vrpn_ForceDevice类 参考

类 vrpn_ForceDevice 继承关系图:

vrpn_ForceDevice 的协作图:

Public 类型
enum	ConstraintGeometry { NO_CONSTRAINT , POINT_CONSTRAINT , LINE_CONSTRAINT , PLANE_CONSTRAINT }

Public 成员函数
	vrpn_ForceDevice (const char *name, vrpn_Connection *c)
void	print_report (void)
void	print_plane (void)
void	setSurfaceKspring (vrpn_float32 k)
void	setSurfaceKdamping (vrpn_float32 d)
void	setSurfaceFstatic (vrpn_float32 ks)
void	setSurfaceFdynamic (vrpn_float32 kd)
void	setRecoveryTime (int rt)
void	setSurfaceKadhesionNormal (vrpn_float32 k)
void	setSurfaceKadhesionLateral (vrpn_float32 k)
void	setSurfaceBuzzFrequency (vrpn_float32 freq)
void	setSurfaceBuzzAmplitude (vrpn_float32 amp)
void	setSurfaceTextureWavelength (vrpn_float32 wl)
void	setSurfaceTextureAmplitude (vrpn_float32 amp)
void	setCustomEffect (vrpn_int32 effectId, vrpn_float32 *params=NULL, vrpn_uint32 nbParams=0)
void	setFF_Origin (vrpn_float32 x, vrpn_float32 y, vrpn_float32 z)
void	setFF_Origin (vrpn_float32 x[3])
void	setFF_Force (vrpn_float32 fx, vrpn_float32 fy, vrpn_float32 fz)
void	setFF_Force (vrpn_float32 f[3])
void	setFF_Jacobian (vrpn_float32 dfxdx, vrpn_float32 dfxdy, vrpn_float32 dfxdz, vrpn_float32 dfydx, vrpn_float32 dfydy, vrpn_float32 dfydz, vrpn_float32 dfzdx, vrpn_float32 dfzdy, vrpn_float32 dfzdz)
void	setFF_Radius (vrpn_float32 r)
void	set_plane (vrpn_float32 *p)
void	set_plane (vrpn_float32 *p, vrpn_float32 d)
void	set_plane (vrpn_float32 a, vrpn_float32 b, vrpn_float32 c, vrpn_float32 d)
void	sendError (int error_code)
int	getRecoveryTime (void)
int	connectionAvailable (void)
Public 成员函数 继承自 vrpn_BaseClass
	vrpn_BaseClass (const char *name, vrpn_Connection *c=NULL)
virtual void	mainloop ()=0
Public 成员函数 继承自 vrpn_BaseClassUnique
vrpn_Connection *	connectionPtr ()
	Returns a pointer to the connection this object is using

Protected 成员函数
virtual int	register_types (void)
Protected 成员函数 继承自 vrpn_BaseClass
virtual int	init (void)
virtual int	register_senders (void)
Protected 成员函数 继承自 vrpn_BaseClassUnique
int	register_autodeleted_handler (vrpn_int32 type, vrpn_MESSAGEHANDLER handler, void *userdata, vrpn_int32 sender=vrpn_ANY_SENDER)
int	send_text_message (const char *msg, struct timeval timestamp, vrpn_TEXT_SEVERITY type=vrpn_TEXT_NORMAL, vrpn_uint32 level=0)
	Sends a NULL-terminated text message from the device d_sender_id
SendTextMessageBoundCall	send_text_message (vrpn_TEXT_SEVERITY type=vrpn_TEXT_NORMAL)
void	server_mainloop (void)
void	client_mainloop (void)

