This class implements a gripper using a two haptic points. More...

#include <CToolGripper.h>

Inheritance diagram for chai3d::cToolGripper:

Public Member Functions
	cToolGripper (cWorld *a_parentWorld)
	Constructor of cToolGripper. More...

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

virtual void	computeInteractionForces ()
	This method computes the interaction forces between the gripper tool and environment. More...

virtual void	render (cRenderOptions &a_options)
	This method renders the tools using OpenGL. More...

virtual void	setGripperWorkspaceScale (double a_gripperWorkspaceScale)
	This method sets a workspace scale factor for the gripper. More...

virtual double	getGripperWorskpaceScale ()
	This method returns the workspace scale factor of the gripper. More...

Public Member Functions inherited from chai3d::cGenericTool
	cGenericTool (cWorld *a_parentWorld)
	Constructor of cGenericTool. More...

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

void	setHapticDevice (cGenericHapticDevicePtr a_hapticDevice)
	This method define a haptic device that will control this tool. More...

cGenericHapticDevicePtr	getHapticDevice ()
	This method returns a pointer to the haptic device that is controlling this tool. More...

virtual bool	start ()
	This method starts communication with the haptic device and initializes the tool. More...

virtual bool	stop ()
	This method stops communication with the haptic device. More...

virtual void	initialize ()
	This method resets the contact force models and sets the tool at the position of the haptic device. More...

virtual void	updateFromDevice ()
	This method updates the position, orientation, velocity and other degree of freedoms of the tool by reading sensor data from the haptic device. More...

virtual bool	applyToDevice ()
	This method sends the latest computed interaction force, torque, and gripper force to the haptic device. More...

virtual bool	setForcesON ()
	This method enables forces to the haptic device. More...

virtual bool	setForcesOFF ()
	This method disables forces to the haptic device. More...

void	setWaitForSmallForce (const bool a_value)
	This method enables the tool to wait for the simulation to compute a small force before sending it to the haptic device. This feature typically avoids having the device "jump" at the initialization of an application. More...

bool	getWaitForSmallForce ()
	This method returns the status about waiting for small small forces to appear before sending them to the haptic device. More...

void	setSmallForceThresh (const double a_smallForceThresh)
	This method sets the force threshold required to engage forces when setWaitForSmallForce() is enabled. More...

double	getSmallForceThresh ()
	This method returns the force threshold required to engage forces when setWaitForSmallForce() is enabled. More...

void	setUseForceRise (const bool a_value)
	This method enables or disables the tool to gradually rise forces at startup. More...

bool	getUseForceRise ()
	This method returns the status about force rising mode. More...

void	setRiseTime (const double a_riseTime)
	This method sets the time required to rise the forces from 0% to 100%. More...

double	getRiseTime ()
	This method returns the force rise time. More...

virtual bool	getUserSwitch (const unsigned int a_switchIndex) const
	This method returns the status of a user switch from the device. More...

virtual void	setUserSwitch (const unsigned int a_switchIndex, const bool a_value)
	This method overrides the status of a selected user switch. More...

virtual unsigned int	getUserSwitches () const
	This method returns the status of all user switches on the device. More...

virtual void	setUserSwitches (const unsigned int a_userSwitches)
	This method overrides the status of all user switches on the device. More...

virtual double	getGripperAngleRad () const
	This method returns the angle in radians of the gripper. More...

virtual void	setGripperAngleRad (const double &a_gripperAngleRad)
	This method overrides the angle in radians of the gripper. More...

virtual double	getGripperAngleDeg () const
	This method returns the angle in degrees of the gripper. More...

virtual void	setGripperAngleDeg (const double &a_gripperAngleDeg)
	This method overrides the angle in degrees of the gripper. More...

virtual double	getGripperAngVel () const
	This method returns the angular velocity in radians per second of the gripper. More...

virtual void	setGripperAngVel (const double &a_gripperAngVel)
	This method overrides the angular velocity of the gripper in radians per second. More...

virtual cVector3d	getDeviceLocalPos () const
	This method returns the position of the haptic device expressed in device local coordinates. More...

virtual void	setDeviceLocalPos (const cVector3d &a_localPos)
	This method overrides the position of the haptic device expressed in device local coordinates. More...

void	setDeviceLocalPos (const double &a_x, const double &a_y, const double &a_z)
	This method overrides the position of the haptic device expressed in device local coordinates. More...

virtual cVector3d	getDeviceGlobalPos () const
	This method returns the position of the haptic device expressed in world global coordinates. More...

virtual void	setDeviceGlobalPos (const cVector3d &a_globalPos)
	This method overrides the position of the haptic device expressed in world global coordinates. More...

void	setDeviceGlobalPos (const double &a_x, const double &a_y, const double &a_z)
	This method overrides the position of the haptic device expressed in world global coordinates. More...

virtual cVector3d	getDeviceLocalLinVel () const
	This method returns the linear velocity of the device expressed in device local coordinates. More...

virtual void	setDeviceLocalLinVel (const cVector3d &a_localLinVel)
	This method overrides the linear velocity of the device expressed in device local coordinates. More...

void	setDeviceLocalLinVel (const double &a_x, const double &a_y, const double &a_z)
	This method overrides the linear velocity of the device expressed in device local coordinates. More...

virtual cVector3d	getDeviceGlobalLinVel () const
	This method returns the linear velocity of the device expressed in world global coordinates. More...

virtual void	setDeviceGlobalLinVel (const cVector3d &a_globalLinVel)
	This method overrides the linear velocity of the device expressed in world global coordinates. More...

void	setDeviceGlobalLinVel (const double &a_x, const double &a_y, const double &a_z)
	This method overrides the linear velocity of the device expressed in world global coordinates. More...

virtual cMatrix3d	getDeviceLocalRot () const
	This method returns the orientation of the haptic device expressed in device local coordinates. More...

virtual void	setDeviceLocalRot (const cMatrix3d &a_localRot)
	This method overrides the orientation of the haptic device expressed in device local coordinates. More...

virtual void	setDeviceGlobalRot (const cMatrix3d &a_globalRot)
	This method overrides the orientation of the haptic device expressed in world global coordinates. More...

virtual cMatrix3d	getDeviceGlobalRot () const
	This method returns the orientation of the haptic device expressed in world global coordinates. More...

virtual cVector3d	getDeviceLocalAngVel () const
	This method returns the angular velocity of the device expressed in device local coordinates. More...

virtual void	setDeviceLocalAngVel (const cVector3d &a_localAngVel)
	This method overrides the angular velocity of the device expressed in device local coordinates. More...

void	setDeviceLocalAngVel (const double &a_x, const double &a_y, const double &a_z)
	This method overrides the angular velocity of the device expressed in device local coordinates. More...

virtual cVector3d	getDeviceGlobalAngVel () const
	This method returns the angular velocity of the device expressed in world global coordinates. More...

virtual void	setDeviceGlobalAngVel (const cVector3d &a_globalAngVel)
	This method overrides the angular velocity of the device expressed in world global coordinates. More...

void	setDeviceGlobalAngVel (const double &a_x, const double &a_y, const double &a_z)
	This method overrides the angular velocity of the device expressed in world global coordinates. More...

virtual cTransform	getDeviceLocalTransform () const
	This method returns a transformation matrix which expresses the position and orientation of the haptic device in the local tool frame. More...

virtual void	setDeviceLocalTransform (const cTransform &a_localTransform)
	This method overrides the transformation matrix which expresses the position and orientation of the haptic device in the local tool frame. More...

virtual cTransform	getDeviceGlobalTransform () const
	This method returns a transformation matrix which expresses the position and orientation of the haptic device in world coordinates. More...

virtual void	setDeviceGlobalTransform (const cTransform &a_globalTransform)
	This method overrides the transformation matrix which expresses the position and orientation of the haptic device in world coordinates. More...

virtual double	getGripperForce () const
	This method returns the currently computed gripper force. More...

virtual void	setGripperForce (const double &a_gripperForce)
	This method overrides the current gripper force. More...

virtual void	addGripperForce (const double &a_gripperForce)
	This method adds a force to the currently computed gripper force. More...

virtual cVector3d	getDeviceLocalForce () const
	This method returns the currently computed force expressed in device or tool local coordinates. More...

virtual void	setDeviceLocalForce (const cVector3d &a_localForce)
	This method overrides the current force expressed in device or tool local coordinates. More...

void	setDeviceLocalForce (const double &a_x, const double &a_y, const double &a_z)
	This method overrides the current force expressed in device or tool local coordinates. More...

virtual void	addDeviceLocalForce (const cVector3d &a_localForce)
	This method adds a force to the currently computed force expressed in device or tool local coordinates. More...

void	addDeviceLocalForce (const double &a_x, const double &a_y, const double &a_z)
	This method adds a force to the currently computed force expressed in device or tool local coordinates. More...

virtual cVector3d	getDeviceGlobalForce () const
	This method returns the currently computed force expressed in world coordinates. More...

virtual void	setDeviceGlobalForce (const cVector3d &a_globalForce)
	This method overrides the current force expressed in world coordinates. More...

void	setDeviceGlobalForce (const double &a_x, const double &a_y, const double &a_z)
	This method overrides the current force expressed in world coordinates. More...

virtual void	addDeviceGlobalForce (const cVector3d &a_globalForce)
	This method adds a force to the currently computed force expressed in world coordinates. More...

void	addDeviceGlobalForce (const double &a_x, const double &a_y, const double &a_z)
	This method adds a force to the currently computed force expressed in world coordinates. More...

virtual cVector3d	getDeviceLocalTorque () const
	This method returns the currently computed torque expressed in device or tool local coordinates. More...

virtual void	setDeviceLocalTorque (const cVector3d &a_localTorque)
	This method overrides the current torque expressed in device local coordinates. More...

void	setDeviceLocalTorque (const double &a_x, const double &a_y, const double &a_z)
	This method overrides the current torque expressed in device local coordinates. More...

virtual void	addDeviceLocalTorque (const cVector3d &a_localTorque)
	This method adds a torque to the currently computed torque expressed in device local coordinates. More...

void	addDeviceLocalTorque (const double &a_x, const double &a_y, const double &a_z)
	This method adds a torque to the currently computed torque expressed in device local coordinates. More...

virtual cVector3d	getDeviceGlobalTorque () const
	This method returns the currently computed torque expressed in world coordinates. More...

virtual void	setDeviceGlobalTorque (const cVector3d &a_globalTorque)
	This method overrides the current torque expressed in world coordinates. More...

void	setDeviceGlobalTorque (const double &a_x, const double &a_y, const double &a_z)
	This method overrides the current torque expressed in world coordinates. More...

virtual void	addDeviceGlobalTorque (const cVector3d &a_globalTorque)
	This method adds a torque to the currently computed torque expressed in world coordinates. More...

void	addDeviceGlobalTorque (const double &a_x, const double &a_y, const double &a_z)
	This method adds a torque to the curently computed torque expressed in world coordinates. More...

bool	setWorkspaceRadius (const double &a_workspaceRadius)
	This method set the translational virtual workspace dimensions in which tool will be working. More...

double	getWorkspaceRadius ()
	This method returns the radius of the workspace of the tool. More...

bool	setWorkspaceScaleFactor (const double &a_workspaceScaleFactor)
	This method sets the scale factor between the workspaces of the haptic device and the virtual tool. More...

double	getWorkspaceScaleFactor ()
	This method returns the current workspace scale factor between the haptic device and the tool. More...

virtual bool	isInContact (cGenericObject *a_object)
	This method checks if the tool is touching a particular object. More...

int	getNumHapticPoints ()
	This method returns the number of haptic points that describe this tool. More...

cHapticPoint *	getHapticPoint (int a_index)
	This method returns a pointer to a haptic point by passing its index number. More...

virtual void	setRadius (double a_radius)
	This method sets the radius size of all haptic points. More...

virtual void	setRadius (double a_radiusDisplay, double a_radiusContact)
	This method sets the radius size of all haptic points. More...

virtual void	setRadiusContact (double a_radiusContact)
	This method sets the radius size of the of the physical proxy used in all haptic points. More...

virtual void	setRadiusDisplay (double a_radiusDisplay)
	This method sets the radius size of the spheres used to display the proxies and goals positions. More...

virtual void	setShowContactPoints (bool a_showProxy=true, bool a_showGoal=false, cColorf a_colorLine=cColorf(0.5, 0.5, 0.5))
	This method sets the display properties of all haptic points. More...

cWorld *	getParentWorld ()
	This method returns the parent world of this tool. More...

virtual void	enableDynamicObjects (bool a_enabled)
	This method enables or disables the dynamic proxy algorithm to support environments where mesh objects move. More...

bool	createAudioSource (cAudioDevice *a_audioDevice)
	This method creates an audio source for each haptic point of this tool. More...

virtual void	setShaderProgram (cShaderProgramPtr a_shaderProgram, const bool a_affectChildren=false)
	This method assigns a shader program to this object, optionally propagating the operation to its children.. More...

Public Member Functions inherited from chai3d::cGenericObject
	cGenericObject ()
	Constructor of cGenericObject. More...

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

virtual void	setEnabled (bool a_enabled, const bool a_affectChildren=false)
	This method enables or disable this object. When an object is disabled, both haptic and graphic rendering no longer occur. More...

bool	getEnabled () const
	This method returns true if the object is enabled, false otherwise. More...

virtual cGenericObject *	copy (const bool a_duplicateMaterialData=false, const bool a_duplicateTextureData=false, const bool a_duplicateMeshData=false, const bool a_buildCollisionDetector=true)
	This method creates a copy of itself. More...

virtual void	setLocalPos (const cVector3d &a_localPos)
	This method sets the local position of this object. More...

void	setLocalPos (const double a_x=0.0, const double a_y=0.0, const double a_z=0.0)
	This method sets the local position of this object. More...

cVector3d	getLocalPos () const
	This method returns the local position of this object. More...

cVector3d	getGlobalPos () const
	This method returns the global position of this object. More...

virtual void	setLocalRot (const cMatrix3d &a_localRot)
	This method sets the local rotation matrix for this object. More...

cMatrix3d	getLocalRot () const
	This method returns the local rotation matrix of this object. More...

cMatrix3d	getGlobalRot () const
	This method returns the global rotation matrix of this object. More...

void	setLocalTransform (const cTransform &a_transform)
	This method returns the local position and rotation matrix by passing a transformation matrix. More...

cTransform	getLocalTransform ()
	This method returns the local position and rotation matrix in a transformation matrix. More...

cTransform	getGlobalTransform ()
	This method returns the global position and rotation matrix in a transformation matrix. More...

void	translate (const cVector3d &a_translation)
	This method translates this object by a specified offset. More...

void	translate (const double a_x, const double a_y, const double a_z=0.0)
	This method translates this object by a specified offset. More...

void	rotateAboutLocalAxisRad (const cVector3d &a_axis, const double a_angleRad)
	This method rotates this object around a local axis. Angle magnitude is defined in radians. More...

void	rotateAboutLocalAxisDeg (const cVector3d &a_axis, const double a_angleDeg)
	This method rotates this object around a local axis. Angle magnitude is defined in degrees. More...

void	rotateAboutLocalAxisRad (const double a_axisX, const double a_axisY, const double a_axisZ, const double a_angleRad)
	This method rotates this object around a local axis. Angle magnitude is defined in radians. More...

void	rotateAboutLocalAxisDeg (const double a_axisX, const double a_axisY, const double a_axisZ, const double a_angleDeg)
	This method rotates this object around a local axis. Angle magnitude is defined in degrees. More...

void	rotateAboutGlobalAxisRad (const cVector3d &a_axis, const double a_angleRad)
	This method rotates this object around a global axis. Angle magnitude is defined in radians. More...

void	rotateAboutGlobalAxisDeg (const cVector3d &a_axis, const double a_angleDeg)
	This method rotates this object around a global axis. Angle magnitude is defined in degrees. More...

void	rotateAboutGlobalAxisRad (const double a_axisX, const double a_axisY, const double a_axisZ, const double a_angleRad)
	This method rotate this object around a local axis. Angle magnitude is defined in radians. More...

void	rotateAboutGlobalAxisDeg (const double a_axisX, const double a_axisY, const double a_axisZ, const double a_angleDeg)
	This method rotates this object around a local axis. Angle magnitude is defined in degrees. More...

void	rotateExtrinsicEulerAnglesRad (const double &a_angleRad1, const double &a_angleRad2, const double &a_angleRad3, const cEulerOrder a_eulerOrder)
	This method rotates this object using fixed Euler representation. Angles are defined in radians. More...

void	rotateExtrinsicEulerAnglesDeg (const double &a_angleDeg1, const double &a_angleDeg2, const double &a_angleDeg3, const cEulerOrder a_eulerOrder)
	This method rotates this object using fixed Euler representation. Angles are defined in radians. More...

void	rotateIntrinsicEulerAnglesRad (const double &a_angleRad1, const double &a_angleRad2, const double &a_angleRad3, const cEulerOrder a_eulerOrder)
	This method rotates this object using co-moving Euler representation. Angles are defined in radians. More...

void	rotateIntrinsicEulerAnglesDeg (const double &a_angleDeg1, const double &a_angleDeg2, const double &a_angleDeg3, const cEulerOrder a_eulerOrder)
	This method rotates this object using co-moving Euler representation. Angles are defined in radians. More...

virtual void	computeGlobalPositions (const bool a_frameOnly=true, const cVector3d &a_globalPos=cVector3d(0.0, 0.0, 0.0), const cMatrix3d &a_globalRot=cIdentity3d())
	This method computes the global position and rotation of this object and its children. More...

void	computeGlobalPositionsFromRoot (const bool a_frameOnly=true)
	This method computes the global position and rotation of current object only. More...

bool	addEffect (cGenericEffect *a_effect)
	This method adds a haptic effect to this object. More...

bool	removeEffect (cGenericEffect *a_effect)
	This method removes a haptic effect from this object. More...

void	deleteAllEffects ()
	This method removes all haptic effects. More...

bool	createEffectMagnetic ()
	This method creates a magnetic haptic effect. More...

bool	deleteEffectMagnetic ()
	This method deletes any current magnetic haptic effect. More...

bool	createEffectStickSlip ()
	This method creates a stick-and-slip haptic effect. More...

bool	deleteEffectStickSlip ()
	This method delete any current stick-and-slip haptic effect. More...

bool	createEffectSurface ()
	This method creates a surface haptic effect. More...

bool	deleteEffectSurface ()
	This method deletes any current surface haptic effect. More...

bool	createEffectVibration ()
	This method creates a vibration haptic effect. More...

bool	deleteEffectVibration ()
	This method deletes any current vibration haptic effect. More...

bool	createEffectViscosity ()
	This method creates a viscous haptic effect. More...

bool	deleteEffectViscosity ()
	This method deletes any current viscous haptic effect. More...

