iMSTK: imstk::OpenHapticDeviceClient Class Reference

Subclass of DeviceClient for phantom omni Holds and updates the data sync or on its own thread Holder of data. More...

#include <imstkOpenHapticDeviceClient.h>

Inheritance diagram for imstk::OpenHapticDeviceClient:

Collaboration diagram for imstk::OpenHapticDeviceClient:

Public Member Functions
void	update () override
	Use callback to get tracking data from phantom omni.

	OpenHapticDeviceClient (const std::string &name="")
	Constructor/Destructor, only the DeviceManager can construct. More...

Public Member Functions inherited from imstk::DeviceClient
	SIGNAL (DeviceClient, buttonStateChanged)

bool	getTrackingEnabled () const
	Get/Set what listeners to enable on the device: tracking, analogic, force, buttons.

void	setTrackingEnabled (const bool status)

bool	getAnalogicEnabled () const

void	setAnalogicEnabled (const bool status)

bool	getButtonsEnabled () const

void	setButtonsEnabled (const bool status)

bool	getForceEnabled () const

void	setForceEnabled (const bool status)

Vec3d	getPosition ()
	Get the device position.

Vec3d	getVelocity ()
	Get the device velocity.

Vec3d	getAngularVelocity ()
	Get the device angular velocity.

Quatd	getOrientation ()
	Get the device orientation.

const Vec3d &	getOffset () const
	Get offset from position for device end effector.

const std::unordered_map< int, int > &	getButtons () const
	Get button map.

int	getButton (const int buttonId)
	Get the state of a button returns 0 if can't find button.

std::vector< double >	getAnalog () const
	get values of the analog input

double	getAnalog (int i) const
	get single analog value More...

const std::string &	getIp ()
	Get/Set the device IP.

void	setIp (const std::string &ip)

const std::string &	getDeviceName ()
	Get/Set the device name.

void	setDeviceName (const std::string &deviceName)

Vec3d	getForce ()
	Get/Set the device force.

void	setForce (Vec3d force)

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 Member Functions
void	initialize ()
	Initialize the phantom omni device.

void	disable ()
	Disables the phantom omni device.

Protected Member Functions inherited from imstk::DeviceClient
	DeviceClient (const std::string &name, const std::string &ip)

Friends
class	OpenHapticDeviceManager

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

Protected Attributes inherited from imstk::DeviceClient
std::string	m_deviceName
	Device Name.

std::string	m_ip
	Connection device IP.

bool	m_trackingEnabled = true
	Tracking enabled if true.

bool	m_analogicEnabled = true
	Analogic enabled if true.

bool	m_buttonsEnabled = true
	Buttons enabled if true.

bool	m_forceEnabled = false
	Force enabled if true.

Vec3d	m_position
	Position of end effector.

Vec3d	m_velocity
	Linear velocity of end effector.

Vec3d	m_angularVelocity
	Angular velocity of the end effector.

Quatd	m_orientation
	Orientation of the end effector.

Vec3d	m_force
	Force vector.

Vec3d	m_endEffectorOffset = Vec3d(0.0, 0.0, 0.0)
	Offset from origin.

std::unordered_map< int, int >	m_buttons

std::vector< double >	m_analogChannels

ParallelUtils::SpinLock	m_transformLock
	Used for devices filling data from other threads.

ParallelUtils::SpinLock	m_forceLock
	Used for devices filling data from other threads.

ParallelUtils::SpinLock	m_dataLock
	Used for button and analog data.

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