#include <CGenericHapticDevice.h>
Public Attributes | |
| string | m_modelName |
| Name of the device model. "delta, "omega" or "phantom" for instance. | |
| string | m_manufacturerName |
| Name of the manufacturer of the device. | |
| double | m_maxForce |
| Maximum force in [N] that can be produced by the device in translation. | |
| double | m_maxTorque |
| Maximum torque in [N*m] that can be produced by the device in orientation. | |
| double | m_maxGripperTorque |
| Maximum force in [N*m] that can be produced by the gripper. | |
| double | m_maxForceStiffness |
| Maximum closed loop force stiffness [N/m] for a simulation running at 1 KhZ. | |
| double | m_maxTorqueStiffness |
| Maximum closed loop torque stiffness [N*m/rad] for a simulation running at 1 KhZ. | |
| double | m_maxGripperTorqueStiffness |
| Maximum closed loop gripper torque stiffness [N*m/rad] for a simulation running at 1 KhZ. | |
| double | m_maxLinearDamping |
| Maximum recommended linear damping factor Kv when using the getVelocity() method from the device class. | |
| double | m_workspaceRadius |
| Radius which describes the largest sphere (3D devices) or circle (2D Devices) which can be enclosed inside the physical workspace of the device. | |
| bool | m_sensedPosition |
| If true then device supports position sensing (x,y,z axis). | |
| bool | m_sensedRotation |
| If true thhen device supports rotation sensing. (i.e stylus, pen). | |
| bool | m_sensedGripper |
| If true then device supports a sensed gripper interface. | |
| bool | m_actuatedPosition |
| If true then device provides actuation capabilities on the translation degrees of freedom. (x,y,z axis). | |
| bool | m_actuatedRotation |
| If true then device provides actuation capabilities on the orientation degrees of freedom. (i.e stylus, pen). | |
| bool | m_actuatedGripper |
| If true then device provides actuation capabilities on the gripper. | |
| bool | m_leftHand |
| If true then the device can used for left hands. | |
| bool | m_rightHand |
| If true then the device can used for left hands. | |