Public Types | Public Member Functions | Public Attributes | Static Public Attributes | Private Member Functions | List of all members
SurgSim::Devices::NovintScaffold::DeviceData Struct Reference

Public Types

typedef std::array< bool, MAX_NUM_BUTTONSButtonStates
 Type used to store button states. More...
 

Public Member Functions

 DeviceData (NovintDevice *device)
 Initialize the state. More...
 

Public Attributes

std::string initializationName
 The HDAL device name. More...
 
std::string serialNumber
 The HDAL device serial number. More...
 
NovintDevice *const deviceObject
 The corresponding device object. More...
 
std::shared_ptr< NovintScaffold::HandledeviceHandle
 The device handle wrapper. More...
 
Vector3d jointAngles
 The joint angles for the device orientation. More...
 
ButtonStates buttonStates
 The button state read from the device. More...
 
bool isPositionHomed
 The homing state read from the device. More...
 
bool isOrientationHomed
 The homing state read from the device. More...
 
bool isDeviceHomed
 The homing state read from the device. More...
 
bool isDeviceHeld
 The proximity state read from the device. More...
 
bool isDevice7Dof
 True if this is a 7DoF device. More...
 
double maxForce
 The maximum force magnitude (in Newtons) to send to the device. More...
 
Vector3d antigrav
 The constant force added to all forces sent to the device (in Newtons). More...
 
bool isDeviceRollAxisReversed
 True if the roll axis of a 7DoF device has reverse polarity because the device is left-handed. More...
 
double eulerAngleOffsetRoll
 The offset added to the roll Euler angle. More...
 
double eulerAngleOffsetYaw
 The offset added to the yaw Euler angle. More...
 
double eulerAngleOffsetPitch
 The offset added to the pitch Euler angle. More...
 
double toolDof
 The tool's degree-of-freedom, e.g., the handle's open/close angle. More...
 
double forwardPointingPoseThreshold
 The threshold to determine if the device is pointing forwards before unlocking orientation. More...
 
Vector3d torqueScale
 The scaling factors for the torque axes. More...
 
RigidTransform3d scaledPose
 The pose value from the device, after scaling. More...
 
Vector3d force
 The force value to be written to the device. More...
 
Vector4d torque
 The torque value to be written to the device. More...
 
double positionScale
 Scale factor for the position axes. More...
 
double orientationScale
 Scale factor for the orientation axes. More...
 
boost::mutex parametersMutex
 The mutex that protects the externally modifiable parameters. More...
 

Static Public Attributes

static const size_t MAX_NUM_BUTTONS = 4
 The maximum number of buttons supported by any device object. More...
 

Private Member Functions

 DeviceData (const DeviceData &)
 
DeviceDataoperator= (const DeviceData &)
 

Member Typedef Documentation

§ ButtonStates

Type used to store button states.

Constructor & Destructor Documentation

§ DeviceData() [1/2]

SurgSim::Devices::NovintScaffold::DeviceData::DeviceData ( NovintDevice device)
inlineexplicit

Initialize the state.

§ DeviceData() [2/2]

SurgSim::Devices::NovintScaffold::DeviceData::DeviceData ( const DeviceData )
private

Member Function Documentation

§ operator=()

DeviceData& SurgSim::Devices::NovintScaffold::DeviceData::operator= ( const DeviceData )
private

Member Data Documentation

§ antigrav

Vector3d SurgSim::Devices::NovintScaffold::DeviceData::antigrav

The constant force added to all forces sent to the device (in Newtons).

§ buttonStates

ButtonStates SurgSim::Devices::NovintScaffold::DeviceData::buttonStates

The button state read from the device.

§ deviceHandle

std::shared_ptr<NovintScaffold::Handle> SurgSim::Devices::NovintScaffold::DeviceData::deviceHandle

The device handle wrapper.

§ deviceObject

NovintDevice* const SurgSim::Devices::NovintScaffold::DeviceData::deviceObject

The corresponding device object.

§ eulerAngleOffsetPitch

double SurgSim::Devices::NovintScaffold::DeviceData::eulerAngleOffsetPitch

The offset added to the pitch Euler angle.

§ eulerAngleOffsetRoll

double SurgSim::Devices::NovintScaffold::DeviceData::eulerAngleOffsetRoll

The offset added to the roll Euler angle.

§ eulerAngleOffsetYaw

double SurgSim::Devices::NovintScaffold::DeviceData::eulerAngleOffsetYaw

The offset added to the yaw Euler angle.

§ force

Vector3d SurgSim::Devices::NovintScaffold::DeviceData::force

The force value to be written to the device.

§ forwardPointingPoseThreshold

double SurgSim::Devices::NovintScaffold::DeviceData::forwardPointingPoseThreshold

The threshold to determine if the device is pointing forwards before unlocking orientation.

§ initializationName

std::string SurgSim::Devices::NovintScaffold::DeviceData::initializationName

The HDAL device name.

§ isDevice7Dof

bool SurgSim::Devices::NovintScaffold::DeviceData::isDevice7Dof

True if this is a 7DoF device.

§ isDeviceHeld

bool SurgSim::Devices::NovintScaffold::DeviceData::isDeviceHeld

The proximity state read from the device.

§ isDeviceHomed

bool SurgSim::Devices::NovintScaffold::DeviceData::isDeviceHomed

The homing state read from the device.

§ isDeviceRollAxisReversed

bool SurgSim::Devices::NovintScaffold::DeviceData::isDeviceRollAxisReversed

True if the roll axis of a 7DoF device has reverse polarity because the device is left-handed.

§ isOrientationHomed

bool SurgSim::Devices::NovintScaffold::DeviceData::isOrientationHomed

The homing state read from the device.

§ isPositionHomed

bool SurgSim::Devices::NovintScaffold::DeviceData::isPositionHomed

The homing state read from the device.

§ jointAngles

Vector3d SurgSim::Devices::NovintScaffold::DeviceData::jointAngles

The joint angles for the device orientation.

§ MAX_NUM_BUTTONS

const size_t SurgSim::Devices::NovintScaffold::DeviceData::MAX_NUM_BUTTONS = 4
static

The maximum number of buttons supported by any device object.

§ maxForce

double SurgSim::Devices::NovintScaffold::DeviceData::maxForce

The maximum force magnitude (in Newtons) to send to the device.

§ orientationScale

double SurgSim::Devices::NovintScaffold::DeviceData::orientationScale

Scale factor for the orientation axes.

§ parametersMutex

boost::mutex SurgSim::Devices::NovintScaffold::DeviceData::parametersMutex

The mutex that protects the externally modifiable parameters.

§ positionScale

double SurgSim::Devices::NovintScaffold::DeviceData::positionScale

Scale factor for the position axes.

§ scaledPose

RigidTransform3d SurgSim::Devices::NovintScaffold::DeviceData::scaledPose

The pose value from the device, after scaling.

§ serialNumber

std::string SurgSim::Devices::NovintScaffold::DeviceData::serialNumber

The HDAL device serial number.

§ toolDof

double SurgSim::Devices::NovintScaffold::DeviceData::toolDof

The tool's degree-of-freedom, e.g., the handle's open/close angle.

§ torque

Vector4d SurgSim::Devices::NovintScaffold::DeviceData::torque

The torque value to be written to the device.

§ torqueScale

Vector3d SurgSim::Devices::NovintScaffold::DeviceData::torqueScale

The scaling factors for the torque axes.


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