静态 Protected 成员函数
static char *	encode_custom_effect (vrpn_int32 &len, vrpn_uint32 effectId, const vrpn_float32 *params, vrpn_uint32 nbParams)
static char *	encode_force (vrpn_int32 &length, const vrpn_float64 *force)
static char *	encode_scp (vrpn_int32 &length, const vrpn_float64 *pos, const vrpn_float64 *quat)
static char *	encode_plane (vrpn_int32 &length, const vrpn_float32 *plane, const vrpn_float32 kspring, const vrpn_float32 kdamp, const vrpn_float32 fdyn, const vrpn_float32 fstat, const vrpn_int32 plane_index, const vrpn_int32 n_rec_cycles)
static char *	encode_surface_effects (vrpn_int32 &len, const vrpn_float32 k_adhesion_norm, const vrpn_float32 k_adhesion_lat, const vrpn_float32 tex_amp, const vrpn_float32 tex_wl, const vrpn_float32 buzz_amp, const vrpn_float32 buzz_freq)
static char *	encode_vertex (vrpn_int32 &len, const vrpn_int32 objNum, const vrpn_int32 vertNum, const vrpn_float32 x, const vrpn_float32 y, const vrpn_float32 z)
static char *	encode_normal (vrpn_int32 &len, const vrpn_int32 objNum, const vrpn_int32 vertNum, const vrpn_float32 x, const vrpn_float32 y, const vrpn_float32 z)
static char *	encode_triangle (vrpn_int32 &len, const vrpn_int32 objNum, const vrpn_int32 triNum, const vrpn_int32 vert0, const vrpn_int32 vert1, const vrpn_int32 vert2, const vrpn_int32 norm0, const vrpn_int32 norm1, const vrpn_int32 norm2)
static char *	encode_removeTriangle (vrpn_int32 &len, const vrpn_int32 objNum, const vrpn_int32 triNum)
static char *	encode_updateTrimeshChanges (vrpn_int32 &len, const vrpn_int32 objNum, const vrpn_float32 kspring, const vrpn_float32 kdamp, const vrpn_float32 fdyn, const vrpn_float32 fstat)
static char *	encode_setTrimeshType (vrpn_int32 &len, const vrpn_int32 objNum, const vrpn_int32 type)
static char *	encode_trimeshTransform (vrpn_int32 &len, const vrpn_int32 objNum, const vrpn_float32 homMatrix[16])
static char *	encode_addObject (vrpn_int32 &len, const vrpn_int32 objNum, const vrpn_int32 ParentNum)
static char *	encode_addObjectExScene (vrpn_int32 &len, const vrpn_int32 objNum)
static char *	encode_objectPosition (vrpn_int32 &len, const vrpn_int32 objNum, const vrpn_float32 Pos[3])
static char *	encode_objectOrientation (vrpn_int32 &len, const vrpn_int32 objNum, const vrpn_float32 axis[3], const vrpn_float32 angle)
static char *	encode_objectScale (vrpn_int32 &len, const vrpn_int32 objNum, const vrpn_float32 Scale[3])
static char *	encode_removeObject (vrpn_int32 &len, const vrpn_int32 objNum)
static char *	encode_clearTrimesh (vrpn_int32 &len, const vrpn_int32 objNum)
static char *	encode_moveToParent (vrpn_int32 &len, const vrpn_int32 objNum, const vrpn_int32 parentNum)
static char *	encode_setHapticOrigin (vrpn_int32 &len, const vrpn_float32 Pos[3], const vrpn_float32 axis[3], const vrpn_float32 angle)
static char *	encode_setSceneOrigin (vrpn_int32 &len, const vrpn_float32 Pos[3], const vrpn_float32 axis[3], const vrpn_float32 angle)
static char *	encode_setHapticScale (vrpn_int32 &len, const vrpn_float32 Scale)
static char *	encode_setObjectIsTouchable (vrpn_int32 &len, const vrpn_int32 objNum, const vrpn_bool isTouchable)
