iMSTK: imstk::PbdObjectController Class Reference

This class uses the provided device to control the provided rigid object via virtual coupling. That is, it applies forces+torques to the rigid body that will help move it to desired position/orientation. It has linear and angular spring scales as well as damping You may also use force smoothening for the force applied back on the device. More...

#include <imstkPbdObjectController.h>

Inheritance diagram for imstk::PbdObjectController:

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Collaboration diagram for imstk::PbdObjectController:

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Public Member Functions
	PbdObjectController (const std::string &name="PbdObjectController")

void	setControlledObject (std::shared_ptr< SceneObject > obj) override

double	getLinearKd () const
	Set/Get the linear damping coefficient. Default 10000.0.

void	setLinearKd (const double kd)

Vec3d	getDeviceForce () const
	Return the device applied force (scaled)

Vec3d	getSpringForce () const
	Returns spring force, without damper.

Vec3d	getDamperForce () const
	Returns damper force.

Vec3d	getDeviceTorque () const
	Return the device applied torque (scaled)

Vec3d	getSpringTorque () const
	Returns spring torque, without damper.

Vec3d	getDamperTorque () const
	Returns damper torque.

void	update (const double &dt) override
	Update controlled scene object using latest tracking information. More...

void	applyForces () override
	Apply forces to the haptic device.


double	getAngularKd () const
	Set/Get the angular damping coefficient. Default 10000.0.

void	setAngularKd (const double kd)


const Vec3d &	getLinearKs () const
	Set/Get the linear spring coefficient. Default (8000000.0, 8000000.0, 8000000.0)

void	setLinearKs (const Vec3d &ks)

void	setLinearKs (const double ks)


const Vec3d &	getAngularKs () const
	Set/Get the rotationl spring coefficient. Default (10000.0, 10000.0, 10000.0)

void	setAngularKs (const Vec3d &ks)

void	setAngularKs (const double ks)


double	getForceScaling () const
	Set/Get the scaling of the force on the device, set to 0 for no force.

void	setForceScaling (const double forceScaling)


bool	getUseSpring () const
	Set/Get whether to use spring or not.

void	setUseSpring (const bool useSpring)


bool	getUseForceSmoothening () const
	Set/Get whether to use force smoothening Force smoothening averages the force used on the device over kernel size.

void	setUseForceSmoothening (const bool useForceSmoothening)


bool	getUseCritDamping () const
	Set/Get whether to use critical damping (default on) Critical damping automatically computes linear & angular kd values. It may be turned off as it is sometimes useful to overdamp depending on other factors.

void	setUseCritDamping (const bool useCritDamping)


int	getSmoothingKernelSize () const
	Set/Get the kernel size. More...

void	setSmoothingKernelSize (const int kernelSize)


Vec3d	getHapticOffset () const
	Set/Get the haptic manipuladum offset. This is a local offset on the object for which haptics are felt and force is exerted on the body. By default this is the center of mass of the object.

void	setHapticOffset (const Vec3d &offset)

Public Member Functions inherited from imstk::SceneObjectController
	SceneObjectController (const std::string &name="SceneObjectController")

void	update (const double &dt) override
	Update controlled scene object using latest tracking information.

std::shared_ptr< SceneObject >	getControlledObject () const
	Get/Set controlled scene object.

Public Member Functions inherited from imstk::TrackingDeviceControl
const Quatd &	getEffectorRotationOffset ()
	Get/Set the roation applied to the end effector, this can be used to register the device in virtual space with regard to the users point of view.

void	setEffectorRotationOffset (const Quatd &r)

virtual bool	updateTrackingData (const double dt)
	Update tracking data.

const Vec3d &	getPosition () const
	Set/Get the position of the tracker.

void	setPosition (const Vec3d &pos)

const Quatd &	getOrientation () const
	Set/Get the orientation of the tracker.

void	setOrientation (const Quatd &orientation)

void	setComputeVelocity (const bool computeVelocity)
	Set/Get whether to compute the velocity from previous and current samples Useful if a device does not provide the quantity.

bool	getComputeVelocity () const

void	setComputeAngularVelocity (const bool computeAngularVelocity)
	Set/Get whether to compute the anular velocity from previous and current samples Useful if the device does not provide the quantity.

bool	getComputeAngularVelocity () const

const Vec3d &	getAngularVelocity () const
	Get/Set the angular velocity.

void	setAngularVelocity (const Vec3d &angularVelocity)

const Vec3d &	getVelocity () const
	Get/Set the linear velocity.

void	setVelocity (const Vec3d &velocity)

double	getTranslationScaling () const
	Get/Set the current scaling factor.

void	setTranslationScaling (const double scaling)

const Vec3d &	getTranslationOffset () const
	Get/Set the translation offset.

void	setTranslationOffset (const Vec3d &t)

const Quatd &	getRotationOffset ()
	Get/Set the rotation offset, this rotation is applied to the overall device coordinate system.

void	setRotationOffset (const Quatd &r)

unsigned char	getInversionFlags ()
	Get/Set the inversion flags, when set the corresponding axis coordinates or rotation angle will be negated.

void	setInversionFlags (const unsigned char f)

Public Member Functions inherited from imstk::DeviceControl
	SIGNAL (DeviceControl, modified)

virtual void	printControls ()
	Prints the controls.

std::shared_ptr< DeviceClient >	getDevice () const
	Set/Get the device client used in the control.

virtual void	setDevice (std::shared_ptr< DeviceClient > device)

Public Member Functions inherited from imstk::Behaviour< UpdateInfo >
virtual void	update (const UpdateInfo &imstkNotUsed(updateData))

virtual void	visualUpdate (const UpdateInfo &imstkNotUsed(updateData))

void	initTaskGraphEdges ()
	Setup the edges/connections of the TaskGraph.

std::shared_ptr< TaskGraph >	getTaskGraph () const

Public Member Functions inherited from imstk::Component
const std::string &	getName () const

void	setName (const std::string &name)

std::weak_ptr< Entity >	getEntity () const
	Get parent entity.

void	initialize ()
	Initialize the component, called at a later time after all component construction is complete.

