P_Feedback.h

00001 /***************************************************************************
00002 *cr 
00003 *cr (C) Copyright 1995-2019 The Board of Trustees of the 
00004 *cr University of Illinois 
00005 *cr All Rights Reserved 
00006 *cr 
00007 ***************************************************************************/
00008 
00009 /***************************************************************************
00010 * RCS INFORMATION:
00011 *
00012 * $RCSfile: P_Feedback.h,v $
00013 * $Author: johns $ $Locker: $ $State: Exp $
00014 * $Revision: 1.29 $ $Date: 2020年02月24日 17:48:30 $
00015 *
00016 ***************************************************************************
00017 * DESCRIPTION:
00018 * This is Paul's new Tracker code -- pgrayson@ks.uiuc.edu
00019 *
00020 * A Feedback is a representation for force-feedback. Subclass this for
00021 * specific haptic devices.
00022 *
00023 * Note that you have to call sendforce to actually do anything!
00024 *
00025 ***************************************************************************/
00026 
00027 #ifndef P_FEEDBACK_H
00028 #define P_FEEDBACK_H
00029 
00030 #include "P_SensorConfig.h"
00031 
00063 
00064 
00065 class Feedback {
00066 public:
00068 Feedback() { maxforce = -1.0f; }
00069 virtual ~Feedback() { };
00070 
00072 virtual const char *device_name() const = 0;
00073 virtual Feedback *clone() = 0;
00074 
00077 int start(const SensorConfig *config) {
00078 set_maxforce(config->getmaxforce());
00079 return do_start(config);
00080 }
00081 
00082 virtual void update() = 0;
00083 
00088 virtual void addconstraint(float k, const float *location) = 0;
00089 virtual void addforcefield(const float *origin, const float *force,
00090 const float *jacobian) = 0;
00091 virtual void addplaneconstraint(float k, const float *point,
00092 const float *normal) = 0;
00093 
00096 virtual void zeroforce() = 0;
00097 
00099 virtual void forceoff() = 0;
00100 
00106 virtual void sendforce(const float *initial_pos) = 0;
00107 
00111 void set_maxforce(float m) { maxforce = m; }
00112 float get_maxforce() const { return maxforce; }
00113 
00114 protected:
00115 float maxforce;
00116 
00118 virtual int do_start(const SensorConfig *) { return 1; }
00119 };
00120 
00121 #endif
00122