This class implements an interface to all Force Dimension and Novint haptic devices. More...

#include <CDeltaDevices.h>

Inheritance diagram for chai3d::cDeltaDevice:

Public Member Functions
	cDeltaDevice (unsigned int a_deviceNumber=0, bool a_external=false)
	Constructor of cDeltaDevice. More...

virtual	~cDeltaDevice ()
	Destructor of cDeltaDevice. More...

virtual bool	open ()
	This method opens a connection to the haptic device. More...

virtual bool	close ()
	This method closes the connection to the haptic device. More...

virtual bool	calibrate (bool a_forceCalibration=false)
	This method calibrates the haptic device. More...

virtual bool	getPosition (cVector3d &a_position)
	This method returns the position of the haptic device. More...

virtual bool	getLinearVelocity (cVector3d &a_linearVelocity)
	This method returns the linear velocity of the haptic device. More...

virtual bool	getRotation (cMatrix3d &a_rotation)
	This method returns the orientation frame of the haptic device. More...

virtual bool	getJointAnglesRad (double a_jointAnglesRad[C_MAX_DOF])
	This method returns the joint angles of the haptic device. More...

virtual bool	getGripperAngleRad (double &a_angle)
	This method returns the gripper angle in radian [rad]. More...

virtual bool	getUserSwitches (unsigned int &a_userSwitches)
	This method returns the status of all user switches [true = ON / false = OFF]. More...

virtual bool	setForceAndTorqueAndGripperForce (const cVector3d &a_force, const cVector3d &a_torque, double a_gripperForce)
	This method sends a force, torque, and gripper force to the haptic device. More...

int	getDeviceType ()
	This method returns the type of this haptic device. More...

bool	enableForces (bool a_value)
	This method enables or disables forces. More...

bool	setDeviceAngleDeg (double a_angleDeg)
	This method orients the device around the y-axis. More...

bool	setVibration (double a_freq, double a_amplitude, int a_type=0)
	This method assign a vibration to the devices that support this feature. More...

Public Member Functions inherited from chai3d::cGenericHapticDevice
	cGenericHapticDevice (unsigned int a_deviceNumber=0)
	Constructor of cGenericHapticDevice. More...

virtual	~cGenericHapticDevice ()
	Destructor of cGenericHapticDevice. More...

virtual bool	getAngularVelocity (cVector3d &a_angularVelocity)
	This method returns the angular velocity of haptic device. More...

virtual bool	getTransform (cTransform &a_transform)
	This method returns the position and orientation of the haptic device through a transformation matrix. More...

bool	getGripperAngleDeg (double &a_angle)
	This method returns the gripper angle in degrees [deg]. More...

virtual bool	getGripperAngularVelocity (double &a_gripperAngularVelocity)
	This method returns the angular velocity of the gripper. Units are in radians per second [rad/s]. More...

virtual bool	getForce (cVector3d &a_force)
	This method returns the sensed force [N] from the haptic device. More...

virtual bool	getTorque (cVector3d &a_torque)
	This method returns the sensed torque [N*m] from the haptic device. More...

virtual bool	getGripperForce (double &a_gripperForce)
	This method returns the sensed torque [N*m] from the force gripper. More...

virtual bool	getUserSwitch (int a_switchIndex, bool &a_status)
	This method returns the status of a selected user switch [true = ON / false = OFF]. More...

cHapticDeviceInfo	getSpecifications ()
	This method returns the technical specifications of this haptic device. More...

virtual void	setEnableGripperUserSwitch (const bool a_status)
	This method enables or disables the virtual gripper switch. More...

virtual bool	getEnableGripperUserSwitch () const
	This method returns the status of the virtual gripper user switch. If true, then gripper is used to emulate a user switch. Return false otherwise. More...

bool	setForce (const cVector3d &a_force)
	This method sends a force [N] command to the haptic device. More...

bool	setForceAndTorque (const cVector3d &a_force, const cVector3d &a_torque)
	This method sends a force [N] and torque [N*m] command to the haptic device. More...

Public Member Functions inherited from chai3d::cGenericDevice
	cGenericDevice (unsigned int a_deviceNumber=0)
	Constructor of cGenericDevice. More...

virtual	~cGenericDevice ()
	Destructor of cGenericDevice. More...

bool	isDeviceAvailable ()
	This method returns true if the device is available for communication, false otherwise. More...

bool	isDeviceReady ()
	This method returns true if the connection to the device has been established by calling method open(), false otherwise. More...

