SOFA plugin: Haption  master
Open source framework for multi-physics simuation
sofa::component::controller::HaptionDriver Class Reference

#include <HaptionDriver.h>

Inheritance diagram for sofa::component::controller::HaptionDriver:

Public Attributes

Data< double > scale
 Default scale applied to the Haption Coordinates. More...
 
Data< bool > state_button
 state of the first button More...
 
Data< bool > haptionVisu
 Visualize the position of the interface in the virtual scene. More...
 
Data< VecCoordposBase
 Position of the interface base in the scene world coordinates. More...
 
Data< double > torqueScale
 Default scale applied to the Haption torque. More...
 
Data< double > forceScale
 Default scale applied to the Haption force. More...
 
Data< std::string > ip_haption
 ip of the device More...
 
- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< bool > f_listening
 
- Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * > m_oldAttributes
 
Data< int > d_messageLogCount
 
Data< std::string > name
 
Data< bool > f_printLog
 
Data< sofa::core::objectmodel::TagSetf_tags
 
Data< sofa::type::BoundingBoxf_bbox
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 
std::string m_definitionSourceFileName
 
int m_definitionSourceFilePos
 
std::string m_instanciationSourceFileName
 
int m_instanciationSourceFilePos
 

Public Member Functions

 SOFA_CLASS (HaptionDriver, Controller)
 
 HaptionDriver ()
 
virtual ~HaptionDriver ()
 
void init () override
 
void reinit () override
 
void bwdInit () override
 
void reset () override
 
void handleEvent (core::objectmodel::Event *) override
 
void onKeyPressedEvent (core::objectmodel::KeypressedEvent *) override
 
void onKeyReleasedEvent (core::objectmodel::KeyreleasedEvent *) override
 
void onAnimateBeginEvent ()
 
int initDevice (char *ip)
 
void closeDevice ()
 
void setForceFeedback (haptics::MechanicalStateForceFeedback< Rigid3dTypes > *ff)
 
- Public Member Functions inherited from sofa::component::controller::Controller
 SOFA_CLASS (Controller, core::behavior::BaseController)
 
virtual void onMouseEvent (core::objectmodel::MouseEvent *)
 
virtual void onHapticDeviceEvent (core::objectmodel::HapticDeviceEvent *)
 
virtual void onJoystickEvent (core::objectmodel::JoystickEvent *)
 
virtual void onBeginAnimationStep (const double)
 
virtual void onEndAnimationStep (const double)
 
virtual void onGUIEvent (core::objectmodel::GUIEvent *)
 
- Public Member Functions inherited from sofa::core::behavior::BaseController
 SOFA_ABSTRACT_CLASS (BaseController, core::objectmodel::BaseObject)
 
- Public Member Functions inherited from sofa::core::objectmodel::BaseObject
 SOFA_CLASS (BaseObject, Base)
 
virtual void draw (const core::visual::VisualParams *)
 
virtual void computeBBox (const core::ExecParams *, bool=false)
 
void setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr)
 
void setSrc (const std::string &v, const BaseObject *loader, std::vector< std::string > *attributeList=nullptr)
 
BasefindLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const override
 
virtual bool insertInNode (BaseNode *)
 
virtual bool removeInNode (BaseNode *)
 
SReal getTime () const
 
const BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (const std::string &name) const
 
virtual void addSlave (BaseObject::SPtr s)
 
virtual void removeSlave (BaseObject::SPtr s)
 
virtual void handleTopologyChange ()
 
virtual void handleTopologyChange (core::topology::Topology *t)
 
void parse (BaseObjectDescription *arg) override
 
void updateInternal ()
 
virtual void storeResetState ()
 
virtual void cleanup ()
 
SReal getTime () const
 
- Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClassgetClass () const
 
void addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)
 
void addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)
 
void addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)
 
const std::string & getName () const
 
void setName (const std::string &n)
 
void setName (const std::string &n, int counter)
 
std::string getTypeName () const
 
virtual std::string getClassName () const
 
virtual std::string getTemplateName () const final
 
std::string getNameSpaceName () const
 
void setDefinitionSourceFileName (const std::string &sourceFileName)
 
const std::string & getDefinitionSourceFileName () const
 
void setDefinitionSourceFilePos (const int)
 
int getDefinitionSourceFilePos () const
 
void setInstanciationSourceFileName (const std::string &sourceFileName)
 
const std::string & getInstanciationSourceFileName () const
 
void setInstanciationSourceFilePos (const int)
 
int getInstanciationSourceFilePos () const
 
void addMessage (const sofa::helper::logging::Message &m) const
 
size_t countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
const std::deque< sofa::helper::logging::Message > & getLoggedMessages () const
 
const std::string getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
void clearLoggedMessages () const
 
bool notMuted () const
 
const sofa::core::objectmodel::TagSetgetTags () const
 
bool hasTag (Tag t) const
 
void addTag (Tag t)
 
void removeTag (Tag t)
 
ComponentState getComponentState () const
 
bool isComponentStateValid () const
 
bool isComponentStateInvalid () const
 
 SOFA_ATTRIBUTE_DEPRECATED__TOBASECONSTRAINT () virtual const behavior
 
virtual bool parseField (const std::string &attribute, const std::string &value)
 
virtual bool hasField (const std::string &attribute) const
 
void parseFields (const std::list< std::string > &str)
 
virtual void parseFields (const std::map< std::string, std::string * > &str)
 
void writeDatas (std::map< std::string, std::string * > &str)=delete
 
void writeDatas (std::ostream &out, const std::string &separator=" ")
 
BaseDatafindData (const std::string &name) const
 
std::vector< BaseData * > findGlobalField (const std::string &name) const
 
BaseLinkfindLink (const std::string &name) const
 
std::vector< BaseLink * > findLinks (const std::string &name) const
 
virtual void updateLinks (bool logErrors=true)
 
