A PhantomDevice is a node for handling communication with a haptics device from SensAble, such as the Phantom Omni and the Phantom Desktop haptics devices. More...
#include <H3D/PhantomDevice.h>
Classes | |
| class | Calibrate |
| Field class that calibrates the device when a true event is received or the field is set to true. More... | |
Public Member Functions | |
| PhantomDevice (Inst< SFVec3f > _devicePosition=0, Inst< SFRotation > _deviceOrientation=0, Inst< TrackerPosition > _trackerPosition=0, Inst< TrackerOrientation > _trackerOrientation=0, Inst< SFMatrix4f > _positionCalibration=0, Inst< SFRotation > _orientationCalibration=0, Inst< SFVec3f > _proxyPosition=0, Inst< WeightedProxy > _weightedProxyPosition=0, Inst< SFFloat > _proxyWeighting=0, Inst< SFBool > _mainButton=0, Inst< SFBool > _secondaryButton=0, Inst< SFInt32 > _buttons=0, Inst< SFVec3f > _force=0, Inst< SFVec3f > _torque=0, Inst< SFInt32 > _inputDOF=0, Inst< SFInt32 > _outputDOF=0, Inst< SFInt32 > _hapticsRate=0, Inst< SFInt32 > _desiredHapticsRate=0, Inst< SFNode > _stylus=0, Inst< SFString > _deviceName=0, Inst< SFBool > _inInkwell=0) | |
| Constructor. | |
| virtual ErrorCode | initDevice () |
| Does all the initialization needed for the device before starting to use it. | |
| virtual ErrorCode | releaseDevice () |
| Perform cleanup and let go of all device resources that are allocated. More... | |
| virtual ErrorCode | enableDevice () |
| Enabling the device for a phantomdevice should be blocked if the scheduler hasn't been started yet, so we override enableDevice() to check it here. | |
| virtual void | updateDeviceValues () |
| This function is used to transfer device values, such as position, button status etc from the realtime loop to the fields of H3DHapticsDevice, and possible vice versa. | |
| virtual void | initialize () |
| Creates a PhantomHapticsDevice in the hapi_device with name deviceName. | |
| virtual void | postInit () |
| This function is called for all devices in a DeviceInfo node for which the initDevice has been called. More... | |
 Public Member Functions inherited from H3D::H3DHapticsDevice | |
| H3DHapticsDevice (Inst< SFVec3f > _devicePosition=0, Inst< SFRotation > _deviceOrientation=0, Inst< TrackerPosition > _trackerPosition=0, Inst< TrackerOrientation > _trackerOrientation=0, Inst< SFMatrix4f > _positionCalibration=0, Inst< SFRotation > _orientationCalibration=0, Inst< SFVec3f > _proxyPosition=0, Inst< WeightedProxy > _weightedProxyPosition=0, Inst< SFFloat > _proxyWeighting=0, Inst< SFBool > _mainButton=0, Inst< SFBool > _secondaryButton=0, Inst< SFInt32 > _buttons=0, Inst< SFVec3f > _force=0, Inst< SFVec3f > _torque=0, Inst< SFInt32 > _inputDOF=0, Inst< SFInt32 > _outputDOF=0, Inst< SFInt32 > _hapticsRate=0, Inst< SFInt32 > _desiredHapticsRate=0, Inst< SFNode > _stylus=0, Inst< SFHapticsRendererNode > _hapticsRenderer=0, Inst< MFVec3f > _proxyPositions=0, Inst< SFBool > _followViewpoint=0, Inst< SFVec3f > _deviceVelocity=0, Inst< TrackerVelocity > _trackerVelocity=0, Inst< SFString > _profiledResult=0, Inst< SFVec3f > _deviceAngularVelocity=0, Inst< TrackerAngularVelocity > _trackerAngularVelocity=0) | |
| Constructor. | |
| virtual | ~H3DHapticsDevice () |
| Destuctor. | |
| Vec3f | getPreviousProxyPosition (unsigned int layer=0) |
| Get the proxy position from the previous loop for a certain layer. More... | |
| const vector< Vec3f > & | getPreviousProxyPositions () |
| Get all previous proxy positions. | |
| virtual string | defaultXMLContainerField () |
| Returns the default xml containerField attribute value. More... | |
| HAPI::HAPIHapticsDevice * | getHAPIDevice () |
| Get the HAPIHapticsDevice that is encapsulated by this node. | |
| virtual ErrorCode | disableDevice () |
| Temporarily disable the device. More... | |
| H3DUtil::PeriodicThreadBase * | getThread () |
| Get the thread that is used to run this haptics device. | |
| virtual void | preRender () |
| This function is called at the start of each scenegraph loop before any calls to other HapticDevice functions and can be used to perform any necessary operation that are needed for the other calls to function properly. | |
| virtual void | postRender () |
| This function is called at the end of each scenegraph loop after all calls to other HapticDevice functions and can be used to perform any necessary operation that are needed. | |
