◆ ButtonStates
Type used to store button states.
◆ DeviceData() [1/2]
SurgSim::Devices::NovintScaffold::DeviceData::DeviceData |
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NovintDevice * |
device | ) |
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◆ DeviceData() [2/2]
SurgSim::Devices::NovintScaffold::DeviceData::DeviceData |
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const DeviceData & |
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◆ operator=()
◆ antigrav
Vector3d SurgSim::Devices::NovintScaffold::DeviceData::antigrav |
The constant force added to all forces sent to the device (in Newtons).
◆ buttonStates
ButtonStates SurgSim::Devices::NovintScaffold::DeviceData::buttonStates |
The button state read from the device.
◆ deviceHandle
The device handle wrapper.
◆ deviceObject
NovintDevice* const SurgSim::Devices::NovintScaffold::DeviceData::deviceObject |
The corresponding device object.
◆ eulerAngleOffsetPitch
double SurgSim::Devices::NovintScaffold::DeviceData::eulerAngleOffsetPitch |
The offset added to the pitch Euler angle.
◆ eulerAngleOffsetRoll
double SurgSim::Devices::NovintScaffold::DeviceData::eulerAngleOffsetRoll |
The offset added to the roll Euler angle.
◆ eulerAngleOffsetYaw
double SurgSim::Devices::NovintScaffold::DeviceData::eulerAngleOffsetYaw |
The offset added to the yaw Euler angle.
◆ force
Vector3d SurgSim::Devices::NovintScaffold::DeviceData::force |
The force value to be written to the device.
◆ forwardPointingPoseThreshold
double SurgSim::Devices::NovintScaffold::DeviceData::forwardPointingPoseThreshold |
The threshold to determine if the device is pointing forwards before unlocking orientation.
◆ initializationName
std::string SurgSim::Devices::NovintScaffold::DeviceData::initializationName |
◆ isDevice7Dof
bool SurgSim::Devices::NovintScaffold::DeviceData::isDevice7Dof |
True if this is a 7DoF device.
◆ isDeviceHeld
bool SurgSim::Devices::NovintScaffold::DeviceData::isDeviceHeld |
The proximity state read from the device.
◆ isDeviceHomed
bool SurgSim::Devices::NovintScaffold::DeviceData::isDeviceHomed |
The homing state read from the device.
◆ isDeviceRollAxisReversed
bool SurgSim::Devices::NovintScaffold::DeviceData::isDeviceRollAxisReversed |
True if the roll axis of a 7DoF device has reverse polarity because the device is left-handed.
◆ isOrientationHomed
bool SurgSim::Devices::NovintScaffold::DeviceData::isOrientationHomed |
The homing state read from the device.
◆ isPositionHomed
bool SurgSim::Devices::NovintScaffold::DeviceData::isPositionHomed |
The homing state read from the device.
◆ jointAngles
Vector3d SurgSim::Devices::NovintScaffold::DeviceData::jointAngles |
The joint angles for the device orientation.
◆ MAX_NUM_BUTTONS
const size_t SurgSim::Devices::NovintScaffold::DeviceData::MAX_NUM_BUTTONS = 4 |
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The maximum number of buttons supported by any device object.
◆ maxForce
double SurgSim::Devices::NovintScaffold::DeviceData::maxForce |
The maximum force magnitude (in Newtons) to send to the device.
◆ orientationScale
double SurgSim::Devices::NovintScaffold::DeviceData::orientationScale |
Scale factor for the orientation axes.
◆ parametersMutex
boost::mutex SurgSim::Devices::NovintScaffold::DeviceData::parametersMutex |
The mutex that protects the externally modifiable parameters.
◆ positionScale
double SurgSim::Devices::NovintScaffold::DeviceData::positionScale |
Scale factor for the position axes.
◆ scaledPose
RigidTransform3d SurgSim::Devices::NovintScaffold::DeviceData::scaledPose |
The pose value from the device, after scaling.
◆ serialNumber
std::string SurgSim::Devices::NovintScaffold::DeviceData::serialNumber |
The HDAL device serial number.
◆ toolDof
double SurgSim::Devices::NovintScaffold::DeviceData::toolDof |
The tool's degree-of-freedom, e.g., the handle's open/close angle.
◆ torque
Vector4d SurgSim::Devices::NovintScaffold::DeviceData::torque |
The torque value to be written to the device.
◆ torqueScale
Vector3d SurgSim::Devices::NovintScaffold::DeviceData::torqueScale |
The scaling factors for the torque axes.
The documentation for this struct was generated from the following file: