cDeltaDevice Class Reference

Interface to delta and omega devices. More...

#include <CDeltaDevices.h>

Inheritance diagram for cDeltaDevice:

List of all members.

Public Member Functions
	cDeltaDevice (unsigned int a_deviceNumber=0)
	Constructor of cDeltaDevices.
virtual	~cDeltaDevice ()
	Destructor of cGenericDevice.
virtual int	open ()
	Open connection to delta device.
virtual int	close ()
	Close connection to delta device.
virtual int	initialize (const bool a_resetEncoders=false)
	Calibrate delta device.
virtual int	command (int a_command, void *a_data)
	Set a command to the delta device.
virtual int	getDeviceType ()
	Which ForceDimension device is actually connected to this object?
Protected Member Functions
int	getUserSwitch (int a_deviceID)
	Read user switch from end-effector.
Protected Attributes
int	m_deviceID
	Device ID number.
int	m_deviceType
	Which FD device is actually instantiated here?
double	m_halfSizeWorkspace
	Half size of the workspace (in meters).
double	m_maximumForces
	Maximum forces.
int	m_userSwitchCount [8]
	Last position of user switch.
Static Protected Attributes
static int	m_activeDeltaDevices = 0
	Reference count used to control access to the dhd dll.

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Detailed Description

Interface to delta and omega devices.

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Constructor & Destructor Documentation

cDeltaDevice::cDeltaDevice

(

unsigned int

a_deviceNumber = 0

)

Constructor of cDeltaDevices.

Constructor of cDeltaDevice.

cDeltaDevice::~cDeltaDevice

(

)

[virtual]

Destructor of cGenericDevice.

Destructor of cDeltaDevice.

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Member Function Documentation

int cDeltaDevice::open

(

)

[virtual]

Open connection to delta device.

Open connection to delta device.

Reimplemented from cGenericDevice.

int cDeltaDevice::close

(

)

[virtual]

Close connection to delta device.

Close connection to delta device.

Reimplemented from cGenericDevice.

int cDeltaDevice::initialize

(

const bool

a_resetEncoders = false

)

[virtual]

Calibrate delta device.

Calibrate delta device.

This function does nothing right now; the a_resetEncoders parameter is ignored.

Parameters:

a_resetEncoders

Ignored; exists for forward compatibility.

Returns:

Always 0

Reimplemented from cGenericDevice.

int cDeltaDevice::command	(	int	a_command,
		void *	a_data
	)			[virtual]

Set a command to the delta device.

Send a command to the delta device

Parameters:

	a_command	Selected command.
	a_data	Pointer to the corresponding data structure.

Returns:

Return status of command. CHAI_MSG_OK is good, anything else is probably not good.

Reimplemented from cGenericDevice.

int cDeltaDevice::getUserSwitch

(

int

a_deviceID

)

[protected]

Read user switch from end-effector.

Read the user switch of the end-effector This function implements a small filter to avoid reading glitches.

Parameters:

a_deviceID

device ID.

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

• chai3d/src/devices/CDeltaDevices.h
• chai3d/src/devices/CDeltaDevices.cpp

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