OmniState Struct Reference

Structure for holding the state variables of the haptic device. More...

#include <omni.h>

Public Attributes
int	buttons [2]
hduVector3Dd	force
bool	home
hduVector3Dd	home_pos
hduVector3Dd	joints
hduVector3Dd	pos_hist1
hduVector3Dd	position
hduVector3Dd	rot
HDdouble	temp [3]
float	thetas [7]

Detailed Description

Structure for holding the state variables of the haptic device.

Parameters

position	: end factor position
rot	: last 3 DOF
joints	: first 3 DOF
force	: feedback to device
thetas[7]	: degrees of all joints
resz	Pedido da posição para o eixo ZZ do pórtico.
temp	: temperture of the 3 motores
buttons	: state of the 2 buttons

Definition at line 68 of file omni.h.

Member Data Documentation

int OmniState::buttons[2]

Definition at line 84 of file omni.h.

hduVector3Dd OmniState::force

Definition at line 81 of file omni.h.

bool OmniState::home

Definition at line 86 of file omni.h.

hduVector3Dd OmniState::home_pos

Definition at line 87 of file omni.h.

hduVector3Dd OmniState::joints

Definition at line 80 of file omni.h.

hduVector3Dd OmniState::pos_hist1

Definition at line 77 of file omni.h.

hduVector3Dd OmniState::position

Definition at line 69 of file omni.h.

hduVector3Dd OmniState::rot

Definition at line 79 of file omni.h.

HDdouble OmniState::temp[3]

Definition at line 83 of file omni.h.

float OmniState::thetas[7]

Definition at line 82 of file omni.h.

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The documentation for this struct was generated from the following file:

• omni.h