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VRPNFeedback Class Reference

Feedback subclass for sending haptic forces to VRPN over the net. More...

#include <P_VRPNFeedback.h>

Inheritance diagram for VRPNFeedback:

List of all members.

Public Methods
	VRPNFeedback ()
	~VRPNFeedback ()
virtual const char *	device_name () const
	Device name; must be unique to other Feedback subclasses. More...
virtual Feedback *	clone ()
virtual void	update ()
virtual int	alive ()
virtual void	addconstraint (float k, const float *location)
	corresponding functions that should just add force on to whatever is already present --- since forces and jacobians add linearly, this works! Units are all NEWTONS. More...
virtual void	addplaneconstraint (float k, const float *point, const float *normal)
virtual void	addforcefield (const float *origin, const float *force, const float *jacobian)
virtual void	zeroforce ()
	zeros out the constructed force (does not send a message to the haptic until sendforce is called!). More...
virtual void	forceoff ()
	stop forces (actually sends a message). More...
virtual void	sendforce (const float *initial_pos)
	send the force that has been constructed -- we have this so the force can be built up in several parts, using the additive functions, and no incorrect forces are ever sent. The argument is the current position of the corresponding tracker - it may be used to check that the force doesn't exceed the max. More...
Protected Methods
virtual int	do_start (const SensorConfig *)
	Do device-specific startup configuration. Return success. More...

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Detailed Description

Feedback subclass for sending haptic forces to VRPN over the net.

Definition at line 32 of file P_VRPNFeedback.h.

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Constructor & Destructor Documentation

VRPNFeedback::VRPNFeedback (    )

Definition at line 32 of file P_VRPNFeedback.C. References NULL.

VRPNFeedback::~VRPNFeedback (    )

Definition at line 54 of file P_VRPNFeedback.C. References forceoff.

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Member Function Documentation

void VRPNFeedback::addconstraint (  float    k, const float *    location )  [virtual]

corresponding functions that should just add force on to whatever is already present --- since forces and jacobians add linearly, this works! Units are all NEWTONS. Implements Feedback. Definition at line 64 of file P_VRPNFeedback.C.

void VRPNFeedback::addforcefield (  const float *    origin, const float *    force, const float *    jacobian )  [virtual]

Implements Feedback. Definition at line 75 of file P_VRPNFeedback.C. References force. Referenced by addplaneconstraint.

void VRPNFeedback::addplaneconstraint (  float    k, const float *    point, const float *    normal )  [virtual]

Implements Feedback. Definition at line 134 of file P_VRPNFeedback.C. References addforcefield, force, and sqr.

virtual int VRPNFeedback::alive (    )  [inline, virtual]

Definition at line 48 of file P_VRPNFeedback.h. Referenced by update.

virtual Feedback* VRPNFeedback::clone (    )  [inline, virtual]

Implements Feedback. Definition at line 45 of file P_VRPNFeedback.h.

virtual const char* VRPNFeedback::device_name (    )  const [inline, virtual]

Device name; must be unique to other Feedback subclasses. Implements Feedback. Definition at line 44 of file P_VRPNFeedback.h.

int VRPNFeedback::do_start (  const SensorConfig *    config )  [protected, virtual]

Do device-specific startup configuration. Return success. Reimplemented from Feedback. Definition at line 36 of file P_VRPNFeedback.C. References forceoff, SensorConfig::getmaxforce, SensorConfig::have_one_sensor, SensorConfig::make_vrpn_address, and Feedback::set_maxforce.

void VRPNFeedback::forceoff (    )  [inline, virtual]

stop forces (actually sends a message). Implements Feedback. Definition at line 161 of file P_VRPNFeedback.C. References zeroforce. Referenced by do_start, and ~VRPNFeedback.

void VRPNFeedback::sendforce (  const float *    initial_pos )  [virtual]

send the force that has been constructed -- we have this so the force can be built up in several parts, using the additive functions, and no incorrect forces are ever sent. The argument is the current position of the corresponding tracker - it may be used to check that the force doesn't exceed the max. Implements Feedback. Definition at line 91 of file P_VRPNFeedback.C. References dot_prod, Feedback::maxforce, norm, vec_add, vec_copy, vec_scale, and vec_sub.

void VRPNFeedback::update (    )  [virtual]

Implements Feedback. Definition at line 59 of file P_VRPNFeedback.C. References alive.

void VRPNFeedback::zeroforce (    )  [inline, virtual]

zeros out the constructed force (does not send a message to the haptic until sendforce is called!). Implements Feedback. Definition at line 153 of file P_VRPNFeedback.C. Referenced by forceoff.

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

• P_VRPNFeedback.h
• P_VRPNFeedback.C

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