/usr/include/projects/Haptic/lib/ChaiDevice.h is in libsofa1-dev 1.0~beta4-10ubuntu2.
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* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This program is free software; you can redistribute it and/or modify it *
* under the terms of the GNU General Public License as published by the Free *
* Software Foundation; either version 2 of the License, or (at your option) *
* any later version. *
* *
* This program 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 General Public License for *
* more details. *
* *
* You should have received a copy of the GNU General Public License along *
* with this program; if not, write to the Free Software Foundation, Inc., 51 *
* Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. *
*******************************************************************************
* SOFA :: Applications *
* *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza, *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
/*
* ChaiDevice
*
* Abstraction of an Haptic Device interfaced through CHAI3D library
* It initialize the device, launch the haptic loop in a thread
* and provide function to get Device information in sofa primitives
* ( position for example )
*
* version 0.1
*
* // TO FIX : Can't instantiate twice the device, the chai initialisation crash
*/
#ifndef SOFA_CORE_OBJECTMODEL_CHAIDEVICE_H
#define SOFA_CORE_OBJECTMODEL_CHAIDEVICE_H
#include <sofa/defaulttype/VecTypes.h>
#include <Chai3D/CMeta3dofPointer.h>
using sofa::defaulttype::Vector3;
namespace sofa{
namespace core{
namespace objectmodel{
/**
* Abstraction of an haptic device controlled
* by the chai3D library.
*/
class ChaiDevice
{
public:
ChaiDevice();
~ChaiDevice();
Vector3 getCoord();
public:
// a 3D cursor which represents the haptic device
cMeta3dofPointer* device;
};
} // namespace objectmodel
} // namespace core
} // namespace sofa
#endif
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