static char *	encode_forcefield (vrpn_int32 &len, const vrpn_float32 origin[3], const vrpn_float32 force[3], const vrpn_float32 jacobian[3][3], const vrpn_float32 radius)
static char *	encode_error (vrpn_int32 &len, const vrpn_int32 error_code)
static vrpn_int32	decode_custom_effect (const char *buffer, const vrpn_int32 len, vrpn_uint32 *effectId, vrpn_float32 **params, vrpn_uint32 *nbParams)
static vrpn_int32	decode_force (const char *buffer, const vrpn_int32 len, vrpn_float64 *force)
static vrpn_int32	decode_scp (const char *buffer, const vrpn_int32 len, vrpn_float64 *pos, vrpn_float64 *quat)
static vrpn_int32	decode_plane (const char *buffer, const vrpn_int32 len, vrpn_float32 *plane, vrpn_float32 *kspring, vrpn_float32 *kdamp, vrpn_float32 *fdyn, vrpn_float32 *fstat, vrpn_int32 *plane_index, vrpn_int32 *n_rec_cycles)
static vrpn_int32	decode_surface_effects (const char *buffer, const vrpn_int32 len, vrpn_float32 *k_adhesion_norm, vrpn_float32 *k_adhesion_lat, vrpn_float32 *tex_amp, vrpn_float32 *tex_wl, vrpn_float32 *buzz_amp, vrpn_float32 *buzz_freq)
static vrpn_int32	decode_vertex (const char *buffer, const vrpn_int32 len, vrpn_int32 *objNum, vrpn_int32 *vertNum, vrpn_float32 *x, vrpn_float32 *y, vrpn_float32 *z)
static vrpn_int32	decode_normal (const char *buffer, const vrpn_int32 len, vrpn_int32 *objNum, vrpn_int32 *vertNum, vrpn_float32 *x, vrpn_float32 *y, vrpn_float32 *z)
static vrpn_int32	decode_triangle (const char *buffer, const vrpn_int32 len, vrpn_int32 *objNum, vrpn_int32 *triNum, vrpn_int32 *vert0, vrpn_int32 *vert1, vrpn_int32 *vert2, vrpn_int32 *norm0, vrpn_int32 *norm1, vrpn_int32 *norm2)
static vrpn_int32	decode_removeTriangle (const char *buffer, const vrpn_int32 len, vrpn_int32 *objNum, vrpn_int32 *triNum)
static vrpn_int32	decode_updateTrimeshChanges (const char *buffer, const vrpn_int32 len, vrpn_int32 *objNum, vrpn_float32 *kspring, vrpn_float32 *kdamp, vrpn_float32 *fdyn, vrpn_float32 *fstat)
static vrpn_int32	decode_setTrimeshType (const char *buffer, const vrpn_int32 len, vrpn_int32 *objNum, vrpn_int32 *type)
static vrpn_int32	decode_trimeshTransform (const char *buffer, const vrpn_int32 len, vrpn_int32 *objNum, vrpn_float32 homMatrix[16])
static vrpn_int32	decode_addObject (const char *buffer, vrpn_int32 len, vrpn_int32 *objNum, vrpn_int32 *ParentNum)
static vrpn_int32	decode_addObjectExScene (const char *buffer, vrpn_int32 len, vrpn_int32 *objNum)
static vrpn_int32	decode_objectPosition (const char *buffer, vrpn_int32 len, vrpn_int32 *objNum, vrpn_float32 Pos[3])
static vrpn_int32	decode_objectOrientation (const char *buffer, vrpn_int32 len, vrpn_int32 *objNum, vrpn_float32 axis[3], vrpn_float32 *angle)
static vrpn_int32	decode_objectScale (const char *buffer, vrpn_int32 len, vrpn_int32 *objNum, vrpn_float32 Scale[3])
static vrpn_int32	decode_removeObject (const char *buffer, vrpn_int32 len, vrpn_int32 *objNum)
static vrpn_int32	decode_clearTrimesh (const char *buffer, vrpn_int32 len, vrpn_int32 *objNum)
static vrpn_int32	decode_moveToParent (const char *buffer, vrpn_int32 len, vrpn_int32 *objNum, vrpn_int32 *parentNum)
