00001 // $Id: haptic_v2.h,v 1.6 2006/05/24 16:52:41 sean Exp $ 00002 // $Copyright: (c)2001 National Biocomputation Center, Stanford University $ 00003 00004 // 00005 // haptic_v2.h 00006 // 00007 // Tyler Kohn 1999 00008 // 00009 00010 #ifndef Haptic_v2_Header 00011 #define Haptic_v2_Header 00012 00013 #ifdef _WIN32 00014 00015 #include <winsock.h> 00016 00017 #else 00018 #include <sys/types.h> 00019 #include <sys/socket.h> 00020 #include <netinet/in.h> 00021 #include <stdio.h> 00022 00023 #ifndef SOCKET 00024 #define SOCKET unsigned int 00025 #endif // SOCKET 00026 00027 #endif 00028 00029 #include "sensor.h" 00030 #include "socket.h" 00031 #include "void.h" 00032 #include "interpol.h" 00033 #include "space.h" 00034 #include "triangles.h" 00035 #include <iostream> // For debugging messages 00036 00037 using namespace std; 00038 00039 #define RAYON 0.5 00040 #define MATRIX 0.3 00041 00042 class Haptic_v2 : public Sensor { 00043 Socket *hsock; 00044 public: // public vars 00045 Point3D force; // force to apply 00046 space *my_space; 00047 space_t *my_space_t; 00048 space_v *my_space_v; 00049 space_i *my_space_i; 00050 space_i *points_to_save; 00051 00052 public: 00053 Haptic_v2(char* machine_name); 00054 virtual ~Haptic_v2(); 00055 static const char* rcsid; 00056 static int debug; 00057 00058 void Update(); 00059 int spaceChanged(); 00060 private: 00061 char *buf; 00062 int sizebuf; 00063 long hash; 00064 }; 00065 00066 #endif
1.5.3