//===========================================================================
int cPhantomDevice::setForce(cVector3d& a_force)
{
// check if drivers are installed
if (!m_driverInstalled) return (-1);
int error = hdPhantomSetForce(m_deviceID, &a_force.x, &a_force.y, &a_force.z);
m_prevForce = a_force;
return (error);
}
FB::variant hapticAPI::sendForce(std::string str)
{
double force[3];
stringToArray(str,force);
force[1] = -force[1];
if (hdPhantomSetForce(deviceID, /*Z*/&force[2], /*X*/&force[0], /*Y*/ &force[1])!=-1)
return true;
else
return false;
}
//===========================================================================
int cPhantomDevice::setForce(const cVector3d& a_force)
{
// check if drivers are installed
if (!m_driverInstalled) return (-1);
// send force command
cVector3d force = a_force;
int error = hdPhantomSetForce(m_deviceID, &force(0) , &force(1) , &force(2) );
if (error != 0) { return (error); }
// store new commanded values
m_prevForce = a_force;
// success
return (0);
}
