cDeltaDevice Class Reference
[Devices]

cDeltaDevice implements an interface to the omega.x and delta.x haptic devices from Force Dimension. More...

#include <CDeltaDevices.h>

Inheritance diagram for cDeltaDevice:

List of all members.

Public Member Functions

cDeltaDevice (unsigned int a_deviceNumber=0)

Constructor of cDeltaDevice.

virtual ~cDeltaDevice ()

Destructor of cDeltaDevice.

int open ()

Open connection to haptic device (0 indicates success).

int close ()

Close connection to haptic device (0 indicates success).

int initialize (const bool a_resetEncoders=false)

Initialize or calibrate haptic device (0 indicates success).

unsigned int getNumDevices ()

Returns the number of devices available from this class of device.

int getPosition (cVector3d &a_position)

Read the position of the device. Units are meters [m].

int getLinearVelocity (cVector3d &a_linearVelocity)

Read the linear velocity of the device. Units are meters per second [m/s].

int getRotation (cMatrix3d &a_rotation)

Read the orientation frame of the device end-effector.

int getGripperAngleRad (double &a_angle)

Read the gripper angle in radian.

int setForce (cVector3d &a_force)

Send a force [N] to the haptic device.

int setTorque (cVector3d &a_torque)

Send a torque [N*m] to the haptic device.

int setGripperTorque (double a_gripperTorque)

Send a torque [N*m] to the gripper.

int setForceAndTorqueAndGripper (cVector3d &a_force, cVector3d &a_torque, double a_gripperTorque)

Send a force [N] and a torque [N*m] and gripper torque [N*m] to the haptic device.

int getUserSwitch (int a_switchIndex, bool &a_status)

read the status of the user switch [true = ON / false = OFF].

int getDeviceType ()

Return the Force Dimension type of the current device.

int enableForces (bool a_value)

Overrides the force button switch located at the base of the device.

Protected Member Functions

int getUserSwitch (int a_deviceID)

Read user switch from end-effector.

Protected Attributes

int m_deviceID

Device ID number.

int m_deviceType

Which FD device is actually instantiated here?

int m_userSwitchCount [8]

structure for modeling a low-pass filter user switches.

int m_userSwitchStatus [8]

Last state of user switch.

cPrecisionClock m_userSwitchClock [8]

Timeguard for user switch.

bool statusEnableForcesFirstTime

Have forces been enable yet since the connection to the device was opened?

Static Protected Attributes

static int m_activeDeltaDevices

Reference count used to control access to the dhd dll.

Detailed Description

cDeltaDevice implements an interface to the omega.x and delta.x haptic devices from Force Dimension.

Member Function Documentation

int cDeltaDevice::close ( ) [virtual]

Close connection to haptic device (0 indicates success).

Close connection to the omega.x or delta.x device.

Reimplemented from cGenericHapticDevice.

int cDeltaDevice::enableForces ( bool a_value )

Overrides the force button switch located at the base of the device.

Enable/Disable the motors of the omega.x device. This function overrides the force button located at the base of the device or on the controller panel.

Parameters:

a_value

force status.

Returns:: Return 0 if no error occurred.

int cDeltaDevice::getGripperAngleRad ( double & a_angle ) [virtual]

Read the gripper angle in radian.

Parameters:

a_angle

Return value.

Returns:: Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

int cDeltaDevice::getLinearVelocity ( cVector3d & a_linearVelocity ) [virtual]

Read the linear velocity of the device. Units are meters per second [m/s].

Read the linear velocity of the device. Units are in [m/s].

Parameters:

a_linearVelocity

Return value.

Returns:: Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

unsigned int cDeltaDevice::getNumDevices ( ) [virtual]

Returns the number of devices available from this class of device.

Returns:: Returns the result

Reimplemented from cGenericDevice.

int cDeltaDevice::getPosition ( cVector3d & a_position ) [virtual]

Read the position of the device. Units are meters [m].

Parameters:

a_position

Return value.

Returns:: Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

int cDeltaDevice::getRotation ( cMatrix3d & a_rotation ) [virtual]

Read the orientation frame of the device end-effector.

Read the orientation frame of the device end-effector

Parameters:

a_rotation

Return value.

Returns:: Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

int cDeltaDevice::getUserSwitch ( int a_deviceID ) [protected]

Read user switch from end-effector.

Read the user switch of the end-effector. This function implements a small filter to avoid reading glitches.

Parameters:

a_deviceID

device ID.

Returns:: Return 0 if no error occurred.

int cDeltaDevice::getUserSwitch	(	int	a_switchIndex,
		bool &	a_status
	)			`[virtual]`

read the status of the user switch [true = ON / false = OFF].

Read 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:: Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

int cDeltaDevice::initialize ( const bool a_resetEncoders = false ) [virtual]

Initialize or calibrate haptic device (0 indicates success).

Calibrate the omega.x or delta.x device.

This function does nothing right now; the a_resetEncoders parameter is ignored.

Parameters:

a_resetEncoders

Ignored; exists for forward compatibility.

Returns:: Always 0

Reimplemented from cGenericHapticDevice.

int cDeltaDevice::open ( ) [virtual]

Open connection to haptic device (0 indicates success).

Open connection to the omega.x or delta.x device.

Reimplemented from cGenericHapticDevice.

int cDeltaDevice::setForce ( cVector3d & a_force ) [virtual]

Send a force [N] to the haptic device.

Send a force [N] to the haptic device

Parameters:

a_force

Force command to be applied to device.

Returns:: Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

int cDeltaDevice::setForceAndTorqueAndGripper	(	cVector3d &	a_force,
		cVector3d &	a_torque,
		double	a_gripperTorque
	)			`[virtual]`

Send 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_gripperTorque	Gripper torque command.

Returns:: Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

int cDeltaDevice::setGripperTorque ( double a_gripperTorque ) [virtual]

Send a torque [N*m] to the gripper.

Send a torque [N*m] to the gripper

Parameters:

a_gripperTorque

Torque command to be sent to gripper.

Returns:: Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

int cDeltaDevice::setTorque ( cVector3d & a_torque ) [virtual]

Send a torque [N*m] to the haptic device.

Send a torque [N*m] to the haptic device

Parameters:

a_torque

Force command to be applied to device.

Returns:: Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

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

D:/CHAI3D/build-2-0-0/2.0.0/win32/src/devices/CDeltaDevices.h
D:/CHAI3D/build-2-0-0/2.0.0/win32/src/devices/CDeltaDevices.cpp


Public Member Functions
	cDeltaDevice (unsigned int a_deviceNumber=0)
	Constructor of cDeltaDevice.
virtual	~cDeltaDevice ()
	Destructor of cDeltaDevice.
int	open ()
	Open connection to haptic device (0 indicates success).
int	close ()
	Close connection to haptic device (0 indicates success).
int	initialize (const bool a_resetEncoders=false)
	Initialize or calibrate haptic device (0 indicates success).
unsigned int	getNumDevices ()
	Returns the number of devices available from this class of device.
int	getPosition (cVector3d &a_position)
	Read the position of the device. Units are meters [m].
int	getLinearVelocity (cVector3d &a_linearVelocity)
	Read the linear velocity of the device. Units are meters per second [m/s].
int	getRotation (cMatrix3d &a_rotation)
	Read the orientation frame of the device end-effector.
int	getGripperAngleRad (double &a_angle)
	Read the gripper angle in radian.
int	setForce (cVector3d &a_force)
	Send a force [N] to the haptic device.
int	setTorque (cVector3d &a_torque)
	Send a torque [N*m] to the haptic device.
int	setGripperTorque (double a_gripperTorque)
	Send a torque [N*m] to the gripper.
int	setForceAndTorqueAndGripper (cVector3d &a_force, cVector3d &a_torque, double a_gripperTorque)
	Send a force [N] and a torque [Nm] and gripper torque [Nm] to the haptic device.
int	getUserSwitch (int a_switchIndex, bool &a_status)
	read the status of the user switch [true = ON / false = OFF].
int	getDeviceType ()
	Return the Force Dimension type of the current device.
int	enableForces (bool a_value)
	Overrides the force button switch located at the base of the device.
Protected Member Functions
int	getUserSwitch (int a_deviceID)
	Read user switch from end-effector.
Protected Attributes
int	m_deviceID
	Device ID number.
int	m_deviceType
	Which FD device is actually instantiated here?
int	m_userSwitchCount [8]
	structure for modeling a low-pass filter user switches.
int	m_userSwitchStatus [8]
	Last state of user switch.
cPrecisionClock	m_userSwitchClock [8]
	Timeguard for user switch.
bool	statusEnableForcesFirstTime
	Have forces been enable yet since the connection to the device was opened?
Static Protected Attributes
static int	m_activeDeltaDevices
	Reference count used to control access to the dhd dll.

cDeltaDevice Class Reference [Devices]

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Function Documentation

cDeltaDevice Class Reference
[Devices]