#include <NewOmniDriver.h>

Omni driver
| Classes | |
| struct | VisualComponent | 
| Public Attributes | |
| Data< double > | forceScale | 
| Default scaling factor applied to the force feedback.  More... | |
| Data< double > | scale | 
| Default scale applied to the Phantom Coordinates.  More... | |
| Data< Vec3d > | positionBase | 
| Position of the interface base in the scene world coordinates.  More... | |
| Data< Quat > | orientationBase | 
| Orientation of the interface base in the scene world coordinates.  More... | |
| Data< Vec3d > | positionTool | 
| Position of the tool in the omni end effector frame.  More... | |
| Data< Quat > | orientationTool | 
| Orientation of the tool in the omni end effector frame.  More... | |
| Data< bool > | permanent | 
| Apply the force feedback permanently.  More... | |
| Data< bool > | omniVisu | 
| Visualize the position of the interface in the virtual scene.  More... | |
| Data< VecCoord > | posDevice | 
| position of the base of the part of the device  More... | |
| Data< VecCoord > | posStylus | 
| position of the base of the stylus  More... | |
| Data< std::string > | locDOF | 
| localisation of the DOFs MechanicalObject  More... | |
| Data< std::string > | deviceName | 
| name of the device  More... | |
| Data< int > | deviceIndex | 
| index of the device  More... | |
| Data< Vec1d > | openTool | 
| opening of the tool  More... | |
| Data< double > | maxTool | 
| maxTool value  More... | |
| Data< double > | minTool | 
| minTool value  More... | |
| Data< double > | openSpeedTool | 
| openSpeedTool value  More... | |
| Data< double > | closeSpeedTool | 
| closeSpeedTool value  More... | |
| Data< bool > | useScheduler | 
| Enable use of OpenHaptics Scheduler methods to synchronize haptics thread.  More... | |
| Data< bool > | setRestShape | 
| True to control the rest position instead of the current position directly.  More... | |
| Data< bool > | applyMappings | 
| True to enable applying the mappings after setting the position.  More... | |
| Data< bool > | alignOmniWithCamera | 
| True to keep the Omni's movements in the same reference frame as the camera.  More... | |
| Data< bool > | stateButton1 | 
| True if the First button of the Omni is pressed.  More... | |
| Data< bool > | stateButton2 | 
| True if the Second button of the Omni is pressed.  More... | |
| sofa::component::container::MechanicalObject< sofa::defaulttype::Rigid3dTypes > * | DOFs | 
| sofa::component::visualmodel::BaseCamera::SPtr | camera | 
| bool | initVisu | 
| NewOmniData | data | 
| AllNewOmniData | allData | 
| VisualComponent | visualNode [NVISUALNODE] | 
| simulation::Node::SPtr | nodePrincipal | 
| MMechanicalObject::SPtr | rigidDOF | 
| bool | changeScale | 
| bool | firstInit | 
| float | oldScale | 
| bool | visuActif | 
| bool | isInitialized | 
| Vec3d | positionBase_buf | 
| bool | modX | 
| bool | modY | 
| bool | modZ | 
| bool | modS | 
| bool | axesActif | 
| HDfloat | angle1 [3] | 
| HDfloat | angle2 [3] | 
| bool | firstDevice | 
|  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::TagSet > | f_tags | 
| Data< sofa::type::BoundingBox > | f_bbox | 
| Data< sofa::core::objectmodel::ComponentState > | d_componentState | 
| std::string | m_definitionSourceFileName | 
| int | m_definitionSourceFilePos | 
| std::string | m_instanciationSourceFileName | 
| int | m_instanciationSourceFilePos | 
| Static Public Attributes | |
| static const char * | visualNodeNames [NVISUALNODE] | 
| static const char * | visualNodeFiles [NVISUALNODE] | 
| Public Member Functions | |
| SOFA_CLASS (NewOmniDriver, Controller) | |
| NewOmniDriver () | |
| virtual | ~NewOmniDriver () | 
| virtual void | init () override | 
| virtual void | bwdInit () override | 
| virtual void | reset () override | 
| void | reinit () override | 
| int | initDevice () | 
| void | cleanup () override | 
| virtual void | draw (const core::visual::VisualParams *) override | 
| virtual void | draw () | 
| void | setForceFeedback (ForceFeedback *ff) | 
| void | onKeyPressedEvent (core::objectmodel::KeypressedEvent *) override | 
| void | onKeyReleasedEvent (core::objectmodel::KeyreleasedEvent *) override | 
| void | onAnimateBeginEvent () | 
| void | setDataValue () | 
|  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 | 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) | 
| Base * | findLinkDestClass (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 BaseContext * | getContext () const | 
| BaseContext * | getContext () | 
| const BaseObject * | getMaster () const | 
| BaseObject * | getMaster () | 
| const VecSlaves & | getSlaves () const | 
| BaseObject * | getSlave (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 () | 
| SReal | getTime () const | 
|  Public Member Functions inherited from sofa::core::objectmodel::Base | |
| virtual const BaseClass * | getClass () 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::TagSet & | getTags () 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=" ") | 
| BaseData * | findData (const std::string &name) const | 
| std::vector< BaseData * > | findGlobalField (const std::string &name) const | 
| BaseLink * | findLink (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 VecData & | getDataFields () const | 
| const MapData & | getDataAliases () const | 
| const VecLink & | getLinks () const | 
| const MapLink & | getLinkAliases () 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::TagSet & | getTags () 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 | |
| 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::DataTrackerCallback > | m_internalEngine | 
| VecData | m_vecData | 
| MapData | m_aliasData | 
| VecLink | m_vecLink | 
| MapLink | m_aliasLink | 
|  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 BaseClass * | GetClass () | 
| static std::string | shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr) | 
|  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 | 
| Data<bool> sofa::component::controller::NewOmniDriver::alignOmniWithCamera | 
True to keep the Omni's movements in the same reference frame as the camera.
| AllNewOmniData sofa::component::controller::NewOmniDriver::allData | 
| HDfloat sofa::component::controller::NewOmniDriver::angle1[3] | 
| HDfloat sofa::component::controller::NewOmniDriver::angle2[3] | 
| Data<bool> sofa::component::controller::NewOmniDriver::applyMappings | 
True to enable applying the mappings after setting the position.
| bool sofa::component::controller::NewOmniDriver::axesActif | 
| sofa::component::visualmodel::BaseCamera::SPtr sofa::component::controller::NewOmniDriver::camera | 
| bool sofa::component::controller::NewOmniDriver::changeScale | 
| Data<double> sofa::component::controller::NewOmniDriver::closeSpeedTool | 
closeSpeedTool value
| NewOmniData sofa::component::controller::NewOmniDriver::data | 
| Data< int > sofa::component::controller::NewOmniDriver::deviceIndex | 
index of the device
| Data< std::string > sofa::component::controller::NewOmniDriver::deviceName | 
name of the device
| sofa::component::container::MechanicalObject<sofa::defaulttype::Rigid3dTypes>* sofa::component::controller::NewOmniDriver::DOFs | 
| bool sofa::component::controller::NewOmniDriver::firstDevice | 
| bool sofa::component::controller::NewOmniDriver::firstInit | 
| Data<double> sofa::component::controller::NewOmniDriver::forceScale | 
Default scaling factor applied to the force feedback.
| bool sofa::component::controller::NewOmniDriver::initVisu | 
| bool sofa::component::controller::NewOmniDriver::isInitialized | 
| Data< std::string > sofa::component::controller::NewOmniDriver::locDOF | 
localisation of the DOFs MechanicalObject
| Data<double> sofa::component::controller::NewOmniDriver::maxTool | 
maxTool value
| Data<double> sofa::component::controller::NewOmniDriver::minTool | 
minTool value
| bool sofa::component::controller::NewOmniDriver::modS | 
| bool sofa::component::controller::NewOmniDriver::modX | 
| bool sofa::component::controller::NewOmniDriver::modY | 
| bool sofa::component::controller::NewOmniDriver::modZ | 
| simulation::Node::SPtr sofa::component::controller::NewOmniDriver::nodePrincipal | 
| float sofa::component::controller::NewOmniDriver::oldScale | 
| Data<bool> sofa::component::controller::NewOmniDriver::omniVisu | 
Visualize the position of the interface in the virtual scene.
| Data<double> sofa::component::controller::NewOmniDriver::openSpeedTool | 
openSpeedTool value
| Data<Vec1d> sofa::component::controller::NewOmniDriver::openTool | 
opening of the tool
| Data<Quat> sofa::component::controller::NewOmniDriver::orientationBase | 
Orientation of the interface base in the scene world coordinates.
| Data<Quat> sofa::component::controller::NewOmniDriver::orientationTool | 
Orientation of the tool in the omni end effector frame.
| Data<bool> sofa::component::controller::NewOmniDriver::permanent | 
Apply the force feedback permanently.
position of the base of the part of the device
| Data<Vec3d> sofa::component::controller::NewOmniDriver::positionBase | 
Position of the interface base in the scene world coordinates.
| Vec3d sofa::component::controller::NewOmniDriver::positionBase_buf | 
| Data<Vec3d> sofa::component::controller::NewOmniDriver::positionTool | 
Position of the tool in the omni end effector frame.
position of the base of the stylus
| MMechanicalObject::SPtr sofa::component::controller::NewOmniDriver::rigidDOF | 
| Data<double> sofa::component::controller::NewOmniDriver::scale | 
Default scale applied to the Phantom Coordinates.
| Data<bool> sofa::component::controller::NewOmniDriver::setRestShape | 
True to control the rest position instead of the current position directly.
| Data<bool> sofa::component::controller::NewOmniDriver::stateButton1 | 
True if the First button of the Omni is pressed.
| Data<bool> sofa::component::controller::NewOmniDriver::stateButton2 | 
True if the Second button of the Omni is pressed.
| Data<bool> sofa::component::controller::NewOmniDriver::useScheduler | 
Enable use of OpenHaptics Scheduler methods to synchronize haptics thread.
| bool sofa::component::controller::NewOmniDriver::visuActif | 
| VisualComponent sofa::component::controller::NewOmniDriver::visualNode[NVISUALNODE] | 
| 
 | static | 
| 
 | static | 
| sofa::component::controller::NewOmniDriver::NewOmniDriver | ( | ) | 
| 
 | virtual | 
| 
 | overridevirtual | 
Reimplemented from sofa::core::objectmodel::BaseObject.
| 
 | overridevirtual | 
Reimplemented from sofa::core::objectmodel::BaseObject.
| 
 | virtual | 
| 
 | overridevirtual | 
Reimplemented from sofa::core::objectmodel::BaseObject.
| 
 | overridevirtual | 
Reimplemented from sofa::core::objectmodel::BaseObject.
| int sofa::component::controller::NewOmniDriver::initDevice | ( | ) | 
Sets up the device,
| void sofa::component::controller::NewOmniDriver::onAnimateBeginEvent | ( | ) | 
| 
 | overridevirtual | 
Reimplemented from sofa::component::controller::Controller.
| 
 | overridevirtual | 
Reimplemented from sofa::component::controller::Controller.
| 
 | overridevirtual | 
Reimplemented from sofa::core::objectmodel::BaseObject.
| 
 | overridevirtual | 
Reimplemented from sofa::core::objectmodel::BaseObject.
| void sofa::component::controller::NewOmniDriver::setDataValue | ( | ) | 
| void sofa::component::controller::NewOmniDriver::setForceFeedback | ( | ForceFeedback * | ff | ) | 
| sofa::component::controller::NewOmniDriver::SOFA_CLASS | ( | NewOmniDriver | , | 
| Controller | |||
| ) |