#include <CDeltaDevices.h>
Inheritance diagram for cDeltaDevice:
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. |
cDeltaDevice::cDeltaDevice | ( | unsigned int | a_deviceNumber = 0 |
) |
Constructor of cDeltaDevices.
Constructor of cDeltaDevice.
cDeltaDevice::~cDeltaDevice | ( | ) | [virtual] |
Destructor of cGenericDevice.
Destructor of cDeltaDevice.
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.
a_resetEncoders | Ignored; exists for forward compatibility. |
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
a_command | Selected command. | |
a_data | Pointer to the corresponding data structure. |
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.
a_deviceID | device ID. |