cPhantomDevice Class Reference
[Devices]
cPhantomDevice describes an interface to the Phantom haptic devices from Sensable Technologies.
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#include <CPhantomDevices.h>
Public Member Functions | |
| cPhantomDevice (unsigned int a_deviceNumber) | |
| Constructor of cPhantomDevice. | |
| ~cPhantomDevice () | |
| Destructor of cPhantomDevice. | |
| 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 | 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 | getUserSwitch (int a_switchIndex, bool &a_status) |
| read the status of the user switch [true = ON / false = OFF]. | |
Detailed Description
cPhantomDevice describes an interface to the Phantom haptic devices from Sensable Technologies.Constructor & Destructor Documentation
| cPhantomDevice::cPhantomDevice | ( | unsigned int | a_deviceNumber | ) |
Constructor of cPhantomDevice.
Constructor of cPhantomDevice. No servo loop is yet created, encoders are NOT reset.
- Parameters:
-
a_deviceNumber Index number to the ith Phantom device
Member Function Documentation
| int cPhantomDevice::close | ( | ) | [virtual] |
Close connection to haptic device (0 indicates success).
Close connection to phantom device.
- Returns:
- Return 0 is operation succeeds, -1 if an error occurs.
Reimplemented from cGenericHapticDevice.
| int cPhantomDevice::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 cPhantomDevice::getNumDevices | ( | ) | [virtual] |
Returns the number of devices available from this class of device.
Returns the number of devices available from this class of device.
- Returns:
- Returns the result
Reimplemented from cGenericDevice.
| int cPhantomDevice::getPosition | ( | cVector3d & | a_position | ) | [virtual] |
Read the position of the device. Units are meters [m].
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 cPhantomDevice::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 cPhantomDevice::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 [true = ON / false = 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 cPhantomDevice::initialize | ( | const bool | a_resetEncoders = false |
) | [virtual] |
Initialize or calibrate haptic device (0 indicates success).
Initialize the phantom device.
For desktops and omnis, the a_resetEncoders parameter is ignored. For premiums, if you specify a_resetEncoders as true, you should be holding the Phantom in its rest position when this is called.
- Parameters:
-
a_resetEncoders Should I re-zero the encoders? (affects premiums only...)
- Returns:
- Return 0 if operation succeeds, -1 if an error occurs.
Reimplemented from cGenericHapticDevice.
| int cPhantomDevice::open | ( | ) | [virtual] |
Open connection to haptic device (0 indicates success).
Open connection to phantom device.
- Returns:
- Return 0 is operation succeeds, -1 if an error occurs.
Reimplemented from cGenericHapticDevice.
| int cPhantomDevice::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 cPhantomDevice::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/CPhantomDevices.h
- D:/CHAI3D/build-2-0-0/2.0.0/win32/src/devices/CPhantomDevices.cpp