BaseData::BaseInitData initData (::sofa::core::objectmodel::Data< T > *field, const char *name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
 
BaseData::BaseInitData initData (Data< T > *field, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 
Data< T >::InitData initData (Data< T > *field, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 
void addData (BaseData *f, const std::string &name)
 
void addData (BaseData *f)
 
void removeData (BaseData *f)
 
void addAlias (BaseData *field, const char *alias)
 
void addLink (BaseLink *l)
 
void addAlias (BaseLink *link, const char *alias)
 
const VecDatagetDataFields () const
 
const MapDatagetDataAliases () const
 
const VecLinkgetLinks () const
 
const MapLinkgetLinkAliases () const
 
virtual bool findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link)
 
bool findLinkDest (T *&ptr, const std::string &path, const BaseLink *link)
 
const sofa::core::objectmodel::TagSetgetTags () const
 
bool hasTag (Tag t) const
 
void addTag (Tag t)
 
void removeTag (Tag t)
 
ComponentState getComponentState () const
 
bool isComponentStateValid () const
 
bool isComponentStateInvalid () const
 
 SOFA_ATTRIBUTE_DEPRECATED__TOBASECONSTRAINT () virtual const behavior
 

Static Public Member Functions

static void haptic_callback (VirtContext, void *)
 
- Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
static bool canCreate (T *, BaseContext *, BaseObjectDescription *)
 
static T::SPtr create (T *, BaseContext *context, BaseObjectDescription *arg)
 
- Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClassGetClass ()
 
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Additional Inherited Members

- Protected Attributes inherited from sofa::component::controller::Controller
Data< bool > d_handleEventTriggersUpdate
 
- Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK > l_context
 
LinkSlaves l_slaves
 
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK > l_master
 
- Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallbackm_internalEngine
 
VecData m_vecData
 
MapData m_aliasData
 
VecLink m_vecLink
 
MapLink m_aliasLink
 
- Protected Member Functions inherited from sofa::component::controller::Controller
 Controller ()
 
 ~Controller () override
 
- Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
 BaseObject ()
 
 ~BaseObject () override
 
virtual void doUpdateInternal ()
 
void changeContextLink (BaseContext *before, BaseContext *&after)
 
void changeSlavesLink (BaseObject::SPtr ptr, std::size_t, bool add)
 
void trackInternalData (const BaseData &data)
 
void cleanTracker ()
 
bool hasDataChanged (const BaseData &data)
 
- Protected Member Functions inherited from sofa::core::objectmodel::Base
 Base ()
 
virtual ~Base ()
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, BaseData::DataFlags dataFlags)
 
void initData0 (Data< T > *field, typename Data< T >::InitData &res, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 
- Protected Member Functions inherited from sofa::core::IntrusiveObject
virtual ~IntrusiveObject ()=default
 

Attribute details

◆ forceScale

Data<double> sofa::component::controller::HaptionDriver::forceScale

Default scale applied to the Haption force.

◆ haptionVisu

Data<bool> sofa::component::controller::HaptionDriver::haptionVisu

Visualize the position of the interface in the virtual scene.

◆ ip_haption

Data< std::string > sofa::component::controller::HaptionDriver::ip_haption

ip of the device

◆ posBase

Data<VecCoord> sofa::component::controller::HaptionDriver::posBase

Position of the interface base in the scene world coordinates.

◆ scale

Data<double> sofa::component::controller::HaptionDriver::scale

Default scale applied to the Haption Coordinates.

◆ state_button

Data<bool> sofa::component::controller::HaptionDriver::state_button

state of the first button

◆ torqueScale

Data<double> sofa::component::controller::HaptionDriver::torqueScale

Default scale applied to the Haption torque.

Constructor details

◆ HaptionDriver()

sofa::component::controller::HaptionDriver::HaptionDriver ( )

◆ ~HaptionDriver()

sofa::component::controller::HaptionDriver::~HaptionDriver ( )
virtual

Function details

◆ bwdInit()

void sofa::component::controller::HaptionDriver::bwdInit ( )
overridevirtual

◆ closeDevice()

void sofa::component::controller::HaptionDriver::closeDevice ( )

◆ handleEvent()

void sofa::component::controller::HaptionDriver::handleEvent ( core::objectmodel::Event event)
overridevirtual

◆ haptic_callback()

void sofa::component::controller::HaptionDriver::haptic_callback ( VirtContext  ,
void *  param 
)
static

◆ init()

void sofa::component::controller::HaptionDriver::init ( void  )
overridevirtual

◆ initDevice()

int sofa::component::controller::HaptionDriver::initDevice ( char *  ip)

◆ onAnimateBeginEvent()

void sofa::component::controller::HaptionDriver::onAnimateBeginEvent ( )

◆ onKeyPressedEvent()

void sofa::component::controller::HaptionDriver::onKeyPressedEvent ( core::objectmodel::KeypressedEvent kpe)
overridevirtual

◆ onKeyReleasedEvent()

void sofa::component::controller::HaptionDriver::onKeyReleasedEvent ( core::objectmodel::KeyreleasedEvent kre)
overridevirtual

◆ reinit()

void sofa::component::controller::HaptionDriver::reinit ( )
overridevirtual

◆ reset()

void sofa::component::controller::HaptionDriver::reset ( )
overridevirtual

◆ setForceFeedback()

void sofa::component::controller::HaptionDriver::setForceFeedback ( haptics::MechanicalStateForceFeedback< Rigid3dTypes > *  ff)

◆ SOFA_CLASS()

sofa::component::controller::HaptionDriver::SOFA_CLASS ( HaptionDriver  ,
Controller   
)