CPhantomDevices.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 in binary form must reproduce the above
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    disclaimer in the documentation and/or other materials provided
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    * 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    Federico Barbagli
    \author    Francois Conti
    \version   3.2.0 $Rev: 1875 $
*/
//==============================================================================

//------------------------------------------------------------------------------
#ifndef CPhantomDevicesH
#define CPhantomDevicesH
//------------------------------------------------------------------------------
#if defined(C_ENABLE_PHANTOM_DEVICE_SUPPORT)
//------------------------------------------------------------------------------
#include "devices/CGenericHapticDevice.h"
//------------------------------------------------------------------------------

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

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

//------------------------------------------------------------------------------
class cPhantomDevice;
typedef std::shared_ptr<cPhantomDevice> cPhantomDevicePtr;
//------------------------------------------------------------------------------

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

    cPhantomDevice(unsigned int a_deviceNumber);

    virtual ~cPhantomDevice();

    static cPhantomDevicePtr create(unsigned int a_deviceNumber) { return (std::make_shared<cPhantomDevice>(a_deviceNumber)); }


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

    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 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 METHODS - DEVICE LIBRARY INITIALIZATION:
    //--------------------------------------------------------------------------

protected:

    static bool openLibraries();

    static bool closeLibraries();


    //--------------------------------------------------------------------------
    // PROTECTED MEMBERS - DEVICE LIBRARIES:
    //--------------------------------------------------------------------------

protected:

    static bool s_allocationTable[C_MAX_DEVICES];

    static unsigned int s_libraryCounter;


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

protected:

    int m_deviceID;
};

//------------------------------------------------------------------------------
} // namespace chai3d
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
#endif // C_ENABLE_PHANTOM_DEVICE_SUPPORT
//------------------------------------------------------------------------------
#endif
//------------------------------------------------------------------------------