#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] |
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static |
|
static |
| sofa::component::controller::NewOmniDriver::NewOmniDriver | ( | ) |
|
virtual |
|
overridevirtual |
Reimplemented from sofa::core::objectmodel::BaseObject.
|
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 | |||
| ) |