Static Public Member Functions
static cDeltaDevicePtr	create (unsigned int a_deviceNumber=0, bool a_external=false)
	Shared cDeltaDevice allocator. More...

static unsigned int	getNumDevices ()
	This method returns the number of haptic devices available for this class of devices. More...

Static Public Member Functions inherited from chai3d::cGenericHapticDevice
static cGenericHapticDevicePtr	create (unsigned int a_deviceNumber=0)
	Shared cGenericHapticDevice allocator. More...

static unsigned int	getNumDevices ()
	This method returns the number of haptic devices available for this class of devices. More...

Static Public Member Functions inherited from chai3d::cGenericDevice
static unsigned int	getNumDevices ()
	This method returns the number of haptic devices available for this class of devices. More...

Static Protected Member Functions
static bool	openLibraries ()
	This method opens libraries for this class of devices. More...

static bool	closeLibraries ()
	This method closes libraries for this class of devices. More...

Static Protected Member Functions inherited from chai3d::cGenericHapticDevice
static bool	openLibraries ()
	This method opens libraries for this class of devices. More...

static bool	closeLibraries ()
	This method closes libraries for this class of devices. More...

Static Protected Member Functions inherited from chai3d::cGenericDevice
static bool	openLibraries ()
	This method opens libraries for this class of devices. More...

static bool	closeLibraries ()
	This method closes libraries for this class of devices. More...

Protected Attributes
int	m_deviceID
	Device ID number among the Force Dimension devices connected to the computer. More...

int	m_deviceType
	Device type among the Force Dimension devices. More...

int	m_userSwitchCount [8]
	Data structure for simulating a low-pass filter on user switches. More...

int	m_userSwitchStatus [8]
	Last state of user switch. More...

cPrecisionClock	m_userSwitchClock [8]
	Time guard for user switch. More...

bool	m_statusEnableForcesFirstTime
	Have forces been enable yet since the connection to the device was opened? More...

bool	m_external
	Was dhdOpen() called outside CHAI3D? More...

cVector3d	m_posWorkspaceOffset
	Translational workspace offset. More...

Protected Attributes inherited from chai3d::cGenericHapticDevice
cVector3d	m_prevForce
	Last force sent to haptic device. More...

cVector3d	m_prevTorque
	Last torque sent to haptic device. More...

double	m_prevGripperForce
	Last gripper force sent to haptic device. More...

cVector3d	m_linearVelocity
	Last estimated linear velocity. More...

cVector3d	m_angularVelocity
	Last estimated angular velocity. More...

double	m_gripperAngularVelocity
	Last estimated gripper angular velocity. More...

cTimestampPos	m_historyPos [C_DEVICE_HISTORY_SIZE]
	History position data of the device. More...

cTimestampRot	m_historyRot [C_DEVICE_HISTORY_SIZE]
	History orientation data of the device. More...

cTimestampValue	m_historyGripper [C_DEVICE_HISTORY_SIZE]
	History position of device gripper. More...

int	m_indexHistoryPos
	Current index position in history data table. More...

int	m_indexHistoryRot
	Current index position in history data table. More...

int	m_indexHistoryGripper
	Current index position in history data table. More...

int	m_indexHistoryPosWin
	Last index position used to compute velocity. More...

int	m_indexHistoryRotWin
	Last index position used to compute velocity. More...

int	m_indexHistoryGripperWin
	Last index position used to compute velocity. More...

double	m_linearVelocityWindowSize
	Window time interval for measuring linear velocity. More...

double	m_angularVelocityWindowSize
	Window time interval for measuring angular velocity. More...

double	m_gripperVelocityWindowSize
	Window time interval for measuring gripper velocity. More...

cPrecisionClock	m_clockGeneral
	General clock used to compute velocity signals. More...

bool	m_gripperUserSwitchEnabled
	If true then virtual gripper user switch is enabled. More...

double	m_gripperUserSwitchAngleStart
	Position of the gripper when the user encounters the virtual switch. More...

double	m_gripperUserSwitchAngleClick
	Position of the gripper when the virtual switch is enabled and the "click" occurs. More...

double	m_gripperUserSwitchForceClick
	Maximum force level at the force gripper when the "click" occurs. More...

double	m_gripperUserSwitchForceEngaged
	Force level when the gripper is completely closed after the "click" event has occurred. More...

double	m_virtualGripperAngle
	Virtual gripper current angle in radians [rad]. More...

double	m_virtualGripperAngleMin
	Virtual gripper minimum angle in radians [rad]. More...

double	m_virtualGripperAngleMax
	Virtual gripper maximum angle in radians [rad]. More...

double	m_virtualGripperAngularVelocity
	Virtual speed value used for simulating the opening and closing of the virtual gripper [rad/s]. More...

cPrecisionClock	m_virtualGripperClock
	Clock for computing the position/velocity of the virtual gripper. More...

