cVirtualDevice Class Reference
[Devices]
Class which interfaces with the virtual device.
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#include <CVirtualDevice.h>
Public Member Functions | |
| cVirtualDevice () | |
| Constructor of cVirtualDevice. | |
| virtual | ~cVirtualDevice () |
| Destructor of cVirtualDevice. | |
| int | open () |
| Open connection to virtual device. | |
| int | close () |
| Close connection to virtual device. | |
| int | initialize (const bool a_resetEncoders) |
| Initialize virtual 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 | getRotation (cMatrix3d &a_rotation) |
| Read the orientation frame of the device end-effector. | |
| int | getUserSwitch (int a_switchIndex, bool &a_status) |
| Read the status of the user switch [true = ON / false = OFF]. | |
| int | setForce (cVector3d &a_force) |
| Send a force [N] to the haptic device. | |
| int | getForce (cVector3d &a_force) |
| Read a force [N] from the haptic device. | |
Detailed Description
Class which interfaces with the virtual device.Member Function Documentation
| int cVirtualDevice::close | ( | ) | [virtual] |
Close connection to virtual device.
Close connection to virtual device
- Returns:
- Return 0 is operation succeeds, -1 if an error occurs.
Reimplemented from cGenericHapticDevice.
| int cVirtualDevice::getForce | ( | cVector3d & | a_force | ) | [virtual] |
Read a force [N] from the haptic device.
Return the last force sent to the device.
- Parameters:
-
a_force Return value.
Reimplemented from cGenericHapticDevice.
| unsigned int cVirtualDevice::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 cVirtualDevice::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.
Reimplemented from cGenericHapticDevice.
| int cVirtualDevice::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.
Reimplemented from cGenericHapticDevice.
| int cVirtualDevice::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.
Reimplemented from cGenericHapticDevice.
| int cVirtualDevice::initialize | ( | const bool | a_resetEncoders = false |
) | [virtual] |
Initialize virtual device.
Initialize virtual device. a_resetEncoders is ignored
- Parameters:
-
a_resetEncoders ignored
- Returns:
- Return 0 is operation succeeds, -1 if an error occurs.
Reimplemented from cGenericHapticDevice.
| int cVirtualDevice::open | ( | ) | [virtual] |
Open connection to virtual device.
Open connection to virtual device.
- Returns:
- Return 0 is operation succeeds, -1 if an error occurs.
Reimplemented from cGenericHapticDevice.
| int cVirtualDevice::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.
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/CVirtualDevice.h
- D:/CHAI3D/build-2-0-0/2.0.0/win32/src/devices/CVirtualDevice.cpp