#include "CCallback.h"
Classes | |
class | cGenericDevice |
cGenericDevice describes a virtual class from which all devices and hardware interfaces are derived. More... | |
Variables | |
const int | CHAI_CMD_GET_DEVICE_STATE = 1010 |
const int | CHAI_CMD_GET_ENCODER_0 = 1020 |
const int | CHAI_CMD_RESET_ENCODER_0 = 1040 |
const int | CHAI_CMD_SET_DAC_0 = 1030 |
const int | CHAI_CMD_GET_POS_3D = 2000 |
const int | CHAI_CMD_GET_POS_NORM_3D = 2001 |
const int | CHAI_CMD_GET_VEL_3D = 2002 |
const int | CHAI_CMD_SET_FORCE_3D = 2010 |
const int | CHAI_CMD_SET_FORCE_NORM_3D = 2011 |
const int | CHAI_CMD_SET_FORCE_TORQUE_3D = 2012 |
const int | CHAI_CMD_GET_ROT_ANGLES = 2020 |
const int | CHAI_CMD_GET_ROT_MATRIX = 2021 |
const int | CHAI_CMD_SET_TORQUE_3D = 2030 |
const int | CHAI_CMD_GET_SWITCH_0 = 2041 |
const int | CHAI_CMD_GET_NORMALIZED_SCALE_FACTOR = 2045 |
const int | CHAI_MSG_OK = 0 |
The following constants define the possible return values of the method cGenericDevice:: command(). |
const int CHAI_CMD_GET_DEVICE_STATE = 1010 |
Purpose: Query device to check if is operating correctly. iData: integer type value. 1 means device is ok 0 means device is not ready.
const int CHAI_CMD_GET_ENCODER_0 = 1020 |
Purpose: Read the value of an encoder N. iData: integer type value.
const int CHAI_CMD_GET_NORMALIZED_SCALE_FACTOR = 2045 |
Purpose: Get the scale factor from normalized coordinates to mm iData: double scale factor... mm = scale * normalized_coords
const int CHAI_CMD_GET_POS_3D = 2000 |
Purpose: Read position (px, py, pz) in _millimeters_ of 3d point contact device. iData: cVector3d type value.
const int CHAI_CMD_GET_POS_NORM_3D = 2001 |
Purpose: Read normalized position (px, py, pz) of 3d point contact device. typically the value of each component of the vector position will be included in the interval [-1,1], accounting for the maximum usable workspace of the device. iData: cVector3d type value.
const int CHAI_CMD_GET_ROT_ANGLES = 2020 |
Purpose: Read orientation angles (ax, ay, az) of a 3d wrist or stylus. iData: cVector3d type value.
const int CHAI_CMD_GET_ROT_MATRIX = 2021 |
Purpose: Read orientation matrix of a 3d wrist or stylus. iData: cMatrix3d type value.
const int CHAI_CMD_GET_SWITCH_0 = 2041 |
Purpose: Read status of user switch. iData: Integer type value.
const int CHAI_CMD_GET_VEL_3D = 2002 |
Purpose: Read velocity (vx, vy, vz) of 3d point contact device in millimeters/s. iData: cVector3d type value.
const int CHAI_CMD_RESET_ENCODER_0 = 1040 |
Purpose: Reset the value of an encoder N. iData: integer type value.
const int CHAI_CMD_SET_DAC_0 = 1030 |
Purpose: Set value to a DAC. iData: integer type value.
const int CHAI_CMD_SET_FORCE_3D = 2010 |
Purpose: Set a force (fx, fy, fz) to a 3d point contact device (in Newtons). iData: cVector3d type value.
const int CHAI_CMD_SET_FORCE_NORM_3D = 2011 |
Purpose: Set a normalized force (fx, fy, fz) to a 3d point contact device. A normalized force has a maximum length of 1.0 corresponding to the highest force that the device can generate. iData: cVector3d type value.
const int CHAI_CMD_SET_FORCE_TORQUE_3D = 2012 |
Purpose: Set a force (fx, fy, fz) and a torque (tx, ty, tz) to a 6d point contact device. iData: array of 2 cVector3d type value. Units are N and N*mm.
const int CHAI_CMD_SET_TORQUE_3D = 2030 |
Purpose: Set a torque (tx, ty, tz) to a 3d wrist or stylus. iData: cVector3d type value. Units are N*mm.