cFreedom6SDevice Class Reference
[Devices]

cFreedom6SDevice describes an interface to the Freedom6S haptic device from MPB Technologies Inc. More...

#include <CFreedom6SDevice.h>

Inheritance diagram for cFreedom6SDevice:

List of all members.

Public Member Functions

cFreedom6SDevice ()

Constructor of cFreedom6SDevice.

virtual ~cFreedom6SDevice ()

Destructor of cFreedom6SDevice.

int open ()

Open connection to MPB device.

int close ()

Close connection to MPB device.

int initialize (const bool a_resetEncoders=false)

Initialize MPB device.

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 in meters per second [m/s].

int getRotation (cMatrix3d &a_rotation)

Read the orientation frame of the device end-effector.

int getAngularVelocity (cVector3d &a_angularVelocity)

Read the angular velocity of the device. Units are in radians per second [m/s].

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].

Protected Attributes

void * m_hf6s

Handle to device.

Static Protected Attributes

static int m_activeFreedom6SDevices

Reference count used to control access to the DLL.

Detailed Description

cFreedom6SDevice describes an interface to the Freedom6S haptic device from MPB Technologies Inc.

Constructor & Destructor Documentation

cFreedom6SDevice::cFreedom6SDevice ( )

Constructor of cFreedom6SDevice.

Constructor of cFreedom6SDevice. Loads interface DLL.

Member Function Documentation

int cFreedom6SDevice::close ( ) [virtual]

Close connection to MPB device.

Close connection to Freedom6S device.

Returns:: Return 0 is operation succeeds, -1 if an error occurs.

Reimplemented from cGenericHapticDevice.

int cFreedom6SDevice::getAngularVelocity ( cVector3d & a_angularVelocity ) [virtual]

Read the angular velocity of the device. Units are in radians per second [m/s].

Parameters:

a_angularVelocity

Return value.

Returns:: Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

int cFreedom6SDevice::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 cFreedom6SDevice::getLinearVelocity ( cVector3d & a_linearVelocity ) [virtual]

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

Parameters:

a_linearVelocity

Return value.

Returns:: Return 0 if no error occurred.

Reimplemented from cGenericHapticDevice.

unsigned int cFreedom6SDevice::getNumDevices ( ) [virtual]

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

Returns:: Returns the result

Reimplemented from cGenericDevice.

int cFreedom6SDevice::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 cFreedom6SDevice::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 cFreedom6SDevice::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 cFreedom6SDevice::initialize ( const bool a_resetEncoders = false ) [virtual]

Initialize MPB device.

Calibrate Freedom6S device. Initializes the driver, loading appropriate settings according to current Freedom6S configuration.

Parameters:

a_resetEncoders

Ignored; exists for forward compatibility.

Returns:: Return 0 is operation succeeds, -1 if an error occurs.

Reimplemented from cGenericHapticDevice.

int cFreedom6SDevice::open ( ) [virtual]

Open connection to MPB device.

Open connection to Freedom6S device.

Returns:: Return 0 is operation succeeds, -1 if an error occurs.

Reimplemented from cGenericHapticDevice.

int cFreedom6SDevice::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 cFreedom6SDevice::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 cFreedom6SDevice::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 cFreedom6SDevice::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/CFreedom6SDevice.h
D:/CHAI3D/build-2-0-0/2.0.0/win32/src/devices/CFreedom6SDevice.cpp


Public Member Functions
	cFreedom6SDevice ()
	Constructor of cFreedom6SDevice.
virtual	~cFreedom6SDevice ()
	Destructor of cFreedom6SDevice.
int	open ()
	Open connection to MPB device.
int	close ()
	Close connection to MPB device.
int	initialize (const bool a_resetEncoders=false)
	Initialize MPB device.
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 in meters per second [m/s].
int	getRotation (cMatrix3d &a_rotation)
	Read the orientation frame of the device end-effector.
int	getAngularVelocity (cVector3d &a_angularVelocity)
	Read the angular velocity of the device. Units are in radians per second [m/s].
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].
Protected Attributes
void *	m_hf6s
	Handle to device.
Static Protected Attributes
static int	m_activeFreedom6SDevices
	Reference count used to control access to the DLL.

cFreedom6SDevice Class Reference [Devices]

Public Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

cFreedom6SDevice Class Reference
[Devices]