cPhantomDevice Class Reference

Class to interface with Phantom devices. More...

#include <CPhantomDevices.h>

Inheritance diagram for cPhantomDevice:

cGenericDevice List of all members.

Public Member Functions

 cPhantomDevice (int a_num=0, bool a_dio_access=false)
 Constructor of cPhantomDevice.
 ~cPhantomDevice ()
 Destructor of cPhantomDevices.
virtual int open ()
 Open connection to phantom device.
virtual int close ()
 Close connection to phantom device.
virtual int initialize (const bool a_resetEncoders=false)
 Calibrate phantom device.
virtual int command (int a_command, void *a_data)
 Send a command to the phantom device.

Static Private Member Functions

static void callbackFunc (void *a_data)
 Callback function passed to phantom dll.

Private Attributes

int m_phantomHandle
 handle for specific phantom use.

Static Private Attributes

static int m_num_phantoms = 0
 Number of Phantoms that have been started.

Detailed Description

Class to interface with Phantom devices.


Constructor & Destructor Documentation

cPhantomDevice::cPhantomDevice ( int  a_num = 0,
bool  a_dio_access = false 
)

Constructor of cPhantomDevice.

Constructor of cPhantomDevice. No servo loop is yet created, encoders are NOT reset.

Parameters:
a_num 0-based index of the Phantom that this tool should talk to.
a_dio_access If this is 'true', the tool will use the Ghost API's direct-i/o model, if it's available. Otherwise the gstEffect i/o model will be used.

cPhantomDevice::~cPhantomDevice (  ) 

Destructor of cPhantomDevices.

Destructor of cPhantomDevice.


Member Function Documentation

int cPhantomDevice::open (  )  [virtual]

Open connection to phantom device.

Open connection to phantom device.

Returns:
Return 0 is operation succeeds, -1 if an error occurs.

Reimplemented from cGenericDevice.

int cPhantomDevice::close (  )  [virtual]

Close connection to phantom device.

Close connection to phantom device.

Returns:
Return 0 is operation succeeds, -1 if an error occurs.

Reimplemented from cGenericDevice.

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

Calibrate phantom device.

Initialize the phantom device.

For desktops and omnis, the a_resetEncoders parameter is ignored. For premiums, if you specify a_resetEncoders as true, you should be holding the Phantom in its rest position when this is called.

Parameters:
a_resetEncoders Should I re-zero the encoders? (affects premiums only...)
Returns:
Return 0 if operation succeeds, -1 if an error occurs.

Reimplemented from cGenericDevice.

int cPhantomDevice::command ( int  iCommand,
void *  iData 
) [virtual]

Send a command to the phantom device.

Set command for the phantom device

Parameters:
iCommand Selected command.
iData Pointer to the corresponding data structure.
Returns:
Return status of command.

Reimplemented from cGenericDevice.

void cPhantomDevice::callbackFunc ( void *  a_data  )  [static, private]

Callback function passed to phantom dll.

Function passed to SetCallbackPhantom Calls m_callback->callback()

Parameters:
a_data Pointer to instance of cPhantomDevice


The documentation for this class was generated from the following files:
Generated on Mon Jun 11 09:41:48 2007 for CHAI 3D by  doxygen 1.5.2