# D:/CHAI3D/build-2-0-0/2.0.0/win32/src/devices/CGenericHapticDevice.h File Reference

Devices
Haptic Device Base Class. More...

`#include "devices/CGenericDevice.h"`
`#include "math/CVector3d.h"`
`#include "math/CMatrix3d.h"`
`#include "timers/CPrecisionClock.h"`

Go to the source code of this file.

## Classes
struct | cTimestampValue
| Provides a structure to store a double value with a time stamp. More...
struct | cTimestampPos
| Provides a structure to store a position with a time stamp. More...
struct | cTimestampRot
| Provides a structure to store an orientation frame with a time stamp. More...
struct | cHapticDeviceInfo
| Provides a structure which can hold technical specifications about a particular haptic device. More...
class | cGenericHapticDevice
| cGenericHapticDevice describes a virtual class from which all 2D or 3D point contact haptic devices are derived. These include for instance the delta.x, omega.x or Phantom haptic devices. More...
## Variables
const int | CHAI_DEVICE_HISTORY_SIZE = 200
| Filter property used for velocity estimator.
const double | CHAI_DEVICE_MIN_ACQUISITION_TIME = 0.0001
| Minimum time between two devioce status acquisitions.

## Detailed Description

Devices
Haptic Device Base Class.

CHAI3D 2.0.0 documentation
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