yarp Class Reference

A generic interface for an haptic device. More...

#include <yarp/dev/IHapticDevice.h>

Inheritance diagram for yarp:

Public Member Functions
virtual	~IHapticDevice ()
virtual bool	getPosition (yarp::sig::Vector &pos)=0
	Get the instantaneous position. More...
virtual bool	getOrientation (yarp::sig::Vector &rpy)=0
	Get the instantaneous orientation. More...
virtual bool	getButtons (yarp::sig::Vector &buttons)=0
	Get the status of the available buttons. More...
virtual bool	isCartesianForceModeEnabled (bool &ret)=0
	Query which feedback mode is active. More...
virtual bool	setCartesianForceMode ()=0
	Enable Cartesian force feedback mode. More...
virtual bool	setJointTorqueMode ()=0
	Enable joint torque feedback mode. More...
virtual bool	getMaxFeedback (yarp::sig::Vector &max)=0
	Get maximum values for the feedback. More...
virtual bool	setFeedback (const yarp::sig::Vector &fdbck)=0
	Set the values for the force/torque feedback. More...
virtual bool	stopFeedback ()=0
	Disable force/torque feedback. More...
virtual bool	setTransformation (const yarp::sig::Matrix &T)=0
	Set the transformation matrix to be applied to position and force feedback data. More...
virtual bool	getTransformation (yarp::sig::Matrix &T)=0
	Get the current transformation matrix used to modify the position readings and force feedback. More...

Detailed Description

A generic interface for an haptic device.

Definition at line 29 of file IHapticDevice.h.

Constructor & Destructor Documentation

~IHapticDevice()

virtual yarp::~IHapticDevice ( )

inlinevirtual

Definition at line 32 of file IHapticDevice.h.

Member Function Documentation

getButtons()

virtual bool yarp::getButtons ( yarp::sig::Vector &  buttons )

pure virtual

Get the status of the available buttons.

Parameters

buttons

vector containing the status of each available button expressed as a double in [0,1].

Returns

true/false on success/failure.

getMaxFeedback()

virtual bool yarp::getMaxFeedback ( yarp::sig::Vector &  max )

pure virtual

Get maximum values for the feedback.

Parameters

max	vector containing the 3 maximum bounds of the feedback. Units are: [N] in Cartesian force mode, [mN*m] in joint torque mode.

Returns

true/false on success/failure.

getOrientation()

virtual bool yarp::getOrientation ( yarp::sig::Vector &  rpy )

pure virtual

Get the instantaneous orientation.

Parameters

rpy	vector containing the returned roll-pitch-yaw coordinates expressed in [deg].

Returns

true/false on success/failure.

getPosition()

virtual bool yarp::getPosition ( yarp::sig::Vector &  pos )

pure virtual

Get the instantaneous position.

Parameters

pos	vector containing the returned x-y-z coordinates expressed in [m].

Returns

true/false on success/failure.

getTransformation()

virtual bool yarp::getTransformation ( yarp::sig::Matrix &  T )

pure virtual

Get the current transformation matrix used to modify the position readings and force feedback.

Parameters

T	the returned 4-by-4 transformation matrix.

Returns

true/false on success/failure.

isCartesianForceModeEnabled()

virtual bool yarp::isCartesianForceModeEnabled ( bool &  ret )

pure virtual

Query which feedback mode is active.

Parameters

ret	true iff Cartesian force feedback is active, false iff joint torque feedback is active.

Returns

true/false on success/failure.

setCartesianForceMode()

virtual bool yarp::setCartesianForceMode ( )

pure virtual

Enable Cartesian force feedback mode.

Returns

true/false on success/failure.

setFeedback()

virtual bool yarp::setFeedback ( const yarp::sig::Vector &  fdbck )

pure virtual

Set the values for the force/torque feedback.

Parameters

fdbck

vector containing the 3 components of the feedback values. Units are: [N] in Cartesian force mode, [mN*m] in joint torque mode.

Returns

true/false on success/failure.

setJointTorqueMode()

virtual bool yarp::setJointTorqueMode ( )

pure virtual

Enable joint torque feedback mode.

Returns

true/false on success/failure.

setTransformation()

virtual bool yarp::setTransformation ( const yarp::sig::Matrix &  T )

pure virtual

Set the transformation matrix to be applied to position and force feedback data.

Parameters

T	the 4-by-4 transformation matrix.

Returns

true/false on success/failure.

stopFeedback()

virtual bool yarp::stopFeedback ( )

pure virtual

Disable force/torque feedback.

Returns

true/false on success/failure.

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

• src/libYARP_dev/src/yarp/dev/IHapticDevice.h