Public Member Functions | Private Member Functions | Private Attributes | List of all members
SurgSim::Devices::ForceScale Class Reference

An output device filter that scales forces and/or torques. More...

#include <SurgSim/Devices/DeviceFilters/ForceScale.h>

Inheritance diagram for SurgSim::Devices::ForceScale:
SurgSim::Devices::DeviceFilter SurgSim::Input::CommonDevice SurgSim::Input::InputConsumerInterface SurgSim::Input::OutputProducerInterface SurgSim::Input::DeviceInterface SurgSim::Framework::Accessible SurgSim::Framework::FactoryBase1< DeviceInterface, std::string >

Public Member Functions

 ForceScale (const std::string &name)
 Constructor. More...
 
 SURGSIM_CLASSNAME (SurgSim::Devices::ForceScale)
 
void setForceScale (double forceScale)
 Set the force scale factor so that each direction has the same scale. More...
 
void setTorqueScale (double torqueScale)
 Set the torque scale factor so that each direction has the same scale. More...
 
- Public Member Functions inherited from SurgSim::Devices::DeviceFilter
 DeviceFilter (const std::string &name)
 Constructor. More...
 
 SURGSIM_CLASSNAME (SurgSim::Devices::DeviceFilter)
 
bool initialize () override
 Fully initialize the device. More...
 
bool isInitialized () const override
 
void initializeInput (const std::string &device, const DataStructures::DataGroup &inputData) override
 Set the initial input data group. More...
 
void handleInput (const std::string &device, const DataStructures::DataGroup &inputData) override
 Notifies the consumer that the application input coming from the device has been updated. More...
 
bool requestOutput (const std::string &device, DataStructures::DataGroup *outputData) override
 Asks the producer to provide output state to the device. More...
 
- Public Member Functions inherited from SurgSim::Input::CommonDevice
 CommonDevice (const std::string &name)
 Constructor. More...
 
 CommonDevice (const std::string &name, const DataStructures::DataGroup &inputData)
 Constructor. More...
 
 CommonDevice (const std::string &name, DataStructures::DataGroup &&inputData)
 Constructor. More...
 
virtual ~CommonDevice ()
 Destructor. More...
 
std::string getName () const override
 Return a (hopefully unique) device name. More...
 
std::string getClassName () const override
 The class name for this class. More...
 
void setNameForCallback (const std::string &name)
 Set the name used for calling the input consumers and output producer. More...
 
std::string getNameForCallback () const
 Get the name used for calling the input consumers and output producer. More...
 
bool addInputConsumer (std::shared_ptr< InputConsumerInterface > inputConsumer) override
 Adds an input consumer that will be notified when the application input state is updated. More...
 
bool removeInputConsumer (std::shared_ptr< InputConsumerInterface > inputConsumer) override
 Removes an input consumer previously added via addInputConsumer. More...
 
void clearInputConsumers () override
 Removes all InputConsumers. More...
 
bool setOutputProducer (std::shared_ptr< OutputProducerInterface > outputProducer) override
 Sets an output producer that will be asked for application output state when the device needs it. More...
 
bool removeOutputProducer (std::shared_ptr< OutputProducerInterface > outputProducer) override
 Removes an output producer previously added via setOutputProducer. More...
 
bool hasOutputProducer () override
 Query if this object has output producer. More...
 
void clearOutputProducer () override
 Removes any OutputProducer. More...
 
- Public Member Functions inherited from SurgSim::Input::DeviceInterface
virtual ~DeviceInterface ()
 Virtual destructor (empty). More...
 
- Public Member Functions inherited from SurgSim::Framework::Accessible
 Accessible ()
 Default Constructor. More...
 
 ~Accessible ()
 Destructor. More...
 
template<class T >
getValue (const std::string &name) const
 Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...
 
boost::any getValue (const std::string &name) const
 Retrieves the value with the name by executing the getter if it is found. More...
 
template<class T >
bool getValue (const std::string &name, T *value) const
 Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...
 
void setValue (const std::string &name, const boost::any &value)
 Sets a value of a property that has setter. More...
 
bool isReadable (const std::string &name) const
 Check whether a property is readable. More...
 
bool isWriteable (const std::string &name) const
 Check whether a property is writable. More...
 
void setGetter (const std::string &name, GetterType func)
 Sets a getter for a given property. More...
 
void setSetter (const std::string &name, SetterType func)
 Sets a setter for a given property. More...
 
void setAccessors (const std::string &name, GetterType getter, SetterType setter)
 Sets the accessors getter and setter in one function. More...
 
void removeAccessors (const std::string &name)
 Removes all the accessors (getter and setter) for a given property. More...
 
void forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
 Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...
 
void setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
 Sets the functions used to convert data from and to a YAML::Node. More...
 
void setDecoder (const std::string &name, DecoderType decoder)
 Sets the functions used to convert data from a YAML::Node. More...
 
