SurgSim::Devices::ReplayPoseDevice Class Reference

A class implementing the replay pose device, which is a pretend device that replays a recorded motion from a file. More...

`#include <SurgSim/Devices/ReplayPoseDevice/ReplayPoseDevice.h>`

Inheritance diagram for SurgSim::Devices::ReplayPoseDevice:

## Public Member Functions

| ReplayPoseDevice (const std::string &uniqueName)
| Constructor. More...
const std::string | getFileName () const
void | setFileName (const std::string &fileName)
double | getRate () const
void | setRate (double rate)
| SURGSIM_CLASSNAME (SurgSim::Devices::ReplayPoseDevice)
virtual | ~ReplayPoseDevice ()
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< ReplayPoseScaffold > | m_scaffold
std::string | m_fileName
| The filename to read the input transform from. More...
double | m_rate
| The rate to run the device at (i.e. More...

## Friends

class | ReplayPoseScaffold

## 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 replay pose device, which is a pretend device that replays a recorded motion from a file.

This can be useful not only for writing tests, but also as a way to replace real hardware devices in situations where the simulator needs to be run but the hardware is not currently available.

Application input provided by the device:

  type | name |
  --- | --- | ---
  pose | "pose" | Device pose (units are meters).

See also
  SurgSim::Input::CommonDevice

## Constructor & Destructor Documentation

## ReplayPoseDevice()

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

explicit

Constructor.

Parameters

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

## ~ReplayPoseDevice()

SurgSim::Devices::ReplayPoseDevice::~ReplayPoseDevice | ( |  | ) |

virtual

## Member Function Documentation

## finalize()

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

override private virtual

Finalize (de-initialize) the device.

Implements SurgSim::Input::DeviceInterface.

## getFileName()

const std::string SurgSim::Devices::ReplayPoseDevice::getFileName | ( |  | ) | const

Returns
  The filename from which the input poses are read (default is 'ReplayPoseDevice.txt')

## getRate()

double SurgSim::Devices::ReplayPoseDevice::getRate | ( |  | ) | const

Returns
  The rate (in Hz) at which the device is running (1KHz is the default)

## initialize()

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

override virtual

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

Implements SurgSim::Input::DeviceInterface.

## setFileName()

void SurgSim::Devices::ReplayPoseDevice::setFileName | ( | const std::string & | fileName | ) |

Parameters

  fileName | from which the input poses will be read (default is 'ReplayPoseDevice.txt')

## setRate()

void SurgSim::Devices::ReplayPoseDevice::setRate | ( | double | rate | ) |

Parameters

  rate | The rate (in Hz) at which the device will run (1KHz is the default)

Exceptions

  SurgSim::Framework::AssertionFailure | if the method is called after initialization

## SURGSIM_CLASSNAME()

SurgSim::Devices::ReplayPoseDevice::SURGSIM_CLASSNAME | ( | SurgSim::Devices::ReplayPoseDevice |  | ) |

## Friends And Related Function Documentation

## ReplayPoseScaffold

friend class ReplayPoseScaffold

friend

## Member Data Documentation

## m_fileName

std::string SurgSim::Devices::ReplayPoseDevice::m_fileName

private

The filename to read the input transform from.

## m_rate

double SurgSim::Devices::ReplayPoseDevice::m_rate

private

The rate to run the device at (i.e.

at which rate the information is populated). This is independent of the record being replayed, the motion will be real-time (interpolation may occur).

## m_scaffold

std::shared_ptr<ReplayPoseScaffold> SurgSim::Devices::ReplayPoseDevice::m_scaffold

private

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

- SurgSim/Devices/ReplayPoseDevice/ReplayPoseDevice.h
- SurgSim/Devices/ReplayPoseDevice/ReplayPoseDevice.cpp