SurgSim::Devices::PhantomDevice Class Reference

A class implementing the communication with a SensAble/Geomagic PHANTOM device. More...

`#include <SurgSim/Devices/Phantom/PhantomDevice.h>`

Inheritance diagram for SurgSim::Devices::PhantomDevice:

## Public Member Functions

| PhantomDevice (const std::string &uniqueName)
| Constructor. More...
| SURGSIM_CLASSNAME (SurgSim::Devices::PhantomDevice)
virtual | ~PhantomDevice ()
| Destructor. More...
void | setInitializationName (const std::string &initializationName)
| Sets the name used to register this device with the hardware library. More...
std::string | getInitializationName () const
| Gets the name used by the Phantom device configuration to refer to this device. More...
bool | initialize () override
| Fully initialize the device. More...
bool | isInitialized () const override
Public Member Functions inherited from SurgSim::Input::CommonDevice
| CommonDevice (const std::string &name)
| Constructor. More...
| CommonDevice (const std::string &name, const DataStructures::DataGroup &inputData)
| Constructor. More...
| CommonDevice (const std::string &name, DataStructures::DataGroup &&inputData)
| Constructor. More...
virtual | ~CommonDevice ()
| Destructor. More...
std::string | getName () const override
| Return a (hopefully unique) device name. More...
std::string | getClassName () const override
| The class name for this class. More...
void | setNameForCallback (const std::string &name)
| Set the name used for calling the input consumers and output producer. More...
std::string | getNameForCallback () const
| Get the name used for calling the input consumers and output producer. More...
bool | addInputConsumer (std::shared_ptr< InputConsumerInterface > inputConsumer) override
| Adds an input consumer that will be notified when the application input state is updated. More...
bool | removeInputConsumer (std::shared_ptr< InputConsumerInterface > inputConsumer) override
| Removes an input consumer previously added via addInputConsumer. More...
void | clearInputConsumers () override
| Removes all InputConsumers. More...
bool | setOutputProducer (std::shared_ptr< OutputProducerInterface > outputProducer) override
| Sets an output producer that will be asked for application output state when the device needs it. More...
bool | removeOutputProducer (std::shared_ptr< OutputProducerInterface > outputProducer) override
| Removes an output producer previously added via setOutputProducer. More...
bool | hasOutputProducer () override
| Query if this object has output producer. More...
void | clearOutputProducer () override
| Removes any OutputProducer. More...
Public Member Functions inherited from SurgSim::Input::DeviceInterface
virtual | ~DeviceInterface ()
| Virtual destructor (empty). More...
Public Member Functions inherited from SurgSim::Framework::Accessible
| Accessible ()
| Default Constructor. More...
| ~Accessible ()
| Destructor. More...
template<class T >
T | getValue (const std::string &name) const
| Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...
boost::any | getValue (const std::string &name) const
| Retrieves the value with the name by executing the getter if it is found. More...
template<class T >
bool | getValue (const std::string &name, T *value) const
| Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...
void | setValue (const std::string &name, const boost::any &value)
| Sets a value of a property that has setter. More...
bool | isReadable (const std::string &name) const
| Check whether a property is readable. More...
bool | isWriteable (const std::string &name) const
| Check whether a property is writable. More...
void | setGetter (const std::string &name, GetterType func)
| Sets a getter for a given property. More...
void | setSetter (const std::string &name, SetterType func)
| Sets a setter for a given property. More...
void | setAccessors (const std::string &name, GetterType getter, SetterType setter)
| Sets the accessors getter and setter in one function. More...
void | removeAccessors (const std::string &name)
| Removes all the accessors (getter and setter) for a given property. More...
void | forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
| Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...
void | setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
| Sets the functions used to convert data from and to a YAML::Node. More...
void | setDecoder (const std::string &name, DecoderType decoder)
| Sets the functions used to convert data from a YAML::Node. More...
YAML::Node | encode () const
| Encode this Accessible to a YAML::Node. More...
void | decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
| Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...
template<>
boost::any | getValue (const std::string &name) const

## Private Member Functions

bool | finalize () override
| Finalize (de-initialize) the device. More...

