vrpn 07.35
Virtual Reality Peripheral Network
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#include <vrpn_Tracker_PhaseSpace.h>
Public Member Functions | |
vrpn_Tracker_PhaseSpace (const char *name, vrpn_Connection *c) | |
vrpn_Tracker_PhaseSpace (const char *name, vrpn_Connection *c, const char *device, float frequency, int readflag, int slaveflag=0) | |
~vrpn_Tracker_PhaseSpace () | |
virtual void | mainloop () |
Called once through each main loop iteration to handle updates. Remote object mainloop() should call client_mainloop() and then call d_connection->mainloop(). Server object mainloop() should service the device and then call server_mainloop(), but should not normally call d_connection->mainloop(). | |
bool | load (FILE *file) |
bool | InitOWL () |
bool | enableStreaming (bool enable) |
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vrpn_Tracker (const char *name, vrpn_Connection *c=NULL, const char *tracker_cfg_file_name=NULL) | |
virtual | ~vrpn_Tracker (void) |
int | read_config_file (FILE *config_file, const char *tracker_name) |
void | print_latest_report (void) |
int | register_server_handlers (void) |
void | get_local_t2r (vrpn_float64 *vec, vrpn_float64 *quat) |
void | get_local_u2s (vrpn_int32 sensor, vrpn_float64 *vec, vrpn_float64 *quat) |
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vrpn_BaseClass (const char *name, vrpn_Connection *c=NULL) | |
Names the device and assigns or opens connection, calls registration methods. | |
virtual | ~vrpn_BaseClass () |
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vrpn_BaseClassUnique () | |
virtual | ~vrpn_BaseClassUnique () |
Unregister all of the message handlers that were to be autodeleted. | |
vrpn_Connection * | connectionPtr () |
Returns a pointer to the connection this object is using. | |
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virtual void | set_momentary (vrpn_int32 which_button) |
virtual void | set_toggle (vrpn_int32 which_button, vrpn_int32 current_state) |
virtual void | set_all_momentary (void) |
virtual void | set_all_toggle (vrpn_int32 default_state) |
void | set_alerts (vrpn_int32) |
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vrpn_Button (const char *name, vrpn_Connection *c=NULL) | |
virtual | ~vrpn_Button (void) |
void | print (void) |
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vrpn_Clipping_Analog_Server (const char *name, vrpn_Connection *c, vrpn_int32 numChannels=vrpn_CHANNEL_MAX) | |
int | setClipValues (int channel, double min, double lowzero, double highzero, double max) |
Set the clipping values for the specified channel. min maps to -1, values between lowzero and highzero map to 0, max maps to 1. Values less than min map to -1, values larger than max map to 1. Default for each channel is -1,0,0,1 It is possible to compress the range to [0..1] by setting the minimum equal to the lowzero. Returns 0 on success, -1 on failure. | |
int | setChannelValue (int channel, double value) |
This method should be used to set the value of a channel. It will be scaled and clipped as described in setClipValues. It returns 0 on success and -1 on failure. | |
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vrpn_Analog_Server (const char *name, vrpn_Connection *c, vrpn_int32 numChannels=vrpn_CHANNEL_MAX) | |
virtual void | report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW) |
Makes public the protected base class function. | |
virtual void | report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW) |
Makes public the protected base class function. | |
vrpn_float64 * | channels (void) |
Exposes an array of values for the user to write into. | |
vrpn_int32 | setNumChannels (vrpn_int32 sizeRequested) |
Sets the size of the array; returns the size actually set. (May be clamped to vrpn_CHANNEL_MAX) This should be used before mainloop is ever called. | |
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vrpn_Analog (const char *name, vrpn_Connection *c=NULL) | |
void | print (void) |
vrpn_int32 | getNumChannels (void) const |
Static Public Member Functions | |