| virtual void | renderShapes (const HapticShapeVector &shapes, unsigned int layer=0) |
| Perform haptic rendering for the given HapticShape instances. More... | |
| virtual void | renderStylus () |
| Render the stylus of the device wint OpenGL. | |
| virtual void | renderEffects (const HapticEffectVector &effects) |
| Perform haptic rendering for the given HAPIForceEffect instances. More... | |
| Public Member Functions inherited from H3D::Node | |
| Node () | |
| Constructor. | |
| virtual Node * | clone (bool deepCopy=true, DeepCopyMap *deepCopyMap=NULL) |
| Returns a new instance of this node type with the same state as this one. More... | |
| virtual | ~Node () |
| Destructor. | |
| X3DPrototypeInstance * | getProtoInstanceParent () |
| If this node is the root node in the proto body of a X3DPrototypeInstance then this will return that node. More... | |
| void | setProtoInstanceParent (X3DPrototypeInstance *p) |
| Set the X3DPrototypeInstance this node is the the root node if applicaple. | |
| virtual void | render () |
| the render() function is used for the depth-first rendering traversal of the scene-graph. More... | |
| virtual void | traverseSG (TraverseInfo &ti) |
| traverseSG is called once per scenegraph loop on the scene in order to traverse the scenegraph. More... | |
| virtual bool | lineIntersect (const Vec3f &from, const Vec3f &to, LineIntersectResult &result) |
| Detect intersection between a line segment and the Node. More... | |
| virtual void | closestPoint (const Vec3f &p, NodeIntersectResult &result) |
| Find closest point on Node to p. More... | |
| virtual bool | movingSphereIntersect (H3DFloat radius, const Vec3f &from, const Vec3f &to, NodeIntersectResult &result) |
| Detect collision between a moving sphere and the Node. More... | |
| virtual Field * | getField (const string &_name) const |
| return a pointer to the field specified by name within this instance | |
| int | addDestructCallback (void(*func)(Node *, void *), void *args) |
| Add a callback function to be run on destruction of node. More... | |
| int | removeDestructCallback (void(*func)(Node *, void *), void *args) |
| Add a callback function to be run on destruction of node. More... | |
Public Attributes | |
| H3DUniquePtr< SFString > | deviceName |
| The name of the device, as specified in Phantom Configuration utility. More... | |
| H3DUniquePtr< SFString > | HDAPIVersion |
| The HDAPI software version, in the form major.minor.build. More... | |
| H3DUniquePtr< SFString > | deviceModelType |
| The device model of the device. More... | |
| H3DUniquePtr< SFString > | deviceDriverVersion |
| The device driver version of the device. More... | |
| H3DUniquePtr< SFDouble > | deviceFirmwareVersion |
| The device firmware version. More... | |
| H3DUniquePtr< SFString > | deviceVendor |
| The vendor of the device. More... | |
| H3DUniquePtr< SFString > | deviceSerialNumber |
| The serial number of the device. More... | |
| H3DUniquePtr< MFVec3f > | maxWorkspaceDimensions |
| The maximum workspace dimensions of the device, i.e. More... | |
| H3DUniquePtr< MFVec3f > | usableWorkspaceDimensions |
| the usable workspace dimensions of the device, i.e. More... | |
| H3DUniquePtr< SFFloat > | tabletopOffset |
| The mechanical offest of the device end-effector in y from the table top. More... | |
| H3DUniquePtr< SFFloat > | maxForce |
| The maximum force, i.e. More... | |
| H3DUniquePtr< SFFloat > | maxContinuousForce |
| The maximum continuous force, i.e. More... | |
| H3DUniquePtr< SFVec3f > | gimbalAngles |
| Current gimbal angles for the device (in radians). More... | |
| H3DUniquePtr< SFVec3f > | jointAngles |
| Current joint angles for the device (in radians). More... | |
| H3DUniquePtr< SFBool > | needsCalibration |
| This field is true if the device needs to be calibrated. More... | |
| H3DUniquePtr< Calibrate > | calibrate |
| When a true event is received, the calibration procedure for the device is started. More... | |
| H3DUniquePtr< MFDouble > | motorTemperatures |
| Motor temperatures from the device driver temperature model. More... | |
| H3DUniquePtr< MFDouble > | encoderValues |
| Raw encoder values for this device. More... | |
| H3DUniquePtr< SFBool > | inInkwell |
| True when the device is in the inkwell. More... | |
| Public Attributes inherited from H3D::H3DHapticsDevice | |
| H3DUniquePtr< SFVec3f > | devicePosition |