virtual void	setHapticEnabled (const bool a_hapticEnabled, const bool a_affectChildren=true)
	This method enables or disables haptic perception of this object, optionally propagating the change to children. More...

bool	getHapticEnabled () const
	This method returns the haptic status of object (true means it can be felt when visible). More...

virtual void	setStiffness (const double a_stiffness, const bool a_affectChildren=true)
	This method sets the haptic stiffness of the object, optionally recursively affecting children. More...

virtual void	setFriction (double a_staticFriction, double a_dynamicFriction, const bool a_affectChildren=true)
	This method sets the static and dynamic friction properties (polygonal models only), optionally recursively affecting children. More...

virtual void	setShowEnabled (const bool a_show, const bool a_affectChildren=true)
	This method enables or disables the graphic display of this object, optionally propagating the change to children. More...

bool	getShowEnabled () const
	This method returns the display status of object (true means it's visible). More...

virtual void	setWireMode (const bool a_showWireMode, const bool a_affectChildren=false)
	This method enables or disables wireframe rendering, optionally propagating the operation to my children. More...

bool	getWireMode () const
	This method returns whether wireframe rendering is enabled. More...

virtual void	setUseCulling (const bool a_useCulling, const bool a_affectChildren=false)
	This method enables or disables face-culling, optionally propagating the operation to my children. More...

bool	getUseCulling () const
	This method returns true if face-culling is enabled, false otherwise. More...

virtual void	setUseTransparency (const bool a_useTransparency, const bool a_affectChildren=false)
	This method enables or disables transparency. More...

bool	getUseTransparency () const
	This method returns true if transparency is enabled, false otherwise. More...

virtual void	setTransparencyLevel (const float a_level, const bool a_applyToVertices=false, const bool a_applyToTextures=false, const bool a_affectChildren=false)
	This method sets the transparency level of the object. More...

virtual void	setUseDisplayList (const bool a_useDisplayList, const bool a_affectChildren=false)
	This method enabled or disables the use of a display list for rendering, optionally propagating the operation to its children. More...

bool	getUseDisplayList () const
	This method returns true if a display list is activated, false otherwise. More...

virtual void	markForUpdate (const bool a_affectChildren=false)
	This method invalidates any existing display lists, optionally propagating the operation to its children. More...

virtual void	setUseVertexColors (const bool a_useColors, const bool a_affectChildren=false)
	This method enables or disables the use of per-vertex colors, optionally propagating the operation to its children. More...

bool	getUseVertexColors () const
	This method returns true is per-vertex color properties are enabled, false otherwise. More...

virtual void	setUseMaterial (const bool a_useMaterial, const bool a_affectChildren=false)
	This method enables or disables the use of material properties, optionally propagating the operation to its children. More...

bool	getUseMaterial () const
	This method returns true is material properties are enabled, false otherwise. More...

virtual void	setMaterial (cMaterialPtr a_material, const bool a_affectChildren=false)
	This method sets the material properties of this object, optionally propagating the operation to its children. More...

virtual void	setMaterial (cMaterial &a_material, const bool a_affectChildren=false)
	This method setd the material properties of this object, optionally propagating the operation to its children. More...

virtual void	backupMaterialColors (const bool a_affectChildren=false)
	This method creates a backup of the material colors of this object, optionally propagating the operation to its children. More...

virtual void	restoreMaterialColors (const bool a_affectChildren=false)
	This method restores the material color properties of this object from a previous backup, optionally propagating the operation to its children. More...

virtual void	setUseTexture (const bool a_useTexture, const bool a_affectChildren=false)
	This method enables or disables the use of texture-mapping, optionally propagating the operation to its children. More...

bool	getUseTexture () const
	This method returns true if texture-mapping is enabled, false otherwise. More...

virtual void	setTexture (cTexture1dPtr a_texture, const bool a_affectChildren=false)
	This method sets a texture to this object, optionally propagating the operation to its children. More...

virtual cShaderProgramPtr	getShaderProgram ()
	This method returns a pointer to the current shader program. More...

virtual void	setShowBoundaryBox (const bool a_showBoundaryBox, const bool a_affectChildren=false)
	This method enables or disabled the graphic display of the boundary box for this object, optionally propagating the change to its children. More...

bool	getShowBoundaryBox () const
	This method returns true if the boundary box is being displayed, false otherwise. More...

cVector3d	getBoundaryMin () const
	This method returns the minimum point of this object's boundary box. More...

cVector3d	getBoundaryMax () const
	This method returns the maximum point of this object's boundary box. More...

cVector3d	getBoundaryCenter () const
	This method computes and returns the center of this object's boundary box. More...

bool	getBoundaryBoxEmpty ()
	This method returns true, if the boundary box is empty, otherwise false. More...

virtual void	computeBoundaryBox (const bool a_includeChildren=true)
	This method computes this object's boundary box, optionally forcing it to bound child objects. More...