static int VRPN_CALLBACK | handle_update_rate_request (void *userdata, vrpn_HANDLERPARAM p) |
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static int VRPN_CALLBACK | handle_t2r_request (void *userdata, vrpn_HANDLERPARAM p) |
static int VRPN_CALLBACK | handle_u2s_request (void *userdata, vrpn_HANDLERPARAM p) |
static int VRPN_CALLBACK | handle_workspace_request (void *userdata, vrpn_HANDLERPARAM p) |
Public Attributes | |
bool | debug |
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bool | shutup |
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vrpn_int32 | buttonstate [vrpn_BUTTON_MAX_BUTTONS] |
Protected Member Functions | |
virtual int | get_report (void) |
virtual void | send_report (void) |
bool | create_trackers () |
void | set_pose (const OWL::Rigid &r) |
void | report_marker (vrpn_int32 sensor, const OWL::Marker &m) |
void | report_rigid (vrpn_int32 sensor, const OWL::Rigid &r, bool is_stylus=false) |
void | report_button (vrpn_int32 sensor, int value) |
void | report_button_analog (vrpn_int32 sensor, int value) |
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bool | ensure_enough_unit2sensors (unsigned num) |
virtual int | register_types (void) |
Register the types of messages this device sends/receives. Return 0 on success, -1 on fail. | |
virtual int | encode_to (char *buf) |
virtual int | encode_vel_to (char *buf) |
virtual int | encode_acc_to (char *buf) |
virtual int | encode_tracker2room_to (char *buf) |
Encodes the "Tracker to Room" transformation into the buffer specified. | |
virtual int | encode_unit2sensor_to (char *buf) |
Encodes the "Unit to Sensor" transformation into the buffer specified. | |
virtual int | encode_workspace_to (char *buf) |
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virtual int | init (void) |
Initialize things that the constructor can't. Returns 0 on success, -1 on failure. | |
virtual int | register_senders (void) |
Register the sender for this device (by default, the name of the device). Return 0 on success, -1 on fail. | |
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int | register_autodeleted_handler (vrpn_int32 type, vrpn_MESSAGEHANDLER handler, void *userdata, vrpn_int32 sender=vrpn_ANY_SENDER) |
Registers a handler with the connection, and remembers to delete at destruction. | |
int | send_text_message (const char *msg, struct timeval timestamp, vrpn_TEXT_SEVERITY type=vrpn_TEXT_NORMAL, vrpn_uint32 level=0) |
Sends a NULL-terminated text message from the device d_sender_id. | |
SendTextMessageBoundCall | send_text_message (vrpn_TEXT_SEVERITY type=vrpn_TEXT_NORMAL) |
Returns an object you can stream into to send a text message from the device like send_text_message(vrpn_TEXT_WARNING) << "Value of i is: " << i; This use requires including vrpn_SendTextMessageStreamProxy.h. | |
void | server_mainloop (void) |
Handles functions that all servers should provide in their mainloop() (ping/pong, for example) Should be called by all servers in their mainloop() | |
void | client_mainloop (void) |
Handles functions that all clients should provide in their mainloop() (warning of no server, for example) Should be called by all clients in their mainloop() | |
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vrpn_Button_Filter (const char *, vrpn_Connection *c=NULL) | |
virtual vrpn_int32 | encode_states_to (char *buf) |
Encode a message describing the state of all buttons. | |
virtual void | report_changes (void) |
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virtual int | register_types (void) |
Register the types of messages this device sends/receives. Return 0 on success, -1 on fail. | |
virtual void | report_states (void) |
virtual vrpn_int32 | encode_to (char *buf, vrpn_int32 button, vrpn_int32 state) |
Encode a message describing the new state of a button. | |
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virtual int | register_types (void) |
Register the types of messages this device sends/receives. Return 0 on success, -1 on fail. | |
virtual vrpn_int32 | encode_to (char *buf) |
Protected Attributes | |
