cGenericTool Class Reference
[Haptic Tools]
cGenericTool describes a generic class to create virtual tools inside a virtual environment (cWorld) and connecting them to haptic devices.
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#include <CGenericTool.h>
Inheritance diagram for cGenericTool:
Public Member Functions | |
| cGenericTool () | |
| Constructor of cGenericTool. | |
| virtual | ~cGenericTool () |
| Destructor of cGenericTool. | |
| void | setHapticDevice (cGenericHapticDevice *a_device) |
| Connect this tool to a haptic device. | |
| cGenericHapticDevice * | getHapticDevice () |
| Get the handle of haptic device to wich this tool is connected to. | |
| virtual void | render (const int a_renderMode=0) |
| Render the object in OpenGL. | |
| virtual void | updatePose () |
| Update Position, orientation, velocity and other degree of freedoms of tool. | |
| virtual void | computeInteractionForces () |
| Compute interaction forces with environment. | |
| virtual void | applyForces () |
| Apply latest forces to device. | |
| virtual int | start () |
| Start communication with the device connected to the tool (0 indicates success). | |
| virtual int | stop () |
| Stop communication with the device connected to the tool (0 indicates success). | |
| virtual int | initialize (const bool a_resetEncoders=false) |
| Initialize encoders on device connected to the tool (0 indicates success). | |
| virtual int | setForcesON () |
| Toggle forces ON. | |
| virtual int | setForcesOFF () |
| Toggle forces OFF. | |
| virtual bool | getUserSwitch (int a_switchIndex) |
| Read the status of one of the switches on this device. | |
| virtual bool | isInContact (cGenericObject *a_object) |
| Check if the tool is touching a particular object. | |
Protected Attributes | |
| cGenericHapticDevice * | m_device |
| Handle to the haptic device driver. | |
| int | m_userSwitches |
| Status of the user switches of the device attached to this tool. | |
Detailed Description
cGenericTool describes a generic class to create virtual tools inside a virtual environment (cWorld) and connecting them to haptic devices.Member Function Documentation
| bool cGenericTool::getUserSwitch | ( | int | a_switchIndex | ) | [virtual] |
Read the status of one of the switches on this device.
Read the status of the user switches from the haptic device controlled by this tool.
- Parameters:
-
a_switchIndex Index number of the switch.
- Returns:
- Return true if switch is active, otherwise return false.
The documentation for this class was generated from the following files:
- D:/CHAI3D/build-2-0-0/2.0.0/win32/src/tools/CGenericTool.h
- D:/CHAI3D/build-2-0-0/2.0.0/win32/src/tools/CGenericTool.cpp