virtual void	setShowFrame (const bool a_showFrame, const bool a_affectChildren=false)
	This method enables or disables the graphic display of the reference frame arrows for this object, optionally propagating the change to its children. More...

bool	getShowFrame (void) const
	This method returns true if the display of the reference frame is enabled, false otherwise. More...

virtual void	setFrameSize (const double a_size=1.0, const bool a_affectChildren=false)
	This method sets the size of the rendered reference frame, optionally propagating the change to its children. More...

double	getFrameSize () const
	This method returns the size of the graphical reference frame. More...

void	setCollisionDetector (cGenericCollision *a_collisionDetector)
	This method sets a collision detector to this current object. More...

cGenericCollision *	getCollisionDetector () const
	This method returns a pointer to this object's current collision detector. More...

virtual void	deleteCollisionDetector (const bool a_affectChildren=false)
	This method deletes any existing collision detector. More...

virtual bool	computeCollisionDetection (const cVector3d &a_segmentPointA, const cVector3d &a_segmentPointB, cCollisionRecorder &a_recorder, cCollisionSettings &a_settings)
	This method computes any collision between a segment and this object. More...

virtual void	setShowCollisionDetector (const bool a_showCollisionDetector, const bool a_affectChildren=false)
	This method enables or disables the display of the collision detector, optionally propagating the change to its children. More...

bool	getShowCollisionDetector ()
	This method returns true if the collision detector is being displayed graphically, false otherwise. More...

virtual void	setCollisionDetectorProperties (unsigned int a_displayDepth, cColorf &a_color, const bool a_affectChildren=false)
	This method sets the collision detector graphic display properties. More...

void	setParent (cGenericObject *a_parent)
	This method sets the parent of this object. More...

cGenericObject *	getParent () const
	This method returns the parent of this object. More...

void	setOwner (cGenericObject *a_owner)
	This method sets a link to an object that owns this object. This could be a super parent for instance. More...

cGenericObject *	getOwner ()
	This method returns the owner of this object. More...

cGenericObject *	getChild (const unsigned int a_index) const
	This method returns a selected child from the list of children. More...

bool	addChild (cGenericObject *a_object)
	This method add an object to the list of children. More...

bool	removeChild (cGenericObject *a_object)
	This method removes an object from the list of children, without deleting it. More...

bool	removeFromGraph ()
	This method removes this object from its parent's list of children. More...

bool	deleteChild (cGenericObject *a_object)
	This method removes an object from its list of children and deletes it. More...

void	clearAllChildren ()
	This method clears all objects from its list of children, without deleting them. More...

void	deleteAllChildren ()
	This method clears and delete all objects from its list of children. More...

unsigned int	getNumChildren ()
	This method returns the number of children from its list of children. More...

unsigned int	getNumDescendants (bool a_includeCurrentObject=false)
	This method returns the total number of descendants, optionally including this object. More...

void	setGhostEnabled (bool a_ghostEnabled)
	This method enables or disables this object to be a ghost node. More...

bool	getGhostEnabled ()
	This method returns truee if this object is a ghost node. More...

virtual void	scale (const double &a_scaleFactor, const bool a_affectChildren=true)
	This method scales the size of this object. More...

virtual void	renderSceneGraph (cRenderOptions &a_options)
	This method renders the entire scene graph, starting from this object. More...

virtual void	adjustCollisionSegment (cVector3d &a_segmentPointA, cVector3d &a_segmentPointAadjusted)
	This method adjusts the collision segment to handle objects in motion. More...

virtual cVector3d	computeInteractions (const cVector3d &a_toolPos, const cVector3d &a_toolVel, const unsigned int a_IDN, cInteractionRecorder &a_interactions)
	This method computes all haptic interaction between a tool and this object using the haptic effects. More...

Public Member Functions inherited from chai3d::cGenericType
	cGenericType ()
	Constructor of cGenericType. More...

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

Public Attributes
cHapticPoint *	m_hapticPointThumb

cHapticPoint *	m_hapticPointFinger

Public Attributes inherited from chai3d::cGenericTool
cGenericObject *	m_image
	Generic image model that can be used to display any a representation of the tool. More...

Public Attributes inherited from chai3d::cGenericObject
std::string	m_name
	Name of current object (filename). More...

cMaterialPtr	m_material
	Material property. More...

cTexture1dPtr	m_texture
	Texture property. More...

cNormalMapPtr	m_normalMap
	Normal map property. More...

int	m_userTag
	An arbitrary tag, not used by CHAI3D. More...

void *	m_userData
	An arbitrary data pointer, not used by CHAI3D. More...

std::string	m_userName
	Name of current object, not used by CHAI3D. More...

cGenericObject *	m_userExternalObject
	A link to an external cGenericObject object, not used by CHAI3D. More...

cVector3d	m_interactionPoint
	Projection of the most recent haptic point (tool) onto the surface of the virtual object. More...

cVector3d	m_interactionNormal
	Surface normal at the current interaction point. More...

bool	m_interactionInside
	Was the last tool (haptic point) located inside the object? More...