Public Member Functions inherited from imstk::EventObject
template<typename T >
void	postEvent (const T &e)
	Emits the event Direct observers will be immediately called, in sync Queued observers will receive the Command in their queue for later execution, reciever must implement doEvent.

template<typename T >
void	queueEvent (const T &e)
	Queues event directly to this.

void	doEvent ()
	Do an event, if none exists return.

void	doAllEvents ()
	Do all the events in the event queue.

void	foreachEvent (std::function< void(Command cmd)> func)
	Thread safe loop over all event commands, one can implement a custom handler.

void	rforeachEvent (std::function< void(Command cmd)> func)
	thread safe reverse loop over all event commands, one can implement a custom handler

void	clearEvents ()
	Removes all events from queue cleans up copies of the event.

Protected Attributes
std::shared_ptr< PbdObject >	m_pbdObject

double	m_linearKd = 10000.0
	Damping coefficient, linear.

double	m_angularKd = 300.0
	Damping coefficient, rotational.

Vec3d	m_linearKs = Vec3d(8000000.0, 8000000.0, 8000000.0)
	Spring coefficient, linear.

Vec3d	m_angularKs = Vec3d(10000.0, 10000.0, 10000.0)
	Spring coefficient, rotational.

Vec3d	m_fS = Vec3d::Zero()

Vec3d	m_fD = Vec3d::Zero()

Vec3d	m_tS = Vec3d::Zero()

Vec3d	m_tD = Vec3d::Zero()

Vec3d	m_hapticOffset = Vec3d::Zero()

double	m_forceScaling = 0.0000075

bool	m_useSpring = true
	If off, pos & orientation directly set.

bool	m_useCriticalDamping = true
	If on, kd is automatically computed.

Vec3d	m_inversionParams = Vec3d(1.0, 1.0, 1.0)
	Inversion parameters for each axis.

bool	m_forceSmoothening = true

int	m_smoothingKernelSize = 15

std::deque< Vec3d >	m_forces

Vec3d	m_forceSum = Vec3d::Zero()

bool	m_firstRun = true

Protected Attributes inherited from imstk::SceneObjectController
std::shared_ptr< SceneObject >	m_sceneObject
	SceneObject controlled by the Tracker.

Protected Attributes inherited from imstk::TrackingDeviceControl
double	m_scaling = 1.0
	Scaling factor for physical to virtual translations.

Vec3d	m_translationOffset = Vec3d::Zero()
	Translation concatenated to the device translation.

Quatd	m_rotationOffset = Quatd::Identity()
	Rotation concatenated to the device rotation.

Quatd	m_effectorRotationOffset = Quatd::Identity()
	Rotation prefixed to the device rotation.

unsigned char	m_invertFlags = 0x00
	Invert flags to be masked with DeviceTracker::InvertFlag.

Vec3d	m_currentPos = Vec3d::Zero()

Quatd	m_currentOrientation = Quatd::Identity()

Vec3d	m_currentVelocity = Vec3d::Zero()

Vec3d	m_currentAngularVelocity = Vec3d::Zero()

Vec3d	m_currentDisplacement = Vec3d::Zero()

Quatd	m_currentRotation = Quatd::Identity()

bool	m_computeVelocity = false
	If true, will use current and previous positions to produce velocity, if off, will ask device for velocity.

bool	m_computeAngularVelocity = false
	If true, will use current and previous rotations to produce angular velocity, if off, will ask device for angular velocity.

Protected Attributes inherited from imstk::DeviceControl
std::shared_ptr< DeviceClient >	m_deviceClient

Protected Attributes inherited from imstk::Behaviour< UpdateInfo >
std::shared_ptr< TaskGraph >	m_taskGraph = nullptr

Protected Attributes inherited from imstk::Component
std::string	m_name

std::weak_ptr< Entity >	m_entity
	Parent entity this component exists on.

Protected Attributes inherited from imstk::EventObject
ParallelUtils::SpinLock	eventQueueLock

std::deque< Command >	eventQueue

std::vector< std::pair< std::string, std::vector< Observer > > >	queuedObservers

std::vector< std::pair< std::string, std::vector< Observer > > >	directObservers

Additional Inherited Members
Public Types inherited from imstk::TrackingDeviceControl
enum	InvertFlag { transX = 0x01, transY = 0x02, transZ = 0x04, rotX = 0x08, rotY = 0x10, rotZ = 0x20 }

Public Types inherited from imstk::EventObject
using	Observer = std::tuple< bool, std::weak_ptr< EventObject >, std::function< void(Event *)> >

Protected Member Functions inherited from imstk::TrackingDeviceControl
	TrackingDeviceControl (const std::string &name="TrackingDeviceControl")

Protected Member Functions inherited from imstk::DeviceControl
	DeviceControl (const std::string &name="DeviceControl")

Protected Member Functions inherited from imstk::Behaviour< UpdateInfo >
	Behaviour (const std::string &name="Behaviour")

	Behaviour (const bool useTaskGraph, const std::string &name="Behaviour")

virtual void	initGraphEdges (std::shared_ptr< TaskNode > imstkNotUsed(source), std::shared_ptr< TaskNode > imstkNotUsed(sink))
	Setup the edges/connections of the TaskGraph. More...

Protected Member Functions inherited from imstk::Component
	Component (const std::string &name="Component")

virtual void	init ()
	Initialize the component, called at a later time after all component construction is complete.