roboticslab::SpaceNavigator Class Reference

Implementation for the SpaceNavigator 3D mouse. More...

#include <SpaceNavigator.hpp>

Inheritance diagram for roboticslab::SpaceNavigator:

Public Member Functions
bool	open (yarp::os::Searchable &config) override
bool	close () override
int	read (yarp::sig::Vector &out) override
int	getState (int ch) override
int	getChannels () override
int	calibrateSensor () override
int	calibrateSensor (const yarp::sig::Vector &value) override
int	calibrateChannel (int ch) override
int	calibrateChannel (int ch, double value) override

Private Attributes
double	dx {0.0}
double	dy {0.0}
double	dz {0.0}
double	droll {0.0}
double	dpitch {0.0}
double	dyaw {0.0}
int	button1 {0}
int	button2 {0}
unsigned int	noDataCounter {0}
double	deadband {0.0}

Detailed Description

Launch as in:

yarpdev --device SpaceNavigator --period 5 --name /spacenavigator

You can split mouse and button output into separate channels with:

yarpdev --device SpaceNavigator --period 5 --name /spacenavigator --ports "(mouse:o buttons:o)" --channels 8 --mouse:o 0 5 0 5 --buttons:o 6 7 0 1

Member Function Documentation

calibrateChannel() [1/2]

int SpaceNavigator::calibrateChannel ( int  ch )

override

Calibrates one single channel.

Parameters

ch	channel number.

Returns

status.

calibrateChannel() [2/2]

int SpaceNavigator::calibrateChannel ( int  ch, double  value  )

override

Calibrates one single channel, using a calibration value.

Parameters

ch	channel number.
value	calibration value.

Returns

status.

calibrateSensor() [1/2]

int SpaceNavigator::calibrateSensor ( )

override

Calibrates the whole sensor.

Returns

status.

calibrateSensor() [2/2]

int SpaceNavigator::calibrateSensor ( const yarp::sig::Vector &  value )

override

Calibrates the whole sensor, using an vector of calibration values.

Parameters

value

a vector of calibration values.

Returns

status.

getChannels()

int SpaceNavigator::getChannels ( )

override

Get the number of channels of the sensor.

Returns

number of channels (0 in case of errors).

getState()

int SpaceNavigator::getState ( int  ch )

override

Check the state value of a given channel.

Parameters

ch	channel number.

Returns

status.

read()

int SpaceNavigator::read ( yarp::sig::Vector &  out )

override

Read a vector from the sensor.

Parameters

out	a vector containing the sensor's last readings.

Returns

AS_OK or return code. AS_TIMEOUT if the sensor timed-out.

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

• libraries/YarpPlugins/SpaceNavigator/SpaceNavigator.hpp
• libraries/YarpPlugins/SpaceNavigator/DeviceDriverImpl.cpp
• libraries/YarpPlugins/SpaceNavigator/IAnalogSensorImpl.cpp