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16 #ifndef SURGSIM_DEVICES_NOVINT_NOVINTSCAFFOLD_H
17 #define SURGSIM_DEVICES_NOVINT_NOVINTSCAFFOLD_H
125 std::map<std::string, std::string>
getNameMap();
136 bool storeHandleIfValid(
const std::shared_ptr<Handle>& handle,
const std::string& serial);
187 #endif // SURGSIM_DEVICES_NOVINT_NOVINTSCAFFOLD_H
std::map< std::string, std::string > getNameMap()
Gets the map from name to serial number.
Definition: NovintScaffold.cpp:1118
void setPositionScale(const NovintDevice *device, double scale)
Sets the position scale for this device.
Definition: NovintScaffold.cpp:1285
Definition: NovintScaffold.cpp:113
bool enforceGravityCompensation(const DeviceData *info, bool gravityCompensationState)
Attempts to force the gravity compensation flag for the current device to the specified value.
Definition: NovintScaffold.cpp:1219
void runHapticFrame()
Executes the operations for a single haptic frame.
Definition: NovintScaffold.cpp:1138
bool getGravityCompensation(const DeviceData *info, bool *gravityCompensationState)
Gets the gravity compensation flag for the current device.
Definition: NovintScaffold.cpp:1185
Definition: NovintScaffold.cpp:191
void checkDeviceHoming(DeviceData *info)
Checks whether a device has been homed.
Definition: NovintScaffold.cpp:812
bool createAllHandles()
Creates a NovintScaffold::Handle for each device connected when the first registerDevice is called.
Definition: NovintScaffold.cpp:1045
~NovintScaffold()
Destructor.
Definition: NovintScaffold.cpp:460
void setOrientationScale(const NovintDevice *device, double scale)
Sets the orientation scale for this device.
Definition: NovintScaffold.cpp:1300
bool storeHandleIfValid(const std::shared_ptr< Handle > &handle, const std::string &serial)
Store the handle if it is valid.
Definition: NovintScaffold.cpp:1105
Definition: CompoundShapeToGraphics.cpp:29
std::shared_ptr< NovintScaffold::Handle > findHandleByInitializationName(const std::string &initializationName)
Get the Handle associated with an initialization name, if any.
Definition: NovintScaffold.cpp:575
NovintScaffold & operator=(const NovintScaffold &)
A collection of NamedData objects.
Definition: DataGroup.h:68
A class implementing the communication with a Novint Falcon device.
Definition: NovintDevice.h:69
bool initializeDeviceState(DeviceData *info)
Initializes a single device, creating the necessary HDAL resources.
Definition: NovintScaffold.cpp:635
void calculateForceAndTorque(DeviceData *info)
Calculates forces, and torques if the device is a 7Dof, and sends them to the HDAL.
Definition: NovintScaffold.cpp:852
void setInputData(DeviceData *info)
Sets the input DataGroup, which will be pushed to the InputComponent.
Definition: NovintScaffold.cpp:1031
bool registerDevice(NovintDevice *device)
Registers the specified device object, and starts the servo loop if necessary.
Definition: NovintScaffold.cpp:489
std::unique_ptr< StateData > m_state
Internal scaffold state.
Definition: NovintScaffold.h:181
bool setGravityCompensation(const DeviceData *info, bool gravityCompensationState)
Sets the gravity compensation flag for the current device, unless it's already set as desired.
Definition: NovintScaffold.cpp:1257
static SurgSim::DataStructures::DataGroup buildDeviceInputData()
Builds the data layout for the application input (i.e. device output).
Definition: NovintScaffold.cpp:1270
void destroyAllHandles()
Destroys all the initialized handles.
Definition: NovintScaffold.cpp:1096
bool unregisterDevice(const NovintDevice *device)
Unregisters the specified device object.
Definition: NovintScaffold.cpp:549
bool updateDeviceInput(DeviceData *info)
Updates the device information for a single device's input.
Definition: NovintScaffold.cpp:698
Definition: NovintScaffold.cpp:255
Definition: NovintScaffold.cpp:358
bool updateDeviceOutput(DeviceData *info, bool pulledOutput)
Updates the device information for a single device's output.
Definition: NovintScaffold.cpp:661
NovintScaffold()
Constructor.
Definition: NovintScaffold.cpp:413
A class that manages Novint Falcon devices.
Definition: NovintScaffold.h:37
static std::shared_ptr< NovintScaffold > getOrCreateSharedInstance()
Gets or creates the scaffold shared by all NovintDevice and Novint7DofDevice instances.
Definition: NovintScaffold.cpp:1315