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# cGenericTool Class Reference

cGenericTool describes a generic class to create virtual tools inside a virtual environment (cWorld) and connecting them to haptic devices. More...

`#include <CGenericTool.h>`

Inheritance diagram for cGenericTool:

List of all members.

## Public Member Functions
| cGenericTool ()
| Constructor of cGenericTool.
virtual | ~cGenericTool ()
| Destructor of cGenericTool.
virtual void | render (const int a_renderMode=0)
| Render the object in OpenGL.
virtual void | updatePose ()
| Update Position, orientation, velocity and other degree of freedoms of tool.
virtual void | computeForces ()
| Compute interaction forces with environment.
virtual void | applyForces ()
| Apply latest forces to device.
virtual int | start ()
| Start communication with the device connected to the tool (0 indicates success).
virtual int | stop ()
| Stop communication with the device connected to the tool (0 indicates success).
virtual int | initialize (const bool a_resetEncoders=false)
| Initialize encoders on device connected to the tool (0 indicates success).
virtual int | setForcesON ()
| Toggle forces on.
virtual int | setForcesOFF ()
| Toggle forces off.
## Public Attributes
int | m_button

## Detailed Description

cGenericTool describes a generic class to create virtual tools inside a virtual environment (cWorld) and connecting them to haptic devices.

## Member Data Documentation

int cGenericTool::m_button

Are the device's buttons currently on?

This is a _bitmask_, with bit 0 representing button 0, etc.

The documentation for this class was generated from the following file:

- chai3d/src/tools/CGenericTool.h