Protected Attributes inherited from chai3d::cGenericDevice
bool	m_deviceAvailable
	Flag that indicates if the device is available to the computer. More...

bool	m_deviceReady
	Flag that indicates if connection to device was opened successfully by calling method open(). More...

int	m_deviceNumber
	Device number ID for this category of devices. Value must be equal or bigger than 0. A value of __-1__ means that the ID has not yet been defined. More...

Static Protected Attributes
static bool	s_allocationTable [C_MAX_DEVICES]
	Allocation table for devices of this class. true means that the device has been allocated, false means free. More...

static unsigned int	s_libraryCounter
	Number of instances for this class of devices currently using the libraries. More...

Additional Inherited Members
Public Attributes inherited from chai3d::cGenericHapticDevice
cHapticDeviceInfo	m_specifications
	Technical specifications of haptic device. More...

Protected Member Functions inherited from chai3d::cGenericHapticDevice
void	estimateLinearVelocity (cVector3d &a_newPosition)
	Estimate linear velocity of handle by passing the latest position. More...

void	estimateAngularVelocity (cMatrix3d &a_newRotation)
	Estimate angular velocity of handle by passing the latest orientation frame. More...

void	estimateGripperVelocity (double a_newGripperPosition)
	Estimate velocity of gripper by passing the latest gripper position. More...

double	computeGripperUserSwitchForce (const double &a_gripperAngle, const double &a_gripperAngularVelocity)
	This method computes the virtual gripper force. More...

bool	getGripperUserSwitch ()
	This method returns the status of gripper user switch. Return true if virtual user switch is engaged, __false_ otherwise. More...

Detailed Description

This class implements an interface to all Force Dimension and Novint haptic devices that include the omega.x, delta.x, sigma.x and Falcon.

Constructor & Destructor Documentation

chai3d::cDeltaDevice::cDeltaDevice	(	unsigned int	a_deviceNumber = `0`,
		bool	a_external = `false`
	)

Constructor of cDeltaDevice.

Parameters

a_deviceNumber	Device index number. [0, C_DEVICE_MAX]
a_external	true if dhdOpen() called outside CHAI3D, false otherwise.

chai3d::cDeltaDevice::~cDeltaDevice ( )

virtual

Destructor of cDeltaDevice.

Member Function Documentation

static cDeltaDevicePtr chai3d::cDeltaDevice::create	(	unsigned int	a_deviceNumber = `0`,
		bool	a_external = `false`
	)

inlinestatic

bool chai3d::cDeltaDevice::open ( )

virtual

This method opens a connection to the haptic device.

Returns: true if operation succeeds, false otherwise.

Reimplemented from chai3d::cGenericHapticDevice.

bool chai3d::cDeltaDevice::close ( )

virtual

This method closes the connection to the haptic device.

Returns: true if the operation succeeds, false otherwise.

Reimplemented from chai3d::cGenericHapticDevice.

bool chai3d::cDeltaDevice::calibrate ( bool a_forceCalibration = false )

virtual

This methods calibrates the haptic device.
If argument a_forceCalibration is equal to true, then calibration is enforced even if the device has already been calibrated. If false, then the device is only calibrated if needed.

Parameters

a_forceCalibration Enforce calibration.

Returns: true if the operation succeeds, false otherwise.

Reimplemented from chai3d::cGenericHapticDevice.

bool chai3d::cDeltaDevice::getPosition ( cVector3d & a_position )

virtual

This method reads the position of the haptic device. Units are meters [m].

Parameters

a_position Return value.

Returns: true if the operation succeeds, false otherwise.

Reimplemented from chai3d::cGenericHapticDevice.

bool chai3d::cDeltaDevice::getLinearVelocity ( cVector3d & a_linearVelocity )

virtual

This method returns the linear velocity of the haptic device. Units are in [m/s].

Parameters

a_linearVelocity Return value.

Returns: true if the operation succeeds, false otherwise.

Reimplemented from chai3d::cGenericHapticDevice.

bool chai3d::cDeltaDevice::getRotation ( cMatrix3d & a_rotation )

virtual

This method returns the orientation frame of the haptic device end-effector.

Parameters

a_rotation Return value.

Returns: true if the operation succeeds, false otherwise.

Reimplemented from chai3d::cGenericHapticDevice.

bool chai3d::cDeltaDevice::getJointAnglesRad ( double a_jointAnglesRad[C_MAX_DOF] )

virtual

This method returns the joint angles of the haptic device.

Parameters

a_jointAnglesRad Array of returned joints angles.

Returns: true if the operation succeeds, false otherwise.

Reimplemented from chai3d::cGenericHapticDevice.

bool chai3d::cDeltaDevice::getGripperAngleRad ( double & a_angle )

virtual

This method returns the gripper angle in radian [rad].

Parameters

a_angle Return value.

Returns: true if the operation succeeds, false otherwise.

Reimplemented from chai3d::cGenericHapticDevice.

bool chai3d::cDeltaDevice::getUserSwitches ( unsigned int & a_userSwitches )

virtual

This method returns the status of all user switches [true = ON / false = OFF].

Parameters

a_userSwitches Return the 32-bit binary mask of the device buttons.

Returns: true if the operation succeeds, false otherwise.

Reimplemented from chai3d::cGenericHapticDevice.

bool chai3d::cDeltaDevice::setForceAndTorqueAndGripperForce	(	const cVector3d &	a_force,
		const cVector3d &	a_torque,
		double	a_gripperForce
	)

virtual

This method sends a force [N] and a torque [N*m] and gripper torque [N*m] to the haptic device.

Parameters

a_force	Force command.
a_torque	Torque command.
a_gripperForce	Gripper force command.

Returns: true if the operation succeeds, false otherwise.

Reimplemented from chai3d::cGenericHapticDevice.

unsigned int chai3d::cDeltaDevice::getNumDevices ( )

static

This method returns the number of haptic devices available for this class of device.

Returns: Number of available haptic devices.

bool chai3d::cDeltaDevice::openLibraries ( )

staticprotected

This method opens libraries for this class of devices.

Returns: true if the operation succeeds, false otherwise.

bool chai3d::cDeltaDevice::closeLibraries ( )

staticprotected

This method closes libraries for this class of devices.

Returns: true if the operation succeeds, false otherwise.

int chai3d::cDeltaDevice::getDeviceType ( )

inline

bool chai3d::cDeltaDevice::enableForces ( bool a_value )

This method enables or disables the motors of the haptic device. This function overrides the force button located at the base of the device or on the controller panel.

Parameters

a_value Actuation status.

Returns: true if the operation succeeds, false otherwise.

bool chai3d::cDeltaDevice::setDeviceAngleDeg ( double a_angleDeg )

This mehtod sets the device base plate angle around the Y axis. Please refer to your device user manual for more information on your device coordinate system.

An angle value of 0 corresponds to the device "upright" position, with its base plate perpendicular to axis X. An angle value of 90 corresponds to the device base plate resting horizontally.

Parameters

a_angleDeg Angle in degrees.

Returns: true if the operation succeeds, false otherwise.

bool chai3d::cDeltaDevice::setVibration	(	double	a_freq,
		double	a_amplitude,
		int	a_type = `0`
	)

This method assign a vibration to the devices that support this feature.

Parameters

a_freq	Frequency in Hz.
a_amplitude	Vibration amplitude.
a_type	Vibration signal type.

Returns: true if the operation succeeds, false otherwise.

Member Data Documentation

bool chai3d::cDeltaDevice::s_allocationTable[C_MAX_DEVICES]

staticprotected

unsigned int chai3d::cDeltaDevice::s_libraryCounter

staticprotected

int chai3d::cDeltaDevice::m_deviceID

protected

int chai3d::cDeltaDevice::m_deviceType

protected

int chai3d::cDeltaDevice::m_userSwitchCount[8]

protected

int chai3d::cDeltaDevice::m_userSwitchStatus[8]

protected

cPrecisionClock chai3d::cDeltaDevice::m_userSwitchClock[8]

protected

bool chai3d::cDeltaDevice::m_statusEnableForcesFirstTime

protected

bool chai3d::cDeltaDevice::m_external

protected

cVector3d chai3d::cDeltaDevice::m_posWorkspaceOffset

protected

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

Public Member Functions

Static Public Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation