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SurgSim::Device::NovintScaffold::DeviceData Struct Reference
Collaboration diagram for SurgSim::Device::NovintScaffold::DeviceData:
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Public Types

typedef std::array< bool,
MAX_NUM_BUTTONS
ButtonStates
 Type used to store button states. More...
 

Public Member Functions

 DeviceData (const std::string &apiName, NovintCommonDevice *device)
 Initialize the state. More...
 

Public Attributes

const std::string initializationName
 The HDAL device name. More...
 
NovintCommonDevice *const deviceObject
 The corresponding device object. More...
 
NovintScaffold::Handle deviceHandle
 The device handle wrapper. More...
 
Clock::time_point initializationTime
 Time of the initialization of the handle. More...
 
Vector3d jointAngles
 The joint angles for the device orientation. More...
 
ButtonStates buttonStates
 The button state read from the device. More...
 
bool isPositionHomed
 The homing state read from the device. More...
 
bool isOrientationHomed
 The homing state read from the device. More...
 
bool isDeviceHomed
 The homing state read from the device. More...
 
bool isDeviceHeld
 The proximity state read from the device. More...
 
bool isDevice7Dof
 True if this is a 7DoF device. More...
 
bool isDeviceRollAxisReversed
 True if the roll axis of a 7DoF device has reverse polarity because the device is left-handed. More...
 
double eulerAngleOffsetRoll
 The offset added to the roll Euler angle. More...
 
double eulerAngleOffsetYaw
 The offset added to the yaw Euler angle. More...
 
double eulerAngleOffsetPitch
 The offset added to the pitch Euler angle. More...
 
double forwardPointingPoseThreshold
 The threshold to determine if the device is pointing forwards before unlocking orientation. More...
 
Vector3d torqueScale
 The scaling factors for the torque axes. More...
 
Vector3d position
 The position value from the device. More...
 
RigidTransform3d orientationTransform
 The orientation value from the device. If the device is not 7Dof the orientation is always Identity. More...
 
RigidTransform3d scaledPose
 The pose value from the device, after scaling. More...
 
Vector3d force
 The force value to be written to the device. More...
 
Vector4d torque
 The torque value to be written to the device. More...
 
double positionScale
 Scale factor for the position axes. More...
 
double orientationScale
 Scale factor for the orientation axes. More...
 
boost::mutex parametersMutex
 The mutex that protects the externally modifiable parameters. More...
 

Static Public Attributes

static const size_t MAX_NUM_BUTTONS = 4
 The maximum number of buttons supported by any device object. More...
 

Private Member Functions

 DeviceData (const DeviceData &)
 
DeviceDataoperator= (const DeviceData &)
 

Member Typedef Documentation

Type used to store button states.

Constructor & Destructor Documentation

SurgSim::Device::NovintScaffold::DeviceData::DeviceData ( const std::string &  apiName,
NovintCommonDevice device 
)
inline

Initialize the state.

SurgSim::Device::NovintScaffold::DeviceData::DeviceData ( const DeviceData )
private

Member Function Documentation

DeviceData& SurgSim::Device::NovintScaffold::DeviceData::operator= ( const DeviceData )
private

Member Data Documentation

ButtonStates SurgSim::Device::NovintScaffold::DeviceData::buttonStates

The button state read from the device.

NovintScaffold::Handle SurgSim::Device::NovintScaffold::DeviceData::deviceHandle

The device handle wrapper.

NovintCommonDevice* const SurgSim::Device::NovintScaffold::DeviceData::deviceObject

The corresponding device object.

double SurgSim::Device::NovintScaffold::DeviceData::eulerAngleOffsetPitch

The offset added to the pitch Euler angle.

double SurgSim::Device::NovintScaffold::DeviceData::eulerAngleOffsetRoll

The offset added to the roll Euler angle.

double SurgSim::Device::NovintScaffold::DeviceData::eulerAngleOffsetYaw

The offset added to the yaw Euler angle.

Vector3d SurgSim::Device::NovintScaffold::DeviceData::force

The force value to be written to the device.

double SurgSim::Device::NovintScaffold::DeviceData::forwardPointingPoseThreshold

The threshold to determine if the device is pointing forwards before unlocking orientation.

const std::string SurgSim::Device::NovintScaffold::DeviceData::initializationName

The HDAL device name.

Clock::time_point SurgSim::Device::NovintScaffold::DeviceData::initializationTime

Time of the initialization of the handle.

bool SurgSim::Device::NovintScaffold::DeviceData::isDevice7Dof

True if this is a 7DoF device.

bool SurgSim::Device::NovintScaffold::DeviceData::isDeviceHeld

The proximity state read from the device.

bool SurgSim::Device::NovintScaffold::DeviceData::isDeviceHomed

The homing state read from the device.

bool SurgSim::Device::NovintScaffold::DeviceData::isDeviceRollAxisReversed

True if the roll axis of a 7DoF device has reverse polarity because the device is left-handed.

bool SurgSim::Device::NovintScaffold::DeviceData::isOrientationHomed

The homing state read from the device.

bool SurgSim::Device::NovintScaffold::DeviceData::isPositionHomed

The homing state read from the device.

Vector3d SurgSim::Device::NovintScaffold::DeviceData::jointAngles

The joint angles for the device orientation.

const size_t SurgSim::Device::NovintScaffold::DeviceData::MAX_NUM_BUTTONS = 4
static

The maximum number of buttons supported by any device object.

double SurgSim::Device::NovintScaffold::DeviceData::orientationScale

Scale factor for the orientation axes.

RigidTransform3d SurgSim::Device::NovintScaffold::DeviceData::orientationTransform

The orientation value from the device. If the device is not 7Dof the orientation is always Identity.

boost::mutex SurgSim::Device::NovintScaffold::DeviceData::parametersMutex

The mutex that protects the externally modifiable parameters.

Vector3d SurgSim::Device::NovintScaffold::DeviceData::position

The position value from the device.

double SurgSim::Device::NovintScaffold::DeviceData::positionScale

Scale factor for the position axes.

RigidTransform3d SurgSim::Device::NovintScaffold::DeviceData::scaledPose

The pose value from the device, after scaling.

Vector4d SurgSim::Device::NovintScaffold::DeviceData::torque

The torque value to be written to the device.

Vector3d SurgSim::Device::NovintScaffold::DeviceData::torqueScale

The scaling factors for the torque axes.


The documentation for this struct was generated from the following file: