Spr::HISpidarG6 Class Reference

#include <HISpidarG6.h>

Inherits Spr::HIForceDevice6D, and Spr::HISpidarCalc6Dof.

Inherited by Spr::HISpidarCanoe, Spr::HISpidarG6C, Spr::HISpidarG6Jun, Spr::HISpidarG6O, Spr::HISpidarG6WB, Spr::HISpidarG6X, Spr::HISpidarG6X2, Spr::HISpidarG6X3, and Spr::HISpidarI7.

Collaboration diagram for Spr::HISpidarG6:

[legend]List of all members.

Public Member Functions

• bool Init (DVDeviceManager &dev, int nMotor, const Vec3f(*motorPos)[2], float vpn, float lpp, float minF, float maxF)
• virtual bool BeforeCalib ()
• virtual bool Calib ()
• void SetMinForce ()
• Vec3f GetPos ()
• Quaternionf GetOri ()
• void SetForce (const Vec3f &f)
• void SetForce (const Vec3f &f, const Vec3f &t)
• void SetWeight (float s=0.3f, float t=1.0f, float r=6.0f)
• Vec3f GetForce ()
• Vec3f GetTorque ()
• int HISpidarG6::GetButton (int ch)
• virtual void Update (float dt)
• virtual void Update ()

Public Attributes

• std::vector< HISpidarMotor > motor
• std::vector< DVPioBase * > button

Static Public Attributes

• static UTTypeInfoImp< HISpidarG6 > typeInfo

Protected Member Functions

• virtual void MakeWireVec ()
• virtual void UpdatePos ()
• virtual void MeasureWire ()

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Detailed Description

ƒGƒ“ƒhƒGƒtƒFƒNƒ^(ƒOƒŠƒbƒv)‚ª�„‘Ì‚Å6Ž©—R“x‚ÈSPIDAR�DŽ…‚Ì–{�”‚͉•Ï�D A SPIDAR with a 6DOF solid grip. The number of the strings is variable.@

Definition at line 14 of file HISpidarG6.h.

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Member Function Documentation

bool Spr::HISpidarG6::Init (  DVDeviceManager &  dev, int  nMotor, const Vec3f *  motorPos[2], float  vpn, float  lpp, float  minF, float  maxF )

ƒfƒoƒCƒX‚Ì�‰Šú‰»(Žg—p‘O‚ɌĂÔ)

virtual bool Spr::HISpidarG6::BeforeCalib (   )  [inline, virtual]

ƒLƒƒƒŠƒuƒŒ�[ƒVƒ‡ƒ“‚Ì‘O‚É�s‚¤�ˆ—� Reimplemented from Spr::HIHapticDevice. Definition at line 27 of file HISpidarG6.h.

virtual bool Spr::HISpidarG6::Calib (   )  [virtual]

ƒLƒƒƒŠƒuƒŒ�[ƒVƒ‡ƒ“ Reimplemented from Spr::HIHapticDevice.

void Spr::HISpidarG6::SetMinForce (   )

�Å’á’£—Í‚ð�o—Í

Vec3f Spr::HISpidarG6::GetPos (   )  [inline, virtual]

ˆÊ’u‚̎擾 Implements Spr::HIForceDevice6D. Definition at line 34 of file HISpidarG6.h.

Quaternionf Spr::HISpidarG6::GetOri (   )  [inline, virtual]

Šp“x‚̎擾 Implements Spr::HIForceDevice6D. Definition at line 36 of file HISpidarG6.h.

void Spr::HISpidarG6::SetForce (  const Vec3f &  f  )  [inline, virtual]

—Í‚Ì�Ý’è Reimplemented from Spr::HISpidarCalc6Dof. Definition at line 39 of file HISpidarG6.h.

void Spr::HISpidarG6::SetForce (  const Vec3f &  f, const Vec3f &  t )  [inline, virtual]

ƒgƒ‹ƒN‚Ì�Ý’è Implements Spr::HIForceDevice6D. Definition at line 41 of file HISpidarG6.h.

void Spr::HISpidarG6::SetWeight (  float  s = 0.3f, float  t = 1.0f, float  r = 6.0f )  [inline]

�d‚Ý•t‚¯‚Ì�Ý’è Definition at line 43 of file HISpidarG6.h.

Vec3f Spr::HISpidarG6::GetForce (   )  [inline, virtual]

—͂̎擾 Implements Spr::HIForceDevice6D. Definition at line 46 of file HISpidarG6.h.

Vec3f Spr::HISpidarG6::GetTorque (   )  [inline, virtual]

ƒgƒ‹ƒN‚̎擾 Implements Spr::HIForceDevice6D. Definition at line 48 of file HISpidarG6.h.

int Spr::HISpidarG6::HISpidarG6::GetButton (  int  ch  )  [inline]

ƒ{ƒ^ƒ“�î•ñ‚̎擾 Definition at line 51 of file HISpidarG6.h. References button.

virtual void Spr::HISpidarG6::Update (  float  dt  )  [virtual]

ƒfƒoƒCƒX‚Ì�ó‘Ô‚ð�X�V‚·‚é. Reimplemented from Spr::HIForceDevice6D. Reimplemented in Spr::HISpidarCanoe.

virtual void Spr::HISpidarG6::Update (   )  [inline, virtual]

Žp�¨�î•ñ‚Ì�X�V Reimplemented from Spr::HISpidarCalc6Dof. Definition at line 58 of file HISpidarG6.h.

virtual void Spr::HISpidarG6::MakeWireVec (   )  [protected, virtual]

ƒ�ƒCƒ„•ûŒüƒxƒNƒgƒ‹‚ÌŒvŽZ Implements Spr::HISpidarCalcBase. Reimplemented in Spr::HISpidarCanoe.

virtual void Spr::HISpidarG6::UpdatePos (   )  [protected, virtual]

ƒ�ƒCƒ„�Ý’uˆÊ’u�À•W‚Ì�X�V Implements Spr::HISpidarCalcBase.

virtual void Spr::HISpidarG6::MeasureWire (   )  [protected, virtual]

ƒ�ƒCƒ„’·‚ÌŒv‘ª Implements Spr::HISpidarCalcBase.

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Member Data Documentation

std::vector<HISpidarMotor> Spr::HISpidarG6::motor

ƒ‚�[ƒ^ Definition at line 16 of file HISpidarG6.h.

std::vector<DVPioBase*> Spr::HISpidarG6::button

ƒ{ƒ^ƒ“ Definition at line 17 of file HISpidarG6.h. Referenced by HISpidarG6::GetButton().

UTTypeInfoImp< HISpidarG6 > Spr::HISpidarG6::typeInfo [static]

ƒfƒoƒCƒX‚̃^ƒCƒv Reimplemented from Spr::HIForceDevice6D. Reimplemented in Spr::HISpidarCanoe, Spr::HISpidarG6C, Spr::HISpidarG6Jun, Spr::HISpidarG6O, Spr::HISpidarG6WB, Spr::HISpidarG6X, Spr::HISpidarG6X2, Spr::HISpidarG6X3, and Spr::HISpidarI7. Definition at line 20 of file HISpidarG6.h.

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

• HISpidarG6.h

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