OmniDriverEmu
Solver to test compliance computation for new articulated system objects
Target: SensableEmulation
namespace: sofa::component::controller
parents:
- Controller
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 |
| forceScale | Default scaling factor applied to the force feedback | 1 |
| scale | Default scale applied to the Phantom Coordinates. | 1 |
| positionBase | Position of the interface base in the scene world coordinates | 0 0 0 |
| orientationBase | Orientation of the interface base in the scene world coordinates | 0 0 0 1 |
| positionTool | Position of the tool in the omni end effector frame | 0 0 0 |
| orientationTool | Orientation of the tool in the omni end effector frame | 0 0 0 1 |
| permanent | Apply the force feedback permanently | 0 |
| omniVisu | Visualize the position of the interface in the virtual scene | 0 |
| simuFreq | frequency of the "simulated Omni" | 1000 |
| simulateTranslation | do very naive "translation simulation" of omni, with constant orientation <0 0 0 1> | 0 |
| trajPoints | Trajectory positions | |
| trajTiming | Trajectory timing |
Links
| Name | Description | Destination type name |
|---|---|---|
| context | Graph Node containing this object (or BaseContext::getDefault() if no graph is used) | BaseContext |
| slaves | Sub-objects used internally by this object | BaseObject |
| master | nullptr for regular objects, or master object for which this object is one sub-objects | BaseObject |