iMSTK: imstk::ProgrammableClient Class Reference

Allows setting the pose of the device from external caller without a real device connected. More...

#include <imstkProgrammableClient.h>

Inheritance diagram for imstk::ProgrammableClient:

Collaboration diagram for imstk::ProgrammableClient:

Classes
struct	CircularMovement
	Command for circular movement of an analytical geometry. More...

struct	Command
	General struct for command. Command will call activate when start time is reached, call updateDevice while active, and call complete when duration is over. More...

struct	Deformation
	Command for applying deformationt to a subset of vertices from an object. More...

struct	GraspAction
	Command for grasping an object. More...

struct	HoldCommand
	Command for holding a subset of vertices at a specific position. More...

struct	LinearMovement
	Command for linear movement of an analytical geometry. More...

struct	LinearVertexMovement
	Command for linear movement of a subset of vertices from an object. More...

struct	WaitCommand
	Command for waiting. Used to let system continue running with no active commands. More...

Public Types
enum	DeformationType { Compression, Tension, SimpleShear, PureShear }
	Enum for type of deformation.

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

Public Member Functions
	ProgrammableClient (const std::string &name="")
	Constructor.

	~ProgrammableClient () override
	Destructor.

void	setDeltaTime (double dt)
	Set the dt of the system. Should be the same as the simulation dt.

void	update () override
	Update all commands.

bool	addLinearMovement (Vec3d startPos, Vec3d stopPos, double startTime, double duration)
	Add a linear movement command to run. More...

bool	addCircularMovement (Vec3d startPos, Vec3d centerPos, double startTime, double duration)
	Add a circular movement command to run. More...

bool	addGrasping (std::shared_ptr< PbdObject > tool, std::shared_ptr< PbdObjectGrasping > objectGrasping, double startTime, double duration)
	Add a grasp command to run. More...

bool	addLinearVertexMovement (std::shared_ptr< PbdObject > object, std::vector< int > vertexIds, Vec3d translation, std::vector< bool > pin, double startTime, double duration)
	Add a linear vertex movement command to run. More...

bool	addDeformation (std::shared_ptr< PbdObject > object, std::vector< int > initPos, double strain, DeformationType defType, double poisson, std::vector< bool > pin, double startTime, double duration)
	Add a defomation command to run. More...

std::vector< int >	findVertex (std::shared_ptr< PointSet > mesh, std::vector< Vec3d > initPos)

bool	addWaitCommand (double startTime, double duration)
	Add a wait command to run. More...

bool	addHoldCommand (std::shared_ptr< PbdObject > object, double startTime, double duration, std::vector< int > vertexIds)
	Add a hold command to run. More...

double	getTotalDuration ()
	Returns to total duration of all commands.

bool	isFinished ()
	Returns true if all commands have finished executing. Returns false otherwise.

void	setOrientation (Quatd temp)

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 Types
enum	CommandState { WAITING =0, ACTIVE, COMPLETE }
	Enum for current state of command.

Protected Member Functions
void	run ()=delete

void	cleanUp ()=delete

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

Protected Attributes
friend	Command

double	m_dt = 0.0

double	m_currentTime = 0.0

bool	m_complete = false

std::vector< Command * >	m_commands

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

Detailed Description

Allows setting the pose of the device from external caller without a real device connected.

Definition at line 24 of file imstkProgrammableClient.h.

Member Function Documentation

◆ addCircularMovement()

bool imstk::ProgrammableClient::addCircularMovement	(	Vec3d	startPos,
		Vec3d	centerPos,
		double	startTime,
		double	duration
	)

Add a circular movement command to run.

Parameters

startPos	starting position for movement
centerPos	center of circle to move around
startTime	time when command should activate
duration	time when command should be active

Definition at line 126 of file imstkProgrammableClient.cpp.

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◆ addDeformation()

bool imstk::ProgrammableClient::addDeformation	(	std::shared_ptr< PbdObject >	object,
		std::vector< int >	initPos,
		double	strain,
		DeformationType	defType,
		double	poisson,
		std::vector< bool >	pin,
		double	startTime,
		double	duration
	)

Add a defomation command to run.

Parameters

object	pbdObject that contains vertices to move
initPos	subset of vertex's initial positions to move
strain	strain of deofmration
DeformationType	type of deforamtion to apply
poisson
pin	vecotr of bools to control which dims to move
startTime	time when command should activate
duration	time when command should be active

Definition at line 279 of file imstkProgrammableClient.cpp.

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◆ addGrasping()

bool imstk::ProgrammableClient::addGrasping	(	std::shared_ptr< PbdObject >	tool,
		std::shared_ptr< PbdObjectGrasping >	objectGrasping,
		double	startTime,
		double	duration
	)

Add a grasp command to run.

Parameters

tool	pbdObject the perfroms the grasping
objectGrasping	how grasping action is defined
startTime	time when command should activate
duration	time when command should be active

Definition at line 177 of file imstkProgrammableClient.cpp.

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◆ addHoldCommand()

bool imstk::ProgrammableClient::addHoldCommand	(	std::shared_ptr< PbdObject >	object,
		double	startTime,
		double	duration,
		std::vector< int >	vertexIds
	)

Add a hold command to run.

Parameters

object	pbdObject that contains vertices to hold
startTime	time when command should activate
duration	time when command should be active
vertexIds	vecotr of vertex ids to hold

Definition at line 423 of file imstkProgrammableClient.cpp.

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◆ addLinearMovement()

bool imstk::ProgrammableClient::addLinearMovement	(	Vec3d	startPos,
		Vec3d	stopPos,
		double	startTime,
		double	duration
	)

Add a linear movement command to run.

Parameters

startPos	starting position for movement
stopPos	ending position for movement
startTime	time when command should activate
duration	time when command should be active

Definition at line 82 of file imstkProgrammableClient.cpp.

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◆ addLinearVertexMovement()

bool imstk::ProgrammableClient::addLinearVertexMovement	(	std::shared_ptr< PbdObject >	object,
		std::vector< int >	vertexIds,
		Vec3d	translation,
		std::vector< bool >	pin,
		double	startTime,
		double	duration
	)

Add a linear vertex movement command to run.

Parameters

object	pbdObject that contains vertices to move
vertexIds	subset of vertices to move
translation	vector of distance to move
pin	vecotr of booleans to control which dims to move
startTime	time when command should activate
duration	time when command should be active