SurgSim::Devices::NovintScaffold::DeviceData Struct Reference

## Public Types

typedef std::array< bool, MAX_NUM_BUTTONS > | ButtonStates
| Type used to store button states. More...

## Public Member Functions

| DeviceData (NovintDevice *device)
| Initialize the state. More...

## Public Attributes

std::string | initializationName
| The HDAL device name. More...
std::string | serialNumber
| The HDAL device serial number. More...
NovintDevice *const | deviceObject
| The corresponding device object. More...
std::shared_ptr< NovintScaffold::Handle > | deviceHandle
| The device handle wrapper. More...
Vector3d | jointAngles
| The joint angles for the device orientation. More...
ButtonStates | buttonStates
| The button state read from the device. More...
bool | isPositionHomed
| The homing state read from the device. More...
bool | isOrientationHomed
| The homing state read from the device. More...
bool | isDeviceHomed
| The homing state read from the device. More...
bool | isDeviceHeld
| The proximity state read from the device. More...
bool | isDevice7Dof
| True if this is a 7DoF device. More...
double | maxForce
| The maximum force magnitude (in Newtons) to send to the device. More...
Vector3d | antigrav
| The constant force added to all forces sent to the device (in Newtons). More...
bool | isDeviceRollAxisReversed
| True if the roll axis of a 7DoF device has reverse polarity because the device is left-handed. More...
double | eulerAngleOffsetRoll
| The offset added to the roll Euler angle. More...
double | eulerAngleOffsetYaw
| The offset added to the yaw Euler angle. More...
double | eulerAngleOffsetPitch
| The offset added to the pitch Euler angle. More...
double | toolDof
| The tool's degree-of-freedom, e.g., the handle's open/close angle. More...
double | forwardPointingPoseThreshold
| The threshold to determine if the device is pointing forwards before unlocking orientation. More...
Vector3d | torqueScale
| The scaling factors for the torque axes. More...
RigidTransform3d | scaledPose
| The pose value from the device, after scaling. More...
Vector3d | force
| The force value to be written to the device. More...
Vector4d | torque
| The torque value to be written to the device. More...
double | positionScale
| Scale factor for the position axes. More...
double | orientationScale
| Scale factor for the orientation axes. More...
boost::mutex | parametersMutex
| The mutex that protects the externally modifiable parameters. More...

## Static Public Attributes

static const size_t | MAX_NUM_BUTTONS = 4
| The maximum number of buttons supported by any device object. More...

## Private Member Functions

| DeviceData (const DeviceData &)
DeviceData & | operator= (const DeviceData &)

## Member Typedef Documentation

## ButtonStates

typedef std::array<bool, MAX_NUM_BUTTONS> SurgSim::Devices::NovintScaffold::DeviceData::ButtonStates

Type used to store button states.

## Constructor & Destructor Documentation

## DeviceData() [1/2]

SurgSim::Devices::NovintScaffold::DeviceData::DeviceData | ( | NovintDevice * | device | ) |

inline explicit

Initialize the state.

## DeviceData() [2/2]

SurgSim::Devices::NovintScaffold::DeviceData::DeviceData | ( | const DeviceData & |  | ) |

private

## Member Function Documentation

## operator=()

DeviceData& SurgSim::Devices::NovintScaffold::DeviceData::operator= | ( | const DeviceData & |  | ) |

private

## Member Data Documentation

## antigrav

Vector3d SurgSim::Devices::NovintScaffold::DeviceData::antigrav

The constant force added to all forces sent to the device (in Newtons).

## buttonStates

ButtonStates SurgSim::Devices::NovintScaffold::DeviceData::buttonStates

The button state read from the device.

## deviceHandle

std::shared_ptr<NovintScaffold::Handle> SurgSim::Devices::NovintScaffold::DeviceData::deviceHandle

The device handle wrapper.

## deviceObject

NovintDevice* const SurgSim::Devices::NovintScaffold::DeviceData::deviceObject

The corresponding device object.

## eulerAngleOffsetPitch

double SurgSim::Devices::NovintScaffold::DeviceData::eulerAngleOffsetPitch

The offset added to the pitch Euler angle.

## eulerAngleOffsetRoll

double SurgSim::Devices::NovintScaffold::DeviceData::eulerAngleOffsetRoll

The offset added to the roll Euler angle.

## eulerAngleOffsetYaw

double SurgSim::Devices::NovintScaffold::DeviceData::eulerAngleOffsetYaw

The offset added to the yaw Euler angle.

## force

Vector3d SurgSim::Devices::NovintScaffold::DeviceData::force

The force value to be written to the device.

## forwardPointingPoseThreshold

double SurgSim::Devices::NovintScaffold::DeviceData::forwardPointingPoseThreshold

The threshold to determine if the device is pointing forwards before unlocking orientation.

## initializationName

std::string SurgSim::Devices::NovintScaffold::DeviceData::initializationName

The HDAL device name.

## isDevice7Dof

bool SurgSim::Devices::NovintScaffold::DeviceData::isDevice7Dof

True if this is a 7DoF device.

## isDeviceHeld

bool SurgSim::Devices::NovintScaffold::DeviceData::isDeviceHeld

The proximity state read from the device.

## isDeviceHomed

bool SurgSim::Devices::NovintScaffold::DeviceData::isDeviceHomed

The homing state read from the device.

## isDeviceRollAxisReversed

bool SurgSim::Devices::NovintScaffold::DeviceData::isDeviceRollAxisReversed

True if the roll axis of a 7DoF device has reverse polarity because the device is left-handed.

## isOrientationHomed

bool SurgSim::Devices::NovintScaffold::DeviceData::isOrientationHomed

The homing state read from the device.

## isPositionHomed

bool SurgSim::Devices::NovintScaffold::DeviceData::isPositionHomed

The homing state read from the device.

## jointAngles

Vector3d SurgSim::Devices::NovintScaffold::DeviceData::jointAngles

The joint angles for the device orientation.

## MAX_NUM_BUTTONS

const size_t SurgSim::Devices::NovintScaffold::DeviceData::MAX_NUM_BUTTONS = 4

static

The maximum number of buttons supported by any device object.

## maxForce

double SurgSim::Devices::NovintScaffold::DeviceData::maxForce

The maximum force magnitude (in Newtons) to send to the device.

## orientationScale

double SurgSim::Devices::NovintScaffold::DeviceData::orientationScale

Scale factor for the orientation axes.

## parametersMutex

boost::mutex SurgSim::Devices::NovintScaffold::DeviceData::parametersMutex

The mutex that protects the externally modifiable parameters.

## positionScale

double SurgSim::Devices::NovintScaffold::DeviceData::positionScale

Scale factor for the position axes.

## scaledPose

RigidTransform3d SurgSim::Devices::NovintScaffold::DeviceData::scaledPose

The pose value from the device, after scaling.

## serialNumber

std::string SurgSim::Devices::NovintScaffold::DeviceData::serialNumber

The HDAL device serial number.

## toolDof

double SurgSim::Devices::NovintScaffold::DeviceData::toolDof

The tool's degree-of-freedom, e.g., the handle's open/close angle.

## torque

Vector4d SurgSim::Devices::NovintScaffold::DeviceData::torque

The torque value to be written to the device.

## torqueScale

Vector3d SurgSim::Devices::NovintScaffold::DeviceData::torqueScale

The scaling factors for the torque axes.

The documentation for this struct was generated from the following file:

- SurgSim/Devices/Novint/NovintScaffold.cpp