/usr/include/sofa/component/controller/OmniDriver.h is in libsofa1-dev 1.0~beta4-6.
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* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_COMPONENT_ODESOLVER_OMNISOLVER_H
#define SOFA_COMPONENT_ODESOLVER_OMNISOLVER_H
//Sensable include
#include <HD/hd.h>
#include <sofa/helper/LCPcalc.h>
#include <sofa/core/componentmodel/behavior/BaseController.h>
namespace sofa
{
namespace simulation { class Node; }
namespace component
{
namespace controller
{
class ForceFeedback;
using namespace sofa::defaulttype;
using core::objectmodel::Data;
/** Holds data retrieved from HDAPI. */
typedef struct {
HHD id;
int nupdates;
int m_buttonState; /* Has the device button has been pressed. */
// hduVector3Dd m_devicePosition; /* Current device coordinates. */
HDErrorInfo m_error;
Vec3d pos;
Quat quat;
bool ready;
bool stop;
} DeviceData;
typedef struct {
ForceFeedback* forceFeedback;
simulation::Node *context;
Mat3x3d rotation;
Vec3d translation;
double scale;
double forceScale;
DeviceData servoDeviceData;
DeviceData deviceData;
bool permanent_feedback;
} OmniData;
/**
* Omni driver
*/
class OmniDriver : public core::componentmodel::behavior::BaseController
{
public:
Data<double> scale;
Data<double> forceScale;
Data<Vec3d> position;
Data<Vec3d> orientation;
Data<bool> permanent;
OmniData data;
OmniDriver();
virtual ~OmniDriver();
virtual void init();
void reinit();
void cleanup();
void setForceFeedback(ForceFeedback* ff);
private:
void handleEvent(core::objectmodel::Event *);
};
} // namespace controller
} // namespace component
} // namespace sofa
#endif
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