## Private Attributes

std::shared_ptr< PhantomScaffold > | m_scaffold
std::string | m_initializationName

## Friends

class | PhantomScaffold

## Additional Inherited Members

Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)> | GetterType
typedef std::function< void(boost::any)> | SetterType
typedef std::function< YAML::Node(void)> | EncoderType
typedef std::function< void(const YAML::Node *)> | DecoderType
Public Types inherited from SurgSim::Framework::FactoryBase1< DeviceInterface, std::string >
typedef ObjectFactory1< DeviceInterface, std::string > | FactoryType
Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< DeviceInterface, std::string >
static FactoryType & | getFactory ()
Protected Member Functions inherited from SurgSim::Input::CommonDevice
virtual void | pushInput ()
| Push application input to consumers. More...
virtual bool | pullOutput ()
| Pull application output from a producer. More...
DataStructures::DataGroup & | getInputData ()
| Getter for the input data DataGroup. More...
const DataStructures::DataGroup & | getOutputData () const
| Getter for the output data DataGroup. More...

## Detailed Description

A class implementing the communication with a SensAble/Geomagic PHANTOM device.

This should support any device that can communicate using the OpenHaptics 3.x toolkit, such as the PHANTOM Omni (a.k.a. Geomagic Touch), PHANTOM Desktop (a.k.a. Geomagic Touch X), and the PHANTOM Premium series devices.

Application input provided by the device:

  type | name |
  --- | --- | ---
  pose | "pose" | Device pose (units are meters).
  bool | "button1" | State of the first device button.
  bool | "button2" | State of the second device button if present.
  bool | "button3" | State of the third device button (probably doesn't exist).
  bool | "button4" | State of the third device button (probably doesn't exist).

  Note that `button1` through `4` correspond to the `HD_DEVICE_BUTTON_1` through `4` provided by the OpenHaptics API, but your PHANTOM device likely has fewer than 4 buttons. On one-button PHANTOM devices, the button state can be accessed through `button1`. On a PHANTOM Omni or a Geomagic Touch, `button1` corresponds to the front (blue) stylus button, and `button2` to the rear (white/gray) stylus button.

Application output used by the device:

  type | name |
  --- | --- | ---
  vector | "force" | Device output force (units are newtons).
  vector | "torque" | Device output torque (units are Nm).

See also
  SurgSim::Input::CommonDevice, SurgSim::Input::DeviceInterface

## Constructor & Destructor Documentation

## PhantomDevice()

SurgSim::Devices::PhantomDevice::PhantomDevice | ( | const std::string & | uniqueName | ) |

explicit

Constructor.

Parameters

  uniqueName | A unique name for the device that will be used by the application.

## ~PhantomDevice()

SurgSim::Devices::PhantomDevice::~PhantomDevice | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## finalize()

bool SurgSim::Devices::PhantomDevice::finalize | ( |  | ) |

override private virtual

Finalize (de-initialize) the device.

Implements SurgSim::Input::DeviceInterface.

## getInitializationName()

std::string SurgSim::Devices::PhantomDevice::getInitializationName | ( |  | ) | const

Gets the name used by the Phantom device configuration to refer to this device.

Note that this may or may not be the same as the device name retrieved by getName(). An empty string indicates the default device.

Returns
  The initialization name.

## initialize()

bool SurgSim::Devices::PhantomDevice::initialize | ( |  | ) |

override virtual

Fully initialize the device.

When the manager object creates the device, the internal state of the device usually isn't fully initialized yet. This method performs any needed initialization.

Implements SurgSim::Input::DeviceInterface.

## isInitialized()

bool SurgSim::Devices::PhantomDevice::isInitialized | ( |  | ) | const

override virtual

Returns
  true if the device has been initialized and has not yet been finalized.

Implements SurgSim::Input::DeviceInterface.

## setInitializationName()

void SurgSim::Devices::PhantomDevice::setInitializationName | ( | const std::string & | initializationName | ) |

Sets the name used to register this device with the hardware library.

Parameters

  initializationName | The name passed to HDAPI when initializing the device. This should match a configured PHANTOM device; alternately, an empty string indicates the default device.

## SURGSIM_CLASSNAME()

SurgSim::Devices::PhantomDevice::SURGSIM_CLASSNAME | ( | SurgSim::Devices::PhantomDevice |  | ) |

## Friends And Related Function Documentation

## PhantomScaffold

friend class PhantomScaffold

friend

## Member Data Documentation

## m_initializationName

std::string SurgSim::Devices::PhantomDevice::m_initializationName

private

## m_scaffold

std::shared_ptr<PhantomScaffold> SurgSim::Devices::PhantomDevice::m_scaffold

private

The documentation for this class was generated from the following files:

- SurgSim/Devices/Phantom/PhantomDevice.h
- SurgSim/Devices/Phantom/PhantomDevice.cpp