OWL::Context | context |
std::string | device |
std::string | options |
bool | drop_frames |
SensorManager * | smgr |
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vrpn_int32 | position_m_id |
vrpn_int32 | velocity_m_id |
vrpn_int32 | accel_m_id |
vrpn_int32 | tracker2room_m_id |
vrpn_int32 | unit2sensor_m_id |
vrpn_int32 | request_t2r_m_id |
vrpn_int32 | request_u2s_m_id |
vrpn_int32 | request_workspace_m_id |
vrpn_int32 | workspace_m_id |
vrpn_int32 | update_rate_id |
vrpn_int32 | connection_dropped_m_id |
vrpn_int32 | reset_origin_m_id |
vrpn_int32 | d_sensor |
vrpn_float64 | pos [3] |
vrpn_float64 | d_quat [4] |
vrpn_float64 | vel [3] |
vrpn_float64 | vel_quat [4] |
vrpn_float64 | vel_quat_dt |
vrpn_float64 | acc [3] |
vrpn_float64 | acc_quat [4] |
vrpn_float64 | acc_quat_dt |
struct timeval | timestamp |
vrpn_int32 | frame_count |
struct timeval | watchdog_timestamp |
vrpn_float64 | tracker2room [3] |
vrpn_float64 | tracker2room_quat [4] |
vrpn_int32 | num_sensors |
vrpn_Tracker_Pos * | unit2sensor |
vrpn_Tracker_Quat * | unit2sensor_quat |
unsigned | num_unit2sensors |
vrpn_float64 | workspace_min [3] |
vrpn_float64 | workspace_max [3] |
int | status |
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vrpn_Connection * | d_connection |
Connection that this object talks to. | |
char * | d_servicename |
Name of this device, not including the connection part. | |
vrpn_int32 | d_sender_id |
Sender ID registered with the connection. | |
vrpn_int32 | d_text_message_id |
ID for text messages. | |
vrpn_int32 | d_ping_message_id |
Ask the server if they are there. | |
vrpn_int32 | d_pong_message_id |
Server telling that it is there. | |
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int | send_alerts |
vrpn_int32 | alert_message_id |
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unsigned char | buttons [vrpn_BUTTON_MAX_BUTTONS] |
unsigned char | lastbuttons [vrpn_BUTTON_MAX_BUTTONS] |
vrpn_int32 | minrate [vrpn_BUTTON_MAX_BUTTONS] |
vrpn_int32 | num_buttons |
struct timeval | timestamp |
vrpn_int32 | change_message_id |
vrpn_int32 | states_message_id |
vrpn_int32 | admin_message_id |
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clipvals_struct | clipvals [vrpn_CHANNEL_MAX] |
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vrpn_float64 | channel [vrpn_CHANNEL_MAX] |
vrpn_float64 | last [vrpn_CHANNEL_MAX] |
vrpn_int32 | num_channel |
struct timeval | timestamp |
vrpn_int32 | channel_m_id |
int | status |
Additional Inherited Members | |
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static int | encode_text_message_to_buffer (char *buf, vrpn_TEXT_SEVERITY severity, vrpn_uint32 level, const char *msg) |
Encodes the body of the text message into a buffer, preparing for sending. | |
static int | decode_text_message_from_buffer (char *msg, vrpn_TEXT_SEVERITY *severity, vrpn_uint32 *level, const char *buf) |
Decodes the body of the text message from a buffer from the connection. | |
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static int VRPN_CALLBACK | handle_ping_message (void *userdata, vrpn_HANDLERPARAM p) |
Definition at line 16 of file vrpn_Tracker_PhaseSpace.h.
vrpn_Tracker_PhaseSpace::vrpn_Tracker_PhaseSpace | ( | const char * | name, |
vrpn_Connection * | c ) |
Definition at line 116 of file vrpn_Tracker_PhaseSpace.C.
References vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, handle_update_rate_request(), vrpn_Button::num_buttons, vrpn_BaseClassUnique::register_autodeleted_handler(), smgr, and vrpn_Tracker::update_rate_id.
vrpn_Tracker_PhaseSpace::vrpn_Tracker_PhaseSpace | ( | const char * | name, |
vrpn_Connection * | c, | ||
const char * | device, | ||
float | frequency, | ||
int | readflag, | ||
int | slaveflag = 0 ) |
vrpn_Tracker_PhaseSpace::~vrpn_Tracker_PhaseSpace | ( | ) |
Definition at line 139 of file vrpn_Tracker_PhaseSpace.C.
References context.
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protected |
Definition at line 200 of file vrpn_Tracker_PhaseSpace.C.
References context, debug, smgr, and vrpn_BaseClassUnique::type.
