16 #ifndef SURGSIM_DEVICES_PHANTOM_PHANTOMSCAFFOLD_H 17 #define SURGSIM_DEVICES_PHANTOM_PHANTOMSCAFFOLD_H 134 std::shared_ptr<SurgSim::Framework::Logger>
m_logger;
142 #endif // SURGSIM_DEVICES_PHANTOM_PHANTOMSCAFFOLD_H void setInputData(DeviceData *info)
Sets the input DataGroup, which will be pushed to the InputComponent.
Definition: PhantomScaffold.cpp:589
Definition: CompoundShapeToGraphics.cpp:29
std::unique_ptr< StateData > m_state
Internal scaffold state.
Definition: PhantomScaffold.h:136
bool destroyHapticLoop()
Destroys the haptic loop callback.
Definition: PhantomScaffold.cpp:643
bool createHapticLoop()
Creates the haptic loop callback.
Definition: PhantomScaffold.cpp:622
static SurgSim::DataStructures::DataGroup buildDeviceInputData()
Builds the data layout for the application input (i.e. device output).
Definition: PhantomScaffold.cpp:679
Definition: PhantomScaffold.cpp:177
bool finalizeDeviceState(DeviceData *info)
Finalizes a single device, destroying the necessary HDAPI resources.
Definition: PhantomScaffold.cpp:480
bool updateDevice(DeviceData *info)
Updates the device information for a single device.
Definition: PhantomScaffold.cpp:491
bool registerDevice(PhantomDevice *device)
Registers the specified device object.
Definition: PhantomScaffold.cpp:365
static std::shared_ptr< PhantomScaffold > getOrCreateSharedInstance()
Gets or creates the scaffold shared by all PhantomDevice instances.
Definition: PhantomScaffold.cpp:691
A collection of NamedData objects.
Definition: DataGroup.h:68
std::shared_ptr< SurgSim::Framework::Logger > m_logger
Logger used by the scaffold and all devices.
Definition: PhantomScaffold.h:134
Definition: PhantomScaffold.cpp:290
Definition: PhantomScaffold.cpp:244
Definition: PhantomScaffold.cpp:82
bool unregisterDevice(const PhantomDevice *device)
Unregisters the specified device object.
Definition: PhantomScaffold.cpp:418
PhantomScaffold()
Constructor.
Definition: PhantomScaffold.cpp:328
bool stopScheduler()
Stops the OpenHaptics scheduler.
Definition: PhantomScaffold.cpp:669
bool runHapticFrame()
Executes the operations for a single haptic frame.
Definition: PhantomScaffold.cpp:605
void calculateForceAndTorque(DeviceData *info)
Calculates forces and torques and sends them to the device library.
Definition: PhantomScaffold.cpp:529
~PhantomScaffold()
Destructor.
Definition: PhantomScaffold.cpp:344
A class that manages Sensable PHANTOM devices.
Definition: PhantomScaffold.h:38
bool startScheduler()
Starts the OpenHaptics scheduler.
Definition: PhantomScaffold.cpp:658
A class implementing the communication with a SensAble/Geomagic PHANTOM device.
Definition: PhantomDevice.h:58
bool initializeDeviceState(DeviceData *info)
Initializes a single device, creating the necessary HDAPI resources.
Definition: PhantomScaffold.cpp:462