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P_Feedback.h

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/***************************************************************************
 *cr                                                                       
 *cr            (C) Copyright 1995-2019 The Board of Trustees of the           
 *cr                        University of Illinois                       
 *cr                         All Rights Reserved                        
 *cr                                                                   
 ***************************************************************************/

/***************************************************************************
 * RCS INFORMATION:
 *
 *      $RCSfile: P_Feedback.h,v $
 *      $Author: johns $        $Locker:  $             $State: Exp $
 *      $Revision: 1.29 $       $Date: 2020/02/24 17:48:30 $
 *
 ***************************************************************************
 * DESCRIPTION:
 * This is Paul's new Tracker code -- pgrayson@ks.uiuc.edu
 *
 * A Feedback is a representation for force-feedback.  Subclass this for
 * specific haptic devices.
 *
 * Note that you have to call sendforce to actually do anything!
 *
 ***************************************************************************/

#ifndef P_FEEDBACK_H
#define P_FEEDBACK_H

#include "P_SensorConfig.h"



class Feedback {
public:
  Feedback() { maxforce = -1.0f; }
  virtual ~Feedback() { };

  virtual const char *device_name() const = 0;
  virtual Feedback *clone() = 0;

  int start(const SensorConfig *config) {
    set_maxforce(config->getmaxforce());
    return do_start(config);
  }

  virtual void update() = 0;

  virtual void addconstraint(float k, const float *location) = 0;
  virtual void addforcefield(const float *origin, const float *force,
                             const float *jacobian) = 0;
  virtual void addplaneconstraint(float k, const float *point,
                                  const float *normal) = 0;

  virtual void zeroforce() = 0;

  virtual void forceoff() = 0;

  virtual void sendforce(const float *initial_pos) = 0;

  void set_maxforce(float m) { maxforce = m;    }
  float get_maxforce() const { return maxforce; }

protected:
  float maxforce;

  virtual int do_start(const SensorConfig *) { return 1; }
};

#endif

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