/usr/include/projects/Haptic/lib/HapticMapping.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 *
******************************************************************************/
#ifndef SOFA_COMPONENT_MAPPING_HAPTICMAPPING_H
#define SOFA_COMPONENT_MAPPING_HAPTICMAPPING_H
#include "ChaiDevice.h"
#include "sofa/core/componentmodel/behavior/MechanicalMapping.h"
#include "sofa/component/mapping/RigidRigidMapping.h"
using sofa::core::objectmodel::ChaiDevice;
using sofa::component::mapping::RigidRigidMapping;
using sofa::core::componentmodel::behavior::MechanicalMapping;
using sofa::core::componentmodel::behavior::MechanicalState;
namespace sofa{
namespace component{
namespace mapping{
/**
* \brief specialized rigid to rigid mapping which link
* an haptic device and a rigid mechanical object
*
* It's a special extension of a RigidRigidMapping, where the IN object
* isn't used, and is dynamicaly replace by the haptic device datas
*
* You need to specialized it with the type of your rigid mechanical object
* that represent your device in SOFA
*
*/
template <class DeviceType>
class HapticMapping
:
public RigidRigidMapping< MechanicalMapping< MechanicalState<DeviceType>, MechanicalState<DeviceType> > >{
private :
/// The haptic device
ChaiDevice* chaiDevice;
/// Catch the OpenGlInitializedEvent to activate the mapping
/// (GL_MODELVIEW_MATRIX must be initialize to apply the mapping)
///
/// see apply method for more detail about this feature
void handleEvent(core::objectmodel::Event *);
/// Indicate if openGl is initialized (GL_MODELVIEW_MATRIX must be initialize to apply the mapping)
///
/// see apply method for more detail about this feature
Data< bool > openGlInitialized;
public :
typedef MechanicalState<DeviceType> Out;
/// Constructor taking the device DOF (the Output model) as parameter
HapticMapping(MechanicalState<DeviceType>* device);
/// Destructor
///
/// Delete the device in order to stop the haptic loop
~HapticMapping();
/// Apply the mapping on position vectors. overwrited from Mapping
///
/// We don't use the second parameter (the input model) wich is replace by the physical device
/// When OpenGl is initialized, this function convert the device position in the sofa world position,
/// in order that your device always move in the same axes, in front of the user
void apply( typename DeviceType::VecCoord& device, const typename DeviceType::VecCoord& /* notUsed */);
/// Apply the reverse mapping on force vectors. overwrited from Mapping
///
/// Does nothing yet
void applyJT( typename DeviceType::VecDeriv& /*device*/, const typename DeviceType::VecDeriv& /*notUsed*/) {};
/// Apply the mapping on derived (velocity, displacement) vectors. overwrited from Mapping
///
/// Does nothing yet
void applyJ( typename DeviceType::VecDeriv& /*device*/, const typename DeviceType::VecDeriv& /*notUsed*/) {};
// **********************************************************
// The two method following (canCreate & create) can't be removed
// from .h file because of the template of the output
// **********************************************************
/// Pre-construction check method called by ObjectFactory. Overtwrited from Mapping.
///
/// This implementation read the object2 attributes and check
/// if it is compatible with the output model types of this
/// mapping. We jump over the test of the input model
template<class T>
static bool canCreate( T*& obj,
core::objectmodel::BaseContext* /* context */,
core::objectmodel::BaseObjectDescription* arg)
{
if (arg->findObject(arg->getAttribute("object2","..")) == NULL)
std::cerr << "Cannot create "<<className(obj)<<" as object2 is missing.\n";
if (dynamic_cast<Out*>(arg->findObject(arg->getAttribute("object2",".."))) == NULL)
return false;
return true;
}
/// Construction method called by ObjectFactory. Overtwrited from Mapping.
///
/// This implementation read the object2 attributes to
/// find the output models of this mapping.
template<class T>
static void create( T*& obj,
core::objectmodel::BaseContext* context,
core::objectmodel::BaseObjectDescription* arg)
{
obj = new T((arg?dynamic_cast<Out*>(arg->findObject(arg->getAttribute("object2",".."))):NULL));
if (context) context->addObject(obj);
if ((arg) && (arg->getAttribute("object2")))
{
obj->object2.setValue( arg->getAttribute("object2") );
arg->removeAttribute("object2");
}
if (arg) obj->parse(arg);
}
}; // class HapticMapping
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
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