_NOVINTDEVICE_H 30 SURGSIM_STATIC_REGISTRATION(NovintDevice);
191 #endif // SURGSIM_DEVICES_NOVINT_NOVINTDEVICE_H void setOrientationScale(double scale)
Sets the orientation scale for this device.
Definition: NovintDevice.cpp:140
double m_maxForce
The maximum force magnitude (in Newtons) that should be sent to the hardware.
Definition: NovintDevice.h:155
double m_orientationScale
Scale factor for the orientation axes; stored locally before the device is initialized.
Definition: NovintDevice.h:185
Definition: CompoundShapeToGraphics.cpp:29
void setPositionScale(double scale)
Sets the position scale for this device.
Definition: NovintDevice.cpp:126
virtual bool is7DofDevice() const
Query if this object represents a 7 degree of freedom hardware device.
Definition: NovintDevice.cpp:160
void setAntigrav(Math::Vector3d antigrav)
Set a constant force that gets added to all forces sent to the hardware.
Definition: NovintDevice.cpp:179
std::shared_ptr< NovintScaffold > m_scaffold
The scaffold handles all the communication with the SDK.
Definition: NovintDevice.h:174
SURGSIM_CLASSNAME(SurgSim::Devices::NovintDevice)
bool getSerialNumber(std::string *serialNumber) const
Gets the serial number used to register this device with the hardware library.
Definition: NovintDevice.cpp:68
bool m_7DofDevice
True if the device is 7Dof, false if the device is 3Dof.
Definition: NovintDevice.h:152
SurgSim::DataStructures::OptionalValue< std::string > m_initializationName
The name passed to the SDK to specify which hardware device should be used.
Definition: NovintDevice.h:177
A class that manages Novint Falcon devices.
Definition: NovintScaffold.h:37
void set7DofDevice(bool val)
Sets whether or not this is supposed to be a 7Dof device.
Definition: NovintDevice.cpp:154
double m_positionScale
Scale factor for the position axes; stored locally before the device is initialized.
Definition: NovintDevice.h:183
void setSerialNumber(const std::string &serialNumber)
Sets the serial number used to register this device with the hardware library.
Definition: NovintDevice.cpp:58
A class implementing the communication with a Novint Falcon device.
Definition: NovintDevice.h:69
bool getInitializationName(std::string *initializationName) const
Gets the name used to register this device with the hardware library.
Definition: NovintDevice.cpp:88
bool isInitialized() const override
Definition: NovintDevice.cpp:121
void setOptionalSerialNumber(const DataStructures::OptionalValue< std::string > &serial)
Definition: NovintDevice.cpp:207
Math::Vector3d m_antigrav
The anti-gravity force in Newtons.
Definition: NovintDevice.h:158
NovintDevice(const std::string &name)
Constructor.
Definition: NovintDevice.cpp:31
const DataStructures::OptionalValue< std::string > & getOptionalInitializationName() const
Definition: NovintDevice.cpp:192
void setOptionalInitializationName(const DataStructures::OptionalValue< std::string > &name)
Definition: NovintDevice.cpp:197
double getOrientationScale() const
Gets the orientation scale for this device.
Definition: NovintDevice.cpp:149
virtual ~NovintDevice()
Destructor.
Definition: NovintDevice.cpp:50
void setInitializationName(const std::string &initializationName)
Sets the name used to register this device with the hardware library.
Definition: NovintDevice.cpp:78
void setMaxForce(double force)
Set the maximum force that can be sent to the device.
Definition: NovintDevice.cpp:165
SurgSim::DataStructures::OptionalValue< std::string > m_serialNumber
The serial number passed to the SDK to specify which hardware device should be used.
Definition: NovintDevice.h:180
double getPositionScale() const
Gets the position scale for this device.
Definition: NovintDevice.cpp:135
Math::Vector3d getAntigrav() const
Definition: NovintDevice.cpp:187
double getMaxForce() const
Definition: NovintDevice.cpp:174
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:57
bool finalize() override
Finalize (de-initialize) the device.
Definition: NovintDevice.cpp:113
bool initialize() override
Fully initialize the device.
Definition: NovintDevice.cpp:98
const DataStructures::OptionalValue< std::string > & getOptionalSerialNumber() const
Definition: NovintDevice.cpp:202