This class implements an interface to all 3D-System Phantom haptic devices. More...

#include <CPhantomDevices.h>

Inheritance diagram for chai3d::cPhantomDevice:

Public Member Functions
	cPhantomDevice (unsigned int a_deviceNumber)
	Constructor of cPhantomDevice. More...

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

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

virtual bool	close ()
	This method close 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 device. More...

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

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	getLinearVelocity (cVector3d &a_linearVelocity)
	This method returns the linear velocity 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	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...

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 cPhantomDevicePtr	create (unsigned int a_deviceNumber)
	Shared cPhantomDevice 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 Phantom devices connected to the computer. 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 3D-System Phantom haptic devices.

Constructor & Destructor Documentation

chai3d::cPhantomDevice::cPhantomDevice ( unsigned int a_deviceNumber )

Constructor of cPhantomDevice.

Parameters

a_deviceNumber Index number to the i'th Phantom device

chai3d::cPhantomDevice::~cPhantomDevice ( )

virtual

Destructor of cPhantomDevice.

Member Function Documentation

static cPhantomDevicePtr chai3d::cPhantomDevice::create ( unsigned int a_deviceNumber )

inlinestatic

bool chai3d::cPhantomDevice::open ( )

virtual

This method opens a connection to the Phantom device.

Returns: true__if the operation succeeds, __false otherwise.

Reimplemented from chai3d::cGenericHapticDevice.

bool chai3d::cPhantomDevice::close ( )

virtual

Close connection to phantom device.

Returns: true if the operation succeeds, false otherwise.

Reimplemented from chai3d::cGenericHapticDevice.

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

virtual

Calibrate the phantom device.

Returns: true if the operation succeeds, false otherwise.

Reimplemented from chai3d::cGenericHapticDevice.

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

virtual

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

Parameters

a_position Return value.

Returns: true if the operation succeeds, false otherwise.

Reimplemented from chai3d::cGenericHapticDevice.

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

virtual

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

Parameters

a_rotation Return value.

Returns: true if the operation succeeds, false otherwise.

Reimplemented from chai3d::cGenericHapticDevice.

bool chai3d::cPhantomDevice::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::cPhantomDevice::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::cPhantomDevice::getNumDevices ( )

static

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

Returns: Number of available haptic devices.

bool chai3d::cPhantomDevice::openLibraries ( )

staticprotected

This method opens the libraries for this class of devices.

Returns: true if the operation succeeds, false otherwise.

bool chai3d::cPhantomDevice::closeLibraries ( )

staticprotected

This method closes the libraries for this class of devices.

Returns: true if the operation succeeds, false otherwise.

Member Data Documentation

bool chai3d::cPhantomDevice::s_allocationTable[C_MAX_DEVICES]

staticprotected

unsigned int chai3d::cPhantomDevice::s_libraryCounter

staticprotected

int chai3d::cPhantomDevice::m_deviceID

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