| The position of the device given in the coordinate system of the device. More... | |
| H3DUniquePtr< SFRotation > | deviceOrientation |
| The orientation of the device given in the coordinate system of the device. More... | |
| H3DUniquePtr< TrackerPosition > | trackerPosition |
| The position of the device in the world coordinates of the API. More... | |
| H3DUniquePtr< TrackerOrientation > | trackerOrientation |
| The orientation of the device in the world coordinates of the API. More... | |
| H3DUniquePtr< SFMatrix4f > | positionCalibration |
| The calibration matrix between devicePosition and trackerPosition. More... | |
| H3DUniquePtr< SFMatrix4f > | adjustedPositionCalibration |
| The calibration matrix between devicePosition and trackerPosition adjusted with the movement of the viewpoint. | |
| H3DUniquePtr< SFRotation > | orientationCalibration |
| The calibration rotation between deviceOrientation and trackerOrientation. More... | |
| H3DUniquePtr< SFRotation > | adjustedOrnCalibration |
| The calibration rotation between deviceOrientation and trackerOrientation adjusted with the movement of the viewpoint. | |
| H3DUniquePtr< SFVec3f > | proxyPosition |
| The position of the proxy used in the haptic rendering(layer 0). More... | |
| H3DUniquePtr< WeightedProxy > | weightedProxyPosition |
| A weighted position between proxyPosition and trackerPosition. More... | |
| H3DUniquePtr< SFFloat > | proxyWeighting |
| The weighting between proxyPosition and trackerPosition when calculating weightedProxyPosition. More... | |
| H3DUniquePtr< SFBool > | mainButton |
| The state of the main button(button 0). More... | |
| H3DUniquePtr< SFBool > | secondaryButton |
| The state of the secondary button (button 1). More... | |
| H3DUniquePtr< SFInt32 > | buttons |
| The state of all buttons. More... | |
| H3DUniquePtr< SFVec3f > | force |
| The approximation of the force that has been rendered during the last scenegraph loop. More... | |
| H3DUniquePtr< SFVec3f > | torque |
| The approximation of the torque that has been rendered during the last scenegraph loop. More... | |
| H3DUniquePtr< SFInt32 > | inputDOF |
| The degrees of freedom supported as input. More... | |
| H3DUniquePtr< SFInt32 > | outputDOF |
| The degrees of freedom supported as output, i.e. More... | |
| H3DUniquePtr< SFInt32 > | hapticsRate |
| The update rate of the servoloop of the H3DHapticsDevice. More... | |
| H3DUniquePtr< SFInt32 > | desiredHapticsRate |
| The desired update rate of the servoloop of the H3DHapticsDevice. More... | |
| H3DUniquePtr< SFTime > | hapticsLoopTime |
| The time spent in the last haptics loop(in seconds) A value of -1 means that no haptics loop has been completed yet. More... | |
| H3DUniquePtr< SFNode > | stylus |
| The Node used as the visual representation of the stylus. More... | |
| H3DUniquePtr< SFBool > | initialized |
| true if the device is initialized and ready for calls to updateDeviceValues() and renderObjects(). More... | |
| H3DUniquePtr< SFHapticsRendererNode > | hapticsRenderer |
| Specifies the haptics rendering algorithm to use to generate forces from geometric shapes. More... | |
| H3DUniquePtr< MFVec3f > | proxyPositions |
| The positions of the proxies for each layer used in haptic rendering(layer 0). More... | |
| H3DUniquePtr< SetEnabled > | set_enabled |
| Enable/disable the device. More... | |
| H3DUniquePtr< SFBool > | enabled |
| true if the device is enabled, e.g. More... | |
| H3DUniquePtr< SFBool > | followViewpoint |
| true if the device should follow the viewpoint. More... | |
| H3DUniquePtr< SFVec3f > | deviceVelocity |
| The velocity of the device in the coordinate system of the device. More... | |
| H3DUniquePtr< TrackerVelocity > | trackerVelocity |
| The velocity of the device in the world coordinates of the API. More... | |
| H3DUniquePtr< SFFloat > | forceLimit |
| The maximum force(in N) we want the device to render. More... | |
| H3DUniquePtr< SFFloat > | forceScale |
| Set the scaling of the output force. More... | |
| H3DUniquePtr< SFBool > | deadmansSwitch |
| This is an alternative operational safety mode. More... | |
| H3DUniquePtr< SFFloat > | torqueLimit |
| The maximum torque(in Nm) we want the device to render. More... | |
| H3DUniquePtr< SFVec3f > | deviceAngularVelocity |
| The angular velocity of the device in the coordinate system of the device. More... | |
| H3DUniquePtr< TrackerAngularVelocity > | trackerAngularVelocity |
| The angular velocity of the device in the world coordinates of the API. More... | |
Static Public Attributes | |
| static H3DNodeDatabase | database |
| Node database entry. | |
| Static Public Attributes inherited from H3D::H3DHapticsDevice | |
| static H3DNodeDatabase | database |
| Node database entry. | |
Additional Inherited Members | |
| Public Types inherited from H3D::H3DHapticsDevice | |
| typedef SFMatrix4f | PosCalibration |
| typedef SFRotation | OrnCalibration |
| Public Types inherited from H3D::Node | |
| typedef std::map< Node *, Node * > | DeepCopyMap |
| A map type used during a deep copy clone() to map from original nodes to cloned nodes. | |
| Static Public Member Functions inherited from H3D::Node | |
| static unsigned int | nrNodesAlive () |
| Returns the nr of nodes currently alive, i.e. nodes created but not destructed. | |
| static int | nrNodesCreated () |
| Returns the number of nodes created in total since the start of the program. | |
| Protected Member Functions inherited from H3D::Node | |
| void | cloneFieldValue (Field &_from, Field &_to, bool deepCopy, DeepCopyMap &deepCopyMap) |
| A helper function for the clone() method. More... | |
| Static Protected Member Functions inherited from H3D::Node | |
| static Node * | getClonedInstance (Node *original, bool deepCopy, DeepCopyMap &deepCopyMap) |
| A helper function for nodes that implement clone() More... | |
| Protected Attributes inherited from H3D::H3DHapticsDevice | |
| TimeStamp | last_effect_change |
| The time for the last call to the renderEffects function. | |
Detailed Description
A PhantomDevice is a node for handling communication with a haptics device from SensAble, such as the Phantom Omni and the Phantom Desktop haptics devices.
Note: The valid values for desiredHapticsRate depends on the type of interface and communication protocol used. Frequencies of 500, 1000, and 2000 Hz are valid when using a device connecting through PCI and EPP. Frequencies of 500, 1000, 1600Hz plus values in between based on the formula floor(8000/N + 0.5) are valid for devices connecting through Firewire. The first successful initialization of PhantomDevice will decide the haptics thread rate since only one scheduler is used by OpenHaptics even for dual device configurations. The default value for the field desiredHapticsRate is different from the default value of H3DHapticsDevice since the allowed values of this field differs. If the value for desiredHapticsRate is not one of the valid values a warning about not being able to start or maintain the scheduler will be printed. The node will function properly anyways.
Examples:
Member Function Documentation
◆ postInit()
|
virtual |
This function is called for all devices in a DeviceInfo node for which the initDevice has been called.
It is not called until all initDevice calls have been completed for all devices in the DeviceInfo. This function can be used for functionality that require all devices to be initialized. For this node it is used to start the OpenHaptics scheduler.
Reimplemented from H3D::H3DHapticsDevice.
References enableDevice().
◆ releaseDevice()
|
virtual |
Perform cleanup and let go of all device resources that are allocated.
After a call to this function no haptic rendering can be performed on the device until the initDevice() function has been called again.
Reimplemented from H3D::H3DHapticsDevice.
References H3D::H3DHapticsDevice::releaseDevice().
Member Data Documentation
◆ calibrate
| H3DUniquePtr< Calibrate > H3D::PhantomDevice::calibrate |
When a true event is received, the calibration procedure for the device is started.
The calibration procedure depends on the device type.
Access type: inputOnly
◆ deviceDriverVersion
| H3DUniquePtr< SFString > H3D::PhantomDevice::deviceDriverVersion |
The device driver version of the device.
Undefined if device not initialized.
Access type: outputOnly
Referenced by initDevice().
◆ deviceFirmwareVersion
| H3DUniquePtr< SFDouble > H3D::PhantomDevice::deviceFirmwareVersion |
The device firmware version.
Undefined if device not initialized.
Access type: outputOnly
Referenced by initDevice(), and PhantomDevice().
◆ deviceModelType
| H3DUniquePtr< SFString > H3D::PhantomDevice::deviceModelType |
The device model of the device.
Undefined if device not initialized.
Access type: outputOnly
Referenced by initDevice().
