cDeltaDevice Class Reference

Interface to delta and omega devices. More...

#include <CDeltaDevices.h>

Inheritance diagram for cDeltaDevice:

cGenericDevice List of all members.

Public Member Functions

 cDeltaDevice (unsigned int a_deviceNumber=0)
 Constructor of cDeltaDevices.
virtual ~cDeltaDevice ()
 Destructor of cGenericDevice.
virtual int open ()
 Open connection to delta device.
virtual int close ()
 Close connection to delta device.
virtual int initialize (const bool a_resetEncoders=false)
 Calibrate delta device.
virtual int command (int a_command, void *a_data)
 Set a command to the delta device.
virtual int getDeviceType ()
 Which ForceDimension device is actually connected to this object?

Protected Member Functions

int getUserSwitch (int a_deviceID)
 Read user switch from end-effector.

Protected Attributes

int m_deviceID
 Device ID number.
int m_deviceType
 Which FD device is actually instantiated here?
double m_halfSizeWorkspace
 Half size of the workspace (in meters).
double m_maximumForces
 Maximum forces.
int m_userSwitchCount [8]
 Last position of user switch.

Static Protected Attributes

static int m_activeDeltaDevices = 0
 Reference count used to control access to the dhd dll.

Detailed Description

Interface to delta and omega devices.


Constructor & Destructor Documentation

cDeltaDevice::cDeltaDevice ( unsigned int  a_deviceNumber = 0  ) 

Constructor of cDeltaDevices.

Constructor of cDeltaDevice.

cDeltaDevice::~cDeltaDevice (  )  [virtual]

Destructor of cGenericDevice.

Destructor of cDeltaDevice.


Member Function Documentation

int cDeltaDevice::open (  )  [virtual]

Open connection to delta device.

Open connection to delta device.

Reimplemented from cGenericDevice.

int cDeltaDevice::close (  )  [virtual]

Close connection to delta device.

Close connection to delta device.

Reimplemented from cGenericDevice.

int cDeltaDevice::initialize ( const bool  a_resetEncoders = false  )  [virtual]

Calibrate delta device.

Calibrate delta device.

This function does nothing right now; the a_resetEncoders parameter is ignored.

Parameters:
a_resetEncoders Ignored; exists for forward compatibility.
Returns:
Always 0

Reimplemented from cGenericDevice.

int cDeltaDevice::command ( int  a_command,
void *  a_data 
) [virtual]

Set a command to the delta device.

Send a command to the delta device

Parameters:
a_command Selected command.
a_data Pointer to the corresponding data structure.
Returns:
Return status of command. CHAI_MSG_OK is good, anything else is probably not good.

Reimplemented from cGenericDevice.

int cDeltaDevice::getUserSwitch ( int  a_deviceID  )  [protected]

Read user switch from end-effector.

Read the user switch of the end-effector This function implements a small filter to avoid reading glitches.

Parameters:
a_deviceID device ID.


The documentation for this class was generated from the following files:
Generated on Mon Jun 11 09:41:47 2007 for CHAI 3D by  doxygen 1.5.2