This class implements a base class for haptic devices. More...

#include <CGenericHapticDevice.h>

Inheritance diagram for chai3d::cGenericHapticDevice:

[legend]

Public Member Functions
	cGenericHapticDevice (unsigned int a_deviceNumber=0)
	Constructor of cGenericHapticDevice. More...

virtual	~cGenericHapticDevice ()
	Destructor of cGenericHapticDevice. 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 end-effector. More...

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

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

virtual bool	getUserSwitches (unsigned int &a_userSwitches)
	This method returns the status of all user switches [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...

virtual bool	setForceAndTorqueAndGripperForce (const cVector3d &a_force, const cVector3d &a_torque, double a_gripperForce)
	This method sends a force [N], torque [N*m], and gripper force [N] 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 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...

Public Attributes
cHapticDeviceInfo	m_specifications
	Technical specifications of haptic device. More...

Protected Member Functions
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...

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::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
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...

Detailed Description

This class implements a base class from which all haptic devices are derived.

Constructor & Destructor Documentation

chai3d::cGenericHapticDevice::cGenericHapticDevice ( unsigned int a_deviceNumber = 0 )

Constructor of cGenericHapticDevice.
Initializes basic parameters of generic haptic device class.

Parameters

a_deviceNumber Device number ID for this class of devices.

virtual chai3d::cGenericHapticDevice::~cGenericHapticDevice ( )

inlinevirtual

Member Function Documentation

static cGenericHapticDevicePtr chai3d::cGenericHapticDevice::create ( unsigned int a_deviceNumber = 0 )

inlinestatic

virtual bool chai3d::cGenericHapticDevice::open ( )

inlinevirtual

Reimplemented from chai3d::cGenericDevice.

Reimplemented in chai3d::cDeltaDevice, chai3d::cSixenseDevice, chai3d::cMyCustomDevice, chai3d::cLeapDevice, and chai3d::cPhantomDevice.

virtual bool chai3d::cGenericHapticDevice::close ( )

inlinevirtual

Reimplemented from chai3d::cGenericDevice.

Reimplemented in chai3d::cDeltaDevice, chai3d::cSixenseDevice, chai3d::cMyCustomDevice, chai3d::cLeapDevice, and chai3d::cPhantomDevice.

virtual bool chai3d::cGenericHapticDevice::calibrate ( bool a_forceCalibration = false )

inlinevirtual

Reimplemented in chai3d::cDeltaDevice, chai3d::cSixenseDevice, chai3d::cMyCustomDevice, chai3d::cLeapDevice, and chai3d::cPhantomDevice.

virtual bool chai3d::cGenericHapticDevice::getPosition ( cVector3d & a_position )

inlinevirtual

Reimplemented in chai3d::cDeltaDevice, chai3d::cSixenseDevice, chai3d::cMyCustomDevice, chai3d::cLeapDevice, and chai3d::cPhantomDevice.

virtual bool chai3d::cGenericHapticDevice::getLinearVelocity ( cVector3d & a_linearVelocity )

inlinevirtual

Reimplemented in chai3d::cDeltaDevice.

virtual bool chai3d::cGenericHapticDevice::getRotation ( cMatrix3d & a_rotation )

inlinevirtual

Reimplemented in chai3d::cDeltaDevice, chai3d::cSixenseDevice, chai3d::cMyCustomDevice, chai3d::cLeapDevice, and chai3d::cPhantomDevice.

virtual bool chai3d::cGenericHapticDevice::getJointAnglesRad ( double a_jointAnglesRad[C_MAX_DOF] )

inlinevirtual

Reimplemented in chai3d::cDeltaDevice.

virtual bool chai3d::cGenericHapticDevice::getAngularVelocity ( cVector3d & a_angularVelocity )

inlinevirtual

bool chai3d::cGenericHapticDevice::getTransform ( cTransform & a_transform )

virtual

This method returns the position and orientation of the device through a transformation matrix.

Parameters

a_transform Returned transformation matrix.

Returns: true if operation succeeds, false otherwise.

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

virtual

This method returns the gripper angle in radian.

Parameters

a_angle Return value.

Returns: true if operation succeeds, false otherwise.

Reimplemented in chai3d::cDeltaDevice, chai3d::cSixenseDevice, chai3d::cMyCustomDevice, and chai3d::cLeapDevice.

bool chai3d::cGenericHapticDevice::getGripperAngleDeg ( double & a_angle )

inline

virtual bool chai3d::cGenericHapticDevice::getGripperAngularVelocity ( double & a_gripperAngularVelocity )

inlinevirtual

virtual bool chai3d::cGenericHapticDevice::getForce ( cVector3d & a_force )

inlinevirtual

virtual bool chai3d::cGenericHapticDevice::getTorque ( cVector3d & a_torque )

inlinevirtual

virtual bool chai3d::cGenericHapticDevice::getGripperForce ( double & a_gripperForce )

inlinevirtual

bool chai3d::cGenericHapticDevice::getUserSwitch	(	int	a_switchIndex,
		bool &	a_status
	)

virtual

This method returns the status of the user switch [1 = ON / 0 = OFF].

Parameters

a_switchIndex	Index number of the switch.
a_status	Result value from reading the selected input switch.

Returns: true if the operation succeeds, false otherwise.

virtual bool chai3d::cGenericHapticDevice::getUserSwitches ( unsigned int & a_userSwitches )

inlinevirtual

Reimplemented in chai3d::cDeltaDevice, chai3d::cSixenseDevice, chai3d::cMyCustomDevice, chai3d::cLeapDevice, and chai3d::cPhantomDevice.

cHapticDeviceInfo chai3d::cGenericHapticDevice::getSpecifications ( )

inline

virtual void chai3d::cGenericHapticDevice::setEnableGripperUserSwitch ( const bool a_status )

inlinevirtual

virtual bool chai3d::cGenericHapticDevice::getEnableGripperUserSwitch ( ) const

inlinevirtual

bool chai3d::cGenericHapticDevice::setForce ( const cVector3d & a_force )

inline

bool chai3d::cGenericHapticDevice::setForceAndTorque	(	const cVector3d &	a_force,
		const cVector3d &	a_torque
	)

inline

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

inlinevirtual

Reimplemented in chai3d::cDeltaDevice, chai3d::cMyCustomDevice, and chai3d::cPhantomDevice.

static unsigned int chai3d::cGenericHapticDevice::getNumDevices ( )

inlinestatic

void chai3d::cGenericHapticDevice::estimateLinearVelocity ( cVector3d & a_newPosition )

protected

This method estimates the linear velocity by passing the latest position.

Parameters

a_newPosition New position of the haptic device.

void chai3d::cGenericHapticDevice::estimateAngularVelocity ( cMatrix3d & a_newRotation )

protected

This method estimates the angular velocity by passing the latest orientation frame.

Parameters

a_newRotation New rotation frame of the haptic device.

void chai3d::cGenericHapticDevice::estimateGripperVelocity ( double a_newGripperAngle )

protected

This method estimates the velocity of the gripper by passing the latest gripper position.

Parameters

a_newGripperAngle New angular position of the gripper.

double chai3d::cGenericHapticDevice::computeGripperUserSwitchForce	(	const double &	a_gripperAngle,
		const double &	a_gripperAngularVelocity
	)

protected

This method compute a haptic force that simulates a user switch (button) given the angular position and velocity of the gripper.

Parameters

a_gripperAngle	Current position angle of gripper.
a_gripperAngularVelocity	Current angular velocity of gripper.

Returns: Computed force to be applied to the gripper.

bool chai3d::cGenericHapticDevice::getGripperUserSwitch ( )

protected

This method returns true if the gripper is closed, or false if it is open. This mode requires that the gripper has been configured to simulate a user switch by calling method setEnableGripperUserSwitch(), furthermore the gripper needs to provide force-feedback capabilities.

Returns: true if the gripper user switch is closed, false otherwise.

static bool chai3d::cGenericHapticDevice::openLibraries ( )

inlinestaticprotected

static bool chai3d::cGenericHapticDevice::closeLibraries ( )

inlinestaticprotected

Member Data Documentation

cHapticDeviceInfo chai3d::cGenericHapticDevice::m_specifications

cVector3d chai3d::cGenericHapticDevice::m_prevForce

protected

cVector3d chai3d::cGenericHapticDevice::m_prevTorque

protected

double chai3d::cGenericHapticDevice::m_prevGripperForce

protected

cVector3d chai3d::cGenericHapticDevice::m_linearVelocity

protected

cVector3d chai3d::cGenericHapticDevice::m_angularVelocity

protected

double chai3d::cGenericHapticDevice::m_gripperAngularVelocity

protected

cTimestampPos chai3d::cGenericHapticDevice::m_historyPos[C_DEVICE_HISTORY_SIZE]

protected

cTimestampRot chai3d::cGenericHapticDevice::m_historyRot[C_DEVICE_HISTORY_SIZE]

protected

cTimestampValue chai3d::cGenericHapticDevice::m_historyGripper[C_DEVICE_HISTORY_SIZE]

protected

int chai3d::cGenericHapticDevice::m_indexHistoryPos

protected

int chai3d::cGenericHapticDevice::m_indexHistoryRot

protected

int chai3d::cGenericHapticDevice::m_indexHistoryGripper

protected

int chai3d::cGenericHapticDevice::m_indexHistoryPosWin

protected

int chai3d::cGenericHapticDevice::m_indexHistoryRotWin

protected

int chai3d::cGenericHapticDevice::m_indexHistoryGripperWin

protected

double chai3d::cGenericHapticDevice::m_linearVelocityWindowSize

protected

double chai3d::cGenericHapticDevice::m_angularVelocityWindowSize

protected

double chai3d::cGenericHapticDevice::m_gripperVelocityWindowSize

protected

cPrecisionClock chai3d::cGenericHapticDevice::m_clockGeneral

protected

bool chai3d::cGenericHapticDevice::m_gripperUserSwitchEnabled

protected

double chai3d::cGenericHapticDevice::m_gripperUserSwitchAngleStart

protected

double chai3d::cGenericHapticDevice::m_gripperUserSwitchAngleClick

protected

double chai3d::cGenericHapticDevice::m_gripperUserSwitchForceClick

protected

double chai3d::cGenericHapticDevice::m_gripperUserSwitchForceEngaged

protected

double chai3d::cGenericHapticDevice::m_virtualGripperAngle

protected

double chai3d::cGenericHapticDevice::m_virtualGripperAngleMin

protected

double chai3d::cGenericHapticDevice::m_virtualGripperAngleMax

protected

double chai3d::cGenericHapticDevice::m_virtualGripperAngularVelocity

protected

cPrecisionClock chai3d::cGenericHapticDevice::m_virtualGripperClock

protected

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

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation