HapticDeviceDefines.hpp

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/*
 * HapticDeviceDefines.hpp
 *
 *  Created on: Mar 4, 2012
 *      Author: mriedel
 */

#ifndef HAPTICDEVICEDEFINES_HPP_
#define HAPTICDEVICEDEFINES_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <telekyb_defines/enum.hpp>

#include <telekyb_base/Spaces.hpp>

namespace TELEKYB_NAMESPACE {

struct HapticInput {
        Eigen::Vector3d force;
};

struct HapticOuput {
        Position3D position;
        Velocity3D linVelocity;
        Quaternion orientation;
        Eigen::Vector3d force;
        double frequency; // loop frequency
        int primaryButton; // 1 if pressed
};

// For Cartesian Mapping
TELEKYB_ENUM(HapticAxesMapping,
                (Forward)
                (Backward)
                (Up)
                (Down)
                (Left)
                (Right)
)


}

#endif /* HAPTICDEVICEDEFINES_HPP_ */