static vrpn_int32	decode_setHapticOrigin (const char *buffer, vrpn_int32 len, vrpn_float32 Pos[3], vrpn_float32 axis[3], vrpn_float32 *angle)
static vrpn_int32	decode_setHapticScale (const char *buffer, vrpn_int32 len, vrpn_float32 *Scale)
static vrpn_int32	decode_setSceneOrigin (const char *buffer, vrpn_int32 len, vrpn_float32 Pos[3], vrpn_float32 axis[3], vrpn_float32 *angle)
static vrpn_int32	decode_setObjectIsTouchable (const char *buffer, vrpn_int32 len, vrpn_int32 *objNum, vrpn_bool *isTouchable)
static vrpn_int32	decode_forcefield (const char *buffer, const vrpn_int32 len, vrpn_float32 origin[3], vrpn_float32 force[3], vrpn_float32 jacobian[3][3], vrpn_float32 *radius)
static vrpn_int32	decode_error (const char *buffer, const vrpn_int32 len, vrpn_int32 *error_code)
static char *	encode_enableConstraint (vrpn_int32 &len, vrpn_int32 enable)
static vrpn_int32	decode_enableConstraint (const char *buffer, const vrpn_int32 len, vrpn_int32 *enable)
static char *	encode_setConstraintMode (vrpn_int32 &len, ConstraintGeometry mode)
static vrpn_int32	decode_setConstraintMode (const char *buffer, const vrpn_int32 len, ConstraintGeometry *mode)
static char *	encode_setConstraintPoint (vrpn_int32 &len, vrpn_float32 x, vrpn_float32 y, vrpn_float32 z)
static vrpn_int32	decode_setConstraintPoint (const char *buffer, const vrpn_int32 len, vrpn_float32 *x, vrpn_float32 *y, vrpn_float32 *z)
static char *	encode_setConstraintLinePoint (vrpn_int32 &len, vrpn_float32 x, vrpn_float32 y, vrpn_float32 z)
static vrpn_int32	decode_setConstraintLinePoint (const char *buffer, const vrpn_int32 len, vrpn_float32 *x, vrpn_float32 *y, vrpn_float32 *z)
static char *	encode_setConstraintLineDirection (vrpn_int32 &len, vrpn_float32 x, vrpn_float32 y, vrpn_float32 z)
static vrpn_int32	decode_setConstraintLineDirection (const char *buffer, const vrpn_int32 len, vrpn_float32 *x, vrpn_float32 *y, vrpn_float32 *z)
static char *	encode_setConstraintPlanePoint (vrpn_int32 &len, vrpn_float32 x, vrpn_float32 y, vrpn_float32 z)
static vrpn_int32	decode_setConstraintPlanePoint (const char *buffer, const vrpn_int32 len, vrpn_float32 *x, vrpn_float32 *y, vrpn_float32 *z)
static char *	encode_setConstraintPlaneNormal (vrpn_int32 &len, vrpn_float32 x, vrpn_float32 y, vrpn_float32 z)
static vrpn_int32	decode_setConstraintPlaneNormal (const char *buffer, const vrpn_int32 len, vrpn_float32 *x, vrpn_float32 *y, vrpn_float32 *z)
static char *	encode_setConstraintKSpring (vrpn_int32 &len, vrpn_float32 k)
static vrpn_int32	decode_setConstraintKSpring (const char *buffer, const vrpn_int32 len, vrpn_float32 *k)
static char *	encodePoint (vrpn_int32 &len, vrpn_float32 x, vrpn_float32 y, vrpn_float32 z)
static vrpn_int32	decodePoint (const char *buffer, const vrpn_int32 len, vrpn_float32 *x, vrpn_float32 *y, vrpn_float32 *z)
静态 Protected 成员函数 继承自 vrpn_BaseClassUnique
static int	encode_text_message_to_buffer (char *buf, vrpn_TEXT_SEVERITY severity, vrpn_uint32 level, const char *msg)
static int	decode_text_message_from_buffer (char *msg, vrpn_TEXT_SEVERITY *severity, vrpn_uint32 *level, const char *buf)
	Decodes the body of the text message from a buffer from the connection

