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16 #ifndef SURGSIM_DEVICES_DEVICEFILTERS_FORCESCALE_H
17 #define SURGSIM_DEVICES_DEVICEFILTERS_FORCESCALE_H
19 #include <boost/thread/mutex.hpp>
29 SURGSIM_STATIC_REGISTRATION(ForceScale);
70 #endif // SURGSIM_DEVICES_DEVICEFILTERS_FORCESCALE_H
ForceScale(const std::string &name)
Constructor.
Definition: ForceScale.cpp:32
void setTorqueScale(double torqueScale)
Set the torque scale factor so that each direction has the same scale.
Definition: ForceScale.cpp:84
A device filter can be connected between a device and the InputConsumerInterface (e....
Definition: DeviceFilter.h:39
void setForceScale(double forceScale)
Set the force scale factor so that each direction has the same scale.
Definition: ForceScale.cpp:78
Definition: CompoundShapeToGraphics.cpp:30
A collection of NamedData objects.
Definition: DataGroup.h:69
An output device filter that scales forces and/or torques.
Definition: ForceScale.h:37
SURGSIM_CLASSNAME(SurgSim::Devices::ForceScale)
double m_torqueScale
The scaling factor applied to each direction of the torque.
Definition: ForceScale.h:64
double m_forceScale
The scaling factor applied to each direction of the force.
Definition: ForceScale.h:61
void filterOutput(const std::string &device, const DataStructures::DataGroup &dataToFilter, DataStructures::DataGroup *result) override
Filter the output data.
Definition: ForceScale.cpp:39
string(TOUPPER ${DEVICE} DEVICE_UPPER_CASE) option(BUILD_DEVICE_$
Definition: CMakeLists.txt:38
boost::mutex m_mutex
The mutex that protects the scaling factors.
Definition: ForceScale.h:58