roboticslab::SpnavSensorDevice Class Reference

Represents a spacenav-compatible device, like the SpaceNavigator 6-DOF mouse from 3Dconnexion.

#include <SpnavSensorDevice.hpp>

Inheritance diagram for roboticslab::SpnavSensorDevice:

Public Member Functions
	SpnavSensorDevice (yarp::os::Searchable &config, bool usingPose, double gain=0.0)
bool	acquireInterfaces () override
	Acquires plugin interfaces.
bool	initialize (bool usingStreamingPreset) override
	Perform any custom initialization needed. This method is called after the successful creation of the device and once all interface handles are acquired.
bool	acquireData () override
	Acquires data from remote device.
bool	transformData (double scaling) override
	Performs required operations on stored data.
int	getActuatorState () override
	If actuator command data is available, return its current state.
bool	hasValidMovementData () const override
	Checks whether the device may forward acquired and processed data to the controller.
void	sendMovementCommand (double timestamp) override
	Sends movement command to the cartesian controller.
void	stopMotion () override
	Sends a movement command that would stop motion.
Public Member Functions inherited from roboticslab::StreamingDevice
	StreamingDevice (yarp::os::Searchable &config)
	Constructor.
virtual	~StreamingDevice ()
	Destructor.
void	setCartesianControllerHandle (ICartesianControl *iCartesianControl)
	Stores handle to an ICartesianControl instance.

Private Attributes
yarp::dev::IJoypadController *	iJoypadController {nullptr}
std::vector< double >	currentX
bool	usingPose {false}
double	gain {0.0}
bool	buttonClose {false}
bool	buttonOpen {false}

Additional Inherited Members
Protected Attributes inherited from roboticslab::StreamingDevice
ICartesianControl *	iCartesianControl
std::vector< double >	data
std::vector< bool >	fixedAxes
int	actuatorState

Member Function Documentation

acquireData()

bool SpnavSensorDevice::acquireData ( )

overridevirtual

Returns

true on success, false otherwise

Implements roboticslab::StreamingDevice.

acquireInterfaces()

bool SpnavSensorDevice::acquireInterfaces ( )

overridevirtual

Returns

true on success, false otherwise

Implements roboticslab::StreamingDevice.

getActuatorState()

int SpnavSensorDevice::getActuatorState ( )

overridevirtual

Returns

integer value describing current actuator state

Reimplemented from roboticslab::StreamingDevice.

hasValidMovementData()

bool SpnavSensorDevice::hasValidMovementData ( ) const

overridevirtual

Returns

true if valid, false otherwise

Reimplemented from roboticslab::StreamingDevice.

initialize()

bool SpnavSensorDevice::initialize ( bool  usingStreamingPreset )

overridevirtual

Parameters

usingStreamingPreset

Whether the cartesian controller supports streaming command presets or not.

Returns

true on success, false otherwise

Reimplemented from roboticslab::StreamingDevice.

sendMovementCommand()

void SpnavSensorDevice::sendMovementCommand ( double  timestamp )

overridevirtual

Parameters

timestamp

Current timestamp.

Implements roboticslab::StreamingDevice.

stopMotion()

void SpnavSensorDevice::stopMotion ( )

overridevirtual

Implements roboticslab::StreamingDevice.

transformData()

bool SpnavSensorDevice::transformData ( double  scaling )

overridevirtual

Parameters

scaling

Scaling factor applied to each data value.

Returns

true on success, false otherwise

Reimplemented from roboticslab::StreamingDevice.

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

• programs/streamingDeviceController/SpnavSensorDevice.hpp
• programs/streamingDeviceController/SpnavSensorDevice.cpp