Referenced by InitOWL().
bool vrpn_Tracker_PhaseSpace::enableStreaming | ( | bool | enable | ) |
Definition at line 719 of file vrpn_Tracker_PhaseSpace.C.
References context.
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protectedvirtual |
Definition at line 865 of file vrpn_Tracker_PhaseSpace.C.
References context, debug, drop_frames, vrpn_Button_Filter::report_changes(), vrpn_Analog::report_changes(), report_marker(), report_rigid(), smgr, and vrpn_Tracker::timestamp.
Referenced by mainloop().
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static |
Definition at line 1003 of file vrpn_Tracker_PhaseSpace.C.
References vrpn_HANDLERPARAM::buffer, context, debug, vrpn_BaseClassUnique::userdata, and vrpn_unbuffer().
Referenced by vrpn_Tracker_PhaseSpace().
bool vrpn_Tracker_PhaseSpace::InitOWL | ( | ) |
Definition at line 147 of file vrpn_Tracker_PhaseSpace.C.
References context, create_trackers(), debug, device, drop_frames, MM_TO_METERS, and options.
bool vrpn_Tracker_PhaseSpace::load | ( | FILE * | file | ) |
Definition at line 618 of file vrpn_Tracker_PhaseSpace.C.
References debug, device, drop_frames, options, smgr, and trim().
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virtual |
Called once through each main loop iteration to handle updates. Remote object mainloop() should call client_mainloop() and then call d_connection->mainloop(). Server object mainloop() should service the device and then call server_mainloop(), but should not normally call d_connection->mainloop().
Implements vrpn_BaseClass.
Definition at line 267 of file vrpn_Tracker_PhaseSpace.C.
References get_report(), and vrpn_BaseClassUnique::server_mainloop().
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Definition at line 813 of file vrpn_Tracker_PhaseSpace.C.
References vrpn_Button::buttons, vrpn_Tracker::d_sensor, debug, and vrpn_BUTTON_MAX_BUTTONS.
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Definition at line 832 of file vrpn_Tracker_PhaseSpace.C.
References vrpn_Tracker::d_sensor, debug, and vrpn_Clipping_Analog_Server::setChannelValue().
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Definition at line 753 of file vrpn_Tracker_PhaseSpace.C.
References context, vrpn_Tracker::d_quat, vrpn_Tracker::d_sensor, debug, vrpn_Tracker::pos, and send_report().
Referenced by get_report().
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Definition at line 780 of file vrpn_Tracker_PhaseSpace.C.
References vrpn_Tracker::d_sensor, debug, send_report(), and set_pose().
Referenced by get_report().
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protectedvirtual |
Definition at line 798 of file vrpn_Tracker_PhaseSpace.C.
References vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, vrpn_Tracker::encode_to(), MSGBUFSIZE, vrpn_Connection::pack_message(), vrpn_Tracker::position_m_id, vrpn_Tracker::timestamp, and vrpn_CONNECTION_LOW_LATENCY.
Referenced by report_marker(), and report_rigid().
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Definition at line 737 of file vrpn_Tracker_PhaseSpace.C.
References vrpn_Tracker::d_quat, and vrpn_Tracker::pos.
Referenced by report_rigid().
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Definition at line 56 of file vrpn_Tracker_PhaseSpace.h.
Referenced by create_trackers(), enableStreaming(), get_report(), handle_update_rate_request(), InitOWL(), report_marker(), and ~vrpn_Tracker_PhaseSpace().
bool vrpn_Tracker_PhaseSpace::debug |
Definition at line 33 of file vrpn_Tracker_PhaseSpace.h.
Referenced by create_trackers(), get_report(), handle_update_rate_request(), InitOWL(), load(), report_button(), report_button_analog(), report_marker(), and report_rigid().
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Definition at line 57 of file vrpn_Tracker_PhaseSpace.h.
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Definition at line 61 of file vrpn_Tracker_PhaseSpace.h.
Referenced by get_report(), InitOWL(), and load().
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Definition at line 58 of file vrpn_Tracker_PhaseSpace.h.
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Definition at line 64 of file vrpn_Tracker_PhaseSpace.h.
Referenced by create_trackers(), get_report(), load(), and vrpn_Tracker_PhaseSpace().