Protected Attributes
double	m_gripperWorkspaceScale

Protected Attributes inherited from chai3d::cGenericTool
std::vector< cHapticPoint * >	m_hapticPoints
	Haptic points that describe the tool. More...

cGenericHapticDevicePtr	m_hapticDevice
	Handle to the haptic device. More...

unsigned int	m_userSwitches
	Status of the user switches of the device attached to the tool. More...

bool	m_enabled
	If true then the tool has been started and is enabled. false otherwise. More...

cVector3d	m_deviceLocalForce
	Currently computed interaction force [N] in device or tool local coordinates. More...

cVector3d	m_deviceGlobalForce
	Currently computed interaction force [N] in world global coordinates. More...

cVector3d	m_deviceLocalTorque
	Currently computed interaction torque [N*m] in device or tool local coordinates. More...

cVector3d	m_deviceGlobalTorque
	Currently computed interaction torque [N*m] in world global coordinates. More...

double	m_gripperForce
	Currently computed interaction gripper force [N]. More...

double	m_workspaceRadius
	Radius of the workspace which can be accessed by the tool. More...

double	m_workspaceScaleFactor
	Scale factor applied between the workspaces of the haptic device and the tool. More...

cVector3d	m_deviceLocalPos
	Position of the haptic device in device local coordinates. More...

cVector3d	m_deviceGlobalPos
	Position of the haptic device in world global coordinates. More...

cMatrix3d	m_deviceLocalRot
	Orientation of the haptic device in device local coordinates. More...

cMatrix3d	m_deviceGlobalRot
	Orientation of the haptic device in world global coordinates. More...

cVector3d	m_deviceLocalLinVel
	Linear velocity of the haptic device in device local coordinates. More...

cVector3d	m_deviceGlobalLinVel
	Linear velocity of the haptic device in world global coordinates. More...

cVector3d	m_deviceLocalAngVel
	Angular velocity of the haptic device in device local coordinates. More...

cVector3d	m_deviceGlobalAngVel
	Angular velocity of the haptic device in world global coordinates. More...

double	m_gripperAngle
	Gripper angle in radians. More...

double	m_gripperAngVel
	Gripper angular velocity in radians per second. More...

cWorld *	m_parentWorld
	Parent world of tool. More...

bool	m_forceOn
	This flag indicates whether the forces are enabled or disabled on the hapitc device. More...

bool	m_forceEngaged
	This flag is used to avoid initial bumps in force (has the user sent a small force yet?). More...

bool	m_useWaitForSmallForce
	The flag indicates if the device should wait for a small commanded force before engaging forces. More...

int	m_smallForceCounter
	Counter which waits for up to several cycles of "small forces" before enabling force. More...

double	m_smallForceThresh
	Force threshold that determines when forces are engaged if m_useWaitForSmallForce is enabled. More...

bool	m_useForceRise
	The flag indicates if the force rising mode is enabled or disabled. More...

double	m_forceRiseTime
	Force rising time in seconds. More...

cPrecisionClock	m_forceRiseClock
	Clock to measure force rise. More...

bool	m_flagForceRiseFirstTime
	Flag that indicates when force ramping is called for the first time. More...

bool	m_flagForceRiseActivated
	Flag that indicates if forces are currently rising. More...

cFrequencyCounter	m_freqRead
	Frequency counter to measure how often data is read from haptic device. More...

cFrequencyCounter	m_freqWrite
	Frequency counter to measure how often data is writing to haptic device. More...

Protected Attributes inherited from chai3d::cGenericObject
cGenericObject *	m_parent
	Parent object. More...

cGenericObject *	m_owner

std::vector< cGenericObject * >	m_children
	List of children. More...

cVector3d	m_localPos
	The position of this object in my parent's reference frame. More...

cVector3d	m_globalPos
	The position of this object in the world's reference frame. More...

cMatrix3d	m_localRot
	The rotation matrix that rotates my reference frame into my parent's reference frame. More...

cMatrix3d	m_globalRot
	The rotation matrix that rotates my reference frame into the world's reference frame. More...

cVector3d	m_prevGlobalPos
	Previous position since last haptic computation. More...

cMatrix3d	m_prevGlobalRot
	Previous rotation since last haptic computation. More...

cVector3d	m_boundaryBoxMin
	Minimum position of boundary box. More...

cVector3d	m_boundaryBoxMax
	Maximum position of boundary box. More...

bool	m_boundaryBoxEmpty
	If true, then the boundary box does not include any object. More...

double	m_frameSize
	Size of graphical representation of frame (X-Y-Z). More...