◆ deviceName
| H3DUniquePtr< SFString > H3D::PhantomDevice::deviceName |
The name of the device, as specified in Phantom Configuration utility.
If set to "", the default device will be used.
Access type: initializeOnly
Default value: ""
Referenced by initialize().
◆ deviceSerialNumber
| H3DUniquePtr< SFString > H3D::PhantomDevice::deviceSerialNumber |
The serial number of the device.
Undefined if device not initialized.
Access type: outputOnly
Referenced by initDevice().
◆ deviceVendor
| H3DUniquePtr< SFString > H3D::PhantomDevice::deviceVendor |
The vendor of the device.
Undefined if device not initialized.
Access type: outputOnly
Referenced by initDevice().
◆ encoderValues
| H3DUniquePtr< MFDouble > H3D::PhantomDevice::encoderValues |
Raw encoder values for this device.
This will contain 6 values. See the OpenHaptics SDK documentation for more information about encoder values.
Access type: outputOnly
Referenced by PhantomDevice(), and updateDeviceValues().
◆ gimbalAngles
| H3DUniquePtr< SFVec3f > H3D::PhantomDevice::gimbalAngles |
Current gimbal angles for the device (in radians).
From neutral position:
- x - Right = +
- y - Up = -
- z - Clockwise = +
Access type: outputOnly
Referenced by updateDeviceValues().
◆ HDAPIVersion
| H3DUniquePtr< SFString > H3D::PhantomDevice::HDAPIVersion |
The HDAPI software version, in the form major.minor.build.
Access type: outputOnly
Referenced by initDevice().
◆ inInkwell
| H3DUniquePtr< SFBool > H3D::PhantomDevice::inInkwell |
True when the device is in the inkwell.
Access type: outputOnly
Referenced by initDevice(), PhantomDevice(), and updateDeviceValues().
◆ jointAngles
| H3DUniquePtr< SFVec3f > H3D::PhantomDevice::jointAngles |
Current joint angles for the device (in radians).
- x - turret, + = left
- y - thigh, + = up
- z - shin, + = up
Access type: outputOnly
Referenced by updateDeviceValues().
◆ maxContinuousForce
| H3DUniquePtr< SFFloat > H3D::PhantomDevice::maxContinuousForce |
The maximum continuous force, i.e.
the amount of force that the device can sustain through a period of time. Undefined if device not initialized.
Access type: outputOnly
Referenced by initDevice(), and PhantomDevice().
◆ maxForce
| H3DUniquePtr< SFFloat > H3D::PhantomDevice::maxForce |
The maximum force, i.e.
the amount of force that the device can sustain when the motors are at room temperature Undefined if device not initialized.
Access type: outputOnly
Referenced by initDevice(), and PhantomDevice().
◆ maxWorkspaceDimensions
| H3DUniquePtr< MFVec3f > H3D::PhantomDevice::maxWorkspaceDimensions |
The maximum workspace dimensions of the device, i.e.
the mechanical limits of the device. Undefined if device not initialized. Contains two values where the first value is the minimum values and the second the maximum values for each axis.
Access type: outputOnly
Referenced by initDevice(), and PhantomDevice().
◆ motorTemperatures
| H3DUniquePtr< MFDouble > H3D::PhantomDevice::motorTemperatures |
Motor temperatures from the device driver temperature model.
It contains 6 values where the first 3 values are motor for position control and the rest are for torque control. The values are normalized between 0 and 1 where 0 means cool and 1 the temperature where the driver will shut down the motors for a few seconds to allow them to cool a bit.
Access type: outputOnly
Referenced by PhantomDevice(), and updateDeviceValues().
◆ needsCalibration
| H3DUniquePtr< SFBool > H3D::PhantomDevice::needsCalibration |
This field is true if the device needs to be calibrated.
Access type: outputOnly
Referenced by initDevice(), PhantomDevice(), and updateDeviceValues().
◆ tabletopOffset
| H3DUniquePtr< SFFloat > H3D::PhantomDevice::tabletopOffset |
The mechanical offest of the device end-effector in y from the table top.
Undefined if device not initialized.
Access type: outputOnly
Referenced by initDevice(), and PhantomDevice().
◆ usableWorkspaceDimensions
| H3DUniquePtr< MFVec3f > H3D::PhantomDevice::usableWorkspaceDimensions |
the usable workspace dimensions of the device, i.e.
the workspace in which forces are guaranteed to be reliably render. Undefined if device not initialized. Contains two values where the first value is the minimum values and the second the maximum values for each axis.
Access type: outputOnly
Referenced by initDevice(), and PhantomDevice().
The documentation for this class was generated from the following files:
