#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 |
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Data< bool > | f_listening |
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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 () |
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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 *) |
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SOFA_ABSTRACT_CLASS (BaseController, core::objectmodel::BaseObject) | |
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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 |
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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 | |
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Data< bool > | d_handleEventTriggersUpdate |
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SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK > | l_context |
LinkSlaves | l_slaves |
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK > | l_master |
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std::map< std::string, sofa::core::DataTrackerCallback > | m_internalEngine |
VecData | m_vecData |
MapData | m_aliasData |
VecLink | m_vecLink |
MapLink | m_aliasLink |
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static bool | canCreate (T *, BaseContext *, BaseObjectDescription *) |
static T::SPtr | create (T *, BaseContext *context, BaseObjectDescription *arg) |
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static const BaseClass * | GetClass () |
static std::string | shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr) |
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Controller () | |
~Controller () override | |
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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) |
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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) |
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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] |
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static |
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static |
sofa::component::controller::NewOmniDriver::NewOmniDriver | ( | ) |
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virtual |
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overridevirtual |
Reimplemented from sofa::core::objectmodel::BaseObject.
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overridevirtual |
Reimplemented from sofa::core::objectmodel::BaseObject.
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virtual |
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overridevirtual |
Reimplemented from sofa::core::objectmodel::BaseObject.
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overridevirtual |
Reimplemented from sofa::core::objectmodel::BaseObject.
int sofa::component::controller::NewOmniDriver::initDevice | ( | ) |
Sets up the device,
void sofa::component::controller::NewOmniDriver::onAnimateBeginEvent | ( | ) |
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overridevirtual |
Reimplemented from sofa::component::controller::Controller.
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overridevirtual |
Reimplemented from sofa::component::controller::Controller.
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overridevirtual |
Reimplemented from sofa::core::objectmodel::BaseObject.
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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 | |||
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