double	m_frameThicknessScale
	Pen thickness of graphical representation of frame (X-Y-Z). More...

bool	m_enabled
	If true, the object may be rendered graphically and haptically. More...

bool	m_showEnabled
	If true, this object is rendered. More...

bool	m_hapticEnabled
	If true, this object can be felt. More...

bool	m_ghostEnabled
	If true, object is enabled as ghost. More...

bool	m_showFrame
	If true, this object's reference frame is rendered as a set of arrows. More...

bool	m_showBoundaryBox
	If true, this object's boundary box is displayed as a set of lines. More...

bool	m_showCollisionDetector
	If true, the collision detector is displayed (if available) at this node. More...

bool	m_useTextureMapping
	Should texture mapping be used? More...

bool	m_useMaterialProperty
	Should material properties be used? More...

bool	m_useVertexColors
	Should per-vertex colors be used? More...

bool	m_useDisplayList
	Should we use a display list to render this mesh? More...

cDisplayList	m_displayList
	Basic display list for current object. More...

int	m_triangleMode
	The polygon rendering mode (GL_FILL or GL_LINE). More...

bool	m_useTransparency

bool	m_cullingEnabled

cShaderProgramPtr	m_shaderProgram
	Shader program. More...

cTransform	m_frameGL
	OpenGL matrix describing my position and orientation transformation. More...

cGenericCollision *	m_collisionDetector
	The collision detector used to test for contact with this object. More...

std::vector< cGenericEffect * >	m_effects
	List of haptic effects programmed for this object. More...

Additional Inherited Members
Static Public Attributes inherited from chai3d::cGenericObject
static cColorf	s_boundaryBoxColor
	Color of the boundary box. More...

Protected Member Functions inherited from chai3d::cGenericTool
virtual void	updateToolImagePosition ()
	This method updates the position and orientation of the tool image. More...

virtual void	updateGlobalPositions (const bool a_frameOnly)
	This method updates the global position of this tool in the world. More...

Protected Member Functions inherited from chai3d::cGenericObject
virtual void	updateBoundaryBox ()
	This method updates the boundary box of this object. More...

virtual void	scaleObject (const double &a_scaleFactor)
	This method scales the size of this object with given scale factor. More...

virtual void	computeLocalInteraction (const cVector3d &a_toolPos, const cVector3d &a_toolVel, const unsigned int a_IDN)
	This method updates the geometric relationship between the tool and the current object. More...

virtual cVector3d	computeOtherInteractions (const cVector3d &a_toolPos, const cVector3d &a_toolVel, const unsigned int a_IDN, cInteractionRecorder &a_interactions)
	This method computes any additional interactions between the object and the tools. More...

virtual bool	computeOtherCollisionDetection (cVector3d &a_segmentPointA, cVector3d &a_segmentPointB, cCollisionRecorder &a_recorder, cCollisionSettings &a_settings)
	This method computes any additional collisions other than the ones computed by the default collision detector. More...

void	copyGenericObjectProperties (cGenericObject *a_objDest, const bool a_duplicateMaterialData, const bool a_duplicateTextureData, const bool a_duplicateMeshData, const bool a_buildCollisionDetector)
	This method copies all properties of the current generic object to another. More...

Static Protected Attributes inherited from chai3d::cGenericObject
static cMaterialPtr	s_defaultMaterial = nullptr
	Default material property. More...

Detailed Description

cToolGripper implements a gripper tool using two haptic points. The distance between both haptic points is controlled by the haptic gripper. The resulting forces computed at each haptic point are converted into a force, torque, and gripper force, which are then sent to the haptic device.

Constructor & Destructor Documentation

chai3d::cToolGripper::cToolGripper ( cWorld * a_parentWorld )

Constructor of cToolGripper.

Parameters

a_parentWorld World in which the tool will operate.

chai3d::cToolGripper::~cToolGripper ( )

virtual

Destructor of cToolGripper.

Member Function Documentation

void chai3d::cToolGripper::computeInteractionForces ( )

virtual

This method computes the interaction forces between the tool and all objects located inside the virtual world.

Reimplemented from chai3d::cGenericTool.

void chai3d::cToolGripper::render ( cRenderOptions & a_options )

virtual

This method renders the current tool using OpenGL.

Parameters

a_options Rendering options.

Reimplemented from chai3d::cGenericTool.

virtual void chai3d::cToolGripper::setGripperWorkspaceScale ( double a_gripperWorkspaceScale )

inlinevirtual

virtual double chai3d::cToolGripper::getGripperWorskpaceScale ( )

inlinevirtual

Member Data Documentation

cHapticPoint* chai3d::cToolGripper::m_hapticPointThumb

cHapticPoint* chai3d::cToolGripper::m_hapticPointFinger

double chai3d::cToolGripper::m_gripperWorkspaceScale

protected

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

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation