CMyCustomDevice.h

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//==============================================================================
/*
    Software License Agreement (BSD License)
    Copyright (c) 2003-2016, CHAI3D.
    (www.chai3d.org)

    All rights reserved.

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    * Redistributions of source code must retain the above copyright
    notice, this list of conditions and the following disclaimer.

    * Redistributions in binary form must reproduce the above
    copyright notice, this list of conditions and the following
    disclaimer in the documentation and/or other materials provided
    with the distribution.

    * Neither the name of CHAI3D nor the names of its contributors may
    be used to endorse or promote products derived from this software
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    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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    \author    <http://www.chai3d.org>
    \author    Your name, institution, or company name.
    \version   3.2.0 $Rev: 1875 $
*/
//==============================================================================

//------------------------------------------------------------------------------
#ifndef CMyCustomDeviceH
#define CMyCustomDeviceH
//------------------------------------------------------------------------------
#if defined(C_ENABLE_CUSTOM_DEVICE_SUPPORT)
//------------------------------------------------------------------------------
#include "devices/CGenericHapticDevice.h"
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
namespace chai3d {
//------------------------------------------------------------------------------

//==============================================================================
//==============================================================================

//------------------------------------------------------------------------------
class cMyCustomDevice;
typedef std::shared_ptr<cMyCustomDevice> cMyCustomDevicePtr;
//------------------------------------------------------------------------------

//==============================================================================
//==============================================================================
class cMyCustomDevice : public cGenericHapticDevice
{
    //--------------------------------------------------------------------------
    // CONSTRUCTOR & DESTRUCTOR:
    //--------------------------------------------------------------------------

public:

    cMyCustomDevice(unsigned int a_deviceNumber = 0);

    virtual ~cMyCustomDevice();

    static cMyCustomDevicePtr create(unsigned int a_deviceNumber = 0) { return (std::make_shared<cMyCustomDevice>(a_deviceNumber)); }


    //--------------------------------------------------------------------------
    // PUBLIC METHODS:
    //--------------------------------------------------------------------------

public:

    virtual bool open();

    virtual bool close();

    virtual bool calibrate(bool a_forceCalibration = false);

    virtual bool getPosition(cVector3d& a_position);

    virtual bool getRotation(cMatrix3d& a_rotation);

    virtual bool getGripperAngleRad(double& a_angle);

    virtual bool getUserSwitches(unsigned int& a_userSwitches); 

    virtual bool setForceAndTorqueAndGripperForce(const cVector3d& a_force, const cVector3d& a_torque, double a_gripperForce);


    //--------------------------------------------------------------------------
    // PUBLIC STATIC METHODS:
    //--------------------------------------------------------------------------

public: 

    static unsigned int getNumDevices();


    //--------------------------------------------------------------------------
    // PROTECTED MEMBERS:
    //--------------------------------------------------------------------------

    /*
        INTERNAL VARIABLES:

        If you need to declare any local variables or methods for your device,
        you may do it here below. 
    */

protected:

    int m_MyVariable;
};

//------------------------------------------------------------------------------
}       // namespace chai3d
//------------------------------------------------------------------------------
#endif  // C_ENABLE_CUSTOM_DEVICE_SUPPORT
//------------------------------------------------------------------------------
#endif
//------------------------------------------------------------------------------