GeomagicEmulator
Driver allowing interfacing with Geomagic haptic devices.
Target: Geomagic
namespace: sofa::component::controller
parents:
GeomagicDriver
Data:
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| tags | list of the subsets the objet belongs to | |
| bbox | this object bounding box | |
| componentState | The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). | Undefined |
| listening | if true, handle the events, otherwise ignore the events | 0 |
| handleEventTriggersUpdate | Event handling frequency controls the controller update frequency | 0 |
| deviceName | Name of device Configuration | Default Device |
| positionBase | Position of the device base in the SOFA scene world coordinates | 0 0 0 |
| orientationBase | Orientation of the device base in the SOFA scene world coordinates | 0 0 0 1 |
| orientationTool | Orientation of the tool in the SOFA scene world coordinates | 0 0 0 1 |
| scale | Default scale applied to the Device coordinates | 1 |
| forceScale | Default forceScale applied to the force feedback. | 1 |
| maxInputForceFeedback | Maximum value of the normed input force feedback for device security | 1 |
| inputForceFeedback | Input force feedback in case of no LCPForceFeedback is found (manual setting) | 0 0 0 |
| manualStart | If true, will not automatically initDevice at component init phase. | 0 |
| emitButtonEvent | If true, will send event through the graph when button are pushed/released | 0 |
| positionDevice | position of the base of the part of the device | |
| angle | Angluar values of joint (rad) | |
| button1 | Button state 1 | |
| button2 | Button state 2 | |
| speedFactor | factor to increase/decrease the movements speed | 0.1 |
| Visualization | ||
| drawDeviceFrame | Visualize the frame corresponding to the device tooltip | 0 |
| drawDevice | Visualize the Geomagic device in the virtual scene | 0 |
Links:
| Name | Description |
|---|---|
| context | Graph Node containing this object (or BaseContext::getDefault() if no graph is used) |
| slaves | Sub-objects used internally by this object |
| master | nullptr for regular objects, or master object for which this object is one sub-objects |
| forceFeedBack | link to the forceFeedBack component, if not set will search through graph and take first one encountered. |