cPhantomDevice Class Reference

Class to interface with Phantom devices. More...

#include <CPhantomDevices.h>

Inheritance diagram for cPhantomDevice:

List of all members.

Public Member Functions
	cPhantomDevice (int a_num=0, bool a_dio_access=false)
	Constructor of cPhantomDevice.
	~cPhantomDevice ()
	Destructor of cPhantomDevices.
virtual int	open ()
	Open connection to phantom device.
virtual int	close ()
	Close connection to phantom device.
virtual int	initialize (const bool a_resetEncoders=false)
	Calibrate phantom device.
virtual int	command (int a_command, void *a_data)
	Send a command to the phantom device.
Static Private Member Functions
static void	callbackFunc (void *a_data)
	Callback function passed to phantom dll.
Private Attributes
int	m_phantomHandle
	handle for specific phantom use.
Static Private Attributes
static int	m_num_phantoms = 0
	Number of Phantoms that have been started.

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Detailed Description

Class to interface with Phantom devices.

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Constructor & Destructor Documentation

cPhantomDevice::cPhantomDevice	(	int	a_num = 0,
		bool	a_dio_access = false
	)

Constructor of cPhantomDevice.

Constructor of cPhantomDevice. No servo loop is yet created, encoders are NOT reset.

Parameters:

	a_num	0-based index of the Phantom that this tool should talk to.
	a_dio_access	If this is 'true', the tool will use the Ghost API's direct-i/o model, if it's available. Otherwise the gstEffect i/o model will be used.

cPhantomDevice::~cPhantomDevice

(

)

Destructor of cPhantomDevices.

Destructor of cPhantomDevice.

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Member Function Documentation

int cPhantomDevice::open

(

)

[virtual]

Open connection to phantom device.

Open connection to phantom device.

Returns:

Return 0 is operation succeeds, -1 if an error occurs.

Reimplemented from cGenericDevice.

int cPhantomDevice::close

(

)

[virtual]

Close connection to phantom device.

Close connection to phantom device.

Returns:

Return 0 is operation succeeds, -1 if an error occurs.

Reimplemented from cGenericDevice.

int cPhantomDevice::initialize

(

const bool

a_resetEncoders = false

)

[virtual]

Calibrate phantom device.

Initialize the phantom device.

For desktops and omnis, the a_resetEncoders parameter is ignored. For premiums, if you specify a_resetEncoders as true, you should be holding the Phantom in its rest position when this is called.

Parameters:

a_resetEncoders

Should I re-zero the encoders? (affects premiums only...)

Returns:

Return 0 if operation succeeds, -1 if an error occurs.

Reimplemented from cGenericDevice.

int cPhantomDevice::command	(	int	iCommand,
		void *	iData
	)			[virtual]

Send a command to the phantom device.

Set command for the phantom device

Parameters:

	iCommand	Selected command.
	iData	Pointer to the corresponding data structure.

Returns:

Return status of command.

Reimplemented from cGenericDevice.

void cPhantomDevice::callbackFunc

(

void *

a_data

)

[static, private]

Callback function passed to phantom dll.

Function passed to SetCallbackPhantom Calls m_callback->callback()

Parameters:

a_data

Pointer to instance of cPhantomDevice

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

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

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