Protected 属性
vrpn_int32	force_message_id
vrpn_int32	plane_message_id
vrpn_int32	plane_effects_message_id
vrpn_int32	forcefield_message_id
vrpn_int32	scp_message_id
vrpn_int32	enableConstraint_message_id
vrpn_int32	setConstraintMode_message_id
vrpn_int32	setConstraintPoint_message_id
vrpn_int32	setConstraintLinePoint_message_id
vrpn_int32	setConstraintLineDirection_message_id
vrpn_int32	setConstraintPlanePoint_message_id
vrpn_int32	setConstraintPlaneNormal_message_id
vrpn_int32	setConstraintKSpring_message_id
vrpn_int32	error_message_id
vrpn_int32	addObject_message_id
vrpn_int32	addObjectExScene_message_id
vrpn_int32	moveToParent_message_id
vrpn_int32	setObjectPosition_message_id
vrpn_int32	setObjectOrientation_message_id
vrpn_int32	setObjectScale_message_id
vrpn_int32	removeObject_message_id
vrpn_int32	setVertex_message_id
vrpn_int32	setNormal_message_id
vrpn_int32	setTriangle_message_id
vrpn_int32	removeTriangle_message_id
vrpn_int32	updateTrimeshChanges_message_id
vrpn_int32	transformTrimesh_message_id
vrpn_int32	setTrimeshType_message_id
vrpn_int32	clearTrimesh_message_id
vrpn_int32	setHapticOrigin_message_id
vrpn_int32	setHapticScale_message_id
vrpn_int32	setSceneOrigin_message_id
vrpn_int32	getNewObjectID_message_id
vrpn_int32	setObjectIsTouchable_message_id
vrpn_int32	custom_effect_message_id
struct timeval	timestamp
vrpn_int32	which_plane
vrpn_float64	d_force [3]
vrpn_float64	scp_pos [3]
vrpn_float64	scp_quat [4]
vrpn_float32	plane [4]
vrpn_float32	ff_origin [3]
vrpn_float32	ff_force [3]
vrpn_float32	ff_jacobian [3][3]
vrpn_float32	ff_radius
vrpn_float32	SurfaceKspring
vrpn_float32	SurfaceKdamping
vrpn_float32	SurfaceFstatic
vrpn_float32	SurfaceFdynamic
vrpn_int32	numRecCycles
vrpn_int32	errorCode
vrpn_float32	SurfaceKadhesionLateral
vrpn_float32	SurfaceKadhesionNormal
vrpn_float32	SurfaceBuzzFreq
vrpn_float32	SurfaceBuzzAmp
vrpn_float32	SurfaceTextureWavelength
vrpn_float32	SurfaceTextureAmplitude
vrpn_int32	customEffectId
vrpn_float32 *	customEffectParams
vrpn_uint32	nbCustomEffectParams
Protected 属性 继承自 vrpn_BaseClassUnique
vrpn_Connection *	d_connection
	Connection that this object talks to
char *	d_servicename
vrpn_int32	d_sender_id
	part
vrpn_int32	d_text_message_id
	ID for text messages
vrpn_int32	d_ping_message_id
	Ask the server if they are there
vrpn_int32	d_pong_message_id
	Server telling that it is there

额外继承的成员函数
Public 属性 继承自 vrpn_BaseClassUnique
bool	shutup

成员函数说明

register_types()

virtual int register_types ( void )

protectedvirtual

Register the types of messages this device sends/receives. Return 0 on success, -1 on fail.

实现了 vrpn_BaseClass.

类成员变量说明

d_force

vrpn_float64 d_force[3]

protected

d_force isn't used in vrpn_ForceDevice, but seems to be used by derived classes? What's the meaning?

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该类的文档由以下文件生成:

• simulink/vrpn/vrpn_ForceDevice.h