YAML::Node encode () const
 Encode this Accessible to a YAML::Node. More...
 
void decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
 Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...
 
template<>
boost::any getValue (const std::string &name) const
 
- Public Member Functions inherited from SurgSim::Input::InputConsumerInterface
virtual ~InputConsumerInterface ()
 Virtual destructor (empty). More...
 
- Public Member Functions inherited from SurgSim::Input::OutputProducerInterface
virtual ~OutputProducerInterface ()
 Virtual destructor (empty). More...
 

Private Member Functions

void filterOutput (const std::string &device, const DataStructures::DataGroup &dataToFilter, DataStructures::DataGroup *result) override
 Filter the output data. More...
 

Private Attributes

boost::mutex m_mutex
 The mutex that protects the scaling factors. More...
 
double m_forceScale
 The scaling factor applied to each direction of the force. More...
 
double m_torqueScale
 The scaling factor applied to each direction of the torque. More...
 

Additional Inherited Members

- Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)> GetterType
 
typedef std::function< void(boost::any)> SetterType
 
typedef std::function< YAML::Node(void)> EncoderType
 
typedef std::function< void(const YAML::Node *)> DecoderType
 
- Public Types inherited from SurgSim::Framework::FactoryBase1< DeviceInterface, std::string >
typedef ObjectFactory1< DeviceInterface, std::string > FactoryType
 
- Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< DeviceInterface, std::string >
static FactoryTypegetFactory ()
 
- Protected Member Functions inherited from SurgSim::Devices::DeviceFilter
virtual void filterInput (const std::string &device, const DataStructures::DataGroup &dataToFilter, DataStructures::DataGroup *result)
 Filter the input data. More...
 
bool finalize () override
 Finalize (de-initialize) the device. More...
 
- Protected Member Functions inherited from SurgSim::Input::CommonDevice
virtual void pushInput ()
 Push application input to consumers. More...
 
virtual bool pullOutput ()
 Pull application output from a producer. More...
 
DataStructures::DataGroupgetInputData ()
 Getter for the input data DataGroup. More...
 
const DataStructures::DataGroupgetOutputData () const
 Getter for the output data DataGroup. More...
 
- Protected Attributes inherited from SurgSim::Devices::DeviceFilter
bool m_initialized
 true if initialized and not finalized. More...
 

Detailed Description

An output device filter that scales forces and/or torques.

Any other entries in the DataGroup are passed through. For convenience, it is also an InputConsumerInterface that does no filtering of the input data. Thus it can be added as an input consumer to the raw device, and set as the output producer for the raw device, after which other device filters, input components, and output components only need access to the ForceScale instance, not the raw device.

Constructor & Destructor Documentation

◆ ForceScale()

SurgSim::Devices::ForceScale::ForceScale ( const std::string &  name)
explicit

Constructor.

Parameters
nameName of this device filter.

Member Function Documentation

◆ filterOutput()

void SurgSim::Devices::ForceScale::filterOutput ( const std::string &  device,
const DataStructures::DataGroup dataToFilter,
DataStructures::DataGroup result 
)
overrideprivatevirtual

Filter the output data.

Parameters
deviceThe name of the device pulling the output data.
dataToFilterThe data that will be filtered.
[in,out]resultA pointer to a DataGroup object that must be assignable to by the dataToFilter object. Will contain the filtered data.

Reimplemented from SurgSim::Devices::DeviceFilter.

◆ setForceScale()

void SurgSim::Devices::ForceScale::setForceScale ( double  forceScale)

Set the force scale factor so that each direction has the same scale.

Parameters
forceScaleThe scalar scaling factor.

◆ setTorqueScale()

void SurgSim::Devices::ForceScale::setTorqueScale ( double  torqueScale)

Set the torque scale factor so that each direction has the same scale.

Parameters
torqueScaleThe scalar scaling factor.

◆ SURGSIM_CLASSNAME()

SurgSim::Devices::ForceScale::SURGSIM_CLASSNAME ( SurgSim::Devices::ForceScale  )

Member Data Documentation

◆ m_forceScale

double SurgSim::Devices::ForceScale::m_forceScale
private

The scaling factor applied to each direction of the force.

◆ m_mutex

boost::mutex SurgSim::Devices::ForceScale::m_mutex
private

The mutex that protects the scaling factors.

◆ m_torqueScale

double SurgSim::Devices::ForceScale::m_torqueScale
private

The scaling